[{"class_id": "03001627", "model_id": "8d458ab12073c371caa2c06fded3ca21", "keypoints": [{"xyz": [0.14091572622464787, 0.4226130447403096, 0.14109252524853533], "rgb": [54, 53, 57], "semantic_id": 0, "pcd_info": {"point_index": 1476}, "mesh_info": {"face_index": 20521, "face_uv": [0.2859028642453219, 0.06157650574597484, 0.6525206300087046]}}, {"xyz": [-0.15260529948083268, 0.4234767944138027, 0.1412396632360413], "rgb": [56, 56, 56], "semantic_id": 1, "pcd_info": {"point_index": 933}, "mesh_info": {"face_index": 19816, "face_uv": [0.010096008247080233, 0.1682539512080746, 0.8216500405448453]}}, {"xyz": [0.15595992743531714, 0.12338460478603452, 0.10984243672874339], "rgb": [126, 117, 119], "semantic_id": 2, "pcd_info": {"point_index": 350}, "mesh_info": {"face_index": 8013, "face_uv": [0.27921293463337526, 0.7051714371996024, 0.015615628167022364]}}, {"xyz": [-0.15522908374486058, 0.12325781280672654, 0.1085825383116703], "rgb": [73, 74, 81], "semantic_id": 3, "pcd_info": {"point_index": 1891}, "mesh_info": {"face_index": 7834, "face_uv": [0.02328074484873994, 0.38108163624849173, 0.5956376189027663]}}, {"xyz": [0.16562463106638253, 0.05940917982238447, -0.2061343377123792], "rgb": [100, 93, 97], "semantic_id": 4, "pcd_info": {"point_index": 1181}, "mesh_info": {"face_index": 6812, "face_uv": [0.6344336530249526, 0.2998737503966914, 0.06569259657835647]}}, {"xyz": [-0.16477589586497748, 0.05932250147627527, -0.2075476249836965], "rgb": [218, 217, 214], "semantic_id": 5, "pcd_info": {"point_index": 1038}, "mesh_info": {"face_index": 4678, "face_uv": [0.2741431503153055, 0.6577721131330715, 0.06808473655162321]}}, {"xyz": [0.17291442752407968, 0.21946404362286898, -0.10202118668387028], "rgb": [55, 55, 55], "semantic_id": 6, "pcd_info": {"point_index": 611}, "mesh_info": {"face_index": 9464, "face_uv": [0.3422319096717546, 0.29671726287172123, 0.36105082745652395]}}, {"xyz": [0.1865063152350767, 0.21906399726867676, 0.059336051160133185], "rgb": [56, 56, 56], "semantic_id": 7, "pcd_info": {"point_index": 1071}, "mesh_info": {"face_index": 9609, "face_uv": [0.29632404222717246, 0.4716916748089034, 0.2319842829639241]}}, {"xyz": [-0.1886051076766772, 0.21906399726867676, -0.10521670502682579], "rgb": [56, 56, 56], "semantic_id": 8, "pcd_info": {"point_index": 1232}, "mesh_info": {"face_index": 634, "face_uv": [0.5574461371203793, 0.06448896007165528, 0.3780649028079654]}}, {"xyz": [-0.18731248076186507, 0.21906399726867676, 0.05938834292391737], "rgb": [56, 56, 56], "semantic_id": 9, "pcd_info": {"point_index": 163}, "mesh_info": {"face_index": 745, "face_uv": [0.2989146317723836, 0.46577860256522735, 0.23530676566238906]}}, {"xyz": [0.017576112237494945, -0.20828389626499133, -0.2743155635981832], "rgb": [56, 56, 56], "semantic_id": 10, "pcd_info": {"point_index": 1980}, "mesh_info": {"face_index": 11146, "face_uv": [0.13327492130012764, 0.4452100938567667, 0.4215149848431062]}}, {"xyz": [0.2572367314748358, -0.16308737720703292, -0.07496812650302451], "rgb": [56, 56, 56], "semantic_id": 11, "pcd_info": {"point_index": 1558}, "mesh_info": {"face_index": 14402, "face_uv": [0.42200577927128624, 0.1585263654727018, 0.4194678552560124]}}, {"xyz": [0.160381776627717, -0.2093449199674906, 0.20614777485500896], "rgb": [55, 55, 55], "semantic_id": 12, "pcd_info": {"point_index": 994}, "mesh_info": {"face_index": 17560, "face_uv": [0.2559548310091821, 0.5560775144477206, 0.1879676545430952]}}, {"xyz": [-0.16460998054109272, -0.1658180567162404, 0.2215164782295279], "rgb": [56, 56, 56], "semantic_id": 13, "pcd_info": {"point_index": 204}, "mesh_info": {"face_index": 15359, "face_uv": [0.10185546906071503, 0.16407533811727584, 0.7340691928220203]}}, {"xyz": [-0.25980983656563467, -0.16618932753220506, -0.08179664549110609], "rgb": [56, 56, 56], "semantic_id": 14, "pcd_info": {"point_index": 128}, "mesh_info": {"face_index": 16302, "face_uv": [0.11308115841570851, 0.20354089079919563, 0.6833779507851024]}}, {"xyz": [0.0038702862694287576, -0.02280200086534001, -0.010562639231754156], "rgb": [55, 55, 55], "semantic_id": 15, "pcd_info": {"point_index": 1541}, "mesh_info": {"face_index": 2223, "face_uv": [0.01963911142390974, 0.08700913207444574, 0.8933517565016348]}}, {"xyz": [0.009314967667567675, -0.1778175780655753, 0.016465026458616805], "rgb": [55, 55, 55], "semantic_id": 16, "pcd_info": {"point_index": 302}, "mesh_info": {"face_index": 9934, "face_uv": [0.26319737971098084, 0.6383773990647903, 0.09842522122422842]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "8b54af871a3ac77c492d9da2668ec34c", "keypoints": [{"xyz": [0.16172105225242855, 0.39077869068739557, 0.1352145785287725], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1078}, "mesh_info": {"face_index": 2654, "face_uv": [0.6612505363925528, 0.15594962852364436, 0.182799835083803]}}, {"xyz": [-0.15787448163662027, 0.40384870078270607, 0.1307143438565415], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1105}, "mesh_info": {"face_index": 2070, "face_uv": [0.5392428688393023, 0.016065964486441753, 0.44469116667425596]}}, {"xyz": [0.14834776606813033, 0.047517243950463306, 0.09188378269475744], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 791}, "mesh_info": {"face_index": 1256, "face_uv": [0.7683170049392161, 0.13343564689318554, 0.09824734816759845]}}, {"xyz": [-0.13908345913040487, 0.054530423385439786, 0.09251582193870822], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1861}, "mesh_info": {"face_index": 1609, "face_uv": [0.1332385838324262, 0.2823858854654174, 0.5843755307021555]}}, {"xyz": [0.15129507099004236, 0.04700418003735646, -0.18412820215393655], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 141}, "mesh_info": {"face_index": 1299, "face_uv": [0.007602931287025387, 0.580616126429271, 0.4117809422837034]}}, {"xyz": [-0.14608267583656867, 0.04724841157011861, -0.19121066567336298], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 782}, "mesh_info": {"face_index": 1847, "face_uv": [0.05696042203059291, 0.2581914075475292, 0.6848481704218784]}}, {"xyz": [0.21433671911811242, 0.1867551602505637, -0.16409393364394143], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 562}, "mesh_info": {"face_index": 447, "face_uv": [0.38792796995724116, 0.6098355723441053, 0.002236457698653872]}}, {"xyz": [0.21143472520611273, 0.18479740997865501, 0.002844642477170589], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1188}, "mesh_info": {"face_index": 458, "face_uv": [0.19623088689318177, 0.2619393324710349, 0.5418297806357834]}}, {"xyz": [-0.20995562565624862, 0.18625488932505252, -0.16380687333996058], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 820}, "mesh_info": {"face_index": 67, "face_uv": [0.3350111066323847, 0.07812650411290661, 0.5868623892547082]}}, {"xyz": [-0.21539839530663685, 0.18522610916017945, 0.002047479336680553], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 784}, "mesh_info": {"face_index": 101, "face_uv": [0.49703666910596744, 0.2672727481300725, 0.2356905827639596]}}, {"xyz": [0.12726867505091086, -0.29845889079622523, -0.24363426561382506], "rgb": [254, 254, 254], "semantic_id": 10, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 1092, "face_uv": [0.043656069686760085, 0.1829233636859642, 0.7734205666272754]}}, {"xyz": [0.22954590856103504, -0.27256521237243325, 0.023921560803435632], "rgb": [254, 254, 254], "semantic_id": 11, "pcd_info": {"point_index": 1043}, "mesh_info": {"face_index": 1006, "face_uv": [0.7061908098238108, 0.1369686813557403, 0.1568405088204488]}}, {"xyz": [0.0022117113259707277, -0.26715137213177476, 0.19604429306112736], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 550, "face_uv": [0.0985861102299653, 0.3913742238589024, 0.5100396659111323]}}, {"xyz": [-0.23531065362762, -0.28538168294749366, 0.02453282485404812], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 2044}, "mesh_info": {"face_index": 1207, "face_uv": [0.24201498475394986, 0.34493603229316894, 0.4130489829528814]}}, {"xyz": [-0.14410554156749714, -0.23733506481211775, -0.23588528001210443], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 279}, "mesh_info": {"face_index": 846, "face_uv": [0.5108791766626335, 0.30598358679964016, 0.18313723653772726]}}, {"xyz": [-0.00017336826905489655, -0.056142334266244376, -0.06727839427519244], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 2031}, "mesh_info": {"face_index": 935, "face_uv": [0.8944407520448325, 0.07759106044254323, 0.02796818751263002]}}, {"xyz": [8.139336193282998e-05, -0.28249210453284523, -0.04173863512651099], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 1018}, "mesh_info": {"face_index": 571, "face_uv": [0.21645836587507641, 0.31605096626687507, 0.4674906678580487]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "3928ff39e32dbddbf91663a74ccd2338", "keypoints": [{"xyz": [0.11490486568389414, 0.4391479048676119, 0.1891367378213354], "rgb": [56, 56, 56], "semantic_id": 0, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 13110, "face_uv": [0.5627633002448843, 0.3033606920703569, 0.13387600768475952]}}, {"xyz": [-0.12486731162243322, 0.43870724936006744, 0.18610691503284882], "rgb": [55, 55, 55], "semantic_id": 1, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 11951, "face_uv": [0.29294540601107816, 0.42417276762162354, 0.2828818263672982]}}, {"xyz": [0.11248284572785265, 0.07792626884111709, 0.08256182372269044], "rgb": [56, 56, 56], "semantic_id": 2, "pcd_info": {"point_index": 991}, "mesh_info": {"face_index": 16330, "face_uv": [0.13021354021052406, 0.0032737946399807073, 0.8665126651494952]}}, {"xyz": [-0.13528485940684692, 0.07424408794975612, 0.08861666739524202], "rgb": [56, 56, 56], "semantic_id": 3, "pcd_info": {"point_index": 219}, "mesh_info": {"face_index": 16959, "face_uv": [0.17116918971287676, 0.3325123898189565, 0.49631842046816765]}}, {"xyz": [0.12456773579372883, 0.07932294865951195, -0.15107127813810872], "rgb": [56, 56, 56], "semantic_id": 4, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 20254, "face_uv": [0.2718728001546822, 0.681162925438858, 0.046964274406463266]}}, {"xyz": [-0.14275101830223608, 0.07701757922213637, -0.15924677360696474], "rgb": [56, 56, 56], "semantic_id": 5, "pcd_info": {"point_index": 1464}, "mesh_info": {"face_index": 22199, "face_uv": [0.12710820654135155, 0.5892081532231032, 0.28368364023554615]}}, {"xyz": [0.22712174231987653, -0.24403407687572876, -0.06260056901768218], "rgb": [55, 55, 55], "semantic_id": 10, "pcd_info": {"point_index": 409}, "mesh_info": {"face_index": 28830, "face_uv": [0.2611819109524732, 0.21223685377158594, 0.5265812352759399]}}, {"xyz": [0.14437958357987057, -0.2460933129102314, 0.1928222039807112], "rgb": [55, 55, 55], "semantic_id": 11, "pcd_info": {"point_index": 582}, "mesh_info": {"face_index": 406, "face_uv": [0.25366030226885417, 0.7232409237539013, 0.023098773977243966]}}, {"xyz": [-0.13840095773422592, -0.24213733119074132, 0.20703086139685234], "rgb": [56, 56, 56], "semantic_id": 12, "pcd_info": {"point_index": 133}, "mesh_info": {"face_index": 27429, "face_uv": [0.33367344382226455, 0.6261023566632673, 0.04022419951446951]}}, {"xyz": [-0.2467240100256697, -0.2429740126916995, -0.06001799880961367], "rgb": [56, 56, 56], "semantic_id": 13, "pcd_info": {"point_index": 411}, "mesh_info": {"face_index": 26514, "face_uv": [0.3593598304192192, 0.058297656823990386, 0.5823425127567914]}}, {"xyz": [-0.020136039636776404, -0.24547746120940017, -0.24459312150667983], "rgb": [55, 55, 55], "semantic_id": 14, "pcd_info": {"point_index": 1233}, "mesh_info": {"face_index": 29284, "face_uv": [0.14045568854386317, 0.6495176323605077, 0.21002667909562892]}}, {"xyz": [-0.008987236796305531, -0.05952649155720047, -0.011992247886309482], "rgb": [56, 56, 56], "semantic_id": 15, "pcd_info": {"point_index": 1583}, "mesh_info": {"face_index": 10931, "face_uv": [0.23446863323265196, 0.6809061615155226, 0.08462520525182719]}}, {"xyz": [-0.008221753478587696, -0.21948542950253658, 0.01457314639934193], "rgb": [101, 101, 94], "semantic_id": 16, "pcd_info": {"point_index": 248}, "mesh_info": {"face_index": 25864, "face_uv": [0.23757346017901984, 0.7331038841209266, 0.029322655700066747]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "3fc6ab5d3c52c128d810b14a81e12eca", "keypoints": [{"xyz": [0.12325015594040739, 0.3208424089252635, 0.0631767843207024], "rgb": [222, 143, 44], "semantic_id": 0, "pcd_info": {"point_index": 1709}, "mesh_info": {"face_index": 1844, "face_uv": [0.13212382428040714, 0.779116207315433, 0.08875996840415896]}}, {"xyz": [-0.12832492893907804, 0.32172066176864345, 0.0652142968482533], "rgb": [223, 144, 45], "semantic_id": 1, "pcd_info": {"point_index": 1322}, "mesh_info": {"face_index": 1828, "face_uv": [0.9589943622800544, 0.01854201341015129, 0.02246362430979528]}}, {"xyz": [0.1689906949922102, -0.044335247416887325, -0.031370452981356545], "rgb": [223, 144, 45], "semantic_id": 2, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 5980, "face_uv": [0.114388142626543, 0.347656261764164, 0.5379555956092945]}}, {"xyz": [-0.14756133881345201, -0.0476263749901526, -0.00908489028638626], "rgb": [222, 143, 44], "semantic_id": 3, "pcd_info": {"point_index": 2020}, "mesh_info": {"face_index": 4152, "face_uv": [0.0972915650950061, 0.2847372789047874, 0.6179711560002057]}}, {"xyz": [0.1889448452206146, -0.07320142825799869, -0.2768449744974717], "rgb": [239, 239, 239], "semantic_id": 4, "pcd_info": {"point_index": 762}, "mesh_info": {"face_index": 45979, "face_uv": [0.2504323404941608, 0.17183803206050463, 0.5777296274453347]}}, {"xyz": [-0.18713386120376774, -0.06858641712850189, -0.28324870339698593], "rgb": [223, 144, 45], "semantic_id": 5, "pcd_info": {"point_index": 1664}, "mesh_info": {"face_index": 3212, "face_uv": [0.3511726067758842, 0.04620698789411665, 0.6026204053299992]}}, {"xyz": [0.1888046272935623, 0.07384274985397543, -0.18758143197245758], "rgb": [28, 28, 28], "semantic_id": 6, "pcd_info": {"point_index": 1102}, "mesh_info": {"face_index": 43703, "face_uv": [0.24352327960703496, 0.10908720982837482, 0.6473895105645895]}}, {"xyz": [0.18730274042102013, 0.07176892571181148, 0.0013300004103112828], "rgb": [28, 28, 28], "semantic_id": 7, "pcd_info": {"point_index": 183}, "mesh_info": {"face_index": 44022, "face_uv": [0.6552754310889868, 0.04987035760106344, 0.29485421130994954]}}, {"xyz": [-0.18781911002367585, 0.07843431677391766, -0.17827623752234067], "rgb": [28, 28, 28], "semantic_id": 8, "pcd_info": {"point_index": 444}, "mesh_info": {"face_index": 41108, "face_uv": [0.4010061501141813, 0.2655579001313381, 0.3334359497544793]}}, {"xyz": [-0.18287334128764127, 0.07263068631373915, 0.00164685958144406], "rgb": [29, 29, 29], "semantic_id": 9, "pcd_info": {"point_index": 539}, "mesh_info": {"face_index": 40925, "face_uv": [0.009795751639455334, 0.42844913539798435, 0.5617551129625608]}}, {"xyz": [0.23400199913857167, -0.37690151775873226, -0.13129119632666408], "rgb": [29, 29, 29], "semantic_id": 10, "pcd_info": {"point_index": 1849}, "mesh_info": {"face_index": 49366, "face_uv": [0.025599955995784365, 0.5972372220055461, 0.37716282199866985]}}, {"xyz": [0.15287583619938916, -0.3892769191042217, 0.13389210312598288], "rgb": [29, 29, 29], "semantic_id": 11, "pcd_info": {"point_index": 763}, "mesh_info": {"face_index": 48446, "face_uv": [0.8197146212810346, 0.07693123903852012, 0.103354139680446]}}, {"xyz": [-0.1318016110529242, -0.3908512108661754, 0.1354759954934992], "rgb": [29, 29, 29], "semantic_id": 12, "pcd_info": {"point_index": 190}, "mesh_info": {"face_index": 47189, "face_uv": [0.6278035035411504, 0.003688583989083724, 0.3685079124697671]}}, {"xyz": [-0.21304422236762577, -0.38357720931439554, -0.12961224383699899], "rgb": [28, 28, 28], "semantic_id": 13, "pcd_info": {"point_index": 1905}, "mesh_info": {"face_index": 47807, "face_uv": [0.056702424202965895, 0.31914260632706787, 0.6241549694699661]}}, {"xyz": [-0.00812700018286705, -0.3792284462028758, -0.28401228533200523], "rgb": [29, 29, 29], "semantic_id": 14, "pcd_info": {"point_index": 1837}, "mesh_info": {"face_index": 48757, "face_uv": [0.05997290282860123, 0.6697726360223564, 0.2702544611490425]}}, {"xyz": [0.003298825963640395, -0.1938145840981973, -0.06434159047438759], "rgb": [28, 28, 28], "semantic_id": 15, "pcd_info": {"point_index": 1680}, "mesh_info": {"face_index": 44094, "face_uv": [0.5172121358084808, 0.20402721482834077, 0.2787606493631738]}}, {"xyz": [-0.004315834681516639, -0.3587549924850464, -0.07497686540656145], "rgb": [29, 29, 29], "semantic_id": 16, "pcd_info": {"point_index": 1264}, "mesh_info": {"face_index": 12660, "face_uv": [0.15553213558897, 0.49935522251395914, 0.3451126418970709]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "bc4d7324d2438885f4b35f4029eb1ecf", "keypoints": [{"xyz": [0.24909908431965896, 0.16356205670113555, 0.12989987158062322], "rgb": [153, 146, 129], "semantic_id": 0, "pcd_info": {"point_index": 1038}, "mesh_info": {"face_index": 2051, "face_uv": [0.02464416316814565, 0.7869564128461934, 0.18839942398566084]}}, {"xyz": [-0.20423711679040008, 0.16557377963621756, 0.131618069861424], "rgb": [152, 145, 127], "semantic_id": 1, "pcd_info": {"point_index": 1451}, "mesh_info": {"face_index": 2261, "face_uv": [0.9609233721996213, 0.003622520588746769, 0.03545410721163172]}}, {"xyz": [0.24621092915191745, -0.13823680808108552, -0.012167198810456581], "rgb": [90, 82, 64], "semantic_id": 2, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 13003, "face_uv": [0.10939431788279541, 0.20921088038755742, 0.6813948017296478]}}, {"xyz": [-0.2094423494195316, -0.14452285509828489, -0.025369376935003962], "rgb": [104, 96, 79], "semantic_id": 3, "pcd_info": {"point_index": 1527}, "mesh_info": {"face_index": 1346, "face_uv": [0.6046767003656881, 0.2132905008082935, 0.18203279882601828]}}, {"xyz": [0.2432840429199585, -0.15631496725450214, -0.30948996312137234], "rgb": [155, 147, 132], "semantic_id": 4, "pcd_info": {"point_index": 726}, "mesh_info": {"face_index": 1074, "face_uv": [0.5015222024867444, 0.41623765761496695, 0.08224013989828909]}}, {"xyz": [-0.2035356481258288, -0.15250753366880854, -0.3060617733256503], "rgb": [152, 145, 128], "semantic_id": 5, "pcd_info": {"point_index": 1875}, "mesh_info": {"face_index": 1101, "face_uv": [0.21898980689550993, 0.12857659751420059, 0.65243359559029]}}, {"xyz": [0.28115615424607615, 0.03818394334653141, -0.3139367872137532], "rgb": [140, 133, 116], "semantic_id": 6, "pcd_info": {"point_index": 1459}, "mesh_info": {"face_index": 305, "face_uv": [0.2645988501050368, 0.24211427893804244, 0.49328687095692086]}}, {"xyz": [0.28323730511443557, 0.04199767043831548, 0.13545448205579425], "rgb": [170, 163, 147], "semantic_id": 7, "pcd_info": {"point_index": 355}, "mesh_info": {"face_index": 286, "face_uv": [0.07918532714161138, 0.7999828607420281, 0.12083181211636172]}}, {"xyz": [-0.23851044250236378, 0.035613794246190655, -0.31702124347305105], "rgb": [156, 149, 133], "semantic_id": 8, "pcd_info": {"point_index": 445}, "mesh_info": {"face_index": 1449, "face_uv": [0.4922673245517693, 0.0517494486198823, 0.45598322682834835]}}, {"xyz": [-0.24850636422067313, 0.04147958228414361, 0.13662171829009742], "rgb": [103, 95, 78], "semantic_id": 9, "pcd_info": {"point_index": 227}, "mesh_info": {"face_index": 1472, "face_uv": [0.1369437380238974, 0.13779761635976426, 0.7252586456163401]}}, {"xyz": [0.01674356725192125, -0.45220162083207793, -0.2943661436760317], "rgb": [169, 169, 169], "semantic_id": 10, "pcd_info": {"point_index": 630}, "mesh_info": {"face_index": 123, "face_uv": [0.39971008040892636, 0.03775939652524188, 0.5625305230658316]}}, {"xyz": [0.2318534598838587, -0.45230971924997343, -0.1503968772584264], "rgb": [170, 170, 170], "semantic_id": 11, "pcd_info": {"point_index": 247}, "mesh_info": {"face_index": 91, "face_uv": [0.09392451984054055, 0.008472272587391397, 0.897603207572068]}}, {"xyz": [0.15119819523759992, -0.45231747728940097, 0.10962240297389664], "rgb": [170, 170, 170], "semantic_id": 12, "pcd_info": {"point_index": 1224}, "mesh_info": {"face_index": 59, "face_uv": [0.5440240812479142, 0.006370385560257631, 0.4496055331918282]}}, {"xyz": [-0.11542397967275808, -0.4523349382865467, 0.11039253441555491], "rgb": [170, 170, 170], "semantic_id": 13, "pcd_info": {"point_index": 1650}, "mesh_info": {"face_index": 155, "face_uv": [0.46760081339291076, 0.0016396744412461215, 0.5307595121658432]}}, {"xyz": [-0.19740078306226327, -0.4523182052257211, -0.14563164511446863], "rgb": [169, 169, 169], "semantic_id": 14, "pcd_info": {"point_index": 1807}, "mesh_info": {"face_index": 187, "face_uv": [0.5672238614651012, 0.006173165641189244, 0.42660297289370946]}}, {"xyz": [0.019666711609905407, -0.30895109923437614, -0.09498837866527277], "rgb": [170, 170, 170], "semantic_id": 15, "pcd_info": {"point_index": 49}, "mesh_info": {"face_index": 32, "face_uv": [0.07090241143184178, 0.9068121130198445, 0.02228547554831449]}}, {"xyz": [0.019954713370131327, -0.44881999492645264, -0.07836218018663355], "rgb": [170, 170, 170], "semantic_id": 16, "pcd_info": {"point_index": 507}, "mesh_info": {"face_index": 13, "face_uv": [0.42203622444728545, 0.26077373631445067, 0.3171900392382639]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "5e5d9a681b53ee0d3b8d5c0ebdd194c8", "keypoints": [{"xyz": [0.1262884967971986, 0.4916536639357416, 0.18101750846045983], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 7414, "face_uv": [0.6170690177924192, 0.04773537202012937, 0.3351956101874521]}}, {"xyz": [-0.13169446403871354, 0.4923114062167756, 0.1798873741700152], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 883}, "mesh_info": {"face_index": 15840, "face_uv": [0.2347093514297763, 0.6836690402566624, 0.0816216083135608]}}, {"xyz": [0.1982521043857337, 0.2672085414381108, 0.04683077032630473], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 85}, "mesh_info": {"face_index": 2670, "face_uv": [0.29975180612648905, 0.47467589131931487, 0.22557230255419686]}}, {"xyz": [-0.1938654390355284, 0.2770387767852157, 0.053138867851324934], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1055}, "mesh_info": {"face_index": 11150, "face_uv": [0.3608574707242546, 0.20538924959707122, 0.4337532796786685]}}, {"xyz": [0.17243197560145967, 0.18871925316356286, -0.19993658759327315], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1772}, "mesh_info": {"face_index": 2254, "face_uv": [0.32352603233424126, 0.62364222332909, 0.052831744336668464]}}, {"xyz": [-0.1788553626929776, 0.19460518341488853, -0.18025138440555577], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 810}, "mesh_info": {"face_index": 10318, "face_uv": [0.2886912597598054, 0.6159922242828111, 0.09531651595738401]}}, {"xyz": [0.15160724953738752, -0.17357610592970296, -0.23019692349775456], "rgb": [254, 254, 254], "semantic_id": 10, "pcd_info": {"point_index": 1196}, "mesh_info": {"face_index": 22938, "face_uv": [0.617998460916212, 0.16761385331533102, 0.21438768576845568]}}, {"xyz": [0.23888673604143232, -0.17229377768025578, 0.05452192983261783], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 1866}, "mesh_info": {"face_index": 29930, "face_uv": [0.23161777822857624, 0.7566484065922885, 0.011733815179137673]}}, {"xyz": [-0.002320845145735424, -0.1739410012960434, 0.23820776429740542], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 1383}, "mesh_info": {"face_index": 43897, "face_uv": [0.380104119676488, 0.30834724312355277, 0.3115486371999592]}}, {"xyz": [-0.24498237622379618, -0.17394100129604362, 0.05837367548464145], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 50887, "face_uv": [0.2644185575807827, 0.4134130738020037, 0.3221683686172148]}}, {"xyz": [-0.15062661530116664, -0.17269949393473882, -0.2338159014420605], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 1315}, "mesh_info": {"face_index": 36915, "face_uv": [0.20013011305928677, 0.5702835715200174, 0.229586315420696]}}, {"xyz": [-0.002596953089851306, 0.15861399471759796, -0.04923096232715629], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 1804}, "mesh_info": {"face_index": 52362, "face_uv": [0.28171595048230386, 0.1559631801162248, 0.5623208694014714]}}, {"xyz": [-0.000919691830333691, -0.029972000047564507, -0.021410117638437254], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 1790}, "mesh_info": {"face_index": 1, "face_uv": [0.3029008072463659, 0.49550732333052144, 0.20159186942311264]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "9f7dd8cb949fb0971f6138b700829a47", "keypoints": [{"xyz": [0.18169712549883899, 0.6364131164000839, 0.21123415391051292], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1378}, "mesh_info": {"face_index": 28211, "face_uv": [0.2730612888648069, 0.7122104509100486, 0.014728260225144193]}}, {"xyz": [-0.18278502848583636, 0.6370390055602324, 0.2124507957986863], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 997}, "mesh_info": {"face_index": 28215, "face_uv": [0.978042375482965, 0.006744728495679864, 0.015212896021355502]}}, {"xyz": [0.176740207488756, 0.15449675807397112, 0.10795897219188033], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1944}, "mesh_info": {"face_index": 26573, "face_uv": [0.04990895574615071, 0.0032926011498157987, 0.9467984431040324]}}, {"xyz": [-0.17610937870158036, 0.15270955276309306, 0.09643111141105076], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 728}, "mesh_info": {"face_index": 26247, "face_uv": [0.8690088144429967, 0.12237288480706676, 0.008618300749935165]}}, {"xyz": [0.17487236244721585, 0.12629181518110744, -0.21668560790391522], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 28662, "face_uv": [0.3221815335290119, 0.008523150921499098, 0.6692953155494878]}}, {"xyz": [-0.1771770297472361, 0.12680432586400947, -0.21671099764136215], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 875}, "mesh_info": {"face_index": 28670, "face_uv": [0.7314957004218327, 0.005628544207558474, 0.2628757553706091]}}, {"xyz": [0.20134225182150053, 0.2881620435408923, -0.10060627596121074], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 991}, "mesh_info": {"face_index": 1187, "face_uv": [0.33737780925405025, 0.5158924978668191, 0.14672969287913049]}}, {"xyz": [0.20251662419427247, 0.29539815141866965, 0.13062091694176425], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1426}, "mesh_info": {"face_index": 410, "face_uv": [0.07735736101989467, 0.10325092646325981, 0.8193917125168465]}}, {"xyz": [-0.20303816390691018, 0.2930479027441595, -0.09831342358971296], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 609}, "mesh_info": {"face_index": 958, "face_uv": [0.501297894749964, 0.07186333043252334, 0.42683877481751287]}}, {"xyz": [-0.20147831365792357, 0.29507764742076836, 0.13364972295187183], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 859}, "mesh_info": {"face_index": 75, "face_uv": [0.02719487314779533, 0.8096973499061236, 0.16310777694608097]}}, {"xyz": [0.19908212095153827, -0.11232999712228775, -0.06023970886230101], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 548}, "mesh_info": {"face_index": 18352, "face_uv": [0.2908047211329118, 0.14250694187859347, 0.5666883369884947]}}, {"xyz": [0.12154063888295213, -0.11232999712228797, 0.16513264890333837], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 1036}, "mesh_info": {"face_index": 9931, "face_uv": [0.05856031737061975, 0.8206180725757004, 0.12082161005368176]}}, {"xyz": [-0.12344098969648941, -0.11232999712228775, 0.16429142938618135], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 2020}, "mesh_info": {"face_index": 22896, "face_uv": [0.08980361687555462, 0.30215324376792674, 0.6080431393565187]}}, {"xyz": [-0.19439986717603144, -0.10192409852965167, -0.06307931694268687], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 722}, "mesh_info": {"face_index": 17084, "face_uv": [0.4826683143811532, 0.5104850276944382, 0.00684665792440876]}}, {"xyz": [0.00218531405725933, -0.10199074180498946, -0.20255682062197966], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 1488}, "mesh_info": {"face_index": 5536, "face_uv": [0.28934677574962103, 0.4710028416725902, 0.23965038257778873]}}, {"xyz": [0.0006691383809823842, 0.05831156883864064, -0.00975764117797473], "rgb": [254, 254, 254], "semantic_id": 15, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 4003, "face_uv": [0.8703460926190681, 0.0023298066338975727, 0.12732410074703387]}}, {"xyz": [0.0005746701331381665, -0.08491799980401993, -0.0011773333624937737], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 1485}, "mesh_info": {"face_index": 4425, "face_uv": [0.3645781064855591, 0.4944627096346428, 0.14095918387979808]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "740cc6d4d1c6901eadb91c074e672e22", "keypoints": [{"xyz": [0.1464196531177009, 0.4194074336111149, 0.17035729684196044], "rgb": [200, 49, 0], "semantic_id": 0, "pcd_info": {"point_index": 249}, "mesh_info": {"face_index": 3957, "face_uv": [0.043589718564348866, 0.6931516769837597, 0.2632586044518926]}}, {"xyz": [-0.16373167892934137, 0.4196582197944343, 0.1767118915532655], "rgb": [200, 49, 0], "semantic_id": 1, "pcd_info": {"point_index": 969}, "mesh_info": {"face_index": 4009, "face_uv": [0.09157509921776359, 0.46254553353587696, 0.4458793672463595]}}, {"xyz": [0.1437480943297495, 0.0447997987754325, 0.048164421997230145], "rgb": [225, 225, 200], "semantic_id": 2, "pcd_info": {"point_index": 1760}, "mesh_info": {"face_index": 1646, "face_uv": [0.24852103244067925, 0.18811414921235567, 0.5633648183469703]}}, {"xyz": [-0.16046575167864546, 0.04043495357492355, 0.0580620203959199], "rgb": [224, 224, 199], "semantic_id": 3, "pcd_info": {"point_index": 1990}, "mesh_info": {"face_index": 2581, "face_uv": [0.4918922566531627, 0.267006422556607, 0.24110132079022717]}}, {"xyz": [0.14922530195640785, 0.0430864953291934, -0.21141011256671505], "rgb": [225, 225, 200], "semantic_id": 4, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 1860, "face_uv": [0.5172596783834498, 0.028706940489936033, 0.45403338112661445]}}, {"xyz": [-0.15742238198192315, 0.04232707466958141, -0.21493329327860589], "rgb": [225, 225, 200], "semantic_id": 5, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 2168, "face_uv": [0.13653106436731738, 0.05571335031419263, 0.8077555853184912]}}, {"xyz": [0.19916457623406672, 0.15800493817394057, -0.11438788151100976], "rgb": [35, 35, 35], "semantic_id": 6, "pcd_info": {"point_index": 425}, "mesh_info": {"face_index": 1413, "face_uv": [0.24059534198565258, 0.3051467706209675, 0.4542578873933803]}}, {"xyz": [0.20245730058872036, 0.1591203525655145, 0.04020918048163519], "rgb": [34, 34, 34], "semantic_id": 7, "pcd_info": {"point_index": 287}, "mesh_info": {"face_index": 976, "face_uv": [0.5335024820228477, 0.25338076747137755, 0.21311675050577342]}}, {"xyz": [-0.21036424252684077, 0.15816122008674616, -0.11365404375558086], "rgb": [35, 35, 35], "semantic_id": 8, "pcd_info": {"point_index": 1044}, "mesh_info": {"face_index": 704, "face_uv": [0.37433905592582006, 0.32999443011312235, 0.2956665139610577]}}, {"xyz": [-0.21141967060874572, 0.15890508081885746, 0.0424288290494223], "rgb": [34, 34, 34], "semantic_id": 9, "pcd_info": {"point_index": 1391}, "mesh_info": {"face_index": 208, "face_uv": [0.26681208532104406, 0.2388557302077466, 0.49433218447120897]}}, {"xyz": [0.22795103000193184, -0.2683185170609861, -0.0832338046748506], "rgb": [34, 34, 34], "semantic_id": 10, "pcd_info": {"point_index": 1464}, "mesh_info": {"face_index": 11104, "face_uv": [0.1996149823087189, 0.3269962408270661, 0.4733887768642147]}}, {"xyz": [0.11717750863885873, -0.256715550303775, 0.16572688446509842], "rgb": [35, 35, 35], "semantic_id": 11, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 10061, "face_uv": [0.11476976452461213, 0.7958122048801181, 0.08941803059527001]}}, {"xyz": [-0.1518312279049409, -0.2750129004396411, 0.14868671749387144], "rgb": [35, 35, 35], "semantic_id": 12, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 11185, "face_uv": [0.16868287723128889, 0.5144760325097015, 0.31684109025900975]}}, {"xyz": [-0.21691854119591894, -0.2652467224051851, -0.11549649954453531], "rgb": [35, 35, 35], "semantic_id": 13, "pcd_info": {"point_index": 807}, "mesh_info": {"face_index": 9114, "face_uv": [0.1043314502351397, 0.3979038579207743, 0.4977646918440861]}}, {"xyz": [-0.0009110080944415566, -0.2679932948176811, -0.2621460678937035], "rgb": [35, 35, 35], "semantic_id": 14, "pcd_info": {"point_index": 1500}, "mesh_info": {"face_index": 7840, "face_uv": [0.7275416642932414, 0.04052096912264384, 0.23193736658411482]}}, {"xyz": [-0.004886731888209067, -0.03212831889492291, -0.028081674515597232], "rgb": [35, 35, 35], "semantic_id": 15, "pcd_info": {"point_index": 1263}, "mesh_info": {"face_index": 7462, "face_uv": [0.429012710351397, 0.5053296760333122, 0.06565761361529077]}}, {"xyz": [-0.004809150188731154, -0.2888529896736145, -0.023740080970103605], "rgb": [35, 35, 35], "semantic_id": 16, "pcd_info": {"point_index": 1578}, "mesh_info": {"face_index": 12230, "face_uv": [0.40248189006465246, 0.5355747333375012, 0.06194337659784642]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "ed72205562ef8407d7f7a4c4609b0913", "keypoints": [{"xyz": [0.17183066995971322, 0.5516870021820068, 0.18076036665318668], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 41547, "face_uv": [0.8546850930622715, 0.056359443838529456, 0.08895546309919904]}}, {"xyz": [-0.16732156733813547, 0.5516870021820068, 0.18542539993585838], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 583}, "mesh_info": {"face_index": 41907, "face_uv": [0.12592553305948415, 0.6729137851099897, 0.20116068183052624]}}, {"xyz": [0.17059748498535465, 0.13840638635958857, 0.1567226937925713], "rgb": [217, 141, 59], "semantic_id": 2, "pcd_info": {"point_index": 531}, "mesh_info": {"face_index": 33828, "face_uv": [0.3908482271012908, 0.060345722073840403, 0.5488060508248676]}}, {"xyz": [-0.17262999713420868, 0.1382431664732955, 0.1698553018742328], "rgb": [0, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 538}, "mesh_info": {"face_index": 37592, "face_uv": [0.5423733126623135, 0.037562727949261264, 0.4200639593884251]}}, {"xyz": [0.1689921198674954, 0.10018123700182091, -0.20267810318482793], "rgb": [240, 146, 51], "semantic_id": 4, "pcd_info": {"point_index": 1807}, "mesh_info": {"face_index": 32672, "face_uv": [0.10916723183909396, 0.8568288890812106, 0.03400387907969527]}}, {"xyz": [-0.1614917270305793, 0.09612673608146449, -0.2056657852471786], "rgb": [189, 96, 11], "semantic_id": 5, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 31016, "face_uv": [0.1461429916503057, 0.07590335477839703, 0.7779536535712973]}}, {"xyz": [0.19566377728798212, 0.24967240574667054, -0.0998150035738945], "rgb": [0, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 1836}, "mesh_info": {"face_index": 39423, "face_uv": [0.17394396703734272, 0.4510456956441968, 0.37501033731846056]}}, {"xyz": [0.20284919725805128, 0.24004100263118733, 0.11924703110746998], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 1288}, "mesh_info": {"face_index": 37251, "face_uv": [0.06096771118698734, 0.527967441011864, 0.41106484780114816]}}, {"xyz": [-0.2098760397945566, 0.2575860023498535, -0.09869883362205101], "rgb": [0, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 951}, "mesh_info": {"face_index": 40425, "face_uv": [0.7815038374322698, 0.21240532727696096, 0.006090835290769299]}}, {"xyz": [-0.18805628114054995, 0.24004100263118733, 0.12515459544678775], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 1067}, "mesh_info": {"face_index": 37386, "face_uv": [0.03061342500290558, 0.47864859819001687, 0.49073797680707704]}}, {"xyz": [0.1289076870392313, -0.1887465373383599, -0.2139012761137376], "rgb": [0, 0, 0], "semantic_id": 10, "pcd_info": {"point_index": 2020}, "mesh_info": {"face_index": 7480, "face_uv": [0.2595385088409641, 0.5684761061282189, 0.17198538503081612]}}, {"xyz": [0.22252684886265128, -0.18841693803239545, 0.04546525536318599], "rgb": [0, 0, 0], "semantic_id": 11, "pcd_info": {"point_index": 1794}, "mesh_info": {"face_index": 20800, "face_uv": [0.572251955721421, 0.022120833971512655, 0.40562721030706683]}}, {"xyz": [-0.0017930323302290038, -0.18864527916451723, 0.20866431227758353], "rgb": [0, 0, 0], "semantic_id": 12, "pcd_info": {"point_index": 292}, "mesh_info": {"face_index": 16399, "face_uv": [0.3713751889210441, 0.27902566637365106, 0.34959914470530573]}}, {"xyz": [-0.2267739239118206, -0.18437430881156436, 0.051394042423372754], "rgb": [0, 0, 0], "semantic_id": 13, "pcd_info": {"point_index": 1058}, "mesh_info": {"face_index": 2508, "face_uv": [0.30686150710780286, 0.3096545286732032, 0.383483964218994]}}, {"xyz": [-0.13944599719535966, -0.18748470093535485, -0.20969137984709102], "rgb": [0, 0, 0], "semantic_id": 14, "pcd_info": {"point_index": 1465}, "mesh_info": {"face_index": 11684, "face_uv": [0.003130054868576697, 0.49907238695099165, 0.4977975581804314]}}, {"xyz": [-0.005000953155072707, 0.08737320454081171, 0.04069342256656916], "rgb": [0, 0, 0], "semantic_id": 15, "pcd_info": {"point_index": 314}, "mesh_info": {"face_index": 35905, "face_uv": [0.1526193572531968, 0.7673398939830807, 0.08004074876373371]}}, {"xyz": [-0.0036721632378785736, -0.1000479981303215, -0.02035545058156346], "rgb": [0, 0, 0], "semantic_id": 16, "pcd_info": {"point_index": 2009}, "mesh_info": {"face_index": 990, "face_uv": [0.2990387910598259, 0.5157329241844235, 0.18522828475575057]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "811c349efc40c6feaf288f952624966", "keypoints": [{"xyz": [0.14230884141976613, 0.32004272609210715, 0.14469265224758898], "rgb": [12, 12, 12], "semantic_id": 0, "pcd_info": {"point_index": 883}, "mesh_info": {"face_index": 20925, "face_uv": [0.024821790991277334, 0.6069702871200379, 0.36820792188868523]}}, {"xyz": [-0.15429052822744715, 0.31970362220767357, 0.13961142940643823], "rgb": [11, 11, 11], "semantic_id": 1, "pcd_info": {"point_index": 584}, "mesh_info": {"face_index": 20570, "face_uv": [0.5112289271869944, 0.1995007499145364, 0.2892703228984688]}}, {"xyz": [0.1706676265588497, 0.003125127734141586, 0.01680632086233813], "rgb": [12, 12, 12], "semantic_id": 2, "pcd_info": {"point_index": 1637}, "mesh_info": {"face_index": 17575, "face_uv": [0.6127030083583765, 0.3505419339150339, 0.03675505772658978]}}, {"xyz": [-0.15936893613306857, -0.0021878556271523186, 0.04919572562332858], "rgb": [12, 12, 12], "semantic_id": 3, "pcd_info": {"point_index": 888}, "mesh_info": {"face_index": 16600, "face_uv": [0.031542935902811535, 0.32662785772841224, 0.6418292063687768]}}, {"xyz": [0.166344843250255, -0.011299854205413795, -0.2015935581899495], "rgb": [11, 11, 11], "semantic_id": 4, "pcd_info": {"point_index": 1760}, "mesh_info": {"face_index": 18188, "face_uv": [0.18729051794318113, 0.06780588503272807, 0.7449035970240903]}}, {"xyz": [-0.15500569622599536, -0.02167461457167634, -0.2131346889104574], "rgb": [12, 12, 12], "semantic_id": 5, "pcd_info": {"point_index": 566}, "mesh_info": {"face_index": 18991, "face_uv": [0.01080621363042815, 0.15310327119756492, 0.8360905151720072]}}, {"xyz": [0.20057925970969354, 0.13513265796055138, -0.14021700620651256], "rgb": [29, 29, 29], "semantic_id": 6, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 1198, "face_uv": [0.11292478928693503, 0.6083615646767051, 0.2787136460363607]}}, {"xyz": [0.19628912043051522, 0.13983673644294947, 0.03501590051829839], "rgb": [28, 28, 28], "semantic_id": 7, "pcd_info": {"point_index": 1202}, "mesh_info": {"face_index": 1587, "face_uv": [0.14249772894256046, 0.2506763849558823, 0.6068258861015563]}}, {"xyz": [-0.21224384242184682, 0.13848527351719309, -0.1402159232550066], "rgb": [11, 11, 11], "semantic_id": 8, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 4188, "face_uv": [0.12303363682894766, 0.7070228177950679, 0.16994354537598402]}}, {"xyz": [-0.20827818695837516, 0.14007549437490197, 0.03434303677910555], "rgb": [177, 177, 177], "semantic_id": 9, "pcd_info": {"point_index": 1719}, "mesh_info": {"face_index": 4643, "face_uv": [0.49712392441589937, 0.31903055859314666, 0.18384551699095397]}}, {"xyz": [0.143025204315671, -0.29133913760023883, -0.23569254651167026], "rgb": [172, 172, 172], "semantic_id": 10, "pcd_info": {"point_index": 338}, "mesh_info": {"face_index": 6173, "face_uv": [0.37197490027406405, 0.1279428580815779, 0.5000822416443589]}}, {"xyz": [0.22817469283253833, -0.3250009234816238, 0.0616140137454792], "rgb": [11, 11, 11], "semantic_id": 11, "pcd_info": {"point_index": 1539}, "mesh_info": {"face_index": 10661, "face_uv": [0.72581776770339, 0.03900823073621334, 0.23517400156038543]}}, {"xyz": [0.010996090546947668, -0.32565799355506897, 0.23395798234348486], "rgb": [12, 12, 12], "semantic_id": 12, "pcd_info": {"point_index": 505}, "mesh_info": {"face_index": 9973, "face_uv": [0.1735720228221973, 0.5026997431471414, 0.32372823403066125]}}, {"xyz": [-0.23814640602737622, -0.3354519172170115, 0.09110488236828618], "rgb": [11, 11, 11], "semantic_id": 13, "pcd_info": {"point_index": 169}, "mesh_info": {"face_index": 9639, "face_uv": [0.6271922328788203, 0.11842929361184036, 0.25437847350933374]}}, {"xyz": [-0.17570027791426568, -0.33300252281722637, -0.20818214725206316], "rgb": [12, 12, 12], "semantic_id": 14, "pcd_info": {"point_index": 1883}, "mesh_info": {"face_index": 11488, "face_uv": [0.1696586838168966, 0.7968587269313027, 0.033482589251813834]}}, {"xyz": [-0.0016882713936428317, -0.11472376290512942, -0.02265090410334125], "rgb": [172, 172, 172], "semantic_id": 15, "pcd_info": {"point_index": 886}, "mesh_info": {"face_index": 6584, "face_uv": [0.4523156877590667, 0.27293903834173283, 0.2747452738992009]}}, {"xyz": [-0.0012260221102618277, -0.32093098759651184, -0.015334470666677702], "rgb": [172, 172, 172], "semantic_id": 16, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 6491, "face_uv": [0.5802755704402557, 0.04452906650219917, 0.37519536305754514]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "9aa80e9e5adc8084792de12ccdce67a", "keypoints": [{"xyz": [0.20850288173866385, 0.5960723302681483, 0.19906149562814335], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1932}, "mesh_info": {"face_index": 1613, "face_uv": [0.0019175808289098903, 0.9847966642133492, 0.013285754957739395]}}, {"xyz": [-0.1654250322065173, 0.5996939557871148, 0.22419856061457444], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1557}, "mesh_info": {"face_index": 1652, "face_uv": [0.002991130746794568, 0.0029037903835729684, 0.9941050788696338]}}, {"xyz": [0.20848012830616303, 0.2726248805688404, 0.18831770127592606], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1145}, "mesh_info": {"face_index": 1556, "face_uv": [0.15096938627787196, 0.011443490387091396, 0.8375871233350571]}}, {"xyz": [-0.16500791777332033, 0.2727216965218595, 0.21349948680980702], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1739}, "mesh_info": {"face_index": 1602, "face_uv": [0.8700272806836311, 0.005977777192569696, 0.12399494212379912]}}, {"xyz": [0.18167006827802232, 0.24671605829089316, -0.22752737879068619], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1113}, "mesh_info": {"face_index": 1359, "face_uv": [0.005791575030726051, 0.1585270990947107, 0.8356813258745642]}}, {"xyz": [-0.1939151855125574, 0.24785466893760189, -0.2022762855091811], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1483}, "mesh_info": {"face_index": 1376, "face_uv": [0.08604282528730876, 0.012873337333074478, 0.9010838373796162]}}, {"xyz": [0.19054169301942236, -0.12482562838092592, -0.1757581413763587], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 1157}, "mesh_info": {"face_index": 2346, "face_uv": [0.32549935859100393, 0.3959052221509704, 0.27859541925802556]}}, {"xyz": [0.2080149523147543, -0.12343779123299709, 0.1055194418304366], "rgb": [254, 254, 254], "semantic_id": 11, "pcd_info": {"point_index": 1575}, "mesh_info": {"face_index": 2724, "face_uv": [0.37045873368893556, 0.5136614108057158, 0.1158798555053475]}}, {"xyz": [-0.06513573147108742, -0.12613566746151217, 0.21615656547994516], "rgb": [254, 254, 254], "semantic_id": 12, "pcd_info": {"point_index": 1901}, "mesh_info": {"face_index": 1966, "face_uv": [0.3415448084702073, 0.445027328490907, 0.2134278630388838]}}, {"xyz": [-0.21536776633651789, -0.12573361344434825, 0.0464458859126875], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 1866}, "mesh_info": {"face_index": 2449, "face_uv": [0.050017815038282905, 0.31080965235380387, 0.6391725326079141]}}, {"xyz": [-0.14124388053717896, -0.12190031733888185, -0.22325659790229152], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 82}, "mesh_info": {"face_index": 2140, "face_uv": [0.5563745121542627, 0.27230921977244865, 0.1713162680732887]}}, {"xyz": [0.009479886033277596, 0.23559583993467204, -0.02928778089581563], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 1658}, "mesh_info": {"face_index": 1414, "face_uv": [0.6063660814834974, 0.01805042093097267, 0.37558349758553505]}}, {"xyz": [0.007450455787818666, -0.0898440033197403, -0.013440975639440467], "rgb": [254, 254, 254], "semantic_id": 16, "pcd_info": {"point_index": 1354}, "mesh_info": {"face_index": 166, "face_uv": [0.504923392982866, 0.1595338176359982, 0.3355427893811357]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "60622d74c0712934a5817f81a1efa3cc", "keypoints": [{"xyz": [0.15117110541971343, 0.3681673767070197, 0.22247142738825554], "rgb": [149, 149, 149], "semantic_id": 0, "pcd_info": {"point_index": 616}, "mesh_info": {"face_index": 27128, "face_uv": [0.37634549647767107, 0.019811634076002053, 0.603842869446327]}}, {"xyz": [-0.1518943707094697, 0.36858754473260746, 0.226000294425728], "rgb": [148, 148, 148], "semantic_id": 1, "pcd_info": {"point_index": 1941}, "mesh_info": {"face_index": 31879, "face_uv": [0.12497658191797473, 0.39596114549803635, 0.47906227258398865]}}, {"xyz": [0.16291735526485746, 0.016360285553608023, 0.05285864519476968], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 19157, "face_uv": [0.05463285467708872, 0.5910389386887894, 0.35432820663412706]}}, {"xyz": [-0.16002200728101634, 0.016214243323203537, 0.0542324938339791], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 293}, "mesh_info": {"face_index": 19226, "face_uv": [0.3892696369034222, 0.20362522734943778, 0.40710513574713547]}}, {"xyz": [0.1796052049610288, 0.006013232157684567, -0.3231065296884841], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 18649, "face_uv": [0.7297138141296085, 0.23412171174847252, 0.03616447412191844]}}, {"xyz": [-0.17101385591822285, 0.008773238109200054, -0.3333454525200146], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 920}, "mesh_info": {"face_index": 18581, "face_uv": [0.8486623144057112, 0.059083617247272846, 0.09225406834701638]}}, {"xyz": [0.20230621537871854, 0.09717974193988987, -0.15980079345618758], "rgb": [148, 148, 148], "semantic_id": 6, "pcd_info": {"point_index": 595}, "mesh_info": {"face_index": 20393, "face_uv": [0.15218041796943588, 0.38133210211452273, 0.46648747991604106]}}, {"xyz": [0.20814700424671173, 0.08820040841170157, 0.16903690704903657], "rgb": [149, 149, 149], "semantic_id": 7, "pcd_info": {"point_index": 88}, "mesh_info": {"face_index": 19659, "face_uv": [0.2961680576803455, 0.14695048529047616, 0.5568814570291784]}}, {"xyz": [-0.20438677599976995, 0.09680503675975308, -0.15939230969074258], "rgb": [149, 149, 149], "semantic_id": 8, "pcd_info": {"point_index": 1946}, "mesh_info": {"face_index": 23497, "face_uv": [0.043731192652090134, 0.2899936382339187, 0.6662751691139914]}}, {"xyz": [-0.204586504932867, 0.08973294132810754, 0.16096456508922363], "rgb": [149, 149, 149], "semantic_id": 9, "pcd_info": {"point_index": 1611}, "mesh_info": {"face_index": 24159, "face_uv": [0.19639152169503146, 0.17452974652311123, 0.6290787317818679]}}, {"xyz": [0.20048846745929425, -0.2743474962226127, -0.16038702928113202], "rgb": [254, 254, 254], "semantic_id": 10, "pcd_info": {"point_index": 539}, "mesh_info": {"face_index": 17437, "face_uv": [0.30399003994288337, 0.6309685183649567, 0.06504144169212031]}}, {"xyz": [0.1443032844434322, -0.28806533887493646, 0.07566643175686105], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 1583}, "mesh_info": {"face_index": 17776, "face_uv": [0.8524216450600193, 0.04519373128110233, 0.10238462365887838]}}, {"xyz": [-0.10923053382917419, -0.29054652831366495, 0.10923716913374015], "rgb": [254, 254, 254], "semantic_id": 12, "pcd_info": {"point_index": 933}, "mesh_info": {"face_index": 17971, "face_uv": [0.36263406928096237, 0.20701154150567466, 0.4303543892133626]}}, {"xyz": [-0.2079027404023136, -0.29287591088546955, -0.13380364679143542], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 18265, "face_uv": [0.2410267156563883, 0.10702562907223502, 0.6519476552713767]}}, {"xyz": [0.0012736541149371838, -0.2920113586756009, -0.26971184107845847], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 1014}, "mesh_info": {"face_index": 17351, "face_uv": [0.024014728891107985, 0.7376986186617573, 0.23828665244713507]}}, {"xyz": [-0.0005547409147335647, -0.15017075554294856, -0.08129886434364542], "rgb": [149, 149, 149], "semantic_id": 15, "pcd_info": {"point_index": 1440}, "mesh_info": {"face_index": 14223, "face_uv": [0.15407677914372672, 0.618133521569424, 0.22778969928685006]}}, {"xyz": [0.005443855308204237, -0.26783299446105957, -0.08078852017079097], "rgb": [149, 149, 149], "semantic_id": 16, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 13574, "face_uv": [0.05838997900012594, 0.19347109987268388, 0.7481389211271902]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "f1f670ac53799c18492d9da2668ec34c", "keypoints": [{"xyz": [0.14463621025165493, 0.4355599319761786, 0.17496266486795942], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 758}, "mesh_info": {"face_index": 2380, "face_uv": [0.037812610467877775, 0.3188184161624634, 0.6433689733696588]}}, {"xyz": [-0.1473032472288418, 0.4352681126755234, 0.17048151833467495], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 2501, "face_uv": [0.07316382820073664, 0.2190647552317546, 0.707771416567509]}}, {"xyz": [0.14910657632811355, 0.06824635283916569, 0.08898841285500886], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1301}, "mesh_info": {"face_index": 1160, "face_uv": [0.11977462072137714, 0.8543864051175707, 0.025838974161050028]}}, {"xyz": [-0.16267250590473187, 0.057585012207273856, 0.09231113709863067], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 1686, "face_uv": [0.45340140013357816, 0.5102901365703603, 0.036308463296062486]}}, {"xyz": [0.148822121846664, 0.06623541160555613, -0.17373077858742592], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 331}, "mesh_info": {"face_index": 1272, "face_uv": [0.21767783942661845, 0.6367556625141345, 0.1455664980592484]}}, {"xyz": [-0.15053282565126713, 0.06409521261775208, -0.17820979722958935], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1548}, "mesh_info": {"face_index": 1760, "face_uv": [0.28025409229619797, 0.35371272349573063, 0.3660331842080706]}}, {"xyz": [0.19299393586565505, 0.2309415073170693, -0.1308787038782523], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 938}, "mesh_info": {"face_index": 22, "face_uv": [0.4967808713493339, 0.47102912928814566, 0.03218999936252043]}}, {"xyz": [0.19741812608125514, 0.20690820575067304, 0.04324507419295258], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1666}, "mesh_info": {"face_index": 92, "face_uv": [0.2499367899404121, 0.2400606128823498, 0.5100025971772386]}}, {"xyz": [-0.20126335455066272, 0.2317020883682439, -0.1286110684298546], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1274}, "mesh_info": {"face_index": 258, "face_uv": [0.07035873251748723, 0.43185519496761604, 0.4977860725148961]}}, {"xyz": [-0.20899765876091647, 0.21102240370907543, 0.040181274200663517], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 272, "face_uv": [0.04496017938277295, 0.9136245423330193, 0.04141527828420795]}}, {"xyz": [0.11851026100395225, -0.293059723443336, -0.2207467621543729], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 1022, "face_uv": [0.14986446302112294, 0.564998002788687, 0.28513753419019083]}}, {"xyz": [0.22474624106454089, -0.29499663400396225, 0.025564351105814183], "rgb": [254, 254, 254], "semantic_id": 11, "pcd_info": {"point_index": 1091}, "mesh_info": {"face_index": 952, "face_uv": [0.21171025899361734, 0.6871055122641277, 0.10118422874225412]}}, {"xyz": [0.012435009673684938, -0.29398069234175495, 0.18915012808129428], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 870}, "mesh_info": {"face_index": 897, "face_uv": [0.4079960155964129, 0.1523895395618735, 0.43961444484171386]}}, {"xyz": [-0.22557055656450511, -0.29534070939628954, 0.025316143859813164], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 1119}, "mesh_info": {"face_index": 1118, "face_uv": [0.011241159631920555, 0.7270712122910503, 0.261687628077029]}}, {"xyz": [-0.14282151071743512, -0.29005254427242555, -0.22802935704379035], "rgb": [254, 254, 254], "semantic_id": 14, "pcd_info": {"point_index": 145}, "mesh_info": {"face_index": 1072, "face_uv": [0.14969732059997687, 0.3216458496364147, 0.5286568297636082]}}, {"xyz": [-0.0059017801838324654, -0.05384324030446064, -0.043362178865212986], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 828}, "mesh_info": {"face_index": 480, "face_uv": [0.103327334924598, 0.1306127825547579, 0.7660598825206446]}}, {"xyz": [-0.002635562209272302, -0.26940930793401474, -0.033135815775855004], "rgb": [254, 254, 254], "semantic_id": 16, "pcd_info": {"point_index": 1901}, "mesh_info": {"face_index": 588, "face_uv": [0.5376408257555982, 0.028053142004630976, 0.4343060322397702]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "5ed72ca90351b0c4d5b24cafb84903c7", "keypoints": [{"xyz": [0.13507132604136687, 0.5114865100590167, 0.16693570630110255], "rgb": [50, 50, 50], "semantic_id": 0, "pcd_info": {"point_index": 1970}, "mesh_info": {"face_index": 1827, "face_uv": [0.31486253878414117, 0.3607226774521882, 0.3244147837636702]}}, {"xyz": [-0.13574239298773405, 0.5163033603560903, 0.1747200106099538], "rgb": [51, 51, 51], "semantic_id": 1, "pcd_info": {"point_index": 2025}, "mesh_info": {"face_index": 2724, "face_uv": [0.20817210533716646, 0.44388733444330886, 0.3479405602195252]}}, {"xyz": [0.13081432904101736, 0.08746316722694325, 0.0450153209513493], "rgb": [51, 51, 51], "semantic_id": 2, "pcd_info": {"point_index": 1377}, "mesh_info": {"face_index": 23450, "face_uv": [0.04557183358310907, 0.041406349166937716, 0.9130218172499553]}}, {"xyz": [-0.13293908490770712, 0.0831787892605762, 0.04009912549568817], "rgb": [50, 50, 50], "semantic_id": 3, "pcd_info": {"point_index": 34}, "mesh_info": {"face_index": 23471, "face_uv": [0.0024190944205180133, 0.03470984028570443, 0.962871065293774]}}, {"xyz": [0.12457726257197067, 0.04584892514613059, -0.20275716730557236], "rgb": [51, 51, 51], "semantic_id": 4, "pcd_info": {"point_index": 1863}, "mesh_info": {"face_index": 23732, "face_uv": [0.0706472558528544, 0.3518939587339858, 0.5774587854131602]}}, {"xyz": [-0.11977025491928682, 0.05256091768425941, -0.20226904348952313], "rgb": [51, 51, 51], "semantic_id": 5, "pcd_info": {"point_index": 1930}, "mesh_info": {"face_index": 23599, "face_uv": [0.11201590832959067, 0.8140192260247887, 0.07396486564562066]}}, {"xyz": [0.17897415033114006, 0.2246247202942575, -0.16234306766539008], "rgb": [51, 51, 51], "semantic_id": 6, "pcd_info": {"point_index": 1147}, "mesh_info": {"face_index": 28598, "face_uv": [0.29372250230147007, 0.5889229941786088, 0.11735450351992173]}}, {"xyz": [0.17913682949245657, 0.20814597739955643, 0.004486348892777348], "rgb": [50, 50, 50], "semantic_id": 7, "pcd_info": {"point_index": 1878}, "mesh_info": {"face_index": 28170, "face_uv": [0.2665080499522948, 0.5246244906001244, 0.2088674594475799]}}, {"xyz": [-0.1737522303432608, 0.22465300559997559, -0.15890542010487618], "rgb": [51, 51, 51], "semantic_id": 8, "pcd_info": {"point_index": 1628}, "mesh_info": {"face_index": 32105, "face_uv": [0.6023203233771782, 0.025283380352611292, 0.3723962962702104]}}, {"xyz": [-0.18099294587467243, 0.2062244312810968, 0.006466836586253414], "rgb": [51, 51, 51], "semantic_id": 9, "pcd_info": {"point_index": 883}, "mesh_info": {"face_index": 31959, "face_uv": [0.3282932745963405, 0.30371836626709514, 0.3679883591365662]}}, {"xyz": [0.13469369621986246, -0.20547899603843733, -0.2013339078273852], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 24024, "face_uv": [0.26051790353644266, 0.12142113488924426, 0.6180609615743152]}}, {"xyz": [0.20425927813927142, -0.20547699928283691, 0.07253838664888938], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 83}, "mesh_info": {"face_index": 24729, "face_uv": [0.2755653891585459, 0.07729852233668331, 0.6471360885047708]}}, {"xyz": [-0.004401256819974553, -0.20547699928283736, 0.21782775746498434], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 1556}, "mesh_info": {"face_index": 25433, "face_uv": [0.11192925592352895, 0.5164908090754088, 0.37157993500106445]}}, {"xyz": [-0.2191792464931688, -0.20547699928283736, 0.04024134890939454], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 26843, "face_uv": [0.21487837161619894, 0.23041666724640442, 0.5547049611373988]}}, {"xyz": [-0.1307651988629462, -0.20547699928283691, -0.2189206193251723], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 363}, "mesh_info": {"face_index": 26136, "face_uv": [0.08589696781929211, 0.35531200861334666, 0.5587910235673612]}}, {"xyz": [0.0038664753062370716, -0.01949413912905773, -0.03641168939919659], "rgb": [51, 51, 51], "semantic_id": 15, "pcd_info": {"point_index": 362}, "mesh_info": {"face_index": 772, "face_uv": [0.4546650682829446, 0.005533343726222167, 0.5398015879908391]}}, {"xyz": [0.001165739761929685, -0.21939100325107586, -0.023042103391161417], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 1422}, "mesh_info": {"face_index": 322, "face_uv": [0.1481885786383724, 0.5936170339172371, 0.25819438744439105]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "79850e4ff6e43e6b3dfa4373373135f6", "keypoints": [{"xyz": [0.17852122289853156, 0.3372527745231866, 0.14002596756797536], "rgb": [25, 25, 25], "semantic_id": 0, "pcd_info": {"point_index": 475}, "mesh_info": {"face_index": 12734, "face_uv": [0.5272891169590637, 0.08298632848887787, 0.3897245545520562]}}, {"xyz": [-0.17154673645425011, 0.33484429359009593, 0.1369278438007231], "rgb": [25, 25, 25], "semantic_id": 1, "pcd_info": {"point_index": 1042}, "mesh_info": {"face_index": 12748, "face_uv": [0.14457397139432449, 0.03813727097004095, 0.8172887576356319]}}, {"xyz": [0.21341146533563193, 0.0021636693078423974, 0.05486245495754716], "rgb": [111, 111, 111], "semantic_id": 2, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 8319, "face_uv": [0.31770055347172693, 0.4235576407983701, 0.25874180572990024]}}, {"xyz": [-0.21644221034752378, 0.0057636672404592915, 0.06443789721323512], "rgb": [111, 111, 111], "semantic_id": 3, "pcd_info": {"point_index": 131}, "mesh_info": {"face_index": 6030, "face_uv": [0.16467921688179515, 0.043781875175928325, 0.7915389079422758]}}, {"xyz": [0.20006345608906323, 0.06045415820359645, -0.2836085767312462], "rgb": [25, 25, 25], "semantic_id": 4, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 12286, "face_uv": [0.49498777235231506, 0.17878444881410846, 0.32622777883357623]}}, {"xyz": [-0.2013542277749737, 0.05837015987460159, -0.28504578649849077], "rgb": [26, 26, 26], "semantic_id": 5, "pcd_info": {"point_index": 1759}, "mesh_info": {"face_index": 12221, "face_uv": [0.28200607703084724, 0.4597689757400074, 0.25822494722914563]}}, {"xyz": [0.23456134929475864, 0.19615050460511263, -0.16388989186012437], "rgb": [112, 112, 112], "semantic_id": 6, "pcd_info": {"point_index": 243}, "mesh_info": {"face_index": 7149, "face_uv": [0.09543710690569478, 0.5288613030284478, 0.3757015900658582]}}, {"xyz": [0.2153653728943804, 0.18763308026739045, 0.08949529076678664], "rgb": [112, 112, 112], "semantic_id": 7, "pcd_info": {"point_index": 1539}, "mesh_info": {"face_index": 7069, "face_uv": [0.47169150438716406, 0.40329981480071486, 0.12500868081212133]}}, {"xyz": [-0.22669358592971386, 0.20503369890830214, -0.15815689312508885], "rgb": [111, 111, 111], "semantic_id": 8, "pcd_info": {"point_index": 1083}, "mesh_info": {"face_index": 6167, "face_uv": [0.037781983854821295, 0.2510581176953713, 0.7111598984498073]}}, {"xyz": [-0.2123551946440924, 0.19162238814149535, 0.08392545422819175], "rgb": [111, 111, 111], "semantic_id": 9, "pcd_info": {"point_index": 553}, "mesh_info": {"face_index": 6284, "face_uv": [0.0021796155069722842, 0.986547388247178, 0.011272996245849275]}}, {"xyz": [0.25041569424683774, -0.29251597918523764, -0.12906080324826533], "rgb": [112, 112, 112], "semantic_id": 10, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 9317, "face_uv": [0.5668397399106789, 0.212751884119643, 0.22040837596967866]}}, {"xyz": [0.15067348522255503, -0.2918121169937231, 0.1765033575626936], "rgb": [111, 111, 111], "semantic_id": 11, "pcd_info": {"point_index": 1221}, "mesh_info": {"face_index": 9083, "face_uv": [0.06360244513019433, 0.09640423434877349, 0.8399933205210308]}}, {"xyz": [-0.15966368906739467, -0.28818813618990413, 0.16954610670405923], "rgb": [111, 111, 111], "semantic_id": 12, "pcd_info": {"point_index": 1996}, "mesh_info": {"face_index": 8794, "face_uv": [0.05594768324834137, 0.543841706707452, 0.40021061004420605]}}, {"xyz": [-0.2530095118424466, -0.29777035047588996, -0.12947608112605533], "rgb": [111, 111, 111], "semantic_id": 13, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 9823, "face_uv": [0.4727673916104689, 0.25203530648169536, 0.27519730190783476]}}, {"xyz": [-0.004266778494531859, -0.30803765354974866, -0.3127992576886999], "rgb": [112, 112, 112], "semantic_id": 14, "pcd_info": {"point_index": 239}, "mesh_info": {"face_index": 9639, "face_uv": [0.14289357372861788, 0.07421023244030947, 0.7828961938310728]}}, {"xyz": [0.0031204614302446365, -0.09217219294108936, -0.05345437336847292], "rgb": [112, 112, 112], "semantic_id": 15, "pcd_info": {"point_index": 189}, "mesh_info": {"face_index": 8351, "face_uv": [0.7401936180038462, 0.22528319399011285, 0.0345231880060446]}}, {"xyz": [-0.000741107009525014, -0.31457005758960177, -0.02274000085890293], "rgb": [111, 111, 111], "semantic_id": 16, "pcd_info": {"point_index": 47}, "mesh_info": {"face_index": 10744, "face_uv": [0.5310871764413868, 0.42483820042803516, 0.0440746231305779]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "d619fd50c4d0fb46dea83bbf303af433", "keypoints": [{"xyz": [0.11911060921722283, 0.38074103401458814, 0.08260374994867492], "rgb": [9, 136, 183], "semantic_id": 0, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 4210, "face_uv": [0.030843362073325078, 0.3720304483475617, 0.5971261895791082]}}, {"xyz": [-0.10906816289099996, 0.3871451972649398, 0.08521334790812163], "rgb": [10, 137, 184], "semantic_id": 1, "pcd_info": {"point_index": 255}, "mesh_info": {"face_index": 4380, "face_uv": [0.2553932130575596, 0.03589826204887897, 0.7087085248935664]}}, {"xyz": [0.15509439435452144, 0.015047052365159352, 0.0020618969056689362], "rgb": [82, 87, 91], "semantic_id": 2, "pcd_info": {"point_index": 1540}, "mesh_info": {"face_index": 3312, "face_uv": [0.24384609158512885, 0.665902555801362, 0.09025135261354579]}}, {"xyz": [-0.14018530947202854, 0.014362020515333862, 0.01083457532771459], "rgb": [81, 86, 90], "semantic_id": 3, "pcd_info": {"point_index": 1751}, "mesh_info": {"face_index": 1909, "face_uv": [0.2638481925334036, 0.34531222510736714, 0.3908395823592225]}}, {"xyz": [0.14030105351357378, 0.008470109138752013, -0.264825779589533], "rgb": [82, 87, 91], "semantic_id": 4, "pcd_info": {"point_index": 12}, "mesh_info": {"face_index": 2321, "face_uv": [0.22471007877995003, 0.4368668853215055, 0.3384230358985451]}}, {"xyz": [-0.1530754225497365, 0.01600657866390276, -0.2463223660087459], "rgb": [82, 87, 91], "semantic_id": 5, "pcd_info": {"point_index": 1309}, "mesh_info": {"face_index": 2449, "face_uv": [0.28080165107569316, 0.4356789794312543, 0.2835193694930539]}}, {"xyz": [0.1824878752856198, 0.17335000634193398, -0.18345396291519195], "rgb": [57, 57, 57], "semantic_id": 6, "pcd_info": {"point_index": 236}, "mesh_info": {"face_index": 16834, "face_uv": [0.15033430777327306, 0.3982859710014226, 0.4513797212253031]}}, {"xyz": [0.1724834907550088, 0.1733500063419342, -0.032977797505280626], "rgb": [58, 58, 58], "semantic_id": 7, "pcd_info": {"point_index": 1868}, "mesh_info": {"face_index": 16690, "face_uv": [0.32467582241138293, 0.19632053970698002, 0.4790036378816371]}}, {"xyz": [-0.17937109511170046, 0.16731294497260896, -0.18463954416678707], "rgb": [58, 58, 58], "semantic_id": 8, "pcd_info": {"point_index": 2004}, "mesh_info": {"face_index": 10194, "face_uv": [0.109268461326701, 0.26952253581727476, 0.6212090028560252]}}, {"xyz": [-0.19099725133666356, 0.17335000634193443, -0.035554255186874384], "rgb": [58, 58, 58], "semantic_id": 9, "pcd_info": {"point_index": 1032}, "mesh_info": {"face_index": 10098, "face_uv": [0.2561163909038681, 0.6824292382642945, 0.06145437083183867]}}, {"xyz": [0.23049857323555503, -0.31214111211085904, -0.1457838473336873], "rgb": [58, 58, 58], "semantic_id": 10, "pcd_info": {"point_index": 1347}, "mesh_info": {"face_index": 13132, "face_uv": [0.44683073596385664, 0.11150164214095593, 0.4416676218951878]}}, {"xyz": [0.1386073272428221, -0.3105254087636964, 0.1136418017413828], "rgb": [57, 57, 57], "semantic_id": 11, "pcd_info": {"point_index": 2026}, "mesh_info": {"face_index": 13800, "face_uv": [0.18879027951788524, 0.3611199777656769, 0.45008974271643704]}}, {"xyz": [-0.1427921101069109, -0.3133450009898133, 0.12785714615434327], "rgb": [57, 57, 57], "semantic_id": 12, "pcd_info": {"point_index": 34}, "mesh_info": {"face_index": 4190, "face_uv": [0.8416362267986846, 0.12969454868493582, 0.028669224516378995]}}, {"xyz": [-0.22480480186209428, -0.3064936016621418, -0.13344257068001694], "rgb": [58, 58, 58], "semantic_id": 13, "pcd_info": {"point_index": 398}, "mesh_info": {"face_index": 12976, "face_uv": [0.3986075607322376, 0.5286539510748401, 0.07273848819292253]}}, {"xyz": [0.005470776566719793, -0.3112076296908022, -0.31869540213590974], "rgb": [58, 58, 58], "semantic_id": 14, "pcd_info": {"point_index": 335}, "mesh_info": {"face_index": 13511, "face_uv": [0.2203585592640093, 0.49665560509714074, 0.2829858356388503]}}, {"xyz": [0.003888394368152026, -0.1313440257375279, -0.09913903004605085], "rgb": [58, 58, 58], "semantic_id": 15, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 13611, "face_uv": [0.07729664335157684, 0.5692373043068261, 0.3534660523415972]}}, {"xyz": [0.002357545338144071, -0.28934352178164957, -0.06440179824012238], "rgb": [189, 189, 189], "semantic_id": 16, "pcd_info": {"point_index": 757}, "mesh_info": {"face_index": 12396, "face_uv": [0.13643522743572836, 0.7795635190699597, 0.08400125349431325]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "f441e4f7f123bde3cd7677199133326a", "keypoints": [{"xyz": [0.10288226630059766, 0.36942270529542, 0.12590891874134835], "rgb": [101, 139, 159], "semantic_id": 0, "pcd_info": {"point_index": 1593}, "mesh_info": {"face_index": 473, "face_uv": [0.7537000771122639, 0.2060123952561017, 0.04028752763163416]}}, {"xyz": [-0.13139006682911758, 0.3707798703766001, 0.12879898586610983], "rgb": [103, 134, 154], "semantic_id": 1, "pcd_info": {"point_index": 449}, "mesh_info": {"face_index": 636, "face_uv": [0.10820890509619921, 0.4244328662188414, 0.4673582286849599]}}, {"xyz": [0.12967456196105587, 0.10093784582374599, 0.09175325722667663], "rgb": [105, 139, 160], "semantic_id": 2, "pcd_info": {"point_index": 95}, "mesh_info": {"face_index": 1605, "face_uv": [0.39922332914668296, 0.19314433129428157, 0.407632339559035]}}, {"xyz": [-0.17962940620705214, 0.10011714917189019, 0.07023335153025653], "rgb": [99, 134, 153], "semantic_id": 3, "pcd_info": {"point_index": 1876}, "mesh_info": {"face_index": 1979, "face_uv": [0.05352463890020908, 0.589361886562249, 0.3571134745375444]}}, {"xyz": [0.13405673993638467, 0.09939265117814133, -0.19155773915431906], "rgb": [105, 140, 160], "semantic_id": 4, "pcd_info": {"point_index": 940}, "mesh_info": {"face_index": 1895, "face_uv": [0.10667899400164384, 0.4498336531489044, 0.44348735284945273]}}, {"xyz": [-0.17463095543675267, 0.09863123198189161, -0.17816561724566743], "rgb": [103, 134, 154], "semantic_id": 5, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 2815, "face_uv": [0.05624313596383814, 0.6689075304618561, 0.27484933357430597]}}, {"xyz": [0.04891055764260518, -0.31218400597572327, -0.2791303944004198], "rgb": [246, 251, 228], "semantic_id": 10, "pcd_info": {"point_index": 1346}, "mesh_info": {"face_index": 5403, "face_uv": [0.32577030092633436, 0.26666213939877437, 0.40756755967489133]}}, {"xyz": [0.22518396035999827, -0.31218400597572327, -0.0518101835916111], "rgb": [246, 250, 227], "semantic_id": 11, "pcd_info": {"point_index": 982}, "mesh_info": {"face_index": 5195, "face_uv": [0.4327004470652639, 0.5404745502530099, 0.026825002681726086]}}, {"xyz": [0.05036929475003223, -0.31218400597572327, 0.18516754961561613], "rgb": [246, 251, 228], "semantic_id": 12, "pcd_info": {"point_index": 416}, "mesh_info": {"face_index": 5907, "face_uv": [0.4185191464654108, 0.47802777231802174, 0.10345308121656759]}}, {"xyz": [-0.23860617793157055, -0.31218400597572327, 0.09647904482288669], "rgb": [246, 251, 228], "semantic_id": 13, "pcd_info": {"point_index": 1373}, "mesh_info": {"face_index": 5808, "face_uv": [0.36806854590660976, 0.585349477823773, 0.04658197626961721]}}, {"xyz": [-0.23337835224504277, -0.31218400597572327, -0.19724053250917034], "rgb": [246, 251, 228], "semantic_id": 14, "pcd_info": {"point_index": 1531}, "mesh_info": {"face_index": 5556, "face_uv": [0.05952028275940958, 0.43315220114357034, 0.5073275160970201]}}, {"xyz": [-0.01962263840377443, 0.03384237463558182, -0.07070628604751095], "rgb": [163, 163, 170], "semantic_id": 15, "pcd_info": {"point_index": 1227}, "mesh_info": {"face_index": 5104, "face_uv": [0.8949150758693184, 0.087739851924026, 0.017345072206658787]}}, {"xyz": [-0.021224574784603337, -0.242996007204056, -0.0611009281470305], "rgb": [246, 251, 228], "semantic_id": 16, "pcd_info": {"point_index": 1166}, "mesh_info": {"face_index": 4070, "face_uv": [0.5683181903676047, 0.23182983215985387, 0.19985197747254238]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "3919e93cc1f3bf5bd7f7a4c4609b0913", "keypoints": [{"xyz": [0.12804595237619415, 0.3695828642720198, 0.1471484566200352], "rgb": [34, 34, 34], "semantic_id": 0, "pcd_info": {"point_index": 1247}, "mesh_info": {"face_index": 56069, "face_uv": [0.09236994279186601, 0.47864219789702056, 0.4289878593111131]}}, {"xyz": [-0.11460830433627225, 0.3771745050506998, 0.15115438257208194], "rgb": [35, 35, 35], "semantic_id": 1, "pcd_info": {"point_index": 2015}, "mesh_info": {"face_index": 54099, "face_uv": [0.51100843559404, 0.16244694206192425, 0.3265446223440359]}}, {"xyz": [0.13818998234963836, -0.03392855026594632, 0.07016287651001783], "rgb": [160, 217, 119], "semantic_id": 2, "pcd_info": {"point_index": 1869}, "mesh_info": {"face_index": 3824, "face_uv": [0.3250302064046448, 0.5053522696848524, 0.16961752391052345]}}, {"xyz": [-0.13265479290891657, -0.03566928380443102, 0.08025188337852404], "rgb": [175, 231, 133], "semantic_id": 3, "pcd_info": {"point_index": 97}, "mesh_info": {"face_index": 7095, "face_uv": [0.3022953257660429, 0.24198434269616972, 0.4557203315378068]}}, {"xyz": [0.15705038804664942, -0.035013324005707114, -0.1923663388571041], "rgb": [141, 201, 101], "semantic_id": 4, "pcd_info": {"point_index": 1520}, "mesh_info": {"face_index": 960, "face_uv": [0.158018262527845, 0.10650203878032881, 0.7354796986918312]}}, {"xyz": [-0.1498706670595938, -0.0342538778589887, -0.19404180111611435], "rgb": [186, 244, 148], "semantic_id": 5, "pcd_info": {"point_index": 1499}, "mesh_info": {"face_index": 7286, "face_uv": [0.7405071864907251, 0.2273018985065989, 0.032190915002679336]}}, {"xyz": [0.2174357387749158, 0.07563060619223894, -0.22143876339781776], "rgb": [35, 35, 35], "semantic_id": 6, "pcd_info": {"point_index": 1546}, "mesh_info": {"face_index": 147314, "face_uv": [0.10173052394290408, 0.012170920760190614, 0.886098555296906]}}, {"xyz": [0.19915034823184105, 0.12729249848374957, -0.028108149154987494], "rgb": [35, 35, 35], "semantic_id": 7, "pcd_info": {"point_index": 670}, "mesh_info": {"face_index": 148790, "face_uv": [0.7658177877309453, 0.008863448864473617, 0.22531876340458182]}}, {"xyz": [-0.21496181108022297, 0.07612610727107594, -0.22081698509134973], "rgb": [34, 34, 34], "semantic_id": 8, "pcd_info": {"point_index": 330}, "mesh_info": {"face_index": 121031, "face_uv": [0.24807084583838174, 0.014019500502613802, 0.7379096536590036]}}, {"xyz": [-0.1915834121905586, 0.1260898986475334, -0.01921854167027859], "rgb": [35, 35, 35], "semantic_id": 9, "pcd_info": {"point_index": 1763}, "mesh_info": {"face_index": 125256, "face_uv": [0.040493504616630066, 0.36290398131284557, 0.5966025140705252]}}, {"xyz": [0.1051690893420245, -0.37548179058963904, -0.2440830511405464], "rgb": [35, 35, 35], "semantic_id": 10, "pcd_info": {"point_index": 1199}, "mesh_info": {"face_index": 98093, "face_uv": [0.1355622553837521, 0.776004397203914, 0.08843334741233402]}}, {"xyz": [0.21285572055201088, -0.37361473530308587, -0.018859325378405442], "rgb": [35, 35, 35], "semantic_id": 11, "pcd_info": {"point_index": 1629}, "mesh_info": {"face_index": 101667, "face_uv": [0.4435219830578218, 0.3949052229084307, 0.1615727940337477]}}, {"xyz": [0.01736295523187811, -0.3744099092641773, 0.15375930768360485], "rgb": [35, 35, 35], "semantic_id": 12, "pcd_info": {"point_index": 87}, "mesh_info": {"face_index": 108199, "face_uv": [0.4276954942706774, 0.22622346309849176, 0.34608104263083095]}}, {"xyz": [-0.17320100975836838, -0.37317662291402676, 0.013812905326664598], "rgb": [35, 35, 35], "semantic_id": 13, "pcd_info": {"point_index": 247}, "mesh_info": {"face_index": 91448, "face_uv": [0.20455726806569674, 0.019407316994597135, 0.7760354149397081]}}, {"xyz": [-0.12605355150214181, -0.37380857322094707, -0.20251945496095344], "rgb": [35, 35, 35], "semantic_id": 14, "pcd_info": {"point_index": 1582}, "mesh_info": {"face_index": 95092, "face_uv": [0.06801856755415496, 0.4644286300403152, 0.4675528024055453]}}, {"xyz": [0.0035508761101477604, -0.0957712748694064, -0.06908854866142278], "rgb": [170, 160, 158], "semantic_id": 15, "pcd_info": {"point_index": 607}, "mesh_info": {"face_index": 28368, "face_uv": [0.2698761952897849, 0.14906818291203786, 0.5810556217981813]}}, {"xyz": [0.01063844790775581, -0.30359500646591187, -0.05862349029549829], "rgb": [35, 35, 35], "semantic_id": 16, "pcd_info": {"point_index": 858}, "mesh_info": {"face_index": 27753, "face_uv": [0.24161205377770234, 0.325437329315479, 0.4329506169068187]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "66683c677e7b40593c2e50348f23d3d", "keypoints": [{"xyz": [0.17428534099564308, 0.42470760339316727, 0.16362800783357823], "rgb": [112, 112, 112], "semantic_id": 0, "pcd_info": {"point_index": 664}, "mesh_info": {"face_index": 2503, "face_uv": [0.3086544845473717, 0.03792081415694704, 0.6534247012956812]}}, {"xyz": [-0.17401731229157463, 0.4271483817696967, 0.16775504745929604], "rgb": [111, 111, 111], "semantic_id": 1, "pcd_info": {"point_index": 18}, "mesh_info": {"face_index": 1226, "face_uv": [0.1283186452795279, 0.32721453171747483, 0.5444668230029969]}}, {"xyz": [0.14451646912243704, 0.046356279958422064, 0.030798418712908893], "rgb": [118, 116, 111], "semantic_id": 2, "pcd_info": {"point_index": 667}, "mesh_info": {"face_index": 2345, "face_uv": [0.8814952097477962, 0.043032908361193646, 0.07547188189100917]}}, {"xyz": [-0.1378337975635287, 0.04414034082773499, 0.035526041407495934], "rgb": [119, 117, 111], "semantic_id": 3, "pcd_info": {"point_index": 1330}, "mesh_info": {"face_index": 1091, "face_uv": [0.6188072288946928, 0.054878700470857585, 0.32631407063445217]}}, {"xyz": [0.14098255049406877, 0.07905915994256107, -0.2246301085079192], "rgb": [112, 112, 112], "semantic_id": 4, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 2256, "face_uv": [0.33546316025789163, 0.3173968711426393, 0.34713996859946905]}}, {"xyz": [-0.1443460045117197, 0.07899985057718073, -0.22410781787601786], "rgb": [111, 111, 111], "semantic_id": 5, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 980, "face_uv": [0.17730392964206507, 0.4701630348941069, 0.35253303546382786]}}, {"xyz": [0.20208564701632808, 0.22557085392580012, -0.11569413212190804], "rgb": [28, 28, 28], "semantic_id": 6, "pcd_info": {"point_index": 739}, "mesh_info": {"face_index": 3113, "face_uv": [0.5411147191988652, 0.4284725306445022, 0.030412750156632046]}}, {"xyz": [0.19536391448010437, 0.21525218436853333, 0.06624327268108408], "rgb": [28, 28, 28], "semantic_id": 7, "pcd_info": {"point_index": 16}, "mesh_info": {"face_index": 3146, "face_uv": [0.5168430262039385, 0.16371441384632385, 0.3194425599497373]}}, {"xyz": [-0.2087154512390503, 0.22611164215636537, -0.11499838601681277], "rgb": [28, 28, 28], "semantic_id": 8, "pcd_info": {"point_index": 479}, "mesh_info": {"face_index": 1827, "face_uv": [0.005966841397720705, 0.446234015982637, 0.5477991426196416]}}, {"xyz": [-0.19552539286591197, 0.21284414314357414, 0.0697043770754412], "rgb": [29, 29, 29], "semantic_id": 9, "pcd_info": {"point_index": 1528}, "mesh_info": {"face_index": 1860, "face_uv": [0.03436919253873788, 0.4655193314186175, 0.5001114760426457]}}, {"xyz": [-0.009190070322028787, -0.27241348392817866, -0.24783252743712503], "rgb": [111, 111, 111], "semantic_id": 10, "pcd_info": {"point_index": 1787}, "mesh_info": {"face_index": 9, "face_uv": [0.07946912392826176, 0.17674336540857122, 0.7437875106631666]}}, {"xyz": [0.20192100317912454, -0.2757452231340909, -0.08776694890499004], "rgb": [112, 112, 112], "semantic_id": 11, "pcd_info": {"point_index": 1488}, "mesh_info": {"face_index": 756, "face_uv": [0.6010943357689514, 0.32915022864617877, 0.06975543558486971]}}, {"xyz": [0.13097006582827797, -0.2764608947984135, 0.16255453753318305], "rgb": [112, 112, 112], "semantic_id": 12, "pcd_info": {"point_index": 1372}, "mesh_info": {"face_index": 565, "face_uv": [0.30788510039503203, 0.15589124166370263, 0.5362236579412656]}}, {"xyz": [-0.13391954134267092, -0.2755980005625196, 0.16467793406733466], "rgb": [111, 111, 111], "semantic_id": 13, "pcd_info": {"point_index": 1522}, "mesh_info": {"face_index": 378, "face_uv": [0.433585356135624, 0.44889675651928246, 0.11751788734509264]}}, {"xyz": [-0.21055201250012134, -0.27503711006377674, -0.10078143075617385], "rgb": [111, 111, 111], "semantic_id": 14, "pcd_info": {"point_index": 861}, "mesh_info": {"face_index": 192, "face_uv": [0.07154297476851275, 0.6393534805598649, 0.28910354467162197]}}, {"xyz": [-0.002808764509207806, -0.06556619263119934, -0.032109152698937216], "rgb": [112, 112, 112], "semantic_id": 15, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 3520, "face_uv": [0.6900129236085251, 0.10513351097568371, 0.20485356541579788]}}, {"xyz": [0.0029112976595924295, -0.2333056587401126, 0.0008585387807376055], "rgb": [111, 111, 111], "semantic_id": 16, "pcd_info": {"point_index": 1164}, "mesh_info": {"face_index": 3539, "face_uv": [0.6362553940717579, 0.011713454571684052, 0.3520311513565503]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "30f077da43f30e64c862eec8232fff1e", "keypoints": [{"xyz": [0.18772976692156546, 0.5624995481499309, 0.15883689734847556], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 455}, "mesh_info": {"face_index": 8395, "face_uv": [0.21704269691204706, 0.06756735681304568, 0.715389946274907]}}, {"xyz": [-0.1341581506763001, 0.5625266911069425, 0.18944865754806217], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 8771, "face_uv": [0.12974175939040739, 0.8344596465965325, 0.03579859401306003]}}, {"xyz": [0.1687166926045398, 0.14331903208849717, 0.06762491097814638], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1693}, "mesh_info": {"face_index": 1846, "face_uv": [0.012454870250302095, 0.5477068275596227, 0.4398383021900755]}}, {"xyz": [-0.15010633035161128, 0.14320478764488143, 0.09992647720096476], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 220}, "mesh_info": {"face_index": 3056, "face_uv": [0.3630074998348749, 0.43703087333439933, 0.19996162683072594]}}, {"xyz": [0.11933920766487405, 0.14880701746878833, -0.20476073717603108], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 690}, "mesh_info": {"face_index": 5208, "face_uv": [0.17111154879317522, 0.6614212489640339, 0.16746720224279166]}}, {"xyz": [-0.19737737579085593, 0.14909480938975594, -0.17290718170003191], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 785}, "mesh_info": {"face_index": 5454, "face_uv": [0.5091408949710833, 0.3742476720950649, 0.11661143293385356]}}, {"xyz": [0.13898978923172817, 0.2219052010097724, -0.17692656893841585], "rgb": [52, 52, 52], "semantic_id": 6, "pcd_info": {"point_index": 604}, "mesh_info": {"face_index": 38270, "face_uv": [0.38858616540797464, 0.03012144540256129, 0.5812923891894645]}}, {"xyz": [0.2004356380125674, 0.2880402181626036, 0.11082147417314436], "rgb": [52, 52, 52], "semantic_id": 7, "pcd_info": {"point_index": 651}, "mesh_info": {"face_index": 36166, "face_uv": [0.08261116927735186, 0.34028358530759467, 0.5771052454150535]}}, {"xyz": [-0.2178246498240811, 0.2230960033081717, -0.14845325329821968], "rgb": [52, 52, 52], "semantic_id": 8, "pcd_info": {"point_index": 1082}, "mesh_info": {"face_index": 32870, "face_uv": [0.8361981773680545, 0.12200111010308812, 0.041800712528857885]}}, {"xyz": [-0.15935684606895045, 0.2877922589928681, 0.14077839057914682], "rgb": [52, 52, 52], "semantic_id": 9, "pcd_info": {"point_index": 1423}, "mesh_info": {"face_index": 34681, "face_uv": [0.20146057268504605, 0.21477510857135623, 0.5837643187435987]}}, {"xyz": [0.04234256511736939, -0.18078340835005036, -0.2155549641666449], "rgb": [52, 52, 52], "semantic_id": 10, "pcd_info": {"point_index": 804}, "mesh_info": {"face_index": 25990, "face_uv": [0.20402200763965597, 0.6752127863774319, 0.12076520598291263]}}, {"xyz": [0.22427755580836584, -0.18176798549780115, -0.026220005022927317], "rgb": [52, 52, 52], "semantic_id": 11, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 21976, "face_uv": [0.21442386348837633, 0.22967964304526725, 0.5558964934663567]}}, {"xyz": [0.10185190268469924, -0.18158958846201645, 0.17860517269585208], "rgb": [52, 52, 52], "semantic_id": 12, "pcd_info": {"point_index": 1913}, "mesh_info": {"face_index": 29800, "face_uv": [0.0030328715757461603, 0.39961161157016994, 0.5973555168540841]}}, {"xyz": [-0.182566294080241, -0.18004088444818, 0.13174919904489737], "rgb": [51, 51, 51], "semantic_id": 13, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 15501, "face_uv": [0.1158992227227468, 0.5260713245218327, 0.35802945275541825]}}, {"xyz": [-0.2320218660025214, -0.18230733416926936, -0.10631428463853637], "rgb": [52, 52, 52], "semantic_id": 14, "pcd_info": {"point_index": 895}, "mesh_info": {"face_index": 19452, "face_uv": [0.18269011034943866, 0.45292327276606026, 0.36438661688450125]}}, {"xyz": [-0.013977857757461631, 0.06442747087956091, -0.02003771775159846], "rgb": [52, 52, 52], "semantic_id": 15, "pcd_info": {"point_index": 1427}, "mesh_info": {"face_index": 11234, "face_uv": [0.024936571594485257, 0.8717404155664318, 0.10332301283909821]}}, {"xyz": [-0.00813705643083408, -0.11860200017690659, -0.02007468965873871], "rgb": [52, 52, 52], "semantic_id": 16, "pcd_info": {"point_index": 164}, "mesh_info": {"face_index": 40691, "face_uv": [0.01949263537898153, 0.3255205946512808, 0.6549867699697376]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "b33e6d5d6bdab020af7c7ad2549a1b15", "keypoints": [{"xyz": [0.15721118309501023, 0.3123940009955051, 0.13760504567916199], "rgb": [148, 148, 148], "semantic_id": 0, "pcd_info": {"point_index": 369}, "mesh_info": {"face_index": 9524, "face_uv": [0.43412917136476703, 0.32439005628212475, 0.24148077235310783]}}, {"xyz": [-0.1529983709598195, 0.3128250592388876, 0.13711772259787214], "rgb": [148, 148, 148], "semantic_id": 1, "pcd_info": {"point_index": 1611}, "mesh_info": {"face_index": 9591, "face_uv": [0.4811975354816876, 0.14866730138647102, 0.370135163131839]}}, {"xyz": [0.14724979955233727, 0.17841840975561718, 0.11112453828566893], "rgb": [148, 148, 148], "semantic_id": 2, "pcd_info": {"point_index": 118}, "mesh_info": {"face_index": 16148, "face_uv": [0.7298468175380393, 0.15108525428674016, 0.11906792817522016]}}, {"xyz": [-0.13739528311950996, 0.18310946197151612, 0.11579291144743586], "rgb": [148, 148, 148], "semantic_id": 3, "pcd_info": {"point_index": 1659}, "mesh_info": {"face_index": 6958, "face_uv": [0.3681199101586226, 0.3816793156046866, 0.25020077423669]}}, {"xyz": [0.15476215694022127, 0.0038471663984549487, -0.2232307060984784], "rgb": [149, 149, 149], "semantic_id": 4, "pcd_info": {"point_index": 871}, "mesh_info": {"face_index": 6018, "face_uv": [0.12571141476553058, 0.4831276062485759, 0.3911609789858965]}}, {"xyz": [-0.1534451465183914, 0.004417092291822633, -0.21602195821597858], "rgb": [148, 148, 148], "semantic_id": 5, "pcd_info": {"point_index": 251}, "mesh_info": {"face_index": 6007, "face_uv": [0.21194925960947614, 0.7244134184762723, 0.06363732191425077]}}, {"xyz": [0.19902184366720643, -0.33799698948860146, -0.23725352451320847], "rgb": [148, 148, 148], "semantic_id": 10, "pcd_info": {"point_index": 1681}, "mesh_info": {"face_index": 30672, "face_uv": [0.12484922542726735, 0.5351373518321756, 0.3400134227405564]}}, {"xyz": [0.1966196006591403, -0.33746576166901354, 0.05533959873019973], "rgb": [149, 149, 149], "semantic_id": 11, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 21343, "face_uv": [0.34079449821555063, 0.4692762762153381, 0.18992922556911201]}}, {"xyz": [-0.07600079457446837, -0.33799600601196267, 0.14549177148612238], "rgb": [148, 148, 148], "semantic_id": 12, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 1118, "face_uv": [0.07095091445281095, 0.38874576224902696, 0.5403033232981614]}}, {"xyz": [-0.24921869917637707, -0.3379960060119631, -0.09417059046367594], "rgb": [149, 149, 149], "semantic_id": 13, "pcd_info": {"point_index": 1452}, "mesh_info": {"face_index": 1822, "face_uv": [0.40162401088195654, 0.48820556340316223, 0.11017042571488188]}}, {"xyz": [-0.07852048736588071, -0.3379960060119631, -0.32934476948986363], "rgb": [149, 149, 149], "semantic_id": 14, "pcd_info": {"point_index": 1336}, "mesh_info": {"face_index": 30096, "face_uv": [0.2757826061014257, 0.45225592705066986, 0.2719614668479051]}}, {"xyz": [-0.000323642612482862, -0.028510000556707382, -0.0911234244654403], "rgb": [149, 149, 149], "semantic_id": 15, "pcd_info": {"point_index": 766}, "mesh_info": {"face_index": 29883, "face_uv": [0.10324515022534267, 0.4696227361746287, 0.4271321136000287]}}, {"xyz": [-0.000633970144127527, -0.25503481102540865, -0.09166968418761991], "rgb": [149, 149, 149], "semantic_id": 16, "pcd_info": {"point_index": 548}, "mesh_info": {"face_index": 24671, "face_uv": [0.036989643326180675, 0.9599801805905902, 0.0030301760832293703]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "434512cad2c10e09e8b2b8dc0c816caf", "keypoints": [{"xyz": [0.12975736806200702, 0.5091620885997303, 0.2051105048185567], "rgb": [61, 29, 14], "semantic_id": 0, "pcd_info": {"point_index": 252}, "mesh_info": {"face_index": 6091, "face_uv": [0.624282728916846, 0.30142861813051464, 0.07428865295263948]}}, {"xyz": [-0.13068274101909505, 0.5046847434730677, 0.2017435621127463], "rgb": [58, 26, 11], "semantic_id": 1, "pcd_info": {"point_index": 144}, "mesh_info": {"face_index": 8437, "face_uv": [0.38847016273475315, 0.09047324967347273, 0.5210565875917744]}}, {"xyz": [0.17309158432601324, 0.07696958827833345, 0.07889446654880683], "rgb": [80, 47, 31], "semantic_id": 2, "pcd_info": {"point_index": 206}, "mesh_info": {"face_index": 6916, "face_uv": [0.2476987276039225, 0.6089302795306412, 0.14337099286543165]}}, {"xyz": [-0.16750212003733478, 0.07904330381591684, 0.08496994503855115], "rgb": [72, 37, 23], "semantic_id": 3, "pcd_info": {"point_index": 1163}, "mesh_info": {"face_index": 9330, "face_uv": [0.4667278551185773, 0.1093991114294148, 0.4238730334520075]}}, {"xyz": [0.1785206663196227, 0.06253518554802562, -0.2018643663903673], "rgb": [90, 58, 43], "semantic_id": 4, "pcd_info": {"point_index": 284}, "mesh_info": {"face_index": 7429, "face_uv": [0.11311893626162267, 0.801767769388196, 0.08511329435018003]}}, {"xyz": [-0.17122777020979232, 0.07289868023011348, -0.19402381421047266], "rgb": [83, 49, 35], "semantic_id": 5, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 9781, "face_uv": [0.5215093532850886, 0.14696925387354276, 0.33152139284136856]}}, {"xyz": [0.2367509941657342, 0.15379147053122244, -0.1326652634860922], "rgb": [181, 181, 181], "semantic_id": 6, "pcd_info": {"point_index": 427}, "mesh_info": {"face_index": 8013, "face_uv": [0.7372815627246321, 0.16959322346687086, 0.09312521380849872]}}, {"xyz": [0.19878167248567447, 0.17441573682638323, 0.1037974272382476], "rgb": [180, 180, 180], "semantic_id": 7, "pcd_info": {"point_index": 1718}, "mesh_info": {"face_index": 8073, "face_uv": [0.01927397294632472, 0.5976666595276663, 0.3830593675260081]}}, {"xyz": [-0.22986807915494306, 0.15981852280200526, -0.12647694747408061], "rgb": [181, 181, 181], "semantic_id": 8, "pcd_info": {"point_index": 2022}, "mesh_info": {"face_index": 10372, "face_uv": [0.030757025586944826, 0.5675242855222649, 0.4017186888907906]}}, {"xyz": [-0.21313764491514148, 0.17522614760985467, 0.08545813843102329], "rgb": [180, 180, 180], "semantic_id": 9, "pcd_info": {"point_index": 287}, "mesh_info": {"face_index": 10369, "face_uv": [0.34379165864626704, 0.11727812251645818, 0.5389302188372744]}}, {"xyz": [0.14521102283033133, -0.22122436908814191, -0.2227593146569316], "rgb": [40, 40, 40], "semantic_id": 10, "pcd_info": {"point_index": 557}, "mesh_info": {"face_index": 4521, "face_uv": [0.1444240468589928, 0.4738931015610627, 0.381682851579945]}}, {"xyz": [0.2304618631585094, -0.2206766026995799, 0.031854669970042285], "rgb": [39, 39, 39], "semantic_id": 11, "pcd_info": {"point_index": 654}, "mesh_info": {"face_index": 5552, "face_uv": [0.3660076499248669, 0.10994910067782264, 0.5240432493973095]}}, {"xyz": [0.011400518154134502, -0.22187243853355576, 0.18438438887134012], "rgb": [39, 39, 39], "semantic_id": 12, "pcd_info": {"point_index": 2011}, "mesh_info": {"face_index": 5192, "face_uv": [0.08317224527599601, 0.5708419675162487, 0.34598578720775486]}}, {"xyz": [-0.2018675693971005, -0.2214474119687666, 0.02887854562094562], "rgb": [39, 39, 39], "semantic_id": 13, "pcd_info": {"point_index": 249}, "mesh_info": {"face_index": 4880, "face_uv": [0.7210540788498078, 0.22925573004621208, 0.04969019110397931]}}, {"xyz": [-0.11768984215439732, -0.22093093008645548, -0.22312909340788584], "rgb": [40, 40, 40], "semantic_id": 14, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 1161, "face_uv": [0.43793761183791297, 0.078907690196164, 0.4831546979659232]}}, {"xyz": [0.004692203440697318, -0.00023679902152706767, -0.05107264151823854], "rgb": [40, 40, 40], "semantic_id": 15, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 571, "face_uv": [0.23277232160392622, 0.7183232606954234, 0.048904417700653735]}}, {"xyz": [-0.000459558267459248, -0.16621600091457367, -0.043524584155485435], "rgb": [180, 180, 180], "semantic_id": 16, "pcd_info": {"point_index": 1522}, "mesh_info": {"face_index": 2060, "face_uv": [0.5180404390823948, 0.4247779917902064, 0.057181569127398725]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "c8166f63964058199947cf98084faa8", "keypoints": [{"xyz": [0.18053077346549262, 0.4165502049674673, 0.16863308822617806], "rgb": [26, 26, 26], "semantic_id": 0, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 7856, "face_uv": [0.00905841109538136, 0.24267928054020899, 0.7482623083644099]}}, {"xyz": [-0.192829843524153, 0.3997745733984165, 0.1664320165958687], "rgb": [112, 112, 112], "semantic_id": 1, "pcd_info": {"point_index": 1565}, "mesh_info": {"face_index": 1372, "face_uv": [0.7533612537117135, 0.07536898331122156, 0.17126976297706495]}}, {"xyz": [0.18982240568750564, 0.07759841362477105, 0.06780752390082427], "rgb": [26, 26, 26], "semantic_id": 2, "pcd_info": {"point_index": 99}, "mesh_info": {"face_index": 6248, "face_uv": [0.44315044612573984, 0.51060970938755, 0.046239844486711354]}}, {"xyz": [-0.20968826409604646, 0.09143957873438213, 0.08119747982165068], "rgb": [26, 26, 26], "semantic_id": 3, "pcd_info": {"point_index": 7}, "mesh_info": {"face_index": 6388, "face_uv": [0.05076744518973186, 0.0037517334553185643, 0.9454808213549591]}}, {"xyz": [0.20965584115838476, 0.09733281092422141, -0.2821850930878248], "rgb": [26, 26, 26], "semantic_id": 4, "pcd_info": {"point_index": 165}, "mesh_info": {"face_index": 7287, "face_uv": [0.454644708663197, 0.5412166379516055, 0.004138653385197694]}}, {"xyz": [-0.20700319722651606, 0.0993224122435129, -0.27861766163168666], "rgb": [26, 26, 26], "semantic_id": 5, "pcd_info": {"point_index": 2003}, "mesh_info": {"face_index": 7389, "face_uv": [0.3892802141085885, 0.0023950126452654567, 0.6083247732461469]}}, {"xyz": [-0.0024964668189476572, -0.24047163298553875, -0.29174657363621403], "rgb": [111, 111, 111], "semantic_id": 10, "pcd_info": {"point_index": 1428}, "mesh_info": {"face_index": 4422, "face_uv": [0.42114982073822604, 0.3242835640898874, 0.2545666151718861]}}, {"xyz": [0.25347727950436066, -0.24985364129416465, -0.11207738458758293], "rgb": [112, 112, 112], "semantic_id": 11, "pcd_info": {"point_index": 42}, "mesh_info": {"face_index": 4370, "face_uv": [0.02884009291481583, 0.24457603299533878, 0.7265838740898455]}}, {"xyz": [0.152629075076683, -0.2317280448891812, 0.19372735655780743], "rgb": [111, 111, 111], "semantic_id": 12, "pcd_info": {"point_index": 1146}, "mesh_info": {"face_index": 2947, "face_uv": [0.1220068758744777, 0.12193018409166476, 0.7560629400338569]}}, {"xyz": [-0.15983056929404646, -0.23875240656978058, 0.19123812637898277], "rgb": [112, 112, 112], "semantic_id": 13, "pcd_info": {"point_index": 416}, "mesh_info": {"face_index": 3686, "face_uv": [0.19313220157973454, 0.4536934126618884, 0.35317438575837706]}}, {"xyz": [-0.2561846058231736, -0.24945533440166712, -0.11168839131584027], "rgb": [112, 112, 112], "semantic_id": 14, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 4909, "face_uv": [0.13403602669995457, 0.11735108058900799, 0.7486128927110376]}}, {"xyz": [0.005953554171091974, -0.027512840183539833, -0.04168452236489584], "rgb": [112, 112, 112], "semantic_id": 15, "pcd_info": {"point_index": 552}, "mesh_info": {"face_index": 2101, "face_uv": [0.18142329903183257, 0.5335170738406859, 0.2850596271274825]}}, {"xyz": [0.004439221325276743, -0.2578068197217811, -0.04223568356801044], "rgb": [111, 111, 111], "semantic_id": 16, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 5231, "face_uv": [0.8723458766971395, 0.11638223874689536, 0.011271884555964246]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "ba9b35c49d861f7f4e994a4c55e56a4f", "keypoints": [{"xyz": [0.140102938600589, 0.4363119900226595, 0.14974703988732097], "rgb": [167, 161, 163], "semantic_id": 0, "pcd_info": {"point_index": 1932}, "mesh_info": {"face_index": 1004, "face_uv": [0.355579624152223, 0.0200303131562525, 0.6243900626915251]}}, {"xyz": [-0.1418288903117189, 0.4363119900226593, 0.15100845734843615], "rgb": [167, 161, 163], "semantic_id": 1, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 927, "face_uv": [0.4551996854536657, 0.013989933597495627, 0.5308103809488387]}}, {"xyz": [0.14150316993718431, 0.1608898788549029, 0.10279977079177471], "rgb": [167, 161, 163], "semantic_id": 2, "pcd_info": {"point_index": 195}, "mesh_info": {"face_index": 878, "face_uv": [0.7446020091783837, 0.015232716779035248, 0.24016527404258206]}}, {"xyz": [-0.14380899938182606, 0.16030099987983704, 0.09598027452799018], "rgb": [167, 161, 163], "semantic_id": 3, "pcd_info": {"point_index": 1892}, "mesh_info": {"face_index": 854, "face_uv": [0.00413531545659052, 0.9927944911278791, 0.003070193415530452]}}, {"xyz": [0.14456132444139677, 0.16030099987983704, -0.1679384989019419], "rgb": [167, 160, 163], "semantic_id": 4, "pcd_info": {"point_index": 471}, "mesh_info": {"face_index": 934, "face_uv": [0.017290400192372813, 0.0047545974947913305, 0.9779550023128358]}}, {"xyz": [-0.14426962451431835, 0.16030099987983704, -0.17069475747965301], "rgb": [167, 161, 163], "semantic_id": 5, "pcd_info": {"point_index": 2008}, "mesh_info": {"face_index": 850, "face_uv": [0.011874827410307853, 0.005627274326768053, 0.9824978982629241]}}, {"xyz": [0.15548247386351402, 0.31044383492702377, -0.08153479459464785], "rgb": [35, 35, 35], "semantic_id": 6, "pcd_info": {"point_index": 725}, "mesh_info": {"face_index": 1958, "face_uv": [0.2763974477793234, 0.6531332261830988, 0.07046932603757834]}}, {"xyz": [0.1620000317414796, 0.3110894519430789, 0.062131147626531824], "rgb": [34, 34, 34], "semantic_id": 7, "pcd_info": {"point_index": 1331}, "mesh_info": {"face_index": 1778, "face_uv": [0.6932543987589584, 0.25188552762548067, 0.05486007361556044]}}, {"xyz": [-0.15546758937191482, 0.31107598543167114, -0.07285304606595977], "rgb": [35, 35, 35], "semantic_id": 8, "pcd_info": {"point_index": 1086}, "mesh_info": {"face_index": 1489, "face_uv": [0.7073029271166696, 0.014902903008843558, 0.27779416987448674]}}, {"xyz": [-0.15548232172168028, 0.31107598543167114, 0.05708804377225918], "rgb": [35, 35, 35], "semantic_id": 9, "pcd_info": {"point_index": 1271}, "mesh_info": {"face_index": 1462, "face_uv": [0.7212636228769581, 0.025938246258902398, 0.2527981308641395]}}, {"xyz": [0.2533315452570978, -0.22547402398999017, -0.08205228340450543], "rgb": [34, 34, 34], "semantic_id": 10, "pcd_info": {"point_index": 162}, "mesh_info": {"face_index": 1013, "face_uv": [0.7356655000886101, 0.23043300151584223, 0.033901498395544634]}}, {"xyz": [0.1438316287482293, -0.2247676960889371, 0.2111072928674187], "rgb": [34, 34, 34], "semantic_id": 11, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 216, "face_uv": [0.7829314598577057, 0.0421932054363774, 0.17487533470591596]}}, {"xyz": [-0.16542470779786017, -0.2210096133750752, 0.19840765401112836], "rgb": [35, 35, 35], "semantic_id": 12, "pcd_info": {"point_index": 1973}, "mesh_info": {"face_index": 678, "face_uv": [0.07059639318479688, 0.43837433270446924, 0.49102927411074243]}}, {"xyz": [-0.2558664665482211, -0.22488798807417076, -0.09323180205314285], "rgb": [34, 34, 34], "semantic_id": 13, "pcd_info": {"point_index": 748}, "mesh_info": {"face_index": 441, "face_uv": [0.037318007686371946, 0.39212231222249755, 0.5705596800911303]}}, {"xyz": [0.004302785270447362, -0.22109820930506308, -0.28373248086373093], "rgb": [34, 34, 34], "semantic_id": 14, "pcd_info": {"point_index": 1602}, "mesh_info": {"face_index": 41, "face_uv": [0.3334296348640262, 0.3311309982627263, 0.3354393668732464]}}, {"xyz": [-0.0014722791073686053, 0.07297314942862954, -0.027784952159498832], "rgb": [231, 231, 231], "semantic_id": 15, "pcd_info": {"point_index": 1415}, "mesh_info": {"face_index": 2112, "face_uv": [0.724022387592809, 0.10715863427758708, 0.16881897812961116]}}, {"xyz": [-0.0010180482002017932, -0.20995299518108368, -0.0027761535778954016], "rgb": [35, 35, 35], "semantic_id": 16, "pcd_info": {"point_index": 378}, "mesh_info": {"face_index": 2241, "face_uv": [0.19295566066682548, 0.32929938952650517, 0.4777449498066694]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "32c35f86754c0b4847307542345b60c", "keypoints": [{"xyz": [0.1575685845174102, 0.5680195049237466, 0.1400935222691474], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 550}, "mesh_info": {"face_index": 632, "face_uv": [0.7867566377273967, 0.0007073205487295033, 0.2125360417238743]}}, {"xyz": [-0.13879275116948653, 0.5678404665739526, 0.1435178348793152], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 369, "face_uv": [0.40891522318015844, 0.012464323344782792, 0.5786204534750589]}}, {"xyz": [0.1563627650288892, 0.15733055324180478, 0.08855747776430278], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1548}, "mesh_info": {"face_index": 631, "face_uv": [0.004722476104903399, 0.00383038768173692, 0.9914471362133603]}}, {"xyz": [-0.13976208519141126, 0.15839893856388598, 0.08868631421320283], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1040}, "mesh_info": {"face_index": 334, "face_uv": [0.002815410172713487, 0.006421210418074813, 0.9907633794092117]}}, {"xyz": [0.2068497904017388, 0.17355838458952033, -0.25202917920023993], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1341}, "mesh_info": {"face_index": 282, "face_uv": [0.009785923503754339, 0.006284740632674894, 0.9839293358635713]}}, {"xyz": [-0.19477038236443583, 0.1736449330103893, -0.25368359170629684], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 22}, "mesh_info": {"face_index": 282, "face_uv": [0.9865400454182359, 0.0014550302776803689, 0.012004924304083026]}}, {"xyz": [0.18121195102182563, -0.24927200376987468, -0.24141389955633374], "rgb": [149, 78, 33], "semantic_id": 17, "pcd_info": {"point_index": 1126}, "mesh_info": {"face_index": 1256, "face_uv": [0.38861369669397156, 0.31913033745070235, 0.29225596585532654]}}, {"xyz": [0.15854405698912116, -0.24927200376987457, 0.10656553694327375], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1464}, "mesh_info": {"face_index": 355, "face_uv": [0.20815443126109487, 0.6278667467472077, 0.1639788219916974]}}, {"xyz": [-0.14347038645394383, -0.24722697873702337, 0.11178935451357641], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 978}, "mesh_info": {"face_index": 1, "face_uv": [0.13791556933920343, 0.006603181141222695, 0.8554812495195752]}}, {"xyz": [-0.17480353819496575, -0.24927200376987468, -0.23307950960841617], "rgb": [150, 82, 37], "semantic_id": 20, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 1461, "face_uv": [0.627285498248788, 0.1517185351848218, 0.22099596656639067]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "590ae1748c5acdedb05550de345b6d0a", "keypoints": [{"xyz": [0.1118842097941869, 0.3945813102191187, 0.09777982573226085], "rgb": [163, 218, 121], "semantic_id": 0, "pcd_info": {"point_index": 1266}, "mesh_info": {"face_index": 96490, "face_uv": [0.18921161914859216, 0.6546991003325668, 0.15608928051883655]}}, {"xyz": [-0.09714278769439227, 0.4077619342417431, 0.10208564469240056], "rgb": [34, 34, 34], "semantic_id": 1, "pcd_info": {"point_index": 1496}, "mesh_info": {"face_index": 82297, "face_uv": [0.1595206686881916, 0.7288723105242476, 0.11160702078756052]}}, {"xyz": [0.13938546044680172, -0.03635686796096005, 0.027901515578050873], "rgb": [148, 206, 111], "semantic_id": 2, "pcd_info": {"point_index": 1788}, "mesh_info": {"face_index": 64326, "face_uv": [0.8125766097622146, 0.08116964936964795, 0.10625374086819073]}}, {"xyz": [-0.14230286226622785, -0.03565160592194183, 0.02294189376308542], "rgb": [160, 215, 120], "semantic_id": 3, "pcd_info": {"point_index": 2007}, "mesh_info": {"face_index": 67958, "face_uv": [0.03701310428207704, 0.7858160514311016, 0.1771708442868708]}}, {"xyz": [0.1396642360290454, -0.03890630510982218, -0.2610301165707216], "rgb": [144, 199, 108], "semantic_id": 4, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 65275, "face_uv": [0.8374870315412841, 0.09397570352129955, 0.06853726493741374]}}, {"xyz": [-0.14412713019832535, -0.041692283355647675, -0.2631341170921634], "rgb": [129, 183, 91], "semantic_id": 5, "pcd_info": {"point_index": 1310}, "mesh_info": {"face_index": 72951, "face_uv": [0.08088090538355784, 0.5067994029811549, 0.41231969163528825]}}, {"xyz": [0.10800951233550893, -0.2899040924314096, -0.2913194769382366], "rgb": [35, 35, 35], "semantic_id": 10, "pcd_info": {"point_index": 773}, "mesh_info": {"face_index": 8414, "face_uv": [0.4013431987565115, 0.007974221210966696, 0.5906825800325223]}}, {"xyz": [0.2091706152072333, -0.2904618037161344, -0.06260907055330915], "rgb": [35, 35, 35], "semantic_id": 11, "pcd_info": {"point_index": 1392}, "mesh_info": {"face_index": 388, "face_uv": [0.2612342811322413, 0.261079548848749, 0.47768617001901015]}}, {"xyz": [0.010370380574377447, -0.29358970099063386, 0.11586627205179967], "rgb": [35, 35, 35], "semantic_id": 12, "pcd_info": {"point_index": 1291}, "mesh_info": {"face_index": 12330, "face_uv": [0.20245112827999634, 0.603982005015889, 0.1935668667041157]}}, {"xyz": [-0.20176300598667601, -0.32532388012744073, -0.011480934535807404], "rgb": [34, 34, 34], "semantic_id": 13, "pcd_info": {"point_index": 1283}, "mesh_info": {"face_index": 18782, "face_uv": [0.18826372666255867, 0.609322916749637, 0.20241335658780368]}}, {"xyz": [-0.12552946125230702, -0.32723923918774034, -0.2670219605730793], "rgb": [34, 34, 34], "semantic_id": 14, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 7563, "face_uv": [0.8725274038702833, 0.0009658835671471001, 0.12650671256256946]}}, {"xyz": [-0.0004374619298078697, -0.08597791946908839, -0.11139233266355841], "rgb": [35, 35, 35], "semantic_id": 15, "pcd_info": {"point_index": 1682}, "mesh_info": {"face_index": 21102, "face_uv": [0.9044662551981628, 0.07523459518834792, 0.02029914961348954]}}, {"xyz": [-0.0027462526337849414, -0.26061868369012453, -0.12135570317260297], "rgb": [35, 35, 35], "semantic_id": 16, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 11900, "face_uv": [0.7212479808216163, 0.0619909693843786, 0.2167610497940073]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "edba8e42a3996f7cb1a9ec000a076431", "keypoints": [{"xyz": [0.08968024107782199, 0.3637893170930637, 0.1191770932295434], "rgb": [0, 0, 254], "semantic_id": 0, "pcd_info": {"point_index": 943}, "mesh_info": {"face_index": 870, "face_uv": [0.010615631853698857, 0.7898769034176714, 0.19950746472862946]}}, {"xyz": [-0.09751454832719104, 0.358803067060221, 0.11747024436748005], "rgb": [0, 0, 255], "semantic_id": 1, "pcd_info": {"point_index": 500}, "mesh_info": {"face_index": 935, "face_uv": [0.0887465740302103, 0.6114452195866121, 0.2998082063831778]}}, {"xyz": [0.16229162407138076, -0.01016712310847434, 0.13490926199935405], "rgb": [0, 0, 255], "semantic_id": 2, "pcd_info": {"point_index": 70}, "mesh_info": {"face_index": 2038, "face_uv": [0.1043914159612206, 0.631654437608046, 0.2639541464307337]}}, {"xyz": [-0.1596605433872475, -0.0038151679731104338, 0.13763866563887078], "rgb": [0, 0, 254], "semantic_id": 3, "pcd_info": {"point_index": 1536}, "mesh_info": {"face_index": 1806, "face_uv": [0.3485317500589663, 0.3408938847793989, 0.31057436516163445]}}, {"xyz": [0.16592759441247304, -0.016455991990830268, -0.19928765425837436], "rgb": [0, 0, 255], "semantic_id": 4, "pcd_info": {"point_index": 1477}, "mesh_info": {"face_index": 1710, "face_uv": [0.033962056969676226, 0.9195272191269799, 0.046510723903344174]}}, {"xyz": [-0.1601504358694394, -0.013178277870092674, -0.20393288678022303], "rgb": [0, 0, 255], "semantic_id": 5, "pcd_info": {"point_index": 458}, "mesh_info": {"face_index": 1597, "face_uv": [0.23051004490437696, 0.42771304046867414, 0.34177691462694926]}}, {"xyz": [0.2070554413413913, 0.13188533790072354, -0.1362879046232759], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 375}, "mesh_info": {"face_index": 3156, "face_uv": [0.22103081260523044, 0.47382425785054905, 0.3051449295442201]}}, {"xyz": [0.20947690537904734, 0.14649351410822642, 0.043046194590377646], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 8}, "mesh_info": {"face_index": 3307, "face_uv": [0.39069242504357704, 0.15902192257484024, 0.4502856523815837]}}, {"xyz": [-0.20161741355884502, 0.13204044495215073, -0.13618347525593644], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 820}, "mesh_info": {"face_index": 2411, "face_uv": [0.286562595159109, 0.6540868139274468, 0.05935059091344343]}}, {"xyz": [-0.20416064903031908, 0.14360350458309123, 0.048394962735263725], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1509}, "mesh_info": {"face_index": 2596, "face_uv": [0.18978343173253454, 0.3769879938064712, 0.4332285744609942]}}, {"xyz": [-0.0007343425771241113, -0.40415701270103455, -0.23057756608392346], "rgb": [80, 80, 80], "semantic_id": 10, "pcd_info": {"point_index": 108}, "mesh_info": {"face_index": 228, "face_uv": [0.5122592811255648, 0.027942873514879504, 0.4597978453595557]}}, {"xyz": [0.21255308454393212, -0.40415701270103466, -0.07117685454149358], "rgb": [80, 80, 80], "semantic_id": 11, "pcd_info": {"point_index": 929}, "mesh_info": {"face_index": 264, "face_uv": [0.03062203424755544, 0.25832654058241444, 0.7110514251700304]}}, {"xyz": [0.1328684750443479, -0.40415701270103443, 0.17032649806116984], "rgb": [79, 79, 79], "semantic_id": 12, "pcd_info": {"point_index": 1841}, "mesh_info": {"face_index": 206, "face_uv": [0.46412864084646827, 0.02351082576005968, 0.5123605333934718]}}, {"xyz": [-0.13248061726248728, -0.395793299196741, 0.17654427743144263], "rgb": [80, 80, 80], "semantic_id": 13, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 98, "face_uv": [0.4594180589093412, 0.4858018302521081, 0.054780110838550916]}}, {"xyz": [-0.2183808830317328, -0.39358904291205665, -0.07319566006577366], "rgb": [80, 80, 80], "semantic_id": 14, "pcd_info": {"point_index": 1262}, "mesh_info": {"face_index": 156, "face_uv": [0.21885440000716105, 0.4576658204277107, 0.3234797795651282]}}, {"xyz": [0.0005685726337211483, -0.04960379090242628, -0.026169601817662258], "rgb": [79, 79, 79], "semantic_id": 15, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 643, "face_uv": [0.08123718275300697, 0.8871056139093114, 0.031657203337673766]}}, {"xyz": [0.004543532077365955, -0.40415701270103455, -0.008905443612249875], "rgb": [80, 80, 80], "semantic_id": 16, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 140, "face_uv": [0.13130603707330504, 0.44196796344375094, 0.426725999482944]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "95d6aae8728a0aed70e95b2fd46626d", "keypoints": [{"xyz": [0.0769211652836016, 0.3363899052237064, 0.14151129319727052], "rgb": [28, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 1570}, "mesh_info": {"face_index": 47934, "face_uv": [0.42046463203185014, 0.13299520517172103, 0.446540162796428]}}, {"xyz": [-0.09193448621349909, 0.33445793019375814, 0.14738241108358863], "rgb": [29, 29, 29], "semantic_id": 1, "pcd_info": {"point_index": 682}, "mesh_info": {"face_index": 46528, "face_uv": [0.14563079043417967, 0.13613096788215906, 0.7182382416836618]}}, {"xyz": [0.15394809221037975, 0.05249664784236119, 0.09058876638409324], "rgb": [198, 198, 198], "semantic_id": 2, "pcd_info": {"point_index": 1895}, "mesh_info": {"face_index": 59132, "face_uv": [0.6286092230673623, 0.1770258187631743, 0.1943649581694642]}}, {"xyz": [-0.12212324530231433, 0.05093347311576446, 0.11344966715087706], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 49046, "face_uv": [0.2548475176141197, 0.15350104842975024, 0.591651433956129]}}, {"xyz": [0.13797970674854776, 0.06208221634368094, -0.19153074861695538], "rgb": [29, 29, 29], "semantic_id": 4, "pcd_info": {"point_index": 1286}, "mesh_info": {"face_index": 29348, "face_uv": [0.8154350804208897, 0.16075628211790274, 0.023808637461208714]}}, {"xyz": [-0.13848582663403486, 0.04681614418354574, -0.19644825000104388], "rgb": [198, 198, 198], "semantic_id": 5, "pcd_info": {"point_index": 453}, "mesh_info": {"face_index": 71180, "face_uv": [0.23199304188668282, 0.5714407646592432, 0.1965661934540781]}}, {"xyz": [0.19014552853537037, 0.2233886403380585, -0.11772313875195242], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 52509, "face_uv": [0.3245507979362932, 0.23276653190667265, 0.44268267015703405]}}, {"xyz": [0.18756097255202808, 0.2295041947167511, 0.1184698893709894], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 894}, "mesh_info": {"face_index": 56238, "face_uv": [0.23532468478086543, 0.12032194664991833, 0.6443533685692164]}}, {"xyz": [-0.19715631664118127, 0.22118613343401883, -0.12257889266108149], "rgb": [198, 198, 198], "semantic_id": 8, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 84266, "face_uv": [0.16878915405014683, 0.3442605367534742, 0.48695030919637905]}}, {"xyz": [-0.19774146158710726, 0.22998810600458053, 0.11822489111157897], "rgb": [198, 198, 198], "semantic_id": 9, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 82034, "face_uv": [0.39315069338963804, 0.4805975572422421, 0.12625174936811978]}}, {"xyz": [0.08778580518143092, -0.4087514836774697, -0.22639597883332516], "rgb": [29, 29, 29], "semantic_id": 10, "pcd_info": {"point_index": 1364}, "mesh_info": {"face_index": 8367, "face_uv": [0.7424903210085751, 0.22519935508713032, 0.03231032390429578]}}, {"xyz": [0.2152849896030677, -0.40989547445707686, -0.014105144338566467], "rgb": [28, 28, 28], "semantic_id": 11, "pcd_info": {"point_index": 827}, "mesh_info": {"face_index": 10172, "face_uv": [0.26126089652698686, 0.6346876669357997, 0.1040514365372132]}}, {"xyz": [0.05650992689141088, -0.40545825615616815, 0.1840023878953262], "rgb": [29, 29, 29], "semantic_id": 12, "pcd_info": {"point_index": 1063}, "mesh_info": {"face_index": 11720, "face_uv": [0.23379101483290907, 0.3390165206375034, 0.4271924645295876]}}, {"xyz": [-0.18979582235218462, -0.4129653698899691, 0.0808496222276579], "rgb": [29, 29, 29], "semantic_id": 13, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 13983, "face_uv": [0.4920456273827703, 0.5008983369272846, 0.007056035689945159]}}, {"xyz": [-0.16308452469825518, -0.4098500551942408, -0.17864247303636405], "rgb": [28, 28, 28], "semantic_id": 14, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 6552, "face_uv": [0.8759514530113215, 0.12257619351789716, 0.0014723534707809995]}}, {"xyz": [0.002005954555385381, -0.014045385807479382, -0.04675133917235552], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 900}, "mesh_info": {"face_index": 96, "face_uv": [0.3529747583855321, 0.005380791549416715, 0.6416444500650533]}}, {"xyz": [0.0021303664765611185, -0.3383370041847229, -0.032554144807042995], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 302}, "mesh_info": {"face_index": 222, "face_uv": [0.2963359931696648, 0.503187378448756, 0.2004766283815791]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "7297ec6faebb50aa1f285be552b78f9a", "keypoints": [{"xyz": [0.15229809016982943, 0.3785289696530759, 0.10648714777352786], "rgb": [6, 2, 0], "semantic_id": 0, "pcd_info": {"point_index": 1257}, "mesh_info": {"face_index": 15322, "face_uv": [0.8288471659336075, 0.08690820760197665, 0.0842446264644153]}}, {"xyz": [-0.1565204231877803, 0.3802321033224001, 0.10690886682845768], "rgb": [6, 2, 0], "semantic_id": 1, "pcd_info": {"point_index": 746}, "mesh_info": {"face_index": 10589, "face_uv": [0.27012419071004934, 0.2182412582659255, 0.5116345510240208]}}, {"xyz": [0.1613997981090579, 0.0088042206633554, 0.04357247031329936], "rgb": [255, 191, 0], "semantic_id": 2, "pcd_info": {"point_index": 1970}, "mesh_info": {"face_index": 26728, "face_uv": [0.0927529586581042, 0.0732768245164641, 0.8339702168254866]}}, {"xyz": [-0.16255056336280574, 0.011051764442569167, 0.04058904094803295], "rgb": [254, 190, 0], "semantic_id": 3, "pcd_info": {"point_index": 1922}, "mesh_info": {"face_index": 26541, "face_uv": [0.3826571609096596, 0.0696078878703613, 0.5477349512199474]}}, {"xyz": [0.16216032977549383, 0.02237976150901888, -0.26162592456802125], "rgb": [254, 190, 0], "semantic_id": 4, "pcd_info": {"point_index": 364}, "mesh_info": {"face_index": 26461, "face_uv": [0.07839246469941644, 0.5400457303086378, 0.381561804991945]}}, {"xyz": [-0.163015244868973, 0.015670756535329344, -0.26815508162829294], "rgb": [254, 190, 0], "semantic_id": 5, "pcd_info": {"point_index": 1709}, "mesh_info": {"face_index": 26205, "face_uv": [0.8008705966529238, 0.13953853805948763, 0.05959086528758725]}}, {"xyz": [0.18595831472806226, 0.15410535661931046, -0.2014052428419455], "rgb": [6, 2, 0], "semantic_id": 6, "pcd_info": {"point_index": 197}, "mesh_info": {"face_index": 2227, "face_uv": [0.22267128486083806, 0.3656350482658345, 0.4116936668733262]}}, {"xyz": [0.1852945730042931, 0.15360911394502197, -0.028258219736994383], "rgb": [7, 3, 1], "semantic_id": 7, "pcd_info": {"point_index": 131}, "mesh_info": {"face_index": 2594, "face_uv": [0.01263335637275055, 0.6189147264749771, 0.36845191715227227]}}, {"xyz": [-0.1823294945163404, 0.16605356768078394, -0.19296354220641818], "rgb": [6, 2, 0], "semantic_id": 8, "pcd_info": {"point_index": 595}, "mesh_info": {"face_index": 3053, "face_uv": [0.010833321971325947, 0.4057381084039037, 0.5834285696247675]}}, {"xyz": [-0.18064301263843496, 0.15222340178748572, -0.02580640215576102], "rgb": [7, 3, 1], "semantic_id": 9, "pcd_info": {"point_index": 1385}, "mesh_info": {"face_index": 3038, "face_uv": [0.18252386562863201, 0.4449951325988221, 0.37248100177254734]}}, {"xyz": [0.21187950416808674, -0.33926204968842777, -0.16526950411062136], "rgb": [7, 3, 1], "semantic_id": 10, "pcd_info": {"point_index": 22}, "mesh_info": {"face_index": 31185, "face_uv": [0.41653822203780794, 0.11235373428658174, 0.4711080436756305]}}, {"xyz": [0.135496810472405, -0.3391384288695467, 0.1162038365571324], "rgb": [7, 3, 1], "semantic_id": 11, "pcd_info": {"point_index": 178}, "mesh_info": {"face_index": 30537, "face_uv": [0.4620543399524397, 0.3605908332936814, 0.17735482675387962]}}, {"xyz": [-0.14587757507433152, -0.3123128152206949, 0.10850519507960021], "rgb": [6, 2, 0], "semantic_id": 12, "pcd_info": {"point_index": 623}, "mesh_info": {"face_index": 29248, "face_uv": [0.2009444415919459, 0.7368239747891956, 0.06223158361885771]}}, {"xyz": [-0.2293764141041979, -0.3341197621615657, -0.14065593488137107], "rgb": [6, 2, 0], "semantic_id": 13, "pcd_info": {"point_index": 566}, "mesh_info": {"face_index": 28595, "face_uv": [0.19197783730054174, 0.4973940919031763, 0.3106280707962799]}}, {"xyz": [-0.0034861797247583703, -0.33362050263453025, -0.3158280007530341], "rgb": [6, 2, 0], "semantic_id": 14, "pcd_info": {"point_index": 1166}, "mesh_info": {"face_index": 28057, "face_uv": [0.22025828590792518, 0.2522122339020811, 0.5275294801899929]}}, {"xyz": [-0.0028644484460989966, -0.09621469933742222, -0.161239070408967], "rgb": [167, 167, 167], "semantic_id": 15, "pcd_info": {"point_index": 1195}, "mesh_info": {"face_index": 26017, "face_uv": [0.10737307598840815, 0.7192178684768183, 0.17340905553477248]}}, {"xyz": [-0.003421509602799938, -0.3203144105150144, -0.08467545582832736], "rgb": [168, 168, 168], "semantic_id": 16, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 21153, "face_uv": [0.4308615232800958, 0.15424888462912498, 0.4148895920907797]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "d2a1aaba7e047897492d9da2668ec34c", "keypoints": [{"xyz": [0.16929882252096676, 0.42839164764568205, 0.09044485371249511], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1474}, "mesh_info": {"face_index": 2862, "face_uv": [0.055955496219261096, 0.49109071319559366, 0.45295379058514523]}}, {"xyz": [-0.17603999679771584, 0.4255692116358001, 0.08685500398289925], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 162}, "mesh_info": {"face_index": 2920, "face_uv": [0.684831343356129, 0.2298672594405159, 0.08530139720335497]}}, {"xyz": [0.14569635873247683, 0.12419231162224253, 0.04327354589622612], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 925}, "mesh_info": {"face_index": 1717, "face_uv": [0.3198023080078584, 0.6751635532094421, 0.0050341387827099035]}}, {"xyz": [-0.15207631543027497, 0.13061385459910868, 0.04640709475440752], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 722}, "mesh_info": {"face_index": 1632, "face_uv": [0.2606432136243287, 0.5809179100902007, 0.15843887628547443]}}, {"xyz": [0.15696309315690857, 0.09958921030551071, -0.198612209220705], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1190}, "mesh_info": {"face_index": 3003, "face_uv": [0.43226326253559455, 0.458971628608082, 0.10876510885632389]}}, {"xyz": [-0.14971672155344645, 0.10275689139641209, -0.2079268749245915], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 870}, "mesh_info": {"face_index": 2586, "face_uv": [0.10897763195686737, 0.13791588726043455, 0.7531064807826989]}}, {"xyz": [0.13240687468647022, -0.23609156431376155, -0.21189559619339554], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 1927}, "mesh_info": {"face_index": 1309, "face_uv": [0.38157067846905035, 0.39146529643931016, 0.22696402509164068]}}, {"xyz": [0.2040389945328132, -0.2727396121025403, 0.047035305191199736], "rgb": [254, 254, 254], "semantic_id": 11, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 1184, "face_uv": [0.31131386538297207, 0.45295430387375324, 0.2357318307432743]}}, {"xyz": [-0.003663876214249129, -0.21226037474580783, 0.20572999758581412], "rgb": [254, 254, 254], "semantic_id": 12, "pcd_info": {"point_index": 1185}, "mesh_info": {"face_index": 13, "face_uv": [0.36733414185285795, 0.5758512896731718, 0.0568145684739678]}}, {"xyz": [-0.22001564965586407, -0.23488227219073, 0.05108408665405424], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 1154}, "mesh_info": {"face_index": 1546, "face_uv": [0.18536245431673987, 0.5223310336493754, 0.2923065120338851]}}, {"xyz": [-0.13623620309368217, -0.23608375303066143, -0.21177986575584118], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 1390}, "mesh_info": {"face_index": 1427, "face_uv": [0.3750969680188003, 0.39957804034743843, 0.22532499163376216]}}, {"xyz": [-0.0023472253296761836, -0.0020267445551744867, -0.03228806029151432], "rgb": [254, 254, 254], "semantic_id": 15, "pcd_info": {"point_index": 1002}, "mesh_info": {"face_index": 4194, "face_uv": [0.5033026590626054, 0.3362166495585229, 0.16048069137884968]}}, {"xyz": [-0.0034330676407687277, -0.25734627177892855, -0.01740774403923906], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 1820}, "mesh_info": {"face_index": 781, "face_uv": [0.10733824427851708, 0.2720260478029589, 0.620635707918524]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "99120ec1daa4ae1bad484915511ccff6", "keypoints": [{"xyz": [0.14398465770934005, 0.44586883427418744, 0.10296034091265482], "rgb": [46, 63, 106], "semantic_id": 0, "pcd_info": {"point_index": 1228}, "mesh_info": {"face_index": 2682, "face_uv": [0.4630985326539992, 0.346182901540198, 0.19071856580580304]}}, {"xyz": [-0.14233616224662538, 0.4438141219747669, 0.11845488623363426], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 675}, "mesh_info": {"face_index": 6408, "face_uv": [0.2775876169137997, 0.3918806351332262, 0.330531747952974]}}, {"xyz": [0.16344525145076444, 0.03827472365848594, 0.038254175817320935], "rgb": [36, 55, 99], "semantic_id": 2, "pcd_info": {"point_index": 1926}, "mesh_info": {"face_index": 377, "face_uv": [0.13386561551602974, 0.7931855034563835, 0.07294888102760465]}}, {"xyz": [-0.13123265621104818, 0.040646246163276833, 0.0415934929923541], "rgb": [47, 63, 106], "semantic_id": 3, "pcd_info": {"point_index": 1685}, "mesh_info": {"face_index": 370, "face_uv": [0.469554220014998, 0.36264122387328446, 0.1678045561117215]}}, {"xyz": [0.16281620363057253, 0.022917046633526894, -0.2107656464790526], "rgb": [51, 67, 111], "semantic_id": 4, "pcd_info": {"point_index": 1758}, "mesh_info": {"face_index": 54, "face_uv": [0.07571090431609605, 0.0654048127812411, 0.8588842829026629]}}, {"xyz": [-0.15834162952057315, 0.022234452787582626, -0.21251733064424932], "rgb": [41, 55, 102], "semantic_id": 5, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 2, "face_uv": [0.42114870302673174, 0.011611424194668247, 0.5672398727785996]}}, {"xyz": [0.2092473202521012, 0.14769730450896468, -0.1133319205657426], "rgb": [0, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 1053}, "mesh_info": {"face_index": 14857, "face_uv": [0.7981892734507404, 0.09597405473890303, 0.10583667181035765]}}, {"xyz": [0.20876054376542608, 0.1510351926073501, 0.022719335762249437], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 729}, "mesh_info": {"face_index": 14919, "face_uv": [0.04759952933821045, 0.4880228277954626, 0.4643776428663266]}}, {"xyz": [-0.20067478360717272, 0.1476021030405743, -0.11502562734670307], "rgb": [0, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 1028}, "mesh_info": {"face_index": 15201, "face_uv": [0.8370790381934559, 0.1463321065994696, 0.016588855207074465]}}, {"xyz": [-0.19525611323107062, 0.15091484364431818, 0.03226610598178592], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 550}, "mesh_info": {"face_index": 15250, "face_uv": [0.114818824978601, 0.3882080497813133, 0.4969731252400855]}}, {"xyz": [0.13630966163564712, -0.28582112787268965, -0.23770570091847676], "rgb": [0, 0, 0], "semantic_id": 10, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 20650, "face_uv": [0.2846729353462892, 0.03762732988264342, 0.6776997347710666]}}, {"xyz": [0.2403671987403001, -0.27028610443836265, 0.028070786530184022], "rgb": [0, 0, 0], "semantic_id": 11, "pcd_info": {"point_index": 501}, "mesh_info": {"face_index": 24562, "face_uv": [0.2485852469692834, 0.11918010871532599, 0.6322346443153902]}}, {"xyz": [0.005395073840500947, -0.2649269998073578, 0.20623834959341414], "rgb": [0, 0, 0], "semantic_id": 12, "pcd_info": {"point_index": 1694}, "mesh_info": {"face_index": 28657, "face_uv": [0.0492152736829756, 0.37993056347914067, 0.5708541628378837]}}, {"xyz": [-0.22037993601576134, -0.264926999807358, 0.044739539776172954], "rgb": [0, 0, 0], "semantic_id": 13, "pcd_info": {"point_index": 1879}, "mesh_info": {"face_index": 26956, "face_uv": [0.45270303855280836, 0.3557003010608168, 0.19159666038637568]}}, {"xyz": [-0.13642495168832747, -0.26492699980735757, -0.22088483792057428], "rgb": [0, 0, 0], "semantic_id": 14, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 23557, "face_uv": [0.1661525486590701, 0.23326298276636637, 0.6005844685745627]}}, {"xyz": [0.005254987684244233, -0.10272898524018381, -0.030356304628488484], "rgb": [0, 0, 0], "semantic_id": 15, "pcd_info": {"point_index": 1215}, "mesh_info": {"face_index": 17404, "face_uv": [0.4573500034371552, 0.44247329097447463, 0.10017670558836729]}}, {"xyz": [0.0037824043647510797, -0.2735309898853302, -0.01949652018214776], "rgb": [0, 0, 0], "semantic_id": 16, "pcd_info": {"point_index": 633}, "mesh_info": {"face_index": 16718, "face_uv": [0.060210683692305804, 0.3810314434527363, 0.5587578728549579]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "185bcb9bcec174c9492d9da2668ec34c", "keypoints": [{"xyz": [0.13064648194455533, 0.4192828557828475, 0.1951565246749326], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 365}, "mesh_info": {"face_index": 2467, "face_uv": [0.36030705030923454, 0.20193658217946397, 0.43775636751130154]}}, {"xyz": [-0.131351516415546, 0.41785849758144733, 0.2026173562009923], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 67}, "mesh_info": {"face_index": 2587, "face_uv": [0.19913967370377877, 0.6881195719746657, 0.11274075432155538]}}, {"xyz": [0.143175741734164, 0.05568269408653537, 0.10874567994510764], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 1267, "face_uv": [0.11474557803188465, 0.8610218912131643, 0.02423253075495583]}}, {"xyz": [-0.15607743354284145, 0.05654838151987307, 0.10259337793890988], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1405}, "mesh_info": {"face_index": 1683, "face_uv": [0.17797627323825344, 0.8167537967137227, 0.005269930048029092]}}, {"xyz": [0.13841008317513012, 0.03746495526898391, -0.16530049808675673], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1844}, "mesh_info": {"face_index": 1344, "face_uv": [0.28093409184822843, 0.35475942559692814, 0.36430648255484344]}}, {"xyz": [-0.15371185794442876, 0.03974630599069123, -0.16009644660497524], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1717}, "mesh_info": {"face_index": 1879, "face_uv": [0.3204005309109009, 0.49255915666651795, 0.18704031242258193]}}, {"xyz": [0.20403294608207895, 0.17836901778827308, -0.21259554185616522], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1983}, "mesh_info": {"face_index": 120, "face_uv": [0.8004960433601895, 0.1904578984334358, 0.009046058206373936]}}, {"xyz": [0.21433641765493894, 0.19435715574590973, -0.07454425129553444], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1760}, "mesh_info": {"face_index": 100, "face_uv": [0.4674958915343281, 0.251716320787275, 0.2807877876783971]}}, {"xyz": [-0.20062499786436339, 0.1812790483616019, -0.2071297403479785], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 473}, "mesh_info": {"face_index": 482, "face_uv": [0.6003412036931067, 0.2958207901811611, 0.10383800612573255]}}, {"xyz": [-0.20633335833957933, 0.1952494535675563, -0.06199019287297497], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 702}, "mesh_info": {"face_index": 518, "face_uv": [0.1805998749467625, 0.26240223968494036, 0.5569978853682979]}}, {"xyz": [0.1254856189146923, -0.24262416087352512, -0.19871146055724898], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 1003, "face_uv": [0.08308448449580769, 0.0996647218656123, 0.8172507936385811]}}, {"xyz": [0.2093955276499544, -0.24225266424669234, 0.053990108291128935], "rgb": [254, 254, 254], "semantic_id": 11, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 860, "face_uv": [0.3960961235930642, 0.2532999673081529, 0.35060390909878225]}}, {"xyz": [-0.006645771546685761, -0.23803774758220153, 0.20399846532729649], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 1572}, "mesh_info": {"face_index": 769, "face_uv": [0.14410301944553683, 0.8378981475201245, 0.01799883303433884]}}, {"xyz": [-0.20073532589414766, -0.28970042477952174, 0.0441932687759799], "rgb": [254, 254, 254], "semantic_id": 13, "pcd_info": {"point_index": 949}, "mesh_info": {"face_index": 1210, "face_uv": [0.2810406418993767, 0.14428422782158004, 0.5746751302790427]}}, {"xyz": [-0.1412300697897474, -0.2715083212459848, -0.20280653729263154], "rgb": [254, 254, 254], "semantic_id": 14, "pcd_info": {"point_index": 453}, "mesh_info": {"face_index": 1190, "face_uv": [0.8104670044933923, 0.1520985248893093, 0.037434470617298335]}}, {"xyz": [-0.004084113255517469, -0.05646899109497605, -0.026779011277813014], "rgb": [254, 254, 254], "semantic_id": 15, "pcd_info": {"point_index": 892}, "mesh_info": {"face_index": 622, "face_uv": [0.8607180895199416, 0.043050586764824574, 0.09623132371523115]}}, {"xyz": [-0.0007529020850925994, -0.27355610347078674, -0.013922722589326364], "rgb": [254, 254, 254], "semantic_id": 16, "pcd_info": {"point_index": 1626}, "mesh_info": {"face_index": 735, "face_uv": [0.5006082872905964, 0.32636492352804514, 0.1730267891813575]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "a4ecc0a3d68dafd44925bc492489de9c", "keypoints": [{"xyz": [0.14534266923301112, 0.391148775219473, 0.08720019033534299], "rgb": [97, 160, 151], "semantic_id": 0, "pcd_info": {"point_index": 1281}, "mesh_info": {"face_index": 27858, "face_uv": [0.18440127040665585, 0.718525617735165, 0.0970731118581781]}}, {"xyz": [-0.1524085147275041, 0.3926011708911792, 0.08530322664732548], "rgb": [105, 168, 160], "semantic_id": 1, "pcd_info": {"point_index": 1655}, "mesh_info": {"face_index": 23934, "face_uv": [0.2630169005025948, 0.028199451341040557, 0.7087836481563649]}}, {"xyz": [0.15984856838223696, 0.016668714341504742, 0.045578793779722515], "rgb": [91, 156, 147], "semantic_id": 2, "pcd_info": {"point_index": 99}, "mesh_info": {"face_index": 25976, "face_uv": [0.2005024787530636, 0.6171345622513331, 0.18236295899560284]}}, {"xyz": [-0.16003457036900123, 0.004158733038159834, 0.04898434734992829], "rgb": [104, 171, 160], "semantic_id": 3, "pcd_info": {"point_index": 233}, "mesh_info": {"face_index": 24754, "face_uv": [0.8161527987133939, 0.17303471035850967, 0.010812490928098129]}}, {"xyz": [0.16990377840255239, 0.027546149466305847, -0.21071309935656324], "rgb": [226, 224, 220], "semantic_id": 4, "pcd_info": {"point_index": 1960}, "mesh_info": {"face_index": 20493, "face_uv": [0.09667274165272455, 0.5394216564873627, 0.3639056018599126]}}, {"xyz": [-0.17335755989215892, 0.02452327873506932, -0.21638450636458373], "rgb": [226, 225, 221], "semantic_id": 5, "pcd_info": {"point_index": 1163}, "mesh_info": {"face_index": 22242, "face_uv": [0.21538832041452943, 0.571475631746417, 0.21313604783905438]}}, {"xyz": [0.21260692852155974, 0.14825110733932023, -0.172440455103976], "rgb": [226, 225, 221], "semantic_id": 6, "pcd_info": {"point_index": 1984}, "mesh_info": {"face_index": 17919, "face_uv": [0.8512626154858324, 0.045321029130372045, 0.1034163553837972]}}, {"xyz": [0.21433281059272916, 0.14521168902314296, -0.004675066921948301], "rgb": [226, 225, 221], "semantic_id": 7, "pcd_info": {"point_index": 2034}, "mesh_info": {"face_index": 19663, "face_uv": [0.6438900894112219, 0.3545392330413649, 0.0015706775474137757]}}, {"xyz": [-0.21884505349642558, 0.1504942907093827, -0.17132400325438868], "rgb": [226, 225, 221], "semantic_id": 8, "pcd_info": {"point_index": 1454}, "mesh_info": {"face_index": 16154, "face_uv": [0.3173248494979328, 0.5853344471664941, 0.09734070333557379]}}, {"xyz": [-0.21095106049393275, 0.1453503503254594, -0.007717408004874526], "rgb": [226, 225, 221], "semantic_id": 9, "pcd_info": {"point_index": 1147}, "mesh_info": {"face_index": 14618, "face_uv": [0.02002188704586599, 0.2955218552705681, 0.6844562576835661]}}, {"xyz": [0.14749550355816576, -0.28123629749562656, -0.28490071917274373], "rgb": [58, 58, 58], "semantic_id": 10, "pcd_info": {"point_index": 149}, "mesh_info": {"face_index": 61259, "face_uv": [0.4051143036922438, 0.3113364119967325, 0.2835492843110239]}}, {"xyz": [0.23514677926834293, -0.2781966660699839, 0.003389469599838879], "rgb": [57, 57, 57], "semantic_id": 11, "pcd_info": {"point_index": 733}, "mesh_info": {"face_index": 45868, "face_uv": [0.6558949452904564, 0.2088138437622481, 0.13529121094729157]}}, {"xyz": [-0.018007058246499064, -0.288346653530139, 0.18559498936376806], "rgb": [57, 57, 57], "semantic_id": 12, "pcd_info": {"point_index": 898}, "mesh_info": {"face_index": 57293, "face_uv": [0.00022383792259204687, 0.4913949651830114, 0.5083811968943964]}}, {"xyz": [-0.24210205306926524, -0.28901144538582246, 0.03908411509999915], "rgb": [58, 58, 58], "semantic_id": 13, "pcd_info": {"point_index": 409}, "mesh_info": {"face_index": 45008, "face_uv": [0.04662773149664572, 0.8738524707576782, 0.07951979774567675]}}, {"xyz": [-0.15182971632215403, -0.28753970694138686, -0.25079826281588785], "rgb": [57, 57, 57], "semantic_id": 14, "pcd_info": {"point_index": 1930}, "mesh_info": {"face_index": 45255, "face_uv": [0.2716456260813893, 0.4371156183566545, 0.2912387555619558]}}, {"xyz": [-0.0031896912281209056, -0.13641958681630473, -0.0894364625559727], "rgb": [57, 57, 57], "semantic_id": 15, "pcd_info": {"point_index": 711}, "mesh_info": {"face_index": 51459, "face_uv": [0.2827882684640085, 0.6746069344849291, 0.04260479705106143]}}, {"xyz": [-0.005427480443666255, -0.2767750024795532, -0.060775488685436585], "rgb": [58, 58, 58], "semantic_id": 16, "pcd_info": {"point_index": 17}, "mesh_info": {"face_index": 49086, "face_uv": [0.17347986505570068, 0.3704600567748577, 0.4560600781694416]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "572cbd8b4cbdf7f1f91663a74ccd2338", "keypoints": [{"xyz": [0.146259698742927, 0.3745242455097795, 0.16089651233376245], "rgb": [206, 196, 181], "semantic_id": 0, "pcd_info": {"point_index": 1300}, "mesh_info": {"face_index": 40478, "face_uv": [0.04539565587060183, 0.7024122094360322, 0.2521921346933659]}}, {"xyz": [-0.14853636630582234, 0.3746213221223762, 0.16165064393611517], "rgb": [219, 211, 199], "semantic_id": 1, "pcd_info": {"point_index": 1205}, "mesh_info": {"face_index": 39889, "face_uv": [0.1570305799026027, 0.6513107749330728, 0.19165864516432404]}}, {"xyz": [0.1218355627530634, 0.028582911752731643, 0.06682210646281761], "rgb": [207, 200, 184], "semantic_id": 2, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 43577, "face_uv": [0.2841085427981484, 0.7066692531040792, 0.009222204097774408]}}, {"xyz": [-0.1470261194532404, 0.02217155693019901, 0.07225962150978604], "rgb": [219, 214, 202], "semantic_id": 3, "pcd_info": {"point_index": 573}, "mesh_info": {"face_index": 46534, "face_uv": [0.4768857628065894, 0.22226995556694898, 0.3008442816264628]}}, {"xyz": [0.14245070562222178, 0.0203353303006526, -0.18548341573027521], "rgb": [222, 216, 203], "semantic_id": 4, "pcd_info": {"point_index": 1240}, "mesh_info": {"face_index": 47540, "face_uv": [0.21800041732296682, 0.7666537254834004, 0.015345857193632899]}}, {"xyz": [-0.15514527878433032, 0.00892486708837592, -0.1870706625409243], "rgb": [214, 205, 192], "semantic_id": 5, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 47806, "face_uv": [0.43224591523558226, 0.5051234725094875, 0.06263061225493012]}}, {"xyz": [0.16833717157474345, 0.13032147897119728, -0.09884774108902183], "rgb": [47, 47, 47], "semantic_id": 6, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 18715, "face_uv": [0.43327875265124716, 0.14277744484073882, 0.4239438025080161]}}, {"xyz": [0.16837933330480312, 0.13123775568036855, 0.045399778030224436], "rgb": [46, 46, 46], "semantic_id": 7, "pcd_info": {"point_index": 1861}, "mesh_info": {"face_index": 19043, "face_uv": [0.031293606171427756, 0.5369953674430435, 0.4317110263855254]}}, {"xyz": [-0.17230259376719775, 0.13020599962693535, -0.09974473167109266], "rgb": [46, 46, 46], "semantic_id": 8, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 23466, "face_uv": [0.3807873890300661, 0.2999517662861092, 0.3192608446838231]}}, {"xyz": [-0.17111475771933665, 0.13102028514530728, 0.04778805111688167], "rgb": [47, 47, 47], "semantic_id": 9, "pcd_info": {"point_index": 1347}, "mesh_info": {"face_index": 24623, "face_uv": [0.019460715955288383, 0.2641750335525574, 0.7163642504921544]}}, {"xyz": [0.13836225159324494, -0.37092566253026105, -0.17863782625208507], "rgb": [47, 47, 47], "semantic_id": 10, "pcd_info": {"point_index": 705}, "mesh_info": {"face_index": 61265, "face_uv": [0.1713143464212699, 0.5631513597584699, 0.2655342938202603]}}, {"xyz": [0.21636348119065685, -0.35154394062508865, 0.06582188218673392], "rgb": [46, 46, 46], "semantic_id": 11, "pcd_info": {"point_index": 92}, "mesh_info": {"face_index": 57459, "face_uv": [0.11102467782092974, 0.22539604900862342, 0.6635792731704458]}}, {"xyz": [0.012752697344320413, -0.392442222137793, 0.2100532939517577], "rgb": [46, 46, 46], "semantic_id": 12, "pcd_info": {"point_index": 784}, "mesh_info": {"face_index": 58770, "face_uv": [0.7552143385725264, 0.04792319325872167, 0.19686246816875116]}}, {"xyz": [-0.2055946494871333, -0.35411016278959173, 0.0596662115370951], "rgb": [47, 47, 47], "semantic_id": 13, "pcd_info": {"point_index": 285}, "mesh_info": {"face_index": 59362, "face_uv": [0.006067122034894157, 0.7912427060851311, 0.2026901718799748]}}, {"xyz": [-0.11769526303345981, -0.363207905095301, -0.18412674026746817], "rgb": [47, 47, 47], "semantic_id": 14, "pcd_info": {"point_index": 802}, "mesh_info": {"face_index": 60648, "face_uv": [0.07249207753469736, 0.301775148173891, 0.6257327742914119]}}, {"xyz": [0.0010678022163480017, -0.06349040304115927, -0.01579632519631846], "rgb": [107, 107, 107], "semantic_id": 15, "pcd_info": {"point_index": 210}, "mesh_info": {"face_index": 39503, "face_uv": [0.845137946966305, 0.03330814000100808, 0.12155391303268907]}}, {"xyz": [-0.007101794221261559, -0.38785499334335327, -0.011006525320612526], "rgb": [0, 0, 0], "semantic_id": 16, "pcd_info": {"point_index": 1223}, "mesh_info": {"face_index": 32741, "face_uv": [0.3917362316722365, 0.3260402671736066, 0.28222350115415684]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "10d174a00639990492d9da2668ec34c", "keypoints": [{"xyz": [0.1456788277972119, 0.32059622228154816, 0.06575740562395294], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1587}, "mesh_info": {"face_index": 1542, "face_uv": [0.49583106361414914, 0.3417511960011898, 0.16241774038466014]}}, {"xyz": [-0.15033263125131885, 0.3120980830388813, 0.06475838123309649], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 743}, "mesh_info": {"face_index": 1660, "face_uv": [0.2459817958841406, 0.13254130236866554, 0.6214769017471948]}}, {"xyz": [0.1262523963556217, -0.03229249558022551, 0.0034417710288393577], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1395}, "mesh_info": {"face_index": 4031, "face_uv": [0.04793344860521061, 0.8983542940725588, 0.05371225732222799]}}, {"xyz": [-0.1315656755689336, -0.0331218455055351, 0.0007491910383422284], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1462}, "mesh_info": {"face_index": 4211, "face_uv": [0.4847202062128073, 0.4579430711768728, 0.05733672261027284]}}, {"xyz": [0.13904958679477172, -0.046265476621077495, -0.19510667475704804], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1175}, "mesh_info": {"face_index": 3994, "face_uv": [0.024854000937383137, 0.8879547473288693, 0.0871912517337534]}}, {"xyz": [-0.1337725859108357, -0.044251991785994704, -0.18719576841261712], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 476}, "mesh_info": {"face_index": 4145, "face_uv": [0.11521154118828392, 0.08408301999922575, 0.800705438812496]}}, {"xyz": [0.1823478124191729, 0.0815634876504241, -0.1243067370474488], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1886}, "mesh_info": {"face_index": 1875, "face_uv": [0.5480864248571425, 0.27624715825271007, 0.1756664168901461]}}, {"xyz": [0.1813554254554439, 0.08564257561437505, -0.0012212618423255162], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1366}, "mesh_info": {"face_index": 1888, "face_uv": [0.0403147638490484, 0.433517112026008, 0.5261681241249418]}}, {"xyz": [-0.1829949127190641, 0.08067641245951229, -0.13376953362589533], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 17}, "mesh_info": {"face_index": 1930, "face_uv": [0.6860183933642778, 0.04120649669762404, 0.272775109938097]}}, {"xyz": [-0.1882569464446413, 0.08610108209682199, -0.013562963198179512], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1360}, "mesh_info": {"face_index": 1967, "face_uv": [0.21269055774087275, 0.4966921710313317, 0.2906172712277944]}}, {"xyz": [0.2014260631637419, -0.2851186285848435, -0.11722010938266944], "rgb": [254, 254, 254], "semantic_id": 10, "pcd_info": {"point_index": 187}, "mesh_info": {"face_index": 3024, "face_uv": [0.7401570964374464, 0.011159377884642786, 0.24868352567790997]}}, {"xyz": [0.13235358790052126, -0.31282791657091713, 0.11719116239712596], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 1112}, "mesh_info": {"face_index": 2876, "face_uv": [0.20842179792115123, 0.2343001557940824, 0.5572780462847665]}}, {"xyz": [-0.12228309113783076, -0.2892342164638215, 0.12837787509470144], "rgb": [254, 254, 254], "semantic_id": 12, "pcd_info": {"point_index": 1279}, "mesh_info": {"face_index": 2842, "face_uv": [0.008479921955887003, 0.45885871991716787, 0.532661358126945]}}, {"xyz": [-0.2039803331743011, -0.29046245876475596, -0.12167218916910466], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 1511}, "mesh_info": {"face_index": 3145, "face_uv": [0.06801048915205037, 0.33768699482610115, 0.5943025160218485]}}, {"xyz": [0.00041468933352918624, -0.26468982320014867, -0.2580213366923966], "rgb": [254, 254, 254], "semantic_id": 14, "pcd_info": {"point_index": 1053}, "mesh_info": {"face_index": 2295, "face_uv": [0.05167804911062574, 0.5046403802596259, 0.44368157062974783]}}, {"xyz": [0.004506822645972908, -0.152980260437515, -0.05567587906657767], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 2648, "face_uv": [0.15951476888210767, 0.36256981570078634, 0.4779154154171061]}}, {"xyz": [0.003738268097719044, -0.30364687979671345, -0.05667028828517906], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 1564}, "mesh_info": {"face_index": 2420, "face_uv": [0.38830912258128103, 0.48212188083376767, 0.1295689965849538]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "2621666fa21488a4e922ceea1248b9b0", "keypoints": [{"xyz": [0.10829993466727972, 0.3887745429210878, 0.11111601092211898], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1931}, "mesh_info": {"face_index": 17386, "face_uv": [0.515197861404739, 0.42873093672432483, 0.05607120187093699]}}, {"xyz": [-0.12366639907189847, 0.38857309921620464, 0.11276998807353311], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1489}, "mesh_info": {"face_index": 19962, "face_uv": [0.48318873752917013, 0.14236435244583825, 0.3744469100249924]}}, {"xyz": [0.11964794506754334, 0.03110518823793007, 0.05136536467227781], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 2047}, "mesh_info": {"face_index": 32399, "face_uv": [0.15205611798494884, 0.0803110700585196, 0.7676328119565307]}}, {"xyz": [-0.13138921105355356, 0.029086368305905386, 0.06258833291418009], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1124}, "mesh_info": {"face_index": 32363, "face_uv": [0.008094146502943449, 0.836401633417232, 0.1555042200798257]}}, {"xyz": [0.13701574220250703, -0.017635263137482537, -0.25257374173148817], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 633}, "mesh_info": {"face_index": 32331, "face_uv": [0.3579837000052719, 0.4184893971039704, 0.22352690289075755]}}, {"xyz": [-0.1438879346878595, -0.018799770291768825, -0.2532444187597971], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 32227, "face_uv": [0.4663991343619889, 0.03308094842883494, 0.5005199172091771]}}, {"xyz": [0.20604594040417598, 0.14414808567169057, -0.16894595029492643], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1127}, "mesh_info": {"face_index": 956, "face_uv": [0.7057189501683255, 0.001270930513768401, 0.2930101193179065]}}, {"xyz": [0.20830946763825473, 0.1470155486025917, 0.01443489410315063], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1804}, "mesh_info": {"face_index": 564, "face_uv": [0.5062908227221145, 0.4417719274765326, 0.051937249801353384]}}, {"xyz": [-0.22108133451755518, 0.14657455220942905, -0.16623799319440352], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 168}, "mesh_info": {"face_index": 1973, "face_uv": [0.24804151561006185, 0.21657283791403012, 0.5353856464759092]}}, {"xyz": [-0.21482324367022365, 0.14573969684335641, 0.015591080954378639], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1912}, "mesh_info": {"face_index": 1638, "face_uv": [0.3704293588242965, 0.370705188927489, 0.25886545224821444]}}, {"xyz": [0.22279447289225504, -0.34757744430843074, -0.12257208740245451], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 853}, "mesh_info": {"face_index": 25086, "face_uv": [0.20971501112687796, 0.2944649780613686, 0.49582001081175336]}}, {"xyz": [0.13717000186443334, -0.34037293016469383, 0.1423166326472759], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 54}, "mesh_info": {"face_index": 26799, "face_uv": [0.035510300503498377, 0.34640981887009925, 0.6180798806264028]}}, {"xyz": [-0.146915003657341, -0.32556611295730775, 0.1463911429420549], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 1026}, "mesh_info": {"face_index": 29215, "face_uv": [0.37787275779903196, 0.2649806754916761, 0.3571465667092919]}}, {"xyz": [-0.22905422519089627, -0.3278990089893341, -0.10469095212001911], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 495}, "mesh_info": {"face_index": 31690, "face_uv": [0.710187849565589, 0.016965109232492708, 0.27284704120191833]}}, {"xyz": [0.00045196876778670625, -0.3278990089893339, -0.27600410040688006], "rgb": [254, 254, 254], "semantic_id": 14, "pcd_info": {"point_index": 1380}, "mesh_info": {"face_index": 24581, "face_uv": [0.34982828187849324, 0.5786292467522557, 0.07154247136925047]}}, {"xyz": [-0.00461083612049247, -0.07749010405913781, -0.08117287335127754], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 336}, "mesh_info": {"face_index": 3716, "face_uv": [0.9111530722706376, 0.06959423071173791, 0.01925269701762491]}}, {"xyz": [-0.00341502133795675, -0.3388540148735045, -0.0675761463388973], "rgb": [254, 254, 254], "semantic_id": 16, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 3956, "face_uv": [0.17998054185646825, 0.09843134436463037, 0.7215881137789011]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "e9a8bc335a7faf78f91663a74ccd2338", "keypoints": [{"xyz": [0.11996917512457934, 0.5712925602901486, 0.17248422417325582], "rgb": [132, 81, 11], "semantic_id": 0, "pcd_info": {"point_index": 633}, "mesh_info": {"face_index": 1484, "face_uv": [0.018730862100809972, 0.8286887040993245, 0.152580433799812]}}, {"xyz": [-0.1173584232474227, 0.5781761890327815, 0.17961676110852354], "rgb": [133, 82, 12], "semantic_id": 1, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 1097, "face_uv": [0.3536289099796766, 0.4409613509970457, 0.2054097390232778]}}, {"xyz": [0.1303776546201415, 0.24648218326996862, 0.03427141615423279], "rgb": [168, 157, 126], "semantic_id": 2, "pcd_info": {"point_index": 1172}, "mesh_info": {"face_index": 145730, "face_uv": [0.048082925335547595, 0.168771601757296, 0.7831454729071546]}}, {"xyz": [-0.1424806215843788, 0.2391591591993747, 0.037618685282116315], "rgb": [193, 179, 146], "semantic_id": 3, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 145212, "face_uv": [0.6414889634795381, 0.05452634442086154, 0.30398469209960033]}}, {"xyz": [0.12428658716092933, 0.22414906210147767, -0.21211278708305636], "rgb": [180, 168, 135], "semantic_id": 4, "pcd_info": {"point_index": 1303}, "mesh_info": {"face_index": 144668, "face_uv": [0.5064656104120956, 0.06813503991645103, 0.42539934967145215]}}, {"xyz": [-0.11878964794144417, 0.22980478694579753, -0.21005779968693972], "rgb": [183, 170, 135], "semantic_id": 5, "pcd_info": {"point_index": 1915}, "mesh_info": {"face_index": 144512, "face_uv": [0.06430881492796918, 0.3369597642996505, 0.5987314207723804]}}, {"xyz": [0.19192583454670506, 0.3755419034877372, -0.0768444871763807], "rgb": [0, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 104499, "face_uv": [0.22759237633975477, 0.6852155354405683, 0.08719208821967717]}}, {"xyz": [0.1924489995074289, 0.3762668660156214, 0.08320736030394281], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 1807}, "mesh_info": {"face_index": 104574, "face_uv": [0.3647905116807736, 0.4317522271276565, 0.20345726119156993]}}, {"xyz": [-0.20126118175014962, 0.3757670612456443, -0.0754508891594724], "rgb": [0, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 619}, "mesh_info": {"face_index": 111685, "face_uv": [0.2920536283194109, 0.20581420197367015, 0.5021321697069185]}}, {"xyz": [-0.2002211774841458, 0.3762110117518369, 0.08356939513643802], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 1477}, "mesh_info": {"face_index": 109330, "face_uv": [0.14781272971527115, 0.5654226104529396, 0.28676465983178984]}}, {"xyz": [0.13076531672023783, -0.17611741837579853, -0.187967972208387], "rgb": [0, 0, 0], "semantic_id": 10, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 60576, "face_uv": [0.15766420950929422, 0.6740332754255487, 0.1683025150651533]}}, {"xyz": [0.21011968930972558, -0.1706622238245452, 0.07258029728111293], "rgb": [0, 0, 0], "semantic_id": 11, "pcd_info": {"point_index": 1614}, "mesh_info": {"face_index": 45681, "face_uv": [0.15159860015574822, 0.24085664179154725, 0.6075447580527037]}}, {"xyz": [-0.023459732945289913, -0.1606490833957106, 0.21325842475788326], "rgb": [0, 0, 0], "semantic_id": 12, "pcd_info": {"point_index": 579}, "mesh_info": {"face_index": 40973, "face_uv": [0.30767230076711893, 0.6385611254176948, 0.05376657381518479]}}, {"xyz": [-0.20672550239839077, -0.17671847862173617, 0.04035343806576397], "rgb": [0, 0, 0], "semantic_id": 13, "pcd_info": {"point_index": 982}, "mesh_info": {"face_index": 76234, "face_uv": [0.4165012452305638, 0.2109855235489632, 0.372513231220478]}}, {"xyz": [-0.12795617499038925, -0.17678544374869842, -0.20847718906775103], "rgb": [0, 0, 0], "semantic_id": 14, "pcd_info": {"point_index": 378}, "mesh_info": {"face_index": 62057, "face_uv": [0.022216505397636425, 0.3920142941371984, 0.5857692004651681]}}, {"xyz": [-0.0009106870814098722, 0.13226264182598552, -0.023811109570386124], "rgb": [100, 100, 100], "semantic_id": 15, "pcd_info": {"point_index": 569}, "mesh_info": {"face_index": 12249, "face_uv": [0.6963709765877334, 0.28072122147364553, 0.022907801938645923]}}, {"xyz": [-0.0034052493787761016, -0.16018352891040677, -0.0281133238216702], "rgb": [0, 0, 0], "semantic_id": 16, "pcd_info": {"point_index": 1267}, "mesh_info": {"face_index": 12491, "face_uv": [0.2983637909371322, 0.6880513713912567, 0.01358483767161356]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "969375970515e5f6492d9da2668ec34c", "keypoints": [{"xyz": [0.15619114459438455, 0.3846435465480511, 0.13176043673726545], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 469}, "mesh_info": {"face_index": 1278, "face_uv": [0.123285124888967, 0.5483600675453556, 0.3283548075656782]}}, {"xyz": [-0.16947868134560087, 0.38838550349891476, 0.13429807706721897], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 900, "face_uv": [0.053252821828972105, 0.03930239687606214, 0.9074447812949658]}}, {"xyz": [0.1448919654078175, 0.06396292308738949, 0.05367768850660809], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 738}, "mesh_info": {"face_index": 4154, "face_uv": [0.2837002412919087, 0.21249380171475668, 0.5038059569933352]}}, {"xyz": [-0.16242725999491855, 0.059510517292308274, 0.051172066448458675], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1716}, "mesh_info": {"face_index": 3854, "face_uv": [0.3972346306613157, 0.3492099011211879, 0.25355546821749625]}}, {"xyz": [0.16533185823231783, 0.07399204475441401, -0.20943426143541957], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1001}, "mesh_info": {"face_index": 4200, "face_uv": [0.21446661498294953, 0.5744671685025682, 0.21106621651448348]}}, {"xyz": [-0.16934662714944626, 0.07380673388668968, -0.21009323142799627], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 3978, "face_uv": [0.33793586120874686, 0.16805916850180963, 0.4940049702894443]}}, {"xyz": [0.14921606716712935, -0.2693814267575705, -0.23207373205958415], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 1533}, "mesh_info": {"face_index": 2987, "face_uv": [0.020673050962219504, 0.6875418406068652, 0.2917851084309157]}}, {"xyz": [0.24358218932387934, -0.2703080511233986, 0.06868373898964242], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 877}, "mesh_info": {"face_index": 3607, "face_uv": [0.26852173329647366, 0.0696786092764511, 0.6617996574270757]}}, {"xyz": [0.000578243013173968, -0.2682947314359949, 0.24990611671332888], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 2042}, "mesh_info": {"face_index": 3447, "face_uv": [0.31804724961960673, 0.3116673044680445, 0.37028544591235]}}, {"xyz": [-0.24991729117267397, -0.2706016444117245, 0.06753118822054258], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 1649}, "mesh_info": {"face_index": 3284, "face_uv": [0.023877190958633564, 0.5559680238597601, 0.4201547851816063]}}, {"xyz": [-0.158169886319804, -0.27034702443245373, -0.2248523582089604], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 3128, "face_uv": [0.06593161032919144, 0.811522374595288, 0.12254601507552142]}}, {"xyz": [-0.0017168883162915483, -0.050488090511372485, -0.03601722541797936], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 1269}, "mesh_info": {"face_index": 2120, "face_uv": [0.0522531093406902, 0.026210011923686178, 0.9215368787356262]}}, {"xyz": [-0.0009049423296632608, -0.22565405563875113, -0.041960565326738086], "rgb": [254, 254, 254], "semantic_id": 16, "pcd_info": {"point_index": 911}, "mesh_info": {"face_index": 2797, "face_uv": [0.0008214103976532923, 0.7946463595527251, 0.20453223004962098]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "7b8e24c31b7509b6dec3f6fd3a03085e", "keypoints": [{"xyz": [0.1417994677140227, 0.39332997953983406, 0.11366894296781505], "rgb": [35, 35, 35], "semantic_id": 0, "pcd_info": {"point_index": 1618}, "mesh_info": {"face_index": 313, "face_uv": [0.11008448583194992, 0.09510207202587816, 0.794813442142173]}}, {"xyz": [-0.15300137728063135, 0.39905972575179827, 0.11911414585446067], "rgb": [34, 34, 34], "semantic_id": 1, "pcd_info": {"point_index": 1672}, "mesh_info": {"face_index": 192, "face_uv": [0.40895315039498414, 0.4678005275322789, 0.1232463220727368]}}, {"xyz": [0.16102794924034713, 0.10401996394107837, 0.0708214981234081], "rgb": [35, 35, 35], "semantic_id": 2, "pcd_info": {"point_index": 1980}, "mesh_info": {"face_index": 414, "face_uv": [0.265453166351292, 0.05283011793000372, 0.6817167157187052]}}, {"xyz": [-0.14864960465794153, 0.10083496780192824, 0.08080487482961152], "rgb": [35, 35, 35], "semantic_id": 3, "pcd_info": {"point_index": 212}, "mesh_info": {"face_index": 80, "face_uv": [0.1161218155912713, 0.5398312088955485, 0.34404697551318086]}}, {"xyz": [0.17231107398385037, 0.10175549756520264, -0.215193787283382], "rgb": [34, 34, 34], "semantic_id": 4, "pcd_info": {"point_index": 1430}, "mesh_info": {"face_index": 343, "face_uv": [0.5890706983904388, 0.05028886307525134, 0.3606404385343092]}}, {"xyz": [-0.15997695778415777, 0.10030746888578546, -0.21940148194439058], "rgb": [35, 35, 35], "semantic_id": 5, "pcd_info": {"point_index": 1222}, "mesh_info": {"face_index": 7, "face_uv": [0.23796145901593937, 0.6452184959004403, 0.1168200450836203]}}, {"xyz": [0.19909775246721986, -0.29324701428413347, -0.13043299591930613], "rgb": [34, 34, 34], "semantic_id": 10, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 562, "face_uv": [0.4125947263757935, 0.4812061947435835, 0.10619907888062162]}}, {"xyz": [0.1157397526410339, -0.2932470142841339, 0.10789603262254575], "rgb": [35, 35, 35], "semantic_id": 11, "pcd_info": {"point_index": 1954}, "mesh_info": {"face_index": 662, "face_uv": [0.6647454738354798, 0.08346958846924561, 0.2517849376952747]}}, {"xyz": [-0.1374992230726713, -0.2932470142841339, 0.12012291323097565], "rgb": [35, 35, 35], "semantic_id": 12, "pcd_info": {"point_index": 430}, "mesh_info": {"face_index": 746, "face_uv": [0.014704810658622449, 0.2637325118618818, 0.7215626774794958]}}, {"xyz": [-0.20786557112757692, -0.2900203562943977, -0.11299091463067254], "rgb": [35, 35, 35], "semantic_id": 13, "pcd_info": {"point_index": 1944}, "mesh_info": {"face_index": 797, "face_uv": [0.24143529727241322, 0.20015247065496247, 0.5584122320726242]}}, {"xyz": [0.002366761630766878, -0.2932470142841339, -0.2627904542305681], "rgb": [35, 35, 35], "semantic_id": 14, "pcd_info": {"point_index": 342}, "mesh_info": {"face_index": 478, "face_uv": [0.12865640232647796, 0.6464213974369877, 0.22492220023653434]}}, {"xyz": [0.0026918832357397116, 0.07289965461336811, -0.08288567453369033], "rgb": [34, 34, 34], "semantic_id": 15, "pcd_info": {"point_index": 1025}, "mesh_info": {"face_index": 931, "face_uv": [0.11830932056165745, 0.8585790971309499, 0.02311158230739095]}}, {"xyz": [0.0009728982180324808, -0.21463186645388088, -0.08754120295721313], "rgb": [34, 34, 34], "semantic_id": 16, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 505, "face_uv": [0.48001596748544906, 0.5036745718079587, 0.016309460706591877]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "b5877df9f111bb91222f2fee97f8bdcd", "keypoints": [{"xyz": [0.17268599569797516, 0.5988746448140116, 0.16061893188936832], "rgb": [29, 29, 29], "semantic_id": 0, "pcd_info": {"point_index": 1648}, "mesh_info": {"face_index": 9447, "face_uv": [0.3391250148035079, 0.054227647935316765, 0.6066473372611754]}}, {"xyz": [-0.16919046766387794, 0.6059560179710388, 0.1601178691006258], "rgb": [29, 29, 29], "semantic_id": 1, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 11700, "face_uv": [0.35518521036598977, 0.005166656171020827, 0.6396481334629894]}}, {"xyz": [0.16776984650102364, 0.20045599341392528, 0.12657772966717495], "rgb": [29, 29, 29], "semantic_id": 2, "pcd_info": {"point_index": 1158}, "mesh_info": {"face_index": 8817, "face_uv": [0.016210526121014857, 0.9834533966757928, 0.0003360772031926733]}}, {"xyz": [-0.1646188138751325, 0.20333310404909222, 0.13348299859989365], "rgb": [29, 29, 29], "semantic_id": 3, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 10139, "face_uv": [0.9148717469258533, 0.06665844762878637, 0.018469805445360598]}}, {"xyz": [0.1519028612417965, 0.1981189965386655, -0.19553247996390555], "rgb": [29, 29, 29], "semantic_id": 4, "pcd_info": {"point_index": 276}, "mesh_info": {"face_index": 10927, "face_uv": [0.23588919250714613, 0.0566723346769306, 0.7074384728159234]}}, {"xyz": [-0.149838288676331, 0.20045599341392517, -0.19109668964833104], "rgb": [29, 29, 29], "semantic_id": 5, "pcd_info": {"point_index": 1545}, "mesh_info": {"face_index": 8609, "face_uv": [0.11931122653133715, 0.007058521999263435, 0.8736302514693994]}}, {"xyz": [0.18792013746285535, 0.32027782012022366, -0.13548600673675537], "rgb": [29, 29, 29], "semantic_id": 6, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 9801, "face_uv": [0.018891182367994752, 0.6305890371731971, 0.3505197804588081]}}, {"xyz": [0.19459034150649282, 0.32096938865060065, 0.15142833081523327], "rgb": [28, 28, 28], "semantic_id": 7, "pcd_info": {"point_index": 1943}, "mesh_info": {"face_index": 9211, "face_uv": [0.5311559784660704, 0.07506183034593385, 0.39378219118799535]}}, {"xyz": [-0.1844286104578422, 0.3180111460300844, -0.13548600673675548], "rgb": [29, 29, 29], "semantic_id": 8, "pcd_info": {"point_index": 531}, "mesh_info": {"face_index": 9020, "face_uv": [0.3333138700896763, 0.326461339444034, 0.34022479046629056]}}, {"xyz": [-0.19348052747583241, 0.32209155551804425, 0.14788498663320168], "rgb": [28, 28, 28], "semantic_id": 9, "pcd_info": {"point_index": 1587}, "mesh_info": {"face_index": 9144, "face_uv": [0.22672664490711386, 0.5459656342511765, 0.22730772084170928]}}, {"xyz": [0.009026378402761326, -0.10966673422891482, -0.24315028804246241], "rgb": [29, 29, 29], "semantic_id": 10, "pcd_info": {"point_index": 271}, "mesh_info": {"face_index": 3127, "face_uv": [0.19825971477398752, 0.4473340055397273, 0.3544062796862863]}}, {"xyz": [0.2250049920847132, -0.11003495213343761, -0.06862081811530349], "rgb": [29, 29, 29], "semantic_id": 11, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 2217, "face_uv": [0.44165376096077164, 0.4212825039243102, 0.13706373511492181]}}, {"xyz": [0.12451086369593384, -0.10664340206872724, 0.18340016021070651], "rgb": [29, 29, 29], "semantic_id": 12, "pcd_info": {"point_index": 544}, "mesh_info": {"face_index": 1408, "face_uv": [0.38256947083650245, 0.48995226780441037, 0.12747826135909066]}}, {"xyz": [-0.12821132039914304, -0.08467236894745467, 0.1831732617506164], "rgb": [29, 29, 29], "semantic_id": 13, "pcd_info": {"point_index": 464}, "mesh_info": {"face_index": 3649, "face_uv": [0.29248073730801144, 0.1158683764988915, 0.5916508861930998]}}, {"xyz": [-0.23073086681834803, -0.10958764892036799, -0.06399536352220869], "rgb": [29, 29, 29], "semantic_id": 14, "pcd_info": {"point_index": 522}, "mesh_info": {"face_index": 451, "face_uv": [0.24214729614889938, 0.25133272179607297, 0.5065199820550288]}}, {"xyz": [0.002492430176939897, 0.15626994063701283, -0.01914875129111593], "rgb": [29, 29, 29], "semantic_id": 15, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 8633, "face_uv": [0.1727928798021051, 0.5717901385755482, 0.25541698162235316]}}, {"xyz": [0.0013437364407352381, -0.0744590014219284, -0.009278781083539078], "rgb": [29, 29, 29], "semantic_id": 16, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 11620, "face_uv": [0.11952798557944658, 0.8527518637593451, 0.027720150661208413]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "510b1295f70873e2f91663a74ccd2338", "keypoints": [{"xyz": [0.11105737247970579, 0.36091187305880035, 0.12156782670915081], "rgb": [56, 56, 56], "semantic_id": 0, "pcd_info": {"point_index": 104}, "mesh_info": {"face_index": 33404, "face_uv": [0.022542622602236856, 0.3448561519988366, 0.6326012253989266]}}, {"xyz": [-0.13093697241181207, 0.3569104232001197, 0.12637997468648154], "rgb": [55, 55, 55], "semantic_id": 1, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 35721, "face_uv": [0.32011664115341243, 0.31846578045223906, 0.36141757839434824]}}, {"xyz": [0.11446983318826287, -0.003004068828727613, 0.051352222061679], "rgb": [56, 56, 56], "semantic_id": 2, "pcd_info": {"point_index": 1678}, "mesh_info": {"face_index": 18257, "face_uv": [0.14137737009551002, 0.6510998130263584, 0.20752281687822444]}}, {"xyz": [-0.1268047931222217, -0.00652623098121996, 0.0606292153787118], "rgb": [55, 55, 55], "semantic_id": 3, "pcd_info": {"point_index": 892}, "mesh_info": {"face_index": 19552, "face_uv": [0.3543210895893195, 0.5681855767100945, 0.0774933337005844]}}, {"xyz": [0.1343014742422451, -0.00531624036690892, -0.19252140297628037], "rgb": [55, 55, 55], "semantic_id": 4, "pcd_info": {"point_index": 1955}, "mesh_info": {"face_index": 26217, "face_uv": [0.3613906642985476, 0.22349928784964834, 0.415110047851804]}}, {"xyz": [-0.1360074413980072, -0.0029487707763458104, -0.19299307041508088], "rgb": [55, 55, 55], "semantic_id": 5, "pcd_info": {"point_index": 1149}, "mesh_info": {"face_index": 20360, "face_uv": [0.1271715653488402, 0.1803035395883659, 0.6925248950627937]}}, {"xyz": [-0.0030114067485756263, -0.3215074818512902, -0.2992385417674074], "rgb": [56, 56, 56], "semantic_id": 10, "pcd_info": {"point_index": 555}, "mesh_info": {"face_index": 1468, "face_uv": [0.8469894575035387, 0.12205335001300585, 0.030957192483456096]}}, {"xyz": [0.2225935206454, -0.3210733601421858, -0.11411307883243203], "rgb": [56, 56, 56], "semantic_id": 11, "pcd_info": {"point_index": 1877}, "mesh_info": {"face_index": 3276, "face_uv": [0.5452114662426066, 0.023827463786592833, 0.43096106997080086]}}, {"xyz": [0.12475660295120397, -0.32181868938385527, 0.16311377802623472], "rgb": [56, 56, 56], "semantic_id": 12, "pcd_info": {"point_index": 931}, "mesh_info": {"face_index": 2362, "face_uv": [0.28238645839579785, 0.6200881507626497, 0.09752539084155311]}}, {"xyz": [-0.1705243575946504, -0.3196629214887763, 0.14469493475951095], "rgb": [55, 55, 55], "semantic_id": 13, "pcd_info": {"point_index": 396}, "mesh_info": {"face_index": 12460, "face_uv": [0.009009800833763716, 0.35451139171201973, 0.636478807454216]}}, {"xyz": [-0.24710995760004179, -0.32049874130121725, -0.13617440943216552], "rgb": [56, 56, 56], "semantic_id": 14, "pcd_info": {"point_index": 549}, "mesh_info": {"face_index": 11543, "face_uv": [0.21856148797264954, 0.21159018007192212, 0.5698483319554284]}}, {"xyz": [-0.011878971322707321, -0.1389703977020913, -0.05423640712630973], "rgb": [148, 148, 148], "semantic_id": 15, "pcd_info": {"point_index": 163}, "mesh_info": {"face_index": 10194, "face_uv": [0.1213777050897388, 0.359935708659757, 0.5186865862505007]}}, {"xyz": [-0.008765522033097398, -0.3040564831313952, -0.058064826874566045], "rgb": [56, 56, 56], "semantic_id": 16, "pcd_info": {"point_index": 575}, "mesh_info": {"face_index": 10468, "face_uv": [0.07639935085246283, 0.8142952439935324, 0.10930540515401369]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "f93bbb0ae5d66c075fb57c89160d1cb7", "keypoints": [{"xyz": [0.16321133137721466, 0.389718804734975, 0.14552160397358493], "rgb": [134, 48, 44], "semantic_id": 0, "pcd_info": {"point_index": 2026}, "mesh_info": {"face_index": 3198, "face_uv": [0.2256027091793077, 0.3047999198934276, 0.4695973709272624]}}, {"xyz": [-0.15735066913687978, 0.3879983897282778, 0.1443704320155037], "rgb": [134, 48, 44], "semantic_id": 1, "pcd_info": {"point_index": 442}, "mesh_info": {"face_index": 3100, "face_uv": [0.06397842981105012, 0.4234082895317733, 0.512613280656982]}}, {"xyz": [0.1611033690106018, 0.1191929772092446, 0.06228152758813943], "rgb": [135, 49, 45], "semantic_id": 2, "pcd_info": {"point_index": 764}, "mesh_info": {"face_index": 2705, "face_uv": [0.012923905511591276, 0.06619609800002715, 0.9208799964883817]}}, {"xyz": [-0.14807947803621563, 0.1206672295011264, 0.05601456221501944], "rgb": [134, 48, 44], "semantic_id": 3, "pcd_info": {"point_index": 1397}, "mesh_info": {"face_index": 2656, "face_uv": [0.5089322612200559, 0.10410053539944204, 0.38696720338050034]}}, {"xyz": [0.16052767219276698, 0.09862877254168034, -0.22964957387002216], "rgb": [135, 49, 45], "semantic_id": 4, "pcd_info": {"point_index": 443}, "mesh_info": {"face_index": 2814, "face_uv": [0.2432973499412043, 0.30152663594197826, 0.45517601411681735]}}, {"xyz": [-0.1694943248893593, 0.08504302708228395, -0.23180228644340417], "rgb": [134, 48, 44], "semantic_id": 5, "pcd_info": {"point_index": 1031}, "mesh_info": {"face_index": 2859, "face_uv": [0.05513983326424613, 0.013013330657693122, 0.9318468360780598]}}, {"xyz": [0.2196690948665526, 0.22986382274427797, -0.09067512092674668], "rgb": [0, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 517}, "mesh_info": {"face_index": 479, "face_uv": [0.25199844256367804, 0.12098123869467471, 0.6270203187416213]}}, {"xyz": [0.2194736728485655, 0.2588488100257451, 0.10883208982749673], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 305}, "mesh_info": {"face_index": 176, "face_uv": [0.10581237891766145, 0.551699877685526, 0.34248774339681337]}}, {"xyz": [-0.21248775312351792, 0.21473872407969097, -0.10313106456217375], "rgb": [0, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 551}, "mesh_info": {"face_index": 870, "face_uv": [0.4737601427230306, 0.4417522056380261, 0.08448765163895001]}}, {"xyz": [-0.2151895624494099, 0.2587293242248512, 0.10777173581034023], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 1780}, "mesh_info": {"face_index": 780, "face_uv": [0.40605362855071975, 0.5776002732111479, 0.016346098238131816]}}, {"xyz": [0.1468640900994405, -0.2763157330343886, -0.23123754931382934], "rgb": [0, 0, 0], "semantic_id": 10, "pcd_info": {"point_index": 1527}, "mesh_info": {"face_index": 2205, "face_uv": [0.471353303148436, 0.3136312636608203, 0.21501543319074382]}}, {"xyz": [0.23738487314396395, -0.2758805379537608, 0.0412764383497598], "rgb": [0, 0, 0], "semantic_id": 11, "pcd_info": {"point_index": 1065}, "mesh_info": {"face_index": 2589, "face_uv": [0.21753953059266964, 0.4976800252537901, 0.28478044415353965]}}, {"xyz": [0.0022218141660689944, -0.2775413754634919, 0.2144674033984588], "rgb": [0, 0, 0], "semantic_id": 12, "pcd_info": {"point_index": 680}, "mesh_info": {"face_index": 2392, "face_uv": [0.448409473644945, 0.5330546980796795, 0.018535828275376694]}}, {"xyz": [-0.22539853929492346, -0.2758189080545259, 0.04181365006106763], "rgb": [0, 0, 0], "semantic_id": 13, "pcd_info": {"point_index": 738}, "mesh_info": {"face_index": 2475, "face_uv": [0.27226855035611885, 0.4330712738776703, 0.2946601757662103]}}, {"xyz": [-0.14023120526462318, -0.2761295278785618, -0.23160843120143837], "rgb": [0, 0, 0], "semantic_id": 14, "pcd_info": {"point_index": 2004}, "mesh_info": {"face_index": 2157, "face_uv": [0.4752361399610391, 0.27989835428116794, 0.24486550575779156]}}, {"xyz": [-0.004350662345854156, -0.2615378770805544, -0.03920650142541571], "rgb": [0, 0, 0], "semantic_id": 16, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 49, "face_uv": [0.6651172567080321, 0.32830321845820115, 0.006579524833772674]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "2c4d7d33ecb486532569827d39fc0af3", "keypoints": [{"xyz": [0.15887153826849254, 0.3352137693475139, 0.1507176023315573], "rgb": [43, 43, 43], "semantic_id": 0, "pcd_info": {"point_index": 950}, "mesh_info": {"face_index": 16372, "face_uv": [0.10916208187754303, 0.4311699600955011, 0.45966795802695865]}}, {"xyz": [-0.19978876324079806, 0.3348547989036299, 0.10946105037910625], "rgb": [42, 42, 42], "semantic_id": 1, "pcd_info": {"point_index": 273}, "mesh_info": {"face_index": 14384, "face_uv": [0.29957083204755375, 0.34930515000037976, 0.35112401795206355]}}, {"xyz": [0.10563163168590206, -0.005360775110096361, 0.07886748451781833], "rgb": [42, 42, 42], "semantic_id": 2, "pcd_info": {"point_index": 1782}, "mesh_info": {"face_index": 18325, "face_uv": [0.8113858824319368, 0.10811733099554997, 0.08049678657251277]}}, {"xyz": [-0.1282849714938894, -0.014257508506356764, 0.05370497749732084], "rgb": [43, 43, 43], "semantic_id": 3, "pcd_info": {"point_index": 1692}, "mesh_info": {"face_index": 15978, "face_uv": [0.1481562500052403, 0.8002636115084842, 0.05158013848627681]}}, {"xyz": [0.14028954627887286, 0.006198120261064588, -0.20102238775550885], "rgb": [43, 43, 43], "semantic_id": 4, "pcd_info": {"point_index": 1916}, "mesh_info": {"face_index": 24162, "face_uv": [0.579057068646023, 0.15943582899494135, 0.2615071023590376]}}, {"xyz": [-0.0941051300744526, -0.0011073740970903856, -0.23475598336438264], "rgb": [43, 43, 43], "semantic_id": 5, "pcd_info": {"point_index": 18}, "mesh_info": {"face_index": 24368, "face_uv": [0.5964824562671892, 0.16597107117712637, 0.23754647255568473]}}, {"xyz": [0.17584075855359504, 0.15783829138325256, -0.0740942878714883], "rgb": [47, 47, 47], "semantic_id": 6, "pcd_info": {"point_index": 60}, "mesh_info": {"face_index": 1516, "face_uv": [0.7605701264149454, 0.12839389847170138, 0.11103597511335417]}}, {"xyz": [0.15680748858752278, 0.1468112937365067, 0.08294681398094408], "rgb": [46, 46, 46], "semantic_id": 7, "pcd_info": {"point_index": 77}, "mesh_info": {"face_index": 1106, "face_uv": [0.21976590179905453, 0.1362413206274975, 0.643992777573447]}}, {"xyz": [-0.15865833959194806, 0.15895863564191925, -0.12355481523927231], "rgb": [47, 47, 47], "semantic_id": 8, "pcd_info": {"point_index": 959}, "mesh_info": {"face_index": 1796, "face_uv": [0.2536949807099175, 0.7410768925080933, 0.005228126781990736]}}, {"xyz": [-0.18237897753845655, 0.1364057929829976, 0.03884689206594405], "rgb": [46, 46, 46], "semantic_id": 9, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 3227, "face_uv": [0.27189830378145324, 0.39473572564969645, 0.33336597056884926]}}, {"xyz": [0.1695460736963027, -0.31316008273575247, -0.2269788681274829], "rgb": [42, 42, 42], "semantic_id": 10, "pcd_info": {"point_index": 1901}, "mesh_info": {"face_index": 7754, "face_uv": [0.3868539224558635, 0.06084291676649733, 0.5523031607776384]}}, {"xyz": [0.22664457548492073, -0.32463971508905365, 0.07998702840644456], "rgb": [43, 43, 43], "semantic_id": 11, "pcd_info": {"point_index": 2037}, "mesh_info": {"face_index": 7930, "face_uv": [0.4408750965672084, 0.1825872039922554, 0.3765376994405372]}}, {"xyz": [-0.031184819440135708, -0.3247013562944603, 0.22421643432513028], "rgb": [43, 43, 43], "semantic_id": 12, "pcd_info": {"point_index": 517}, "mesh_info": {"face_index": 6950, "face_uv": [0.3083183819586901, 0.6339317910315482, 0.057749827009762514]}}, {"xyz": [-0.23785324683190745, -0.32422342395976544, 0.03707176952642893], "rgb": [43, 43, 43], "semantic_id": 13, "pcd_info": {"point_index": 491}, "mesh_info": {"face_index": 6402, "face_uv": [0.5724774408842462, 0.05391992712591733, 0.3736026319898379]}}, {"xyz": [-0.13266885579708115, -0.323564978547378, -0.23271215644869525], "rgb": [43, 43, 43], "semantic_id": 14, "pcd_info": {"point_index": 657}, "mesh_info": {"face_index": 7410, "face_uv": [0.04633598160783843, 0.5727631171063599, 0.3809009012858019]}}, {"xyz": [0.00862542823762645, -0.10165800154209137, -0.031872379657671646], "rgb": [42, 42, 42], "semantic_id": 15, "pcd_info": {"point_index": 659}, "mesh_info": {"face_index": 12475, "face_uv": [0.30436614979722604, 0.5894760888149022, 0.1061577613878717]}}, {"xyz": [0.006177659705533245, -0.31764501333236694, -0.03196239902559206], "rgb": [43, 43, 43], "semantic_id": 16, "pcd_info": {"point_index": 498}, "mesh_info": {"face_index": 6470, "face_uv": [0.16429910737983253, 0.27700869707234005, 0.5586921955478275]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "da7aeb7a73f298329940c34828c5731f", "keypoints": [{"xyz": [0.07574378904135443, 0.4390852207736299, 0.12545425459624093], "rgb": [67, 67, 67], "semantic_id": 0, "pcd_info": {"point_index": 887}, "mesh_info": {"face_index": 93080, "face_uv": [0.5091965487820266, 0.38628811270232855, 0.10451533851564411]}}, {"xyz": [-0.10957135830093123, 0.4364972248378379, 0.12320036152937819], "rgb": [60, 60, 60], "semantic_id": 1, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 92415, "face_uv": [0.18961904501881896, 0.34762771760046784, 0.4627532373807153]}}, {"xyz": [0.10487823713947202, 0.1143502855417109, 0.08628302015401479], "rgb": [40, 40, 40], "semantic_id": 2, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 196761, "face_uv": [0.1650240904858155, 0.5967196503986, 0.23825625911558432]}}, {"xyz": [-0.12796274652483108, 0.10936139770204334, 0.09091841817434176], "rgb": [28, 28, 28], "semantic_id": 3, "pcd_info": {"point_index": 434}, "mesh_info": {"face_index": 197792, "face_uv": [0.04655454769767676, 0.10485436651113049, 0.8485910857911927]}}, {"xyz": [0.12795904326656804, 0.0958428786192817, -0.18668426765388535], "rgb": [44, 44, 44], "semantic_id": 4, "pcd_info": {"point_index": 505}, "mesh_info": {"face_index": 196238, "face_uv": [0.13903410968320865, 0.3366488983441034, 0.5243169919726886]}}, {"xyz": [-0.14626360573393415, 0.10508931040988978, -0.18230219550519133], "rgb": [57, 57, 57], "semantic_id": 5, "pcd_info": {"point_index": 1985}, "mesh_info": {"face_index": 197120, "face_uv": [0.07553513204542886, 0.3567650923165053, 0.5676997756380658]}}, {"xyz": [0.21030243268294468, 0.24011717311533642, -0.13790845440579425], "rgb": [28, 28, 28], "semantic_id": 6, "pcd_info": {"point_index": 1786}, "mesh_info": {"face_index": 43226, "face_uv": [0.47575863727278195, 0.04124706000441839, 0.48299430272279803]}}, {"xyz": [0.1907190460658558, 0.23975225877519457, 0.06932843951566825], "rgb": [28, 28, 28], "semantic_id": 7, "pcd_info": {"point_index": 1743}, "mesh_info": {"face_index": 43356, "face_uv": [0.05293312935649083, 0.048095632754093925, 0.8989712378894148]}}, {"xyz": [-0.22107718534744816, 0.24439974351018046, -0.1340714967542228], "rgb": [29, 29, 29], "semantic_id": 8, "pcd_info": {"point_index": 1051}, "mesh_info": {"face_index": 16088, "face_uv": [0.02395185382711834, 0.5082576238605953, 0.4677905223122865]}}, {"xyz": [-0.20213946524345783, 0.24537247399114825, 0.06183293207642032], "rgb": [29, 29, 29], "semantic_id": 9, "pcd_info": {"point_index": 658}, "mesh_info": {"face_index": 16509, "face_uv": [0.3288009419913546, 0.5334289971704563, 0.13777006083818935]}}, {"xyz": [0.16482160055598982, -0.26819358610754906, -0.16648806126805854], "rgb": [28, 28, 28], "semantic_id": 10, "pcd_info": {"point_index": 748}, "mesh_info": {"face_index": 149116, "face_uv": [0.6562278059150035, 0.20820362623166933, 0.1355685678533269]}}, {"xyz": [0.16806826550178078, -0.2674599896794647, 0.08245948814971094], "rgb": [29, 29, 29], "semantic_id": 11, "pcd_info": {"point_index": 737}, "mesh_info": {"face_index": 140695, "face_uv": [0.6964498024094787, 0.1724510236218116, 0.13109917396871007]}}, {"xyz": [-0.07192373125345031, -0.26810024477064154, 0.16605969328130293], "rgb": [28, 28, 28], "semantic_id": 12, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 157544, "face_uv": [0.533172777231684, 0.11757281736149806, 0.34925440540681774]}}, {"xyz": [-0.22335591090342766, -0.26771286645921033, -0.04018709535533921], "rgb": [29, 29, 29], "semantic_id": 13, "pcd_info": {"point_index": 1814}, "mesh_info": {"face_index": 132269, "face_uv": [0.02652714953982924, 0.187500756640451, 0.7859720938197212]}}, {"xyz": [-0.07471797680700328, -0.26783525193709923, -0.24299375210901952], "rgb": [28, 28, 28], "semantic_id": 14, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 165933, "face_uv": [0.19085226734408386, 0.3722796989564446, 0.4368680336994712]}}, {"xyz": [-0.007000183477239182, 0.05569325947343007, -0.0516960175960568], "rgb": [28, 28, 28], "semantic_id": 15, "pcd_info": {"point_index": 111}, "mesh_info": {"face_index": 177925, "face_uv": [0.20772447900541124, 0.4365461492045274, 0.3557293717900581]}}, {"xyz": [-0.004498938281283515, -0.22237085012152158, -0.02382821023286963], "rgb": [28, 28, 28], "semantic_id": 16, "pcd_info": {"point_index": 1288}, "mesh_info": {"face_index": 102785, "face_uv": [0.8548390778192931, 0.010162499206461804, 0.13499842297424405]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "7e9448da23c3387754e9211d1e7afbcf", "keypoints": [{"xyz": [0.13662541811923204, 0.46453355407937014, 0.16664604616665468], "rgb": [71, 87, 64], "semantic_id": 0, "pcd_info": {"point_index": 460}, "mesh_info": {"face_index": 9711, "face_uv": [0.12305077789304508, 0.30228429835897996, 0.5746649237479756]}}, {"xyz": [-0.13767505294619642, 0.46611469317463683, 0.1696274835422874], "rgb": [69, 85, 62], "semantic_id": 1, "pcd_info": {"point_index": 1096}, "mesh_info": {"face_index": 8596, "face_uv": [0.7018524813505209, 0.2606295060933784, 0.037518012556100884]}}, {"xyz": [0.1585856704489027, 0.0695955239404158, 0.10595445570752915], "rgb": [39, 39, 39], "semantic_id": 2, "pcd_info": {"point_index": 297}, "mesh_info": {"face_index": 6155, "face_uv": [0.06736650187913328, 0.5908170487921506, 0.34181644932871585]}}, {"xyz": [-0.16413084739614903, 0.07054861584052574, 0.10435175440435907], "rgb": [40, 40, 40], "semantic_id": 3, "pcd_info": {"point_index": 1619}, "mesh_info": {"face_index": 5896, "face_uv": [0.22285747682571258, 0.1481752063286562, 0.6289673168456318]}}, {"xyz": [0.16925551458353563, 0.07629305023381772, -0.18540866915688836], "rgb": [71, 86, 63], "semantic_id": 4, "pcd_info": {"point_index": 237}, "mesh_info": {"face_index": 8182, "face_uv": [0.12175795204999545, 0.7864678840349016, 0.09177416391510114]}}, {"xyz": [-0.16690302356238895, 0.07572669890420691, -0.18936486589955526], "rgb": [74, 89, 66], "semantic_id": 5, "pcd_info": {"point_index": 1669}, "mesh_info": {"face_index": 8510, "face_uv": [0.284855814739485, 0.15808766051005324, 0.5570565247504624]}}, {"xyz": [0.18070698367326415, 0.21846126782916686, -0.14797842463551003], "rgb": [40, 40, 40], "semantic_id": 6, "pcd_info": {"point_index": 2016}, "mesh_info": {"face_index": 5283, "face_uv": [0.2490579072774474, 0.27690685698267664, 0.47403523573987594]}}, {"xyz": [0.22225042994051053, 0.21865419565221744, 0.03564664081657426], "rgb": [40, 40, 40], "semantic_id": 7, "pcd_info": {"point_index": 546}, "mesh_info": {"face_index": 5059, "face_uv": [0.19360000578358036, 0.3054405858630143, 0.500959408353407]}}, {"xyz": [-0.1821366033002302, 0.2191709922635785, -0.1357318154304994], "rgb": [39, 39, 39], "semantic_id": 8, "pcd_info": {"point_index": 1850}, "mesh_info": {"face_index": 10272, "face_uv": [0.06345614170267581, 0.8010542860037979, 0.1354895722935258]}}, {"xyz": [-0.22485228066608642, 0.2185487903230261, 0.03758595631645817], "rgb": [40, 40, 40], "semantic_id": 9, "pcd_info": {"point_index": 1965}, "mesh_info": {"face_index": 10813, "face_uv": [0.27767283000175774, 0.17004467521598257, 0.5522824947822607]}}, {"xyz": [0.1972402309871537, -0.25680682588932635, -0.1109445450253137], "rgb": [39, 39, 39], "semantic_id": 10, "pcd_info": {"point_index": 196}, "mesh_info": {"face_index": 2433, "face_uv": [0.21141626464506152, 0.7301735005969956, 0.058410234757941965]}}, {"xyz": [0.13362856432641101, -0.24884504482289183, 0.1435381512714462], "rgb": [225, 225, 200], "semantic_id": 11, "pcd_info": {"point_index": 21}, "mesh_info": {"face_index": 1730, "face_uv": [0.19382378042418386, 0.20887390858008453, 0.5973023109957318]}}, {"xyz": [-0.14276456866735465, -0.2563313104639393, 0.14695963058220674], "rgb": [40, 40, 40], "semantic_id": 12, "pcd_info": {"point_index": 1885}, "mesh_info": {"face_index": 919, "face_uv": [0.46143312094528505, 0.4422380010252069, 0.09632887802951]}}, {"xyz": [-0.2263020553006585, -0.2574141808082828, -0.10764095226881909], "rgb": [225, 225, 200], "semantic_id": 13, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 643, "face_uv": [0.2557644988979118, 0.049612878552578024, 0.6946226225495102]}}, {"xyz": [-0.011727572231494232, -0.2564005343444373, -0.2659366365535921], "rgb": [40, 40, 40], "semantic_id": 14, "pcd_info": {"point_index": 551}, "mesh_info": {"face_index": 2848, "face_uv": [0.3417656922805332, 0.5828610652669938, 0.07537324245247522]}}, {"xyz": [0.003769887910253497, -0.038917091876474685, -0.038047000765800476], "rgb": [40, 40, 40], "semantic_id": 15, "pcd_info": {"point_index": 1437}, "mesh_info": {"face_index": 4658, "face_uv": [0.4138114481000387, 0.29213479442677553, 0.29405375747318574]}}, {"xyz": [-0.0006673545751487708, -0.24632899463176727, -0.018641704025697425], "rgb": [40, 40, 40], "semantic_id": 16, "pcd_info": {"point_index": 244}, "mesh_info": {"face_index": 4603, "face_uv": [0.2702480349235924, 0.5683964103803193, 0.16135555469608828]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "94e289c89059106bd8f74b0004a598cd", "keypoints": [{"xyz": [0.15410377118061816, 0.41955960068453946, 0.11198188844594581], "rgb": [25, 25, 25], "semantic_id": 0, "pcd_info": {"point_index": 1688}, "mesh_info": {"face_index": 13149, "face_uv": [0.6573741293380279, 0.07386966247845507, 0.2687562081835165]}}, {"xyz": [-0.1606375193957093, 0.41932671047106407, 0.12537743268568557], "rgb": [25, 25, 25], "semantic_id": 1, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 13302, "face_uv": [0.3958790929323564, 0.06365289306743824, 0.5404680140002052]}}, {"xyz": [0.1740523104714632, 0.02346840344032053, 0.03737158584318778], "rgb": [26, 26, 26], "semantic_id": 2, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 13668, "face_uv": [0.008700588385992747, 0.2925971579474112, 0.6987022536665979]}}, {"xyz": [-0.1797239683804434, 0.02560331446859032, 0.02724165907054177], "rgb": [26, 26, 26], "semantic_id": 3, "pcd_info": {"point_index": 126}, "mesh_info": {"face_index": 13711, "face_uv": [0.12143611262170274, 0.8686680246766764, 0.00989586270162548]}}, {"xyz": [0.18899333298198254, 0.045502082109004416, -0.23882686896717953], "rgb": [26, 26, 26], "semantic_id": 4, "pcd_info": {"point_index": 518}, "mesh_info": {"face_index": 13524, "face_uv": [0.38383571447373577, 0.3736864087150351, 0.24247787681122907]}}, {"xyz": [-0.1882961469749794, 0.043915525918128195, -0.24314892196959814], "rgb": [25, 25, 25], "semantic_id": 5, "pcd_info": {"point_index": 1021}, "mesh_info": {"face_index": 13648, "face_uv": [0.7771058322468107, 0.14816578184612436, 0.07472838590706442]}}, {"xyz": [0.20045394389877177, 0.15368229626073182, -0.13184462524532903], "rgb": [111, 111, 111], "semantic_id": 6, "pcd_info": {"point_index": 177}, "mesh_info": {"face_index": 9486, "face_uv": [0.5119356983288202, 0.010920524567252562, 0.4771437771039257]}}, {"xyz": [0.188277169499133, 0.14761897071137642, 0.08039764345066835], "rgb": [112, 112, 112], "semantic_id": 7, "pcd_info": {"point_index": 520}, "mesh_info": {"face_index": 8527, "face_uv": [0.32558978786545867, 0.15318329335788897, 0.5212269187766527]}}, {"xyz": [-0.20364256964312602, 0.16711443548479332, -0.11913167580792483], "rgb": [111, 111, 111], "semantic_id": 8, "pcd_info": {"point_index": 928}, "mesh_info": {"face_index": 11246, "face_uv": [0.13618455704370794, 0.5391904713981583, 0.3246249715581333]}}, {"xyz": [-0.1964026322180088, 0.15017581458855056, 0.07230860725526911], "rgb": [111, 111, 111], "semantic_id": 9, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 10632, "face_uv": [0.02205862018729827, 0.9452363846461891, 0.03270499516651163]}}, {"xyz": [0.2088610095575002, -0.3226209878921509, -0.09639435317154627], "rgb": [17, 14, 10], "semantic_id": 10, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 3468, "face_uv": [0.08807286884647579, 0.5647489630373099, 0.3471781681162143]}}, {"xyz": [0.12877685713645828, -0.3226209878921509, 0.1607975757891081], "rgb": [17, 14, 10], "semantic_id": 11, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 3192, "face_uv": [0.3148661518832608, 0.26157271507912494, 0.4235611330376143]}}, {"xyz": [-0.13369530990821676, -0.3217672036994945, 0.16280622141306017], "rgb": [17, 14, 10], "semantic_id": 12, "pcd_info": {"point_index": 1153}, "mesh_info": {"face_index": 3094, "face_uv": [0.397379752920715, 0.29481691040896607, 0.3078033366703197]}}, {"xyz": [-0.21612180831287592, -0.3226209878921509, -0.08573017613534095], "rgb": [17, 14, 10], "semantic_id": 13, "pcd_info": {"point_index": 1991}, "mesh_info": {"face_index": 2940, "face_uv": [0.1461491539259206, 0.4249156966207161, 0.4289351494533633]}}, {"xyz": [-0.0025701362014153364, -0.3225049462540426, -0.24507351403848826], "rgb": [17, 14, 10], "semantic_id": 14, "pcd_info": {"point_index": 750}, "mesh_info": {"face_index": 3367, "face_uv": [0.3769851363948773, 0.04006988829288091, 0.5829449753122428]}}, {"xyz": [0.0027344074159777465, -0.10014993320476362, -0.0352733166146042], "rgb": [111, 111, 111], "semantic_id": 15, "pcd_info": {"point_index": 1613}, "mesh_info": {"face_index": 214, "face_uv": [0.02387238715826528, 0.23931132456236193, 0.7368162882793724]}}, {"xyz": [-0.002116750230766018, -0.27022602571670085, -0.04148099943995476], "rgb": [111, 111, 111], "semantic_id": 16, "pcd_info": {"point_index": 708}, "mesh_info": {"face_index": 30, "face_uv": [0.7113796133456232, 0.2748561026254317, 0.013764284028944963]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "ecd46956b35523fd492d9da2668ec34c", "keypoints": [{"xyz": [0.14493562409097843, 0.4039177818457397, 0.1333114042894392], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 387}, "mesh_info": {"face_index": 1810, "face_uv": [0.5682264918300227, 0.3368798744589176, 0.09489363371105941]}}, {"xyz": [-0.15592160051530463, 0.3997915567663963, 0.13274650932628643], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 572}, "mesh_info": {"face_index": 1296, "face_uv": [0.40456995094029957, 0.4901179942979449, 0.10531205476175574]}}, {"xyz": [0.17024666645292075, 0.07899191692824292, 0.06135800785608869], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 2734, "face_uv": [0.49172007736331824, 0.456137113770436, 0.052142808866245526]}}, {"xyz": [-0.15837080848240986, 0.08174543854923466, 0.05992544138013825], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 686}, "mesh_info": {"face_index": 2272, "face_uv": [0.23971824954131613, 0.5928146576247194, 0.1674670928339638]}}, {"xyz": [0.16933199684408023, 0.09025792945857947, -0.17401038240689043], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1403}, "mesh_info": {"face_index": 2472, "face_uv": [6.023231690211471e-05, 0.8978056968503187, 0.10213407083278131]}}, {"xyz": [-0.1705226005542994, 0.08351932099302806, -0.1855875387126897], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 808}, "mesh_info": {"face_index": 2086, "face_uv": [0.018737234232110274, 0.6846814592209087, 0.2965813065469812]}}, {"xyz": [0.22778945171913845, 0.18881811510623248, -0.1015325931856547], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1768}, "mesh_info": {"face_index": 204, "face_uv": [0.2391050201915559, 0.3979758696490227, 0.36291911015942324]}}, {"xyz": [0.23627217920302584, 0.16844736831431284, 0.046263090439698284], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 658}, "mesh_info": {"face_index": 159, "face_uv": [0.22064461738067395, 0.6479075394808215, 0.13144784313850671]}}, {"xyz": [-0.23429566804416135, 0.18591745673105065, -0.10885419634777455], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 319}, "mesh_info": {"face_index": 262, "face_uv": [0.5437540040777521, 0.31923263933900875, 0.1370133565832396]}}, {"xyz": [-0.2355003002565277, 0.16853001187747618, 0.04615898747096148], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 2026}, "mesh_info": {"face_index": 325, "face_uv": [0.6946470506847088, 0.014756037856464767, 0.29059691145882693]}}, {"xyz": [0.13491989631160434, -0.235450022642265, -0.216814001088659], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 1383}, "mesh_info": {"face_index": 1100, "face_uv": [0.04066708716788297, 0.7647667946878259, 0.19456611814429106]}}, {"xyz": [0.21881249114434714, -0.23672926546149387, 0.03967535190414828], "rgb": [254, 254, 254], "semantic_id": 11, "pcd_info": {"point_index": 502}, "mesh_info": {"face_index": 1010, "face_uv": [0.22332585322405085, 0.5273443483519624, 0.24932979842398617]}}, {"xyz": [-0.0051170730521331725, -0.23217240433606423, 0.19550424781492215], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 1736}, "mesh_info": {"face_index": 928, "face_uv": [0.061915873070634286, 0.10288824881573744, 0.8351958781136295]}}, {"xyz": [-0.22545621875906036, -0.2489227902552007, 0.023732790910143686], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 1871}, "mesh_info": {"face_index": 1264, "face_uv": [0.22014887865822322, 0.49433978175437915, 0.28551133958739766]}}, {"xyz": [-0.1413348634268999, -0.22667426048327477, -0.23572655969201892], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 64}, "mesh_info": {"face_index": 1184, "face_uv": [0.9909792122023625, 0.0036768791925342794, 0.005343908605103707]}}, {"xyz": [-0.0027407888864947882, -0.053081817390886465, -0.04363757671978519], "rgb": [254, 254, 254], "semantic_id": 15, "pcd_info": {"point_index": 462}, "mesh_info": {"face_index": 824, "face_uv": [0.18567767857864334, 0.15799188111331072, 0.6563304403080402]}}, {"xyz": [-0.00029537036018856266, -0.24192746279108723, -0.034453094866971457], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 436}, "mesh_info": {"face_index": 830, "face_uv": [0.06784992408986606, 0.3986537021562698, 0.5334963737538646]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "4422c64dffcd8662eaf288f952624966", "keypoints": [{"xyz": [0.12794685163333286, 0.3618679975346726, 0.1040552512974493], "rgb": [29, 29, 29], "semantic_id": 0, "pcd_info": {"point_index": 1675}, "mesh_info": {"face_index": 6032, "face_uv": [0.1601078681987204, 0.38656262113140594, 0.4533295106698747]}}, {"xyz": [-0.15441232549627043, 0.34828792741573067, 0.09179617255211203], "rgb": [29, 29, 29], "semantic_id": 1, "pcd_info": {"point_index": 318}, "mesh_info": {"face_index": 5586, "face_uv": [0.5190157666422466, 0.1380252619880441, 0.34295897136971076]}}, {"xyz": [0.1329670463022438, 0.038192346604437155, 0.05337712252895466], "rgb": [28, 28, 28], "semantic_id": 2, "pcd_info": {"point_index": 1863}, "mesh_info": {"face_index": 2632, "face_uv": [0.479477494893155, 0.16987934100373023, 0.35064316410311297]}}, {"xyz": [-0.14308349300425544, 0.038877246772480056, 0.045612938238187906], "rgb": [29, 29, 29], "semantic_id": 3, "pcd_info": {"point_index": 1767}, "mesh_info": {"face_index": 3446, "face_uv": [0.6787570041031168, 0.2446437838311639, 0.07659921206572129]}}, {"xyz": [0.1473920292460773, 0.026958466379407575, -0.2017657792476244], "rgb": [29, 29, 29], "semantic_id": 4, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 3364, "face_uv": [0.5371761172462186, 0.35731230391071783, 0.10551157884306529]}}, {"xyz": [-0.15307320993868068, 0.023556541564330846, -0.21181865567312974], "rgb": [28, 28, 28], "semantic_id": 5, "pcd_info": {"point_index": 1400}, "mesh_info": {"face_index": 3612, "face_uv": [0.6767513681937726, 0.06902610741422624, 0.2542225243920005]}}, {"xyz": [0.14616967541208437, -0.3145855389633243, -0.2172809848500683], "rgb": [11, 11, 11], "semantic_id": 10, "pcd_info": {"point_index": 1562}, "mesh_info": {"face_index": 9629, "face_uv": [0.22576405285566192, 0.3075796400664995, 0.46665630707783806]}}, {"xyz": [0.25098366439377595, -0.29676699638366677, 0.0428904010648124], "rgb": [11, 11, 11], "semantic_id": 11, "pcd_info": {"point_index": 130}, "mesh_info": {"face_index": 8917, "face_uv": [0.2839718841095148, 0.19871046640997617, 0.5173176494805083]}}, {"xyz": [0.008032034927819232, -0.2967669963836672, 0.2304579327617714], "rgb": [12, 12, 12], "semantic_id": 12, "pcd_info": {"point_index": 231}, "mesh_info": {"face_index": 8485, "face_uv": [0.06822578356808277, 0.2723808146118057, 0.6593934018201123]}}, {"xyz": [-0.22041249994470025, -0.31437384523045386, 0.06565677049779456], "rgb": [11, 11, 11], "semantic_id": 13, "pcd_info": {"point_index": 697}, "mesh_info": {"face_index": 8093, "face_uv": [0.23164951751786755, 0.7202464902525744, 0.04810399222955732]}}, {"xyz": [-0.15450645035998423, -0.296766996383667, -0.22527145445662045], "rgb": [12, 12, 12], "semantic_id": 14, "pcd_info": {"point_index": 889}, "mesh_info": {"face_index": 9845, "face_uv": [0.5508139821875483, 0.3657328671139852, 0.08345315069846652]}}, {"xyz": [0.0025376191923259794, -0.08178448236551827, -0.039362538278715054], "rgb": [11, 11, 11], "semantic_id": 15, "pcd_info": {"point_index": 912}, "mesh_info": {"face_index": 6730, "face_uv": [0.5266323715981419, 0.2871153223610028, 0.18625230604085513]}}, {"xyz": [-0.0010434582718966412, -0.29203900694847107, -0.026287603456387476], "rgb": [171, 171, 171], "semantic_id": 16, "pcd_info": {"point_index": 250}, "mesh_info": {"face_index": 1001, "face_uv": [0.20969368160252494, 0.4878589016844734, 0.3024474167130016]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "22740f20eddc5420492d9da2668ec34c", "keypoints": [{"xyz": [0.16065091053715913, 0.41417760889582933, 0.16290472140224255], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1425}, "mesh_info": {"face_index": 2438, "face_uv": [0.10585705395063352, 0.03489834224283888, 0.8592446038065283]}}, {"xyz": [-0.16291426710737097, 0.42047490508400215, 0.1623789019287929], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 2000}, "mesh_info": {"face_index": 2290, "face_uv": [0.3850601115580404, 0.0007147412904087563, 0.6142251471515513]}}, {"xyz": [0.1713832651583486, 0.08164428622330222, 0.1151623138757103], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 739}, "mesh_info": {"face_index": 2706, "face_uv": [0.04842293135895745, 0.47217285360962713, 0.4794042150314155]}}, {"xyz": [-0.17858596940643437, 0.08902620392528715, 0.08473899789607131], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 245}, "mesh_info": {"face_index": 1825, "face_uv": [0.05803844006805093, 0.9152876229777079, 0.026673936954241317]}}, {"xyz": [0.16345729641338924, 0.07485114084789679, -0.22399224627259207], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 285}, "mesh_info": {"face_index": 2112, "face_uv": [0.17998230650323926, 0.35932780548322807, 0.4606898880135303]}}, {"xyz": [-0.18286907212585177, 0.07882968256908596, -0.2210780205982663], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 852}, "mesh_info": {"face_index": 1848, "face_uv": [0.052404926170863564, 0.18672825589743872, 0.7608668179316979]}}, {"xyz": [0.19236945152692972, 0.21572950699214322, -0.13652802020638344], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 803}, "mesh_info": {"face_index": 486, "face_uv": [0.5917079262843828, 0.32275346016384243, 0.085538613551775]}}, {"xyz": [0.19001416355875983, 0.2124998784516181, 0.1065748239371418], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1233}, "mesh_info": {"face_index": 322, "face_uv": [0.08406422606723031, 0.6236061854939561, 0.29232958843881446]}}, {"xyz": [-0.1959537941026528, 0.20713212195606, -0.1435709885420926], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1645}, "mesh_info": {"face_index": 149, "face_uv": [0.17080395334764667, 0.16946386317817322, 0.6597321834741761]}}, {"xyz": [-0.19866358382214017, 0.21292501464810498, 0.10567298781165121], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1985}, "mesh_info": {"face_index": 4, "face_uv": [0.13150566700024163, 0.7942688122781895, 0.07422552072156796]}}, {"xyz": [0.22237826389017695, -0.2858113947917915, -0.08655561374638115], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 1313}, "mesh_info": {"face_index": 1353, "face_uv": [0.6279135867800314, 0.3117263603181915, 0.060360052901778774]}}, {"xyz": [0.14085613243963924, -0.2626308619188662, 0.20567051557458987], "rgb": [254, 254, 254], "semantic_id": 11, "pcd_info": {"point_index": 343}, "mesh_info": {"face_index": 1688, "face_uv": [0.09818054347340249, 0.3794354706885331, 0.5223839858380588]}}, {"xyz": [-0.1421198985186104, -0.24891139680685104, 0.19443069971841054], "rgb": [254, 254, 254], "semantic_id": 12, "pcd_info": {"point_index": 316}, "mesh_info": {"face_index": 1698, "face_uv": [0.13092048649041918, 0.8673469864615757, 0.001732527048004633]}}, {"xyz": [-0.23965991316637944, -0.24819943342447992, -0.08968719296014535], "rgb": [254, 254, 254], "semantic_id": 13, "pcd_info": {"point_index": 108}, "mesh_info": {"face_index": 1710, "face_uv": [0.44616063657655286, 0.36729579302697524, 0.18654357039647115]}}, {"xyz": [-0.015620866605307357, -0.2851633206112689, -0.26278190426947373], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 671}, "mesh_info": {"face_index": 1265, "face_uv": [0.31106078393092645, 0.2757471638598603, 0.4131920522092134]}}, {"xyz": [-0.003495553100699225, -0.008457037283030822, -0.03561020275941296], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 1714}, "mesh_info": {"face_index": 897, "face_uv": [0.4243919844691884, 0.05030267230959905, 0.5253053432212222]}}, {"xyz": [-0.0028401203115205886, -0.2658026718525903, -0.024584787306619393], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 1183, "face_uv": [0.1234586706572533, 0.4644107110667619, 0.4121306182759853]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "813f84c21a081253c02e349cb722a77a", "keypoints": [{"xyz": [0.13875246994625368, 0.5374896354574178, 0.13183942067784102], "rgb": [61, 82, 96], "semantic_id": 0, "pcd_info": {"point_index": 1733}, "mesh_info": {"face_index": 39253, "face_uv": [0.07820148846525872, 0.23284574646491527, 0.6889527650698261]}}, {"xyz": [-0.1304321524221153, 0.5376307146728125, 0.11577084418183647], "rgb": [108, 125, 140], "semantic_id": 1, "pcd_info": {"point_index": 16}, "mesh_info": {"face_index": 39669, "face_uv": [0.7447293485915434, 0.07630948587502454, 0.1789611655334319]}}, {"xyz": [0.10778300741409952, 0.21737647954579065, 0.05525213965720993], "rgb": [70, 86, 101], "semantic_id": 2, "pcd_info": {"point_index": 1570}, "mesh_info": {"face_index": 41034, "face_uv": [0.11849263944992568, 0.6419427931339318, 0.23956456741614207]}}, {"xyz": [-0.09954077289919505, 0.21725486787904513, 0.055755986909732824], "rgb": [84, 100, 115], "semantic_id": 3, "pcd_info": {"point_index": 1020}, "mesh_info": {"face_index": 40933, "face_uv": [0.602018836092832, 0.09627226235791743, 0.30170890154925145]}}, {"xyz": [0.14149804570588959, 0.1952441567013169, -0.21270858259853587], "rgb": [80, 99, 107], "semantic_id": 4, "pcd_info": {"point_index": 445}, "mesh_info": {"face_index": 42424, "face_uv": [0.16338677067647628, 0.500819480400205, 0.3357937489233191]}}, {"xyz": [-0.13641430401394355, 0.18842405629023945, -0.2149754529054726], "rgb": [60, 77, 90], "semantic_id": 5, "pcd_info": {"point_index": 1964}, "mesh_info": {"face_index": 42126, "face_uv": [0.024349040666746345, 0.19242699492751283, 0.7832239644057412]}}, {"xyz": [0.11502942803501959, -0.20487000048160553, -0.191732603153866], "rgb": [178, 178, 178], "semantic_id": 10, "pcd_info": {"point_index": 244}, "mesh_info": {"face_index": 21002, "face_uv": [0.42119950990492383, 0.5137638478711747, 0.0650366422239015]}}, {"xyz": [0.20006310413819312, -0.20527100563049316, 0.04313766367663506], "rgb": [184, 184, 184], "semantic_id": 11, "pcd_info": {"point_index": 615}, "mesh_info": {"face_index": 18161, "face_uv": [0.21260952070819103, 0.22877444539208142, 0.5586160338997276]}}, {"xyz": [0.004253109018929141, -0.21885299682617188, 0.18667170561882737], "rgb": [224, 224, 224], "semantic_id": 12, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 3370, "face_uv": [0.2616790569100257, 0.06796638556800574, 0.6703545575219686]}}, {"xyz": [-0.19233700882414628, -0.2184703243734376, 0.04252477185776812], "rgb": [198, 198, 198], "semantic_id": 13, "pcd_info": {"point_index": 717}, "mesh_info": {"face_index": 24630, "face_uv": [0.15885141240892328, 0.3586515530116474, 0.4824970345794292]}}, {"xyz": [-0.12604946537163825, -0.20527100563049316, -0.1886563685058262], "rgb": [185, 185, 185], "semantic_id": 14, "pcd_info": {"point_index": 981}, "mesh_info": {"face_index": 23907, "face_uv": [0.22280516116533355, 0.426657903079646, 0.3505369357550205]}}, {"xyz": [0.000485136985887924, 0.0854316547615106, -0.018788638505390587], "rgb": [213, 213, 213], "semantic_id": 15, "pcd_info": {"point_index": 1070}, "mesh_info": {"face_index": 6127, "face_uv": [0.15626157214993258, 0.06807300097587557, 0.7756654268741678]}}, {"xyz": [0.001860273680509117, -0.17484599351882912, -0.016728536045627296], "rgb": [212, 212, 212], "semantic_id": 16, "pcd_info": {"point_index": 119}, "mesh_info": {"face_index": 27364, "face_uv": [0.193316715948031, 0.6724522005119673, 0.13423108354000043]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "d67d52783e2ef9b76179a6634d17b74", "keypoints": [{"xyz": [0.1441406333553347, 0.325743304099958, 0.11307980037876897], "rgb": [122, 102, 64], "semantic_id": 0, "pcd_info": {"point_index": 1640}, "mesh_info": {"face_index": 33094, "face_uv": [0.7584070292358415, 0.07194494241734968, 0.16964802834745424]}}, {"xyz": [-0.1405736721068265, 0.3321110684640849, 0.11641929190437605], "rgb": [102, 83, 54], "semantic_id": 1, "pcd_info": {"point_index": 2002}, "mesh_info": {"face_index": 33251, "face_uv": [0.01237349810029482, 0.43779699544711237, 0.5498295064525932]}}, {"xyz": [0.1283293570615366, -0.03485029555767061, 0.015930319244736202], "rgb": [125, 102, 74], "semantic_id": 2, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 25798, "face_uv": [0.130845006199455, 0.44762011925735096, 0.4215348745431903]}}, {"xyz": [-0.1356670811053036, -0.03495967683118284, 0.018927406695381732], "rgb": [92, 74, 52], "semantic_id": 3, "pcd_info": {"point_index": 364}, "mesh_info": {"face_index": 26102, "face_uv": [0.026642678140577695, 0.5639989813817354, 0.4093583404776888]}}, {"xyz": [0.13785900481086796, -0.041203175029849826, -0.22348255789119276], "rgb": [107, 86, 62], "semantic_id": 4, "pcd_info": {"point_index": 1585}, "mesh_info": {"face_index": 25924, "face_uv": [0.2520400702611612, 0.5110541859903369, 0.23690574374848455]}}, {"xyz": [-0.13985267266848833, -0.04552843965502995, -0.22626508570250947], "rgb": [94, 73, 51], "semantic_id": 5, "pcd_info": {"point_index": 2033}, "mesh_info": {"face_index": 26107, "face_uv": [0.7139382457608728, 0.26098886532489657, 0.025072888914230713]}}, {"xyz": [0.21945274878439777, 0.12019990006949755, -0.1820806018609662], "rgb": [35, 35, 35], "semantic_id": 6, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 39008, "face_uv": [0.37625512403293265, 0.03550357330120762, 0.5882413026658605]}}, {"xyz": [0.21371520468890662, 0.11932659491320186, -0.025559847202384023], "rgb": [35, 35, 35], "semantic_id": 7, "pcd_info": {"point_index": 951}, "mesh_info": {"face_index": 38970, "face_uv": [0.025784704958052573, 0.24692006917409604, 0.7272952258678551]}}, {"xyz": [-0.20628305370003946, 0.12057422368565707, -0.17994993271277204], "rgb": [34, 34, 34], "semantic_id": 8, "pcd_info": {"point_index": 1126}, "mesh_info": {"face_index": 39848, "face_uv": [0.3772123910238086, 0.485600585038522, 0.13718702393766857]}}, {"xyz": [-0.20818816382576644, 0.11949733761352821, -0.02655662048742463], "rgb": [34, 34, 34], "semantic_id": 9, "pcd_info": {"point_index": 83}, "mesh_info": {"face_index": 39879, "face_uv": [0.22851841747549273, 0.48945739225961243, 0.2820241902648919]}}, {"xyz": [0.2225699899023752, -0.3674202104233115, -0.13458147834714546], "rgb": [35, 35, 35], "semantic_id": 10, "pcd_info": {"point_index": 1341}, "mesh_info": {"face_index": 43750, "face_uv": [0.16859275526107736, 0.29728638131142543, 0.5341208634274972]}}, {"xyz": [0.137249048136465, -0.36698591387011437, 0.12863384560011318], "rgb": [35, 35, 35], "semantic_id": 11, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 43182, "face_uv": [0.3194256790296944, 0.5313638906934263, 0.14921043027687977]}}, {"xyz": [-0.1397886471219047, -0.36679528850477916, 0.12592033450945955], "rgb": [34, 34, 34], "semantic_id": 12, "pcd_info": {"point_index": 243}, "mesh_info": {"face_index": 44251, "face_uv": [0.13845828856239814, 0.5499284536985038, 0.31161325773909737]}}, {"xyz": [-0.21688156587289553, -0.36698788800469995, -0.14060074402488393], "rgb": [35, 35, 35], "semantic_id": 13, "pcd_info": {"point_index": 656}, "mesh_info": {"face_index": 44031, "face_uv": [0.05342058876882204, 0.4871822002214073, 0.4593972110097708]}}, {"xyz": [0.0005057255714027292, -0.3656307438422257, -0.29672790112445047], "rgb": [34, 34, 34], "semantic_id": 14, "pcd_info": {"point_index": 1089}, "mesh_info": {"face_index": 44555, "face_uv": [0.19890625351810998, 0.3171491064535273, 0.4839446400283608]}}, {"xyz": [0.0015058964093388819, -0.15978642958245493, -0.08493380654305649], "rgb": [35, 35, 35], "semantic_id": 15, "pcd_info": {"point_index": 1839}, "mesh_info": {"face_index": 44842, "face_uv": [0.009739212583463358, 0.9293201503974049, 0.06094063701913413]}}, {"xyz": [0.0012642601206176302, -0.343053943141287, -0.05799659770984755], "rgb": [35, 35, 35], "semantic_id": 16, "pcd_info": {"point_index": 1094}, "mesh_info": {"face_index": 44832, "face_uv": [0.9629815478748753, 0.026226474338453584, 0.010791977786679303]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "a69a2807ca667fd9492d9da2668ec34c", "keypoints": [{"xyz": [0.15152519381521767, 0.40625112263331953, 0.13494900055278058], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1497}, "mesh_info": {"face_index": 4378, "face_uv": [0.3366768137606216, 0.4501615172142913, 0.2131616690250872]}}, {"xyz": [-0.16881236004909117, 0.39285628858625, 0.12702746062595272], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 444}, "mesh_info": {"face_index": 3595, "face_uv": [0.25981178782785713, 0.14865803480794398, 0.5915301773641989]}}, {"xyz": [0.13073008998347713, 0.1435852876360404, 0.08634385512970977], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1302}, "mesh_info": {"face_index": 2421, "face_uv": [0.23342271872984924, 0.33406892798688076, 0.4325083532832709]}}, {"xyz": [-0.1466847603470705, 0.14356314687243366, 0.08246908080062054], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1935}, "mesh_info": {"face_index": 2870, "face_uv": [0.07310809358620937, 0.3563638605765737, 0.5705280458372167]}}, {"xyz": [0.13994603706571518, 0.12424272804343744, -0.17016108179722256], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1678}, "mesh_info": {"face_index": 2819, "face_uv": [0.16554833021087378, 0.4721759420180254, 0.36227572777110106]}}, {"xyz": [-0.15135863426019225, 0.13189373022673417, -0.1658895309908648], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 347}, "mesh_info": {"face_index": 3452, "face_uv": [0.37940410686193105, 0.2184201719505028, 0.4021757211875654]}}, {"xyz": [0.17439591038119914, 0.2530319614546347, -0.11417799050075694], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1350}, "mesh_info": {"face_index": 325, "face_uv": [0.40384902148564417, 0.3310727834400773, 0.26507819507427793]}}, {"xyz": [0.18272641915626184, 0.24136409923313584, 0.051812364861903146], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 421}, "mesh_info": {"face_index": 268, "face_uv": [0.04688313080755292, 0.7699536651827975, 0.18316320400964908]}}, {"xyz": [-0.19004137759420792, 0.2566305864987406, -0.112431865016553], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1745}, "mesh_info": {"face_index": 462, "face_uv": [0.21078932738249556, 0.2897683006769773, 0.4994423719405282]}}, {"xyz": [-0.18405178231251984, 0.23831322681398182, 0.05486720715310056], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 38}, "mesh_info": {"face_index": 602, "face_uv": [0.2951964900986978, 0.23592798153043978, 0.4688755283708618]}}, {"xyz": [0.1321437700275237, -0.2554852813049884, -0.21295035315992353], "rgb": [254, 254, 254], "semantic_id": 10, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 1465, "face_uv": [0.6599647455872906, 0.12331876891434809, 0.21671648549835834]}}, {"xyz": [0.21511574945835063, -0.2794827308649841, 0.026442598216851576], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 2033}, "mesh_info": {"face_index": 2014, "face_uv": [0.3688879788103064, 0.43387649508108567, 0.1972355261086082]}}, {"xyz": [-0.003130468473575485, -0.27620159507563047, 0.18795154401486996], "rgb": [255, 255, 255], "semantic_id": 12, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 915, "face_uv": [0.39877910394886235, 0.5748440240088222, 0.026376872042315792]}}, {"xyz": [-0.22348926252397489, -0.26769908411422083, 0.0368406063439603], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 786}, "mesh_info": {"face_index": 1718, "face_uv": [0.42174741852125835, 0.23684960562493834, 0.3414029758538098]}}, {"xyz": [-0.13758556950085873, -0.2578744203413623, -0.2199695750258076], "rgb": [255, 255, 255], "semantic_id": 14, "pcd_info": {"point_index": 1060}, "mesh_info": {"face_index": 1538, "face_uv": [0.7668656705443995, 0.1716644341414019, 0.061469895314199045]}}, {"xyz": [-0.006011010195279005, 0.03572168910621576, -0.054876794195378276], "rgb": [254, 254, 254], "semantic_id": 15, "pcd_info": {"point_index": 1460}, "mesh_info": {"face_index": 1771, "face_uv": [0.2125562683880292, 0.7519747702807752, 0.03546896133119496]}}, {"xyz": [-0.00272720842532137, -0.300919674487359, -0.03860143524540405], "rgb": [254, 254, 254], "semantic_id": 16, "pcd_info": {"point_index": 235}, "mesh_info": {"face_index": 993, "face_uv": [0.337413314365909, 0.49475158450786216, 0.16783510112622876]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "da443e90e376b024b0f7e9a1c9f6c90f", "keypoints": [{"xyz": [0.18329916603958563, 0.5819590091705322, 0.2791513409132339], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1771}, "mesh_info": {"face_index": 11322, "face_uv": [0.7908424033443984, 0.016577523122423058, 0.19258007353317858]}}, {"xyz": [-0.17587374755180546, 0.5819590091705323, 0.275355237924502], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 762}, "mesh_info": {"face_index": 11326, "face_uv": [0.30521235704248806, 0.02102389914549506, 0.6737637438120171]}}, {"xyz": [0.1816422213469645, 0.20175200700759865, 0.1631908919612466], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 11451, "face_uv": [0.01540016462451626, 0.021017282233471227, 0.9635825531420114]}}, {"xyz": [-0.18371999263763428, 0.19875805038366923, 0.1701569188125187], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 11143, "face_uv": [0.32890375995822996, 0.6022599870450136, 0.06883625299675641]}}, {"xyz": [0.1798003603493863, 0.19480269357653235, -0.21096189326092019], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 13}, "mesh_info": {"face_index": 11240, "face_uv": [0.15184228931499996, 0.025952521883714424, 0.8222051888012852]}}, {"xyz": [-0.18055085290348238, 0.18981386820541046, -0.21643689953255218], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1403}, "mesh_info": {"face_index": 11497, "face_uv": [0.008491663645471314, 0.4032624536254965, 0.5882458827290321]}}, {"xyz": [0.19341838225342078, 0.35466496063204334, -0.11239237624168175], "rgb": [183, 110, 42], "semantic_id": 6, "pcd_info": {"point_index": 1719}, "mesh_info": {"face_index": 7078, "face_uv": [0.003953417905570844, 0.879581534649529, 0.11646504744490119]}}, {"xyz": [0.20510857512785152, 0.3590640127658844, 0.20968391667211295], "rgb": [182, 110, 46], "semantic_id": 7, "pcd_info": {"point_index": 1281}, "mesh_info": {"face_index": 7120, "face_uv": [0.06078400072007255, 0.5216015858088655, 0.41761441347106193]}}, {"xyz": [-0.201436496252836, 0.3556753164779419, -0.11066100479103091], "rgb": [183, 109, 44], "semantic_id": 8, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 6947, "face_uv": [0.22120332848227686, 0.5425356987497185, 0.23626097276800437]}}, {"xyz": [-0.20848756235714772, 0.3590640127658845, 0.22490973152899874], "rgb": [185, 114, 50], "semantic_id": 9, "pcd_info": {"point_index": 2005}, "mesh_info": {"face_index": 6980, "face_uv": [0.2272982741309835, 0.7584617730429953, 0.014239952826021456]}}, {"xyz": [0.24100009717588494, -0.07395557942493447, -0.07992062869986866], "rgb": [152, 152, 152], "semantic_id": 10, "pcd_info": {"point_index": 312}, "mesh_info": {"face_index": 5763, "face_uv": [0.1713609655933087, 0.20813150227669233, 0.6205075321299995]}}, {"xyz": [0.14682697562593855, -0.074630383866926, 0.1945182081281461], "rgb": [149, 149, 149], "semantic_id": 11, "pcd_info": {"point_index": 1837}, "mesh_info": {"face_index": 5010, "face_uv": [0.3965746063549009, 0.0889572679934537, 0.5144681256516437]}}, {"xyz": [-0.13650118176239648, -0.07230297771860972, 0.2064524562515974], "rgb": [130, 130, 130], "semantic_id": 12, "pcd_info": {"point_index": 1378}, "mesh_info": {"face_index": 1822, "face_uv": [0.0007428680445867046, 0.8865241906175181, 0.11273294133789576]}}, {"xyz": [-0.24412256941789856, -0.06796230784494783, -0.07061720762118173], "rgb": [146, 146, 146], "semantic_id": 13, "pcd_info": {"point_index": 1666}, "mesh_info": {"face_index": 3130, "face_uv": [0.46154661793858226, 0.2823878319151392, 0.256065550146278]}}, {"xyz": [0.0046197391589754555, -0.07330328720174961, -0.253183065609045], "rgb": [147, 147, 147], "semantic_id": 14, "pcd_info": {"point_index": 313}, "mesh_info": {"face_index": 890, "face_uv": [0.1972679894166494, 0.13884349589929212, 0.6638885146840589]}}, {"xyz": [0.00748535853190857, 0.13760900497436535, -0.012767378514695116], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 1494}, "mesh_info": {"face_index": 10898, "face_uv": [0.713965645214648, 0.2448638048628204, 0.04117054992253238]}}, {"xyz": [0.010334765783803268, -0.02566700056195259, -0.002186193653908375], "rgb": [153, 86, 41], "semantic_id": 16, "pcd_info": {"point_index": 276}, "mesh_info": {"face_index": 7432, "face_uv": [0.2754047828597897, 0.7150233733674417, 0.009571843772768571]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "c585ee093bfd52af6512b7b24f3d84", "keypoints": [{"xyz": [0.16047831328534423, 0.5474908147617407, 0.19155650436953117], "rgb": [47, 47, 47], "semantic_id": 0, "pcd_info": {"point_index": 959}, "mesh_info": {"face_index": 22956, "face_uv": [0.32856549936081547, 0.19502946317008277, 0.47640503746910207]}}, {"xyz": [-0.16316603174378885, 0.5412634419472406, 0.19597445580728667], "rgb": [47, 47, 47], "semantic_id": 1, "pcd_info": {"point_index": 1626}, "mesh_info": {"face_index": 19958, "face_uv": [0.08912021085801371, 0.32951969277966825, 0.5813600963623181]}}, {"xyz": [0.1529226028692901, 0.11455377093520469, 0.09805414346770647], "rgb": [47, 47, 47], "semantic_id": 2, "pcd_info": {"point_index": 109}, "mesh_info": {"face_index": 20271, "face_uv": [0.5698535615865985, 0.4194915191936493, 0.010654919219752113]}}, {"xyz": [-0.1575292196531269, 0.11214741497469183, 0.09928095553938654], "rgb": [46, 46, 46], "semantic_id": 3, "pcd_info": {"point_index": 751}, "mesh_info": {"face_index": 20200, "face_uv": [0.3763589044335763, 0.07681973118196175, 0.546821364384461]}}, {"xyz": [0.15946223062894052, 0.08012490488093915, -0.18031816223274277], "rgb": [47, 47, 47], "semantic_id": 4, "pcd_info": {"point_index": 1272}, "mesh_info": {"face_index": 17994, "face_uv": [0.1315249490107473, 0.36797774513337334, 0.5004973058558796]}}, {"xyz": [-0.15518580428532008, 0.0875483422056259, -0.17689589099871728], "rgb": [47, 47, 47], "semantic_id": 5, "pcd_info": {"point_index": 979}, "mesh_info": {"face_index": 17671, "face_uv": [0.002134574120471816, 0.0038571499958342495, 0.9940082758836942]}}, {"xyz": [0.1829218543498004, 0.2283006514618593, -0.09778164078850604], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1046}, "mesh_info": {"face_index": 6312, "face_uv": [0.16673259448353855, 0.6568120920541846, 0.17645531346227736]}}, {"xyz": [0.18942025019444875, 0.2404942030336461, 0.11144890892114563], "rgb": [182, 182, 182], "semantic_id": 7, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 5715, "face_uv": [0.23046436015671803, 0.6066379559230729, 0.16289768392020937]}}, {"xyz": [-0.18188190789386705, 0.24126297962540133, -0.08232838181936439], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 270}, "mesh_info": {"face_index": 15193, "face_uv": [0.1845027998893172, 0.36939689956609484, 0.44610030054458755]}}, {"xyz": [-0.17735104678799563, 0.22599520354002745, 0.12540669967040827], "rgb": [182, 182, 182], "semantic_id": 9, "pcd_info": {"point_index": 384}, "mesh_info": {"face_index": 12689, "face_uv": [0.17433745016740082, 0.5550885059563698, 0.2705740438762293]}}, {"xyz": [0.0047440998794705536, -0.21776791555993014, -0.2340214152655412], "rgb": [46, 46, 46], "semantic_id": 10, "pcd_info": {"point_index": 1164}, "mesh_info": {"face_index": 2432, "face_uv": [0.27469261213438734, 0.050864503774136226, 0.6744428840914762]}}, {"xyz": [0.19873160510169505, -0.2241814282005017, -0.09221949800955506], "rgb": [47, 47, 47], "semantic_id": 11, "pcd_info": {"point_index": 570}, "mesh_info": {"face_index": 7383, "face_uv": [0.320798463818723, 0.17175995178930015, 0.5074415843919777]}}, {"xyz": [0.11808538805368576, -0.21760775881731242, 0.15523347933369624], "rgb": [47, 47, 47], "semantic_id": 12, "pcd_info": {"point_index": 260}, "mesh_info": {"face_index": 9399, "face_uv": [0.11066688258035824, 0.37097858073223183, 0.5183545366874105]}}, {"xyz": [-0.11753959208916927, -0.21768166095120933, 0.1482720745629934], "rgb": [46, 46, 46], "semantic_id": 13, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 10296, "face_uv": [0.3410539061424656, 0.36223883438243326, 0.29670725947510024]}}, {"xyz": [-0.19439476717781118, -0.22456088425423082, -0.09334912407773921], "rgb": [47, 47, 47], "semantic_id": 14, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 511, "face_uv": [0.08273783193053885, 0.8463122858088836, 0.07094988226057754]}}, {"xyz": [-0.003655998835079964, 0.004147746693897281, -0.04494813206430592], "rgb": [182, 182, 182], "semantic_id": 15, "pcd_info": {"point_index": 1135}, "mesh_info": {"face_index": 25133, "face_uv": [0.20188296058725974, 0.032367790602462816, 0.7657492488102825]}}, {"xyz": [-0.004526733910261371, -0.17022299766540527, -0.014223391290716592], "rgb": [182, 182, 182], "semantic_id": 16, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 24269, "face_uv": [0.21525958369259804, 0.39386238984666205, 0.39087802646073994]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "f4cec47ced59d95a3002761e7a3ba3bd", "keypoints": [{"xyz": [0.14151270410658617, 0.4462118074735668, 0.10673735020084518], "rgb": [2, 0, 11], "semantic_id": 0, "pcd_info": {"point_index": 1788}, "mesh_info": {"face_index": 7300, "face_uv": [0.5466069290763287, 0.43570764471659407, 0.01768542620707702]}}, {"xyz": [-0.09843862765968228, 0.44650188595269147, 0.118468606250035], "rgb": [2, 0, 11], "semantic_id": 1, "pcd_info": {"point_index": 354}, "mesh_info": {"face_index": 5692, "face_uv": [0.05045111425650677, 0.561200372120564, 0.3883485136229287]}}, {"xyz": [0.14386879475733966, 0.06007381858560579, 0.03309235321140905], "rgb": [125, 118, 115], "semantic_id": 2, "pcd_info": {"point_index": 410}, "mesh_info": {"face_index": 19967, "face_uv": [0.006322257711888791, 0.762541667214737, 0.23113607507337242]}}, {"xyz": [-0.12616492364141024, 0.060045173419964515, 0.02820777490072035], "rgb": [78, 73, 70], "semantic_id": 3, "pcd_info": {"point_index": 87}, "mesh_info": {"face_index": 20045, "face_uv": [0.16607309253488264, 0.7843799633540045, 0.049546944111115696]}}, {"xyz": [0.1521737415836199, 0.053880988474169556, -0.20581545560807263], "rgb": [129, 124, 122], "semantic_id": 4, "pcd_info": {"point_index": 426}, "mesh_info": {"face_index": 19792, "face_uv": [0.49112512683207543, 0.3870604007202531, 0.12181447244767225]}}, {"xyz": [-0.1420662312126707, 0.05654834456090607, -0.20260110576708204], "rgb": [93, 88, 88], "semantic_id": 5, "pcd_info": {"point_index": 967}, "mesh_info": {"face_index": 19820, "face_uv": [0.13640373625142047, 0.27109200834322783, 0.5925042554053521]}}, {"xyz": [0.18448693057710153, 0.1733819991350174, -0.08249426881317415], "rgb": [47, 46, 52], "semantic_id": 6, "pcd_info": {"point_index": 1345}, "mesh_info": {"face_index": 3392, "face_uv": [0.11288797557332862, 0.18921668840907063, 0.6978953360176008]}}, {"xyz": [0.1833259163232181, 0.17319381910301312, 0.027153541354996508], "rgb": [47, 46, 52], "semantic_id": 7, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 3394, "face_uv": [0.20321754944724346, 0.6575028205767932, 0.13927962997596421]}}, {"xyz": [-0.1900919737921423, 0.1733819991350174, -0.091590784084648], "rgb": [47, 46, 52], "semantic_id": 8, "pcd_info": {"point_index": 1682}, "mesh_info": {"face_index": 5060, "face_uv": [0.4113186616878463, 0.03421241950986431, 0.5544689188022893]}}, {"xyz": [-0.17724417670974324, 0.1733819991350174, 0.02102473216712661], "rgb": [47, 46, 52], "semantic_id": 9, "pcd_info": {"point_index": 660}, "mesh_info": {"face_index": 5035, "face_uv": [0.18789986268510256, 0.7683399852700329, 0.04376015204486462]}}, {"xyz": [0.22959344132165932, -0.22443479605645367, -0.11551425072806804], "rgb": [3, 1, 12], "semantic_id": 10, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 33506, "face_uv": [0.35957565710726747, 0.5899322562906704, 0.050492086602063765]}}, {"xyz": [0.14136134468774264, -0.2248905604529603, 0.16145574159333564], "rgb": [3, 1, 12], "semantic_id": 11, "pcd_info": {"point_index": 758}, "mesh_info": {"face_index": 35820, "face_uv": [0.4013345674740277, 0.1118849145535893, 0.4867805179723856]}}, {"xyz": [-0.13588110016475877, -0.26558904357998125, 0.16267148875544815], "rgb": [3, 1, 12], "semantic_id": 12, "pcd_info": {"point_index": 742}, "mesh_info": {"face_index": 39716, "face_uv": [0.3568880674827917, 0.08106895842364621, 0.5620429740935623]}}, {"xyz": [-0.22702395361699249, -0.22396600246429466, -0.11428002472610069], "rgb": [3, 1, 12], "semantic_id": 13, "pcd_info": {"point_index": 1756}, "mesh_info": {"face_index": 40417, "face_uv": [0.28177839476739663, 0.13347556377230452, 0.5847460414602998]}}, {"xyz": [-0.005496737913191385, -0.23672676270868587, -0.29879476539735084], "rgb": [2, 0, 11], "semantic_id": 14, "pcd_info": {"point_index": 1072}, "mesh_info": {"face_index": 42831, "face_uv": [0.1488616923723287, 0.6885666204530654, 0.16257168717460566]}}, {"xyz": [-3.755886169543032e-05, -0.04491161106885411, -0.04758969189723716], "rgb": [2, 0, 11], "semantic_id": 15, "pcd_info": {"point_index": 1278}, "mesh_info": {"face_index": 19490, "face_uv": [0.8126319632608621, 0.1568526183290752, 0.03051541841006026]}}, {"xyz": [-0.001780187059062882, -0.25043558173646785, -0.052712605004475055], "rgb": [3, 1, 12], "semantic_id": 16, "pcd_info": {"point_index": 1882}, "mesh_info": {"face_index": 25213, "face_uv": [0.24434053666260633, 0.7163239863256193, 0.03933547701177696]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "5d60590d192c52553a23b8cb1a985a11", "keypoints": [{"xyz": [0.14598019835320394, 0.5092092499025307, 0.1285425182498674], "rgb": [133, 82, 12], "semantic_id": 0, "pcd_info": {"point_index": 827}, "mesh_info": {"face_index": 11115, "face_uv": [0.006644239600432027, 0.8272205851030192, 0.16613517529654886]}}, {"xyz": [-0.1426901210313305, 0.511032994277055, 0.13273003744605538], "rgb": [133, 82, 12], "semantic_id": 1, "pcd_info": {"point_index": 857}, "mesh_info": {"face_index": 11104, "face_uv": [0.8485863621452393, 0.019677272226149303, 0.13173636562861155]}}, {"xyz": [0.15932420711866846, 0.14196174036912845, 0.08516798689849447], "rgb": [133, 81, 11], "semantic_id": 2, "pcd_info": {"point_index": 1115}, "mesh_info": {"face_index": 5771, "face_uv": [0.1474895851422011, 0.8418854414403067, 0.010624973417492037]}}, {"xyz": [-0.15613327895970286, 0.14314972003955484, 0.08069284731227655], "rgb": [133, 82, 11], "semantic_id": 3, "pcd_info": {"point_index": 981}, "mesh_info": {"face_index": 5408, "face_uv": [0.02004893960040025, 0.6577983497397488, 0.32215271065985085]}}, {"xyz": [0.16157957699361092, 0.13866230423634995, -0.1674894500354721], "rgb": [132, 81, 11], "semantic_id": 4, "pcd_info": {"point_index": 765}, "mesh_info": {"face_index": 5183, "face_uv": [0.25855474331316486, 0.003691699892253335, 0.7377535567945812]}}, {"xyz": [-0.1615241917289661, 0.13953419081062823, -0.16647479328186277], "rgb": [132, 81, 11], "semantic_id": 5, "pcd_info": {"point_index": 206}, "mesh_info": {"face_index": 5191, "face_uv": [0.2699686355091772, 0.003483953068473758, 0.7265474114223482]}}, {"xyz": [0.19177922824232096, 0.25979700684547447, -0.07836012982964391], "rgb": [63, 63, 63], "semantic_id": 6, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 6323, "face_uv": [0.39908162635263944, 0.0644485179220442, 0.5364698557253172]}}, {"xyz": [0.1940473468225595, 0.25979700684547447, 0.05369302575617951], "rgb": [63, 63, 63], "semantic_id": 7, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 6280, "face_uv": [0.5810670049764802, 0.39458497756541094, 0.024348017458109807]}}, {"xyz": [-0.19612325010926884, 0.25979700684547413, -0.08602175115120236], "rgb": [62, 62, 62], "semantic_id": 8, "pcd_info": {"point_index": 210}, "mesh_info": {"face_index": 7636, "face_uv": [0.5752815087067435, 0.012667160543984922, 0.41205133074927114]}}, {"xyz": [-0.19431610125033583, 0.25979700684547424, 0.05319738983976896], "rgb": [63, 63, 63], "semantic_id": 9, "pcd_info": {"point_index": 1084}, "mesh_info": {"face_index": 7594, "face_uv": [0.025402703140015935, 0.4429488333937436, 0.5316484634662405]}}, {"xyz": [0.11372964430585486, -0.26963248562770303, -0.18400223456981207], "rgb": [63, 63, 63], "semantic_id": 10, "pcd_info": {"point_index": 159}, "mesh_info": {"face_index": 706, "face_uv": [0.009141803842502577, 0.6067724150624563, 0.38408578109504216]}}, {"xyz": [0.18534492539193193, -0.26816163594152087, 0.05721376855007054], "rgb": [62, 62, 62], "semantic_id": 11, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 1316, "face_uv": [0.3677352351949097, 0.5565814517971969, 0.07568331300789251]}}, {"xyz": [-0.025018747684122156, -0.26619807946712637, 0.2079937767762592], "rgb": [63, 63, 63], "semantic_id": 12, "pcd_info": {"point_index": 1221}, "mesh_info": {"face_index": 973, "face_uv": [0.19484904650342025, 0.588670143911863, 0.21648080958471705]}}, {"xyz": [-0.23281896306284877, -0.2650783308438167, 0.057438665604239714], "rgb": [63, 63, 63], "semantic_id": 13, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 0, "face_uv": [0.4673687392441465, 0.4350757414607511, 0.09755551929510312]}}, {"xyz": [-0.14805248117710335, -0.2683558544484752, -0.1891736955817177], "rgb": [63, 63, 63], "semantic_id": 14, "pcd_info": {"point_index": 147}, "mesh_info": {"face_index": 345, "face_uv": [0.3105290724495275, 0.4149313347357911, 0.27453959281468265]}}, {"xyz": [0.007371676873163646, 0.047799861649665876, -0.0163305266969187], "rgb": [113, 113, 113], "semantic_id": 15, "pcd_info": {"point_index": 1021}, "mesh_info": {"face_index": 3808, "face_uv": [0.3447325764033968, 0.05538561113854922, 0.5998818124580472]}}, {"xyz": [0.001728801828100257, -0.26079800724983215, -0.01400789621505738], "rgb": [114, 114, 114], "semantic_id": 16, "pcd_info": {"point_index": 1147}, "mesh_info": {"face_index": 2858, "face_uv": [0.3980450939635985, 0.2713661164168985, 0.33058878961950305]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "22ae801d650a1e3d492d9da2668ec34c", "keypoints": [{"xyz": [0.1437129367079952, 0.476731419113565, 0.1035066437419212], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 13804, "face_uv": [0.8176569958714462, 0.02524503332797228, 0.1570979708005816]}}, {"xyz": [-0.15139900147914886, 0.47666388760823486, 0.11100002838308215], "rgb": [226, 225, 221], "semantic_id": 1, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 13595, "face_uv": [0.06820823902550095, 0.5717295124565133, 0.3600622485179858]}}, {"xyz": [0.13985720534533008, 0.018731052505977064, 0.03631894701602878], "rgb": [226, 225, 221], "semantic_id": 2, "pcd_info": {"point_index": 204}, "mesh_info": {"face_index": 5538, "face_uv": [0.015503758119623137, 0.1232060637069709, 0.8612901781734194]}}, {"xyz": [-0.15072571965569218, 0.017283058782213034, 0.06150294146126134], "rgb": [226, 225, 221], "semantic_id": 3, "pcd_info": {"point_index": 1899}, "mesh_info": {"face_index": 1498, "face_uv": [0.430213479936986, 0.11818188037747736, 0.4516046396855376]}}, {"xyz": [0.1566464863192134, -0.015913002176015767, -0.19974712937719175], "rgb": [226, 225, 221], "semantic_id": 4, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 9852, "face_uv": [0.7401260750304807, 0.05613928837418345, 0.20373463659533644]}}, {"xyz": [-0.1687278039175113, -0.032844589574308136, -0.19365085807495808], "rgb": [225, 224, 220], "semantic_id": 5, "pcd_info": {"point_index": 1033}, "mesh_info": {"face_index": 923, "face_uv": [0.015675106166711732, 0.16922247601325863, 0.8151024178200295]}}, {"xyz": [0.1799395641110011, 0.12288980954174378, -0.08186780980959707], "rgb": [226, 225, 221], "semantic_id": 6, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 20398, "face_uv": [0.15824809558272937, 0.42928071803398704, 0.41247118638328445]}}, {"xyz": [0.16782762387112127, 0.12863799929618835, 0.0777262416575597], "rgb": [226, 225, 221], "semantic_id": 7, "pcd_info": {"point_index": 1944}, "mesh_info": {"face_index": 21208, "face_uv": [0.19438726119484653, 0.3931295860846388, 0.4124831527205146]}}, {"xyz": [-0.17873367881351926, 0.12524357077666504, -0.07903174065238061], "rgb": [226, 225, 221], "semantic_id": 8, "pcd_info": {"point_index": 1990}, "mesh_info": {"face_index": 17456, "face_uv": [0.3967712974701976, 0.5811305944691852, 0.022098108060617124]}}, {"xyz": [-0.16783737105813745, 0.12416602295637658, 0.10734984687687962], "rgb": [226, 225, 221], "semantic_id": 9, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 18937, "face_uv": [0.05658175171143131, 0.5464330528065648, 0.39698519548200456]}}, {"xyz": [0.1224432223248669, -0.2991637239683973, -0.20053416900312337], "rgb": [225, 224, 220], "semantic_id": 10, "pcd_info": {"point_index": 2023}, "mesh_info": {"face_index": 25133, "face_uv": [0.12342654896311812, 0.2596097708685221, 0.6169636801683543]}}, {"xyz": [0.19775147202994567, -0.30133216672726615, 0.025241851020596118], "rgb": [225, 224, 220], "semantic_id": 11, "pcd_info": {"point_index": 19}, "mesh_info": {"face_index": 23120, "face_uv": [0.35937102116153197, 0.4680114879462756, 0.17261749089219194]}}, {"xyz": [0.0019677561198569726, -0.30148529161445436, 0.17876639872300315], "rgb": [225, 224, 220], "semantic_id": 12, "pcd_info": {"point_index": 1256}, "mesh_info": {"face_index": 23042, "face_uv": [0.5651608872039386, 0.43429376676100295, 0.0005453460350581731]}}, {"xyz": [-0.19875334798472644, -0.3015884071968826, 0.025385523682569966], "rgb": [226, 225, 221], "semantic_id": 13, "pcd_info": {"point_index": 1680}, "mesh_info": {"face_index": 23452, "face_uv": [0.46273804689077813, 0.4856599582284086, 0.05160199488081353]}}, {"xyz": [-0.12381810456015228, -0.3023354774041216, -0.2120735760581598], "rgb": [226, 225, 221], "semantic_id": 14, "pcd_info": {"point_index": 1765}, "mesh_info": {"face_index": 26048, "face_uv": [0.1461440947074051, 0.5714850083149484, 0.28237089697764683]}}, {"xyz": [0.006325258989679949, -0.10117000341415405, -0.050797961469288444], "rgb": [225, 224, 220], "semantic_id": 15, "pcd_info": {"point_index": 1939}, "mesh_info": {"face_index": 14803, "face_uv": [0.18145437750946775, 0.5882659016077182, 0.23027972088281398]}}, {"xyz": [-0.0028024837735698416, -0.2979609966278074, -0.04374664897965541], "rgb": [225, 224, 220], "semantic_id": 16, "pcd_info": {"point_index": 1512}, "mesh_info": {"face_index": 16951, "face_uv": [0.7348701962888382, 0.14231642737126493, 0.12281337633989611]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "cf88ae03d8cc2fabfcce6278f5ffb13a", "keypoints": [{"xyz": [0.1502551092824101, 0.33118348240249884, 0.10945513977955618], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 1372}, "mesh_info": {"face_index": 10424, "face_uv": [0.12617322484167193, 0.7540728607822439, 0.11975391437608536]}}, {"xyz": [-0.14208445698079364, 0.3299998215880606, 0.11205270396304728], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 1143}, "mesh_info": {"face_index": 13748, "face_uv": [0.012435826422208899, 0.4527865120121063, 0.5347776615656861]}}, {"xyz": [0.1357628609374807, -0.05646152121718018, 0.06359722311179317], "rgb": [177, 33, 33], "semantic_id": 2, "pcd_info": {"point_index": 1416}, "mesh_info": {"face_index": 75048, "face_uv": [0.6655553131232689, 0.11938765335702248, 0.21505703351972158]}}, {"xyz": [-0.12434672883004241, -0.05189631918241755, 0.05580784370852687], "rgb": [176, 32, 32], "semantic_id": 3, "pcd_info": {"point_index": 260}, "mesh_info": {"face_index": 75559, "face_uv": [0.2412372888033341, 0.39343417977555145, 0.3653285314211128]}}, {"xyz": [0.15623297670873404, -0.03772313526782467, -0.194388957028225], "rgb": [177, 33, 33], "semantic_id": 4, "pcd_info": {"point_index": 761}, "mesh_info": {"face_index": 70498, "face_uv": [0.585192095984162, 0.3442335044899093, 0.07057439952593017]}}, {"xyz": [-0.14819304443149117, -0.037262843016206304, -0.20150218266129372], "rgb": [176, 32, 32], "semantic_id": 5, "pcd_info": {"point_index": 257}, "mesh_info": {"face_index": 70049, "face_uv": [0.036615656659379055, 0.54080309710071, 0.42258124623991]}}, {"xyz": [0.21469433865782245, 0.12895935807268177, -0.18626947301257027], "rgb": [127, 127, 127], "semantic_id": 6, "pcd_info": {"point_index": 182}, "mesh_info": {"face_index": 58765, "face_uv": [0.5651635150263828, 0.4063177991693106, 0.028518685804305107]}}, {"xyz": [0.20246979145580413, 0.08672454004057795, -0.019150443324989747], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 57570, "face_uv": [0.3150833029924743, 0.3271496915424262, 0.3577670054651021]}}, {"xyz": [-0.21147514533243816, 0.128930687858978, -0.19091676994405038], "rgb": [127, 127, 127], "semantic_id": 8, "pcd_info": {"point_index": 1926}, "mesh_info": {"face_index": 61684, "face_uv": [0.07726815790291784, 0.39868748992569114, 0.5240443521713903]}}, {"xyz": [-0.20917001591213813, 0.09146568095331886, -0.027170127648445383], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 894}, "mesh_info": {"face_index": 60779, "face_uv": [0.057407545018449864, 0.2868630563522412, 0.6557293986293107]}}, {"xyz": [0.1589555856726274, -0.35216661281901995, -0.25175551091359843], "rgb": [0, 0, 0], "semantic_id": 10, "pcd_info": {"point_index": 1964}, "mesh_info": {"face_index": 37491, "face_uv": [0.20779122742709333, 0.23892210018306792, 0.5532866723898382]}}, {"xyz": [0.2480483190950185, -0.3535979563210383, 0.018528179860756055], "rgb": [0, 0, 0], "semantic_id": 11, "pcd_info": {"point_index": 1490}, "mesh_info": {"face_index": 47501, "face_uv": [0.21216448845488015, 0.3433153704672865, 0.44452014107783333]}}, {"xyz": [0.015250530813766011, -0.35399454482559634, 0.18595545101262867], "rgb": [0, 0, 0], "semantic_id": 12, "pcd_info": {"point_index": 648}, "mesh_info": {"face_index": 49425, "face_uv": [0.039502435407735376, 0.3730012850109905, 0.5874962795812745]}}, {"xyz": [-0.22001031626457362, -0.35443054010914166, 0.014342621071634087], "rgb": [0, 0, 0], "semantic_id": 13, "pcd_info": {"point_index": 494}, "mesh_info": {"face_index": 48281, "face_uv": [0.4132264363816497, 0.061129915038317155, 0.5256436485800331]}}, {"xyz": [-0.12954473969286523, -0.3540571009640463, -0.2625139731296215], "rgb": [0, 0, 0], "semantic_id": 14, "pcd_info": {"point_index": 116}, "mesh_info": {"face_index": 38421, "face_uv": [0.20213525775798483, 0.32825431334660443, 0.4696104288954109]}}, {"xyz": [-0.0007039142873712101, -0.16470492194368103, -0.05861942326709446], "rgb": [191, 191, 191], "semantic_id": 15, "pcd_info": {"point_index": 1108}, "mesh_info": {"face_index": 28437, "face_uv": [0.6556023032202427, 0.24968625705186026, 0.09471143972790069]}}, {"xyz": [-0.0002728210740343129, -0.3308133134250806, -0.063086738963269], "rgb": [190, 190, 190], "semantic_id": 16, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 28565, "face_uv": [0.04876167654810653, 0.8852140009081119, 0.06602432254377867]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "a78d31c9dd3cea02f91663a74ccd2338", "keypoints": [{"xyz": [0.13942992158784512, 0.3962839661417076, 0.10149969412655091], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 579}, "mesh_info": {"face_index": 21816, "face_uv": [0.4149385024468738, 0.31005155452912625, 0.27500994302400744]}}, {"xyz": [-0.1214442333071224, 0.3959627384331925, 0.11972136537892863], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 21881, "face_uv": [0.19217746974460556, 0.3268790871080086, 0.4809434431473899]}}, {"xyz": [0.13454766464453569, 0.061000718796850206, 0.051484224218034], "rgb": [56, 56, 56], "semantic_id": 2, "pcd_info": {"point_index": 1316}, "mesh_info": {"face_index": 16975, "face_uv": [0.12643926288151627, 0.8129553327931545, 0.060605404325329265]}}, {"xyz": [-0.12955500521788407, 0.0655014716098773, 0.04388741928854545], "rgb": [55, 55, 55], "semantic_id": 3, "pcd_info": {"point_index": 954}, "mesh_info": {"face_index": 16902, "face_uv": [0.3489395850121138, 0.10588156380077496, 0.5451788511871106]}}, {"xyz": [0.11315577650043647, 0.05063455096992375, -0.24673663150637926], "rgb": [55, 55, 55], "semantic_id": 4, "pcd_info": {"point_index": 1721}, "mesh_info": {"face_index": 16546, "face_uv": [0.86235885831484, 0.03683798632565128, 0.10080315535950794]}}, {"xyz": [-0.1466461587538102, 0.05371693374156228, -0.22619844957713253], "rgb": [56, 56, 56], "semantic_id": 5, "pcd_info": {"point_index": 1978}, "mesh_info": {"face_index": 17016, "face_uv": [0.26637745068875834, 0.7153144213444678, 0.01830812796677396]}}, {"xyz": [0.21235069633579734, 0.23109975292337248, -0.1312447026242879], "rgb": [55, 55, 55], "semantic_id": 6, "pcd_info": {"point_index": 1993}, "mesh_info": {"face_index": 27253, "face_uv": [0.10115823549699517, 0.8604852569275442, 0.03835650757546002]}}, {"xyz": [0.2126357895588175, 0.23081807572791102, -0.023156067613379294], "rgb": [56, 56, 56], "semantic_id": 7, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 27292, "face_uv": [0.36689862103897875, 0.5629916456211634, 0.07010973333985783]}}, {"xyz": [-0.2277442932645599, 0.2245050368748438, -0.1205115647559466], "rgb": [56, 56, 56], "semantic_id": 8, "pcd_info": {"point_index": 503}, "mesh_info": {"face_index": 10523, "face_uv": [0.0004981767337467046, 0.5192518302493928, 0.4802499930168608]}}, {"xyz": [-0.2153905167537697, 0.22454414084695506, 0.003230659947144221], "rgb": [55, 55, 55], "semantic_id": 9, "pcd_info": {"point_index": 693}, "mesh_info": {"face_index": 11210, "face_uv": [0.04501850301420904, 0.887424476187629, 0.06755702079816178]}}, {"xyz": [0.199209038131146, -0.30143820724438086, -0.12476029971402722], "rgb": [56, 56, 56], "semantic_id": 10, "pcd_info": {"point_index": 1751}, "mesh_info": {"face_index": 6295, "face_uv": [0.4589964777619115, 0.2000170734848268, 0.3409864487532627]}}, {"xyz": [0.1249254214378264, -0.22501904395741135, 0.14910117454176747], "rgb": [149, 149, 149], "semantic_id": 11, "pcd_info": {"point_index": 1646}, "mesh_info": {"face_index": 4945, "face_uv": [0.898757673255301, 0.007806597566710452, 0.09343572917799062]}}, {"xyz": [-0.13699688017178618, -0.3009073650989609, 0.1490526261718612], "rgb": [56, 56, 56], "semantic_id": 12, "pcd_info": {"point_index": 1833}, "mesh_info": {"face_index": 6880, "face_uv": [0.09388147334444899, 0.7139770393111633, 0.19214148734438777]}}, {"xyz": [-0.23622363139601, -0.25350906478722024, -0.07455231629551903], "rgb": [56, 56, 56], "semantic_id": 13, "pcd_info": {"point_index": 1086}, "mesh_info": {"face_index": 1652, "face_uv": [0.3792704523206059, 0.0034270276758919757, 0.6173025200035022]}}, {"xyz": [-0.016503928941067718, -0.2522869115215365, -0.25376226604583557], "rgb": [55, 55, 55], "semantic_id": 14, "pcd_info": {"point_index": 848}, "mesh_info": {"face_index": 8236, "face_uv": [0.2876516835354217, 0.4173822062785239, 0.294966110186054]}}, {"xyz": [-0.004640378815308502, -0.029930819966778932, -0.03746613348196992], "rgb": [56, 56, 56], "semantic_id": 15, "pcd_info": {"point_index": 1490}, "mesh_info": {"face_index": 8075, "face_uv": [0.058960719544886644, 0.07894644111541617, 0.8620928393397027]}}, {"xyz": [-0.00018848546449024006, -0.2772212262918715, -0.04643973854845407], "rgb": [56, 56, 56], "semantic_id": 16, "pcd_info": {"point_index": 782}, "mesh_info": {"face_index": 6178, "face_uv": [0.7603949739348442, 0.031841771441092015, 0.20776325462406386]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "541746ddb47aa2af4e186c8346f12e6", "keypoints": [{"xyz": [0.17125389838962618, 0.3337917169111476, 0.1300829074501224], "rgb": [43, 43, 43], "semantic_id": 0, "pcd_info": {"point_index": 2016}, "mesh_info": {"face_index": 16302, "face_uv": [0.5111262559687032, 0.11905022057530698, 0.36982352345599273]}}, {"xyz": [-0.1829180468909363, 0.3340588509864259, 0.13459907317404407], "rgb": [43, 43, 43], "semantic_id": 1, "pcd_info": {"point_index": 2028}, "mesh_info": {"face_index": 14384, "face_uv": [0.46682008889938453, 0.07030705373013482, 0.4628728573704829]}}, {"xyz": [0.09590648378689268, -0.007283968041682409, 0.049548178616142025], "rgb": [162, 158, 155], "semantic_id": 2, "pcd_info": {"point_index": 1739}, "mesh_info": {"face_index": 21684, "face_uv": [0.34438320491999846, 0.05170795215627192, 0.6039088429236846]}}, {"xyz": [-0.10761313569457004, -0.017745327506395903, 0.07658765334410966], "rgb": [43, 43, 43], "semantic_id": 3, "pcd_info": {"point_index": 1144}, "mesh_info": {"face_index": 16257, "face_uv": [0.004909545485422419, 0.305281722451309, 0.6898087320632694]}}, {"xyz": [0.09702765561230106, -0.0021384908388667467, -0.22706111025947728], "rgb": [43, 43, 43], "semantic_id": 4, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 24359, "face_uv": [0.22258958424612943, 0.41628169409573984, 0.36112872165813065]}}, {"xyz": [-0.1138160029649583, -0.001302849285147123, -0.2224792128458717], "rgb": [43, 43, 43], "semantic_id": 5, "pcd_info": {"point_index": 424}, "mesh_info": {"face_index": 24410, "face_uv": [0.08340223606827722, 0.21721257884095183, 0.6993851850907713]}}, {"xyz": [0.1595576190182039, 0.15843868934227467, -0.08721128782908302], "rgb": [47, 47, 47], "semantic_id": 6, "pcd_info": {"point_index": 1161}, "mesh_info": {"face_index": 1429, "face_uv": [0.38502864490743444, 0.16634321960147028, 0.4486281354910974]}}, {"xyz": [0.16403778090937593, 0.14731273325252303, 0.05696717339444246], "rgb": [47, 47, 47], "semantic_id": 7, "pcd_info": {"point_index": 955}, "mesh_info": {"face_index": 942, "face_uv": [0.08880599095603245, 0.8868927202988823, 0.02430128874508515]}}, {"xyz": [-0.18977655187119336, 0.15576186536039638, -0.09890306536431581], "rgb": [47, 47, 47], "semantic_id": 8, "pcd_info": {"point_index": 1641}, "mesh_info": {"face_index": 1815, "face_uv": [0.12733071619168265, 0.2720768217241535, 0.6005924620841646]}}, {"xyz": [-0.18232290746155, 0.1368947233373803, 0.059112279524499364], "rgb": [46, 46, 46], "semantic_id": 9, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 3182, "face_uv": [0.13189567706471297, 0.5443173855874689, 0.3237869373478175]}}, {"xyz": [0.12370319278465067, -0.32319368832009987, -0.22865476224807782], "rgb": [42, 42, 42], "semantic_id": 10, "pcd_info": {"point_index": 451}, "mesh_info": {"face_index": 7789, "face_uv": [0.7373717322604284, 0.24027236970057295, 0.022355898038998113]}}, {"xyz": [0.2328344645721307, -0.3229070653969386, 0.05016541781028397], "rgb": [43, 43, 43], "semantic_id": 11, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 7930, "face_uv": [0.37232385353067604, 0.20802064979435284, 0.41965549667497165]}}, {"xyz": [-0.007847716908907447, -0.32281306446710434, 0.2198670982837874], "rgb": [43, 43, 43], "semantic_id": 12, "pcd_info": {"point_index": 504}, "mesh_info": {"face_index": 6964, "face_uv": [0.10712070163220327, 0.40577986141345357, 0.4870994369543442]}}, {"xyz": [-0.22425632096079054, -0.32321199774742104, 0.06509467327012705], "rgb": [42, 42, 42], "semantic_id": 13, "pcd_info": {"point_index": 104}, "mesh_info": {"face_index": 6386, "face_uv": [0.4132023071542734, 0.04696973277196884, 0.539827960073757]}}, {"xyz": [-0.15967101876196027, -0.32237701386904005, -0.21190609513755657], "rgb": [43, 43, 43], "semantic_id": 14, "pcd_info": {"point_index": 606}, "mesh_info": {"face_index": 7410, "face_uv": [0.4037373743837678, 0.5862960741170659, 0.009966551499166278]}}, {"xyz": [0.005861275189402002, -0.10109800100326516, -0.03995269017840153], "rgb": [42, 42, 42], "semantic_id": 15, "pcd_info": {"point_index": 1072}, "mesh_info": {"face_index": 12475, "face_uv": [0.08677300619814018, 0.8062926697781324, 0.10693432402372517]}}, {"xyz": [0.00227414246858329, -0.3158940076828003, -0.02513430480919504], "rgb": [43, 43, 43], "semantic_id": 16, "pcd_info": {"point_index": 14}, "mesh_info": {"face_index": 6638, "face_uv": [0.8888575975691171, 0.10240919538325063, 0.008733207047632278]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "dfc9e6a84553253ef91663a74ccd2338", "keypoints": [{"xyz": [0.10012957874781303, 0.46490339611140474, 0.10530616051504249], "rgb": [170, 138, 94], "semantic_id": 0, "pcd_info": {"point_index": 1359}, "mesh_info": {"face_index": 393, "face_uv": [0.2318319600826284, 0.34620933361006756, 0.42195870630730625]}}, {"xyz": [-0.12488849952574504, 0.44948824230810086, 0.09393823273833846], "rgb": [161, 134, 98], "semantic_id": 1, "pcd_info": {"point_index": 1650}, "mesh_info": {"face_index": 496, "face_uv": [0.1697096671119845, 0.025367015003322824, 0.8049233178846955]}}, {"xyz": [0.1437959275994367, 0.1579491802094839, 0.052281393975779133], "rgb": [114, 101, 97], "semantic_id": 2, "pcd_info": {"point_index": 1809}, "mesh_info": {"face_index": 4668, "face_uv": [0.05498799879954748, 0.32876934510002154, 0.6162426561004316]}}, {"xyz": [-0.15603950370699868, 0.15957665621548456, 0.03808396199148745], "rgb": [131, 109, 84], "semantic_id": 3, "pcd_info": {"point_index": 2022}, "mesh_info": {"face_index": 4658, "face_uv": [0.35616567369119956, 0.6331015202116287, 0.010732806097172094]}}, {"xyz": [0.15476720801679977, 0.1574135760076335, -0.20525708064290327], "rgb": [172, 138, 85], "semantic_id": 4, "pcd_info": {"point_index": 1083}, "mesh_info": {"face_index": 4408, "face_uv": [0.3050911069857146, 0.15162282157454243, 0.5432860714397424]}}, {"xyz": [-0.14154781041143916, 0.14355548271221463, -0.21683806460072574], "rgb": [104, 88, 71], "semantic_id": 5, "pcd_info": {"point_index": 413}, "mesh_info": {"face_index": 4600, "face_uv": [0.30802833635041893, 0.2405553498800936, 0.4514163137694879]}}, {"xyz": [0.13871469268231387, -0.22462495338775268, -0.22667167027136237], "rgb": [0, 0, 0], "semantic_id": 10, "pcd_info": {"point_index": 1763}, "mesh_info": {"face_index": 2122, "face_uv": [0.15448492044569517, 0.46404028548271603, 0.3814747940715893]}}, {"xyz": [0.21684829761784155, -0.22744556494757417, 0.010889643005465688], "rgb": [0, 0, 0], "semantic_id": 11, "pcd_info": {"point_index": 1519}, "mesh_info": {"face_index": 2462, "face_uv": [0.8823570275687668, 0.013117511477732052, 0.10452546095350036]}}, {"xyz": [0.006209488208812744, -0.22349377487893785, 0.1901855298569532], "rgb": [0, 0, 0], "semantic_id": 12, "pcd_info": {"point_index": 1692}, "mesh_info": {"face_index": 2017, "face_uv": [0.39613034630267807, 0.5992876044681774, 0.004582049229144059]}}, {"xyz": [-0.2065753275336451, -0.22735074035452763, 0.03487842607387426], "rgb": [0, 0, 0], "semantic_id": 13, "pcd_info": {"point_index": 1171}, "mesh_info": {"face_index": 1858, "face_uv": [0.07398030958242507, 0.7364977934495968, 0.18952189696797855]}}, {"xyz": [-0.1369506784722735, -0.22717402814971233, -0.21914477122754528], "rgb": [0, 0, 0], "semantic_id": 14, "pcd_info": {"point_index": 1528}, "mesh_info": {"face_index": 2607, "face_uv": [0.11111380935221919, 0.20707263029229747, 0.681813560355483]}}, {"xyz": [-0.002612178665155805, 0.06088193915484941, -0.06461237909846407], "rgb": [55, 55, 55], "semantic_id": 15, "pcd_info": {"point_index": 1418}, "mesh_info": {"face_index": 818, "face_uv": [0.6687961003183593, 0.1045839069723187, 0.22661999270931762]}}, {"xyz": [0.0005589923971099087, -0.18456700444221497, -0.04655287110231976], "rgb": [56, 56, 56], "semantic_id": 16, "pcd_info": {"point_index": 501}, "mesh_info": {"face_index": 1132, "face_uv": [0.04658503569524107, 0.09760026143340986, 0.8558147028713492]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "341c9b0583d31770492d9da2668ec34c", "keypoints": [{"xyz": [0.14098305843894407, 0.4322811104119395, 0.12540271758326704], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1125}, "mesh_info": {"face_index": 4465, "face_uv": [0.11223110102639137, 0.0509713671311186, 0.8367975318424896]}}, {"xyz": [-0.12896525364255293, 0.435172996488677, 0.1285789349580952], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 915}, "mesh_info": {"face_index": 4490, "face_uv": [0.08202557422665922, 0.41819896408954127, 0.49977546168379966]}}, {"xyz": [0.1511176304333903, 0.0915385689091614, 0.041540878539243487], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 687}, "mesh_info": {"face_index": 2749, "face_uv": [0.043354931303303486, 0.6574311666911304, 0.29921390200556575]}}, {"xyz": [-0.1444431897825365, 0.08963643874916993, 0.04896918693644639], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1203}, "mesh_info": {"face_index": 2846, "face_uv": [0.13544880474830187, 0.06952444693049477, 0.7950267483212023]}}, {"xyz": [0.14555865163224455, 0.09049593189891514, -0.18619638355523546], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 373}, "mesh_info": {"face_index": 3401, "face_uv": [0.04515184438528343, 0.04039696913906394, 0.9144511864756564]}}, {"xyz": [-0.14375647233600344, 0.08988931139848155, -0.18528348022438987], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 852}, "mesh_info": {"face_index": 3206, "face_uv": [0.7677567492471533, 0.13398159231803042, 0.0982616584348179]}}, {"xyz": [0.18937723074500826, 0.20427918455940852, -0.09682013761719106], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 359, "face_uv": [0.5822081536003605, 0.1759447254065705, 0.24184712099306946]}}, {"xyz": [0.18369702247352335, 0.17926339194585617, 0.051441721800904845], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1374}, "mesh_info": {"face_index": 264, "face_uv": [0.11829552278068758, 0.47121034117214416, 0.4104941360471699]}}, {"xyz": [-0.18417116571116576, 0.20211356617083287, -0.09882308698165791], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 530, "face_uv": [0.31037574726898465, 0.2671575763627589, 0.42246667636825774]}}, {"xyz": [-0.18328384796473263, 0.18287430347883515, 0.04133267955902018], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 675}, "mesh_info": {"face_index": 573, "face_uv": [0.04591690828583407, 0.6145523127124815, 0.3395307790016849]}}, {"xyz": [0.14432997361991406, -0.29110262057540326, -0.20624737157300663], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 150}, "mesh_info": {"face_index": 2113, "face_uv": [0.5119145153907436, 0.0810837220454649, 0.40700176256379206]}}, {"xyz": [0.23000866251215601, -0.2915937197569509, 0.05508922009192202], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 1225}, "mesh_info": {"face_index": 1997, "face_uv": [0.23913439984452234, 0.18307741793834675, 0.5777881822171317]}}, {"xyz": [0.011888817196399282, -0.292102481777323, 0.20900234069798224], "rgb": [254, 254, 254], "semantic_id": 12, "pcd_info": {"point_index": 829}, "mesh_info": {"face_index": 1881, "face_uv": [0.023667721956816604, 0.2502393910802878, 0.7260928869628953]}}, {"xyz": [-0.20247549896847267, -0.2859684054705287, 0.04941746544165321], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 2342, "face_uv": [0.23107408735189722, 0.420317127591286, 0.3486087850568169]}}, {"xyz": [-0.1222596738138356, -0.290837624757349, -0.1989821644106918], "rgb": [254, 254, 254], "semantic_id": 14, "pcd_info": {"point_index": 674}, "mesh_info": {"face_index": 2235, "face_uv": [0.3519997475308683, 0.22358578711407776, 0.4244144653550529]}}, {"xyz": [-0.0009371630724493568, -0.04188507608755421, -0.029283867422085663], "rgb": [254, 254, 254], "semantic_id": 15, "pcd_info": {"point_index": 1879}, "mesh_info": {"face_index": 1793, "face_uv": [0.8370543130974879, 0.021408483570047904, 0.14153720333246145]}}, {"xyz": [-0.0036064982475422225, -0.2764179664058344, -0.011524811709771488], "rgb": [254, 254, 254], "semantic_id": 16, "pcd_info": {"point_index": 787}, "mesh_info": {"face_index": 1638, "face_uv": [0.6761895202524157, 0.2902029168556416, 0.03360756289194185]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "a06c400e070343cfd8a56a98f4d239c3", "keypoints": [{"xyz": [0.17384894795068875, 0.36630983781074067, 0.11759900656988664], "rgb": [113, 113, 113], "semantic_id": 0, "pcd_info": {"point_index": 1714}, "mesh_info": {"face_index": 637, "face_uv": [0.04277823656854286, 0.12062079214300009, 0.8366009712884569]}}, {"xyz": [-0.16233189209889967, 0.3678106251951153, 0.11869515511123985], "rgb": [114, 114, 114], "semantic_id": 1, "pcd_info": {"point_index": 221}, "mesh_info": {"face_index": 1868, "face_uv": [0.36692582889387965, 0.5966033382251227, 0.036470832881003175]}}, {"xyz": [0.14986525054908328, 0.0627939999103545, 0.1187803586904066], "rgb": [113, 113, 113], "semantic_id": 2, "pcd_info": {"point_index": 135}, "mesh_info": {"face_index": 12215, "face_uv": [0.3611202832707069, 0.627817877849072, 0.011061838880219357]}}, {"xyz": [-0.1455133721413652, 0.06279399991035473, 0.12046474187355072], "rgb": [114, 114, 114], "semantic_id": 3, "pcd_info": {"point_index": 389}, "mesh_info": {"face_index": 12037, "face_uv": [0.026103449809160097, 0.83149543178679, 0.14240111840405179]}}, {"xyz": [0.15574463084336093, 0.04576128650244615, -0.18304000926235475], "rgb": [113, 113, 113], "semantic_id": 4, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 10311, "face_uv": [0.027161398215866012, 0.37299711596292295, 0.5998414858212106]}}, {"xyz": [-0.14121309624574255, 0.04623169752488554, -0.19712291979490626], "rgb": [114, 114, 114], "semantic_id": 5, "pcd_info": {"point_index": 595}, "mesh_info": {"face_index": 10392, "face_uv": [0.16364317265151695, 0.5177677783904725, 0.31858904895801066]}}, {"xyz": [0.11017214382659492, -0.36223798990249634, -0.17609678838995146], "rgb": [198, 198, 198], "semantic_id": 10, "pcd_info": {"point_index": 1732}, "mesh_info": {"face_index": 2138, "face_uv": [0.08272964238230485, 0.5532601152912453, 0.36401024232644985]}}, {"xyz": [0.18846901248131723, -0.36223798990249634, 0.03959596464128862], "rgb": [198, 198, 198], "semantic_id": 11, "pcd_info": {"point_index": 311}, "mesh_info": {"face_index": 2142, "face_uv": [0.5028597036647984, 0.048665757405245, 0.4484745389299566]}}, {"xyz": [-0.000561409788443175, -0.36223798990249634, 0.17807093897193288], "rgb": [198, 198, 198], "semantic_id": 12, "pcd_info": {"point_index": 548}, "mesh_info": {"face_index": 2156, "face_uv": [0.2746073044354176, 0.5146852970157665, 0.2107073985488159]}}, {"xyz": [-0.18980666429799806, -0.36223798990249634, 0.04037224240770515], "rgb": [198, 198, 198], "semantic_id": 13, "pcd_info": {"point_index": 1802}, "mesh_info": {"face_index": 2131, "face_uv": [0.20338937271068497, 0.47937241092579463, 0.31723821636352045]}}, {"xyz": [-0.11871787275689333, -0.36223798990249634, -0.17762969984900912], "rgb": [198, 198, 198], "semantic_id": 14, "pcd_info": {"point_index": 1554}, "mesh_info": {"face_index": 2122, "face_uv": [0.4423309931355836, 0.05279861962330841, 0.504870387241108]}}, {"xyz": [0.002522692030190482, 0.0010859789354503713, -0.06014091390844456], "rgb": [113, 113, 113], "semantic_id": 15, "pcd_info": {"point_index": 133}, "mesh_info": {"face_index": 13086, "face_uv": [0.4619463458350233, 0.336208586918837, 0.20184506724613926]}}, {"xyz": [-0.004674511948070115, -0.3622379899024961, -0.018053456088399145], "rgb": [197, 197, 197], "semantic_id": 16, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 2128, "face_uv": [0.07109455035770003, 0.11967348305747989, 0.8092319665848194]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "300d6a7505f24959492d9da2668ec34c", "keypoints": [{"xyz": [0.1617258722359473, 0.3878429834683149, 0.10699082547934369], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 95}, "mesh_info": {"face_index": 4255, "face_uv": [0.23151400969445088, 0.6197396123619797, 0.14874637794356957]}}, {"xyz": [-0.1593696686815107, 0.388993869218783, 0.10494360734214014], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 160}, "mesh_info": {"face_index": 4109, "face_uv": [0.1010266333393444, 0.4949033916533578, 0.40406997500729763]}}, {"xyz": [0.15581268086622935, 0.09392848117472252, 0.05427716548418626], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1995}, "mesh_info": {"face_index": 3041, "face_uv": [0.23585409224110734, 0.761160290655285, 0.0029856171036065087]}}, {"xyz": [-0.15845863511619168, 0.09589748657353225, 0.0538521155692151], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1888}, "mesh_info": {"face_index": 3115, "face_uv": [0.5808603065173453, 0.0005142767079050363, 0.4186254167747502]}}, {"xyz": [0.1489367798081939, 0.08547407059787893, -0.20409141667489783], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 803}, "mesh_info": {"face_index": 3734, "face_uv": [0.3728515351413278, 0.47623599955876816, 0.1509124652999042]}}, {"xyz": [-0.16263299619581234, 0.08508599856548926, -0.19704025545329062], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1721}, "mesh_info": {"face_index": 3704, "face_uv": [0.24939235063826895, 0.12514180549007353, 0.6254658438716576]}}, {"xyz": [0.17685799994559973, 0.2364411227645571, -0.13572373887245492], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 2016}, "mesh_info": {"face_index": 865, "face_uv": [0.09372893204648708, 0.3861556723953063, 0.5201153955582062]}}, {"xyz": [0.18858075851533423, 0.22939767552422952, 0.07825528077180177], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1058}, "mesh_info": {"face_index": 716, "face_uv": [0.05305742357599269, 0.588187035984734, 0.35875554043927294]}}, {"xyz": [-0.18007334347528597, 0.2475672111623184, -0.12723510410938588], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1406}, "mesh_info": {"face_index": 54, "face_uv": [0.27896105071069044, 0.22205112402154273, 0.49898782526776714]}}, {"xyz": [-0.18941553068320371, 0.22890567229048764, 0.0785748022872731], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1007}, "mesh_info": {"face_index": 120, "face_uv": [0.027787241780307302, 0.6150983067333798, 0.35711445148631377]}}, {"xyz": [0.12501787583973584, -0.29476499059060984, -0.2217112314148686], "rgb": [254, 254, 254], "semantic_id": 10, "pcd_info": {"point_index": 168}, "mesh_info": {"face_index": 2563, "face_uv": [0.2841809432856626, 0.4138861473400118, 0.3019329093743251]}}, {"xyz": [0.21637505175390426, -0.29543151635659176, 0.04234426092836774], "rgb": [255, 255, 255], "semantic_id": 11, "pcd_info": {"point_index": 648}, "mesh_info": {"face_index": 2421, "face_uv": [0.12803451264338822, 0.7655510536069889, 0.10641443374962489]}}, {"xyz": [0.015848937542003227, -0.2987971722346877, 0.2163069948433061], "rgb": [254, 254, 254], "semantic_id": 12, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 2266, "face_uv": [0.29595689695992694, 0.31545723379668117, 0.3885858692433866]}}, {"xyz": [-0.21891995038359574, -0.30128394208453135, 0.07056515779807482], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 2764, "face_uv": [0.4135097889048379, 0.5085788485695615, 0.07791136252560077]}}, {"xyz": [-0.15659624808785844, -0.3037656454556637, -0.20889653761921545], "rgb": [254, 254, 254], "semantic_id": 14, "pcd_info": {"point_index": 770}, "mesh_info": {"face_index": 2691, "face_uv": [0.39046470226895474, 0.5430081788732093, 0.06652711885783566]}}, {"xyz": [-0.002405716617475767, -0.0402624580595794, -0.027681155318701967], "rgb": [254, 254, 254], "semantic_id": 15, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 2172, "face_uv": [0.07236389548816614, 0.8779372154668191, 0.0496988890450117]}}, {"xyz": [-0.0024023501111490597, -0.2901304850359949, -0.01522390819095465], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 1688}, "mesh_info": {"face_index": 2059, "face_uv": [0.19034720981797645, 0.5108450791716685, 0.29880771101035514]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "c41fe0605cfe70571c25d54737ed5c8e", "keypoints": [{"xyz": [0.07439004782461414, 0.3844308976135362, 0.20134117987946684], "rgb": [39, 39, 39], "semantic_id": 0, "pcd_info": {"point_index": 1280}, "mesh_info": {"face_index": 1777, "face_uv": [0.1087038154591175, 0.5225997833300318, 0.36869640121085046]}}, {"xyz": [-0.07458792730501775, 0.38177371035842156, 0.20702765527407255], "rgb": [40, 40, 40], "semantic_id": 1, "pcd_info": {"point_index": 1801}, "mesh_info": {"face_index": 2173, "face_uv": [0.47272810739564547, 0.3574711761045819, 0.1698007164997728]}}, {"xyz": [0.11066980849407779, -0.09132209822708104, 0.008397302660972994], "rgb": [39, 39, 39], "semantic_id": 2, "pcd_info": {"point_index": 351}, "mesh_info": {"face_index": 1347, "face_uv": [0.16173542721750406, 0.797672214658631, 0.04059235812386465]}}, {"xyz": [-0.10705231018489392, -0.090876399307527, 0.007315447343430939], "rgb": [39, 39, 39], "semantic_id": 3, "pcd_info": {"point_index": 212}, "mesh_info": {"face_index": 1297, "face_uv": [0.1388883526962673, 0.8189151210967621, 0.042196526206970175]}}, {"xyz": [0.12487606544322044, -0.05065970871621217, -0.2938398074525229], "rgb": [39, 39, 39], "semantic_id": 4, "pcd_info": {"point_index": 696}, "mesh_info": {"face_index": 1256, "face_uv": [0.006488021222511518, 0.17997590603112507, 0.8135360727463539]}}, {"xyz": [-0.09968285255673073, -0.05621920864279606, -0.30151201736162214], "rgb": [40, 40, 40], "semantic_id": 5, "pcd_info": {"point_index": 818}, "mesh_info": {"face_index": 1287, "face_uv": [0.0034828354090567803, 0.05512003359821449, 0.9413971309927291]}}, {"xyz": [0.1592273252216425, -0.33627979259890395, -0.23123080323575168], "rgb": [39, 39, 39], "semantic_id": 10, "pcd_info": {"point_index": 208}, "mesh_info": {"face_index": 736, "face_uv": [0.34168202717874513, 0.5248303465637779, 0.13348762625747676]}}, {"xyz": [0.16193061983001777, -0.3365800528388747, -0.013155398119136852], "rgb": [40, 40, 40], "semantic_id": 11, "pcd_info": {"point_index": 1669}, "mesh_info": {"face_index": 569, "face_uv": [0.7159671727969549, 0.016014743328598532, 0.2680180838744471]}}, {"xyz": [-0.05939403250997702, -0.3361592059458114, 0.062079881029819005], "rgb": [39, 39, 39], "semantic_id": 12, "pcd_info": {"point_index": 489}, "mesh_info": {"face_index": 463, "face_uv": [0.19572915607282823, 0.6236052703566645, 0.18066557357050714]}}, {"xyz": [-0.18312360205001124, -0.33580614934676145, -0.11029132218096663], "rgb": [40, 40, 40], "semantic_id": 13, "pcd_info": {"point_index": 1108}, "mesh_info": {"face_index": 172, "face_uv": [0.6812056600915326, 0.2242899840151936, 0.0945043558932738]}}, {"xyz": [-0.057269145661375614, -0.3358333024536573, -0.3027647396003259], "rgb": [39, 39, 39], "semantic_id": 14, "pcd_info": {"point_index": 914}, "mesh_info": {"face_index": 986, "face_uv": [0.5423783563396436, 0.3081710427717436, 0.14945060088861234]}}, {"xyz": [0.004186629089331539, -0.15307852522676635, -0.13437978223693814], "rgb": [40, 40, 40], "semantic_id": 15, "pcd_info": {"point_index": 1446}, "mesh_info": {"face_index": 83, "face_uv": [0.06046406869054035, 0.04320176975466903, 0.8963341615547908]}}, {"xyz": [0.00245974156143851, -0.29970425732564226, -0.13369604293360737], "rgb": [39, 39, 39], "semantic_id": 16, "pcd_info": {"point_index": 1804}, "mesh_info": {"face_index": 87, "face_uv": [0.18373005994045805, 0.8150544366384446, 0.0012155034210932216]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "4275718494dd309bc7d25fde6b97816", "keypoints": [{"xyz": [0.14441238386330185, 0.40879869564310933, 0.04935986332432818], "rgb": [254, 154, 58], "semantic_id": 0, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 1351, "face_uv": [0.8616683891906721, 0.06450433343925428, 0.07382727737007401]}}, {"xyz": [-0.13276648845654396, 0.4158367801236241, 0.06252196765144413], "rgb": [246, 143, 50], "semantic_id": 1, "pcd_info": {"point_index": 990}, "mesh_info": {"face_index": 1494, "face_uv": [0.31063188591842295, 0.3869135436893001, 0.3024545703922773]}}, {"xyz": [0.1578847704325878, 0.10500135815170308, 0.0797089243846767], "rgb": [231, 102, 0], "semantic_id": 2, "pcd_info": {"point_index": 414}, "mesh_info": {"face_index": 1263, "face_uv": [0.09220036023375824, 0.3124770898401733, 0.5953225499260678]}}, {"xyz": [-0.14975855326495316, 0.1047596029052017, 0.08265754897181044], "rgb": [247, 146, 59], "semantic_id": 3, "pcd_info": {"point_index": 1043}, "mesh_info": {"face_index": 916, "face_uv": [0.4610847043031, 0.4302456416450872, 0.10866965405181406]}}, {"xyz": [0.1707048345695999, 0.10563061301737076, -0.22019819282086828], "rgb": [241, 115, 11], "semantic_id": 4, "pcd_info": {"point_index": 138}, "mesh_info": {"face_index": 1215, "face_uv": [0.23729174174365758, 0.2135964088896772, 0.5491118493666657]}}, {"xyz": [-0.1576252044924992, 0.1030948744839415, -0.2286269995508723], "rgb": [209, 89, 6], "semantic_id": 5, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 1218, "face_uv": [0.8344225430435087, 0.0037884048884289467, 0.1617890520680635]}}, {"xyz": [0.15432917558739173, -0.1916308872851875, -0.2230867985728347], "rgb": [169, 169, 169], "semantic_id": 10, "pcd_info": {"point_index": 11}, "mesh_info": {"face_index": 337, "face_uv": [0.2454119230071092, 0.6316364227009259, 0.12295165429196381]}}, {"xyz": [0.24648554752001112, -0.19690729767321602, 0.047856270872810136], "rgb": [170, 170, 170], "semantic_id": 11, "pcd_info": {"point_index": 1664}, "mesh_info": {"face_index": 184, "face_uv": [0.22020188856294276, 0.5838158665330753, 0.19598224490398217]}}, {"xyz": [0.0018409846332987923, -0.22263474280475415, 0.237066293079819], "rgb": [170, 170, 170], "semantic_id": 12, "pcd_info": {"point_index": 1446}, "mesh_info": {"face_index": 109, "face_uv": [0.9335831235127591, 0.03981625619056041, 0.026600620296682188]}}, {"xyz": [-0.2292216782449134, -0.19100635627719287, 0.05576851143379502], "rgb": [170, 170, 170], "semantic_id": 13, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 67, "face_uv": [0.7784458573370259, 0.010183067602291616, 0.2113710750606838]}}, {"xyz": [-0.13446828278274772, -0.19086528887466536, -0.22705050057016535], "rgb": [169, 169, 169], "semantic_id": 14, "pcd_info": {"point_index": 1271}, "mesh_info": {"face_index": 326, "face_uv": [0.01675289604398047, 0.8906743635875665, 0.09257274036844977]}}, {"xyz": [-0.0018959402652340696, -0.0078017127215919135, -0.05020768980762158], "rgb": [169, 169, 169], "semantic_id": 15, "pcd_info": {"point_index": 527}, "mesh_info": {"face_index": 404, "face_uv": [0.06677785253699307, 0.15960772525022643, 0.7736144222127794]}}, {"xyz": [0.00520978862732091, -0.2458312410571663, -0.04733485345238231], "rgb": [169, 169, 169], "semantic_id": 16, "pcd_info": {"point_index": 1782}, "mesh_info": {"face_index": 302, "face_uv": [0.5046050836835434, 0.1900814679673608, 0.3053134483490889]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "64e77e9e5887ce95492d9da2668ec34c", "keypoints": [{"xyz": [0.14601891051367766, 0.4263233411900341, 0.10461177340765104], "rgb": [51, 51, 51], "semantic_id": 0, "pcd_info": {"point_index": 32}, "mesh_info": {"face_index": 1394, "face_uv": [0.06300399250040035, 0.2707040639613526, 0.6662919435382472]}}, {"xyz": [-0.17193643114963508, 0.4105933545143632, 0.13064537286786748], "rgb": [51, 51, 51], "semantic_id": 1, "pcd_info": {"point_index": 318}, "mesh_info": {"face_index": 1130, "face_uv": [0.003391039525097442, 0.44663685057417435, 0.5499721099007282]}}, {"xyz": [0.1120861949616927, 0.09251702701811881, 0.08978791241658857], "rgb": [51, 51, 51], "semantic_id": 2, "pcd_info": {"point_index": 1048}, "mesh_info": {"face_index": 1871, "face_uv": [0.026309869892992825, 0.5661655715313293, 0.40752455857567926]}}, {"xyz": [-0.146753711485755, 0.09380359560096063, 0.08933201753210396], "rgb": [51, 51, 51], "semantic_id": 3, "pcd_info": {"point_index": 1013}, "mesh_info": {"face_index": 1752, "face_uv": [0.32505388251394585, 0.6010088999940277, 0.0739372174920265]}}, {"xyz": [0.13901579144091347, 0.09117720507758231, -0.21525657029343365], "rgb": [50, 50, 50], "semantic_id": 4, "pcd_info": {"point_index": 1047}, "mesh_info": {"face_index": 1812, "face_uv": [0.2920280865435677, 0.32238453246535337, 0.38558738099107787]}}, {"xyz": [-0.18531817240061843, 0.09554704147871851, -0.2026626535449052], "rgb": [51, 51, 51], "semantic_id": 5, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 1627, "face_uv": [0.10893785683865514, 0.16487268171094616, 0.7261894614503999]}}, {"xyz": [0.1417257553400338, -0.23640532434120143, -0.2520821307950841], "rgb": [51, 51, 51], "semantic_id": 10, "pcd_info": {"point_index": 1750}, "mesh_info": {"face_index": 666, "face_uv": [0.06362089909222834, 0.429338448911491, 0.5070406519962807]}}, {"xyz": [0.23045865859973252, -0.2516120547424934, 0.00308654714733414], "rgb": [51, 51, 51], "semantic_id": 11, "pcd_info": {"point_index": 1668}, "mesh_info": {"face_index": 550, "face_uv": [0.2226683468624521, 0.4053940910937631, 0.3719375620437851]}}, {"xyz": [0.0034717874229424073, -0.2434726384595549, 0.17948265995031254], "rgb": [51, 51, 51], "semantic_id": 12, "pcd_info": {"point_index": 736}, "mesh_info": {"face_index": 498, "face_uv": [0.15437859980791685, 0.41178361567869015, 0.4338377845133992]}}, {"xyz": [-0.22768070258037754, -0.22364492429110516, 0.022656501326005773], "rgb": [50, 50, 50], "semantic_id": 13, "pcd_info": {"point_index": 1427}, "mesh_info": {"face_index": 809, "face_uv": [0.15518378626521284, 0.28296580108909425, 0.5618504126456927]}}, {"xyz": [-0.15435618849076937, -0.269359351543762, -0.2643298665400905], "rgb": [51, 51, 51], "semantic_id": 14, "pcd_info": {"point_index": 867}, "mesh_info": {"face_index": 682, "face_uv": [0.43563453658770085, 0.5013642692141378, 0.06300119419816153]}}, {"xyz": [-0.0030260905627560782, -0.031201057928228915, -0.05536942878271067], "rgb": [74, 55, 37], "semantic_id": 15, "pcd_info": {"point_index": 991}, "mesh_info": {"face_index": 338, "face_uv": [0.16028500334092222, 0.06341020975877514, 0.7763047869002959]}}, {"xyz": [0.001290128521020395, -0.23519659171965324, -0.04602314619797482], "rgb": [75, 56, 38], "semantic_id": 16, "pcd_info": {"point_index": 501}, "mesh_info": {"face_index": 357, "face_uv": [0.01148096423712332, 0.3672440069035946, 0.6212750288592827]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "b89952c6f2dbc1aea50b88953d263a42", "keypoints": [{"xyz": [0.18984204664048956, 0.4228114474857142, 0.12060810104178232], "rgb": [96, 38, 14], "semantic_id": 0, "pcd_info": {"point_index": 1001}, "mesh_info": {"face_index": 1905, "face_uv": [0.2857096047824165, 0.27598068233203493, 0.43830971288554915]}}, {"xyz": [-0.19227650707733168, 0.43003634598712337, 0.12565237023816334], "rgb": [95, 37, 13], "semantic_id": 1, "pcd_info": {"point_index": 1276}, "mesh_info": {"face_index": 3423, "face_uv": [0.005751462870563223, 0.12082015116260217, 0.8734283859668344]}}, {"xyz": [0.13936537421696532, 0.0437219999730587, 0.046325786633262034], "rgb": [96, 38, 14], "semantic_id": 2, "pcd_info": {"point_index": 1914}, "mesh_info": {"face_index": 535, "face_uv": [0.4567859641926594, 0.5109297129420354, 0.0322843228653053]}}, {"xyz": [-0.13931235731079405, 0.0431528165850108, 0.05932625234657296], "rgb": [96, 38, 14], "semantic_id": 3, "pcd_info": {"point_index": 1318}, "mesh_info": {"face_index": 1759, "face_uv": [0.07828514389187019, 0.5133198897139026, 0.40839496639422856]}}, {"xyz": [0.12370351290607551, 0.027277369814567853, -0.25010686475610555], "rgb": [96, 38, 14], "semantic_id": 4, "pcd_info": {"point_index": 1109}, "mesh_info": {"face_index": 183, "face_uv": [0.01481301304278962, 0.36219699041825393, 0.6229899965389568]}}, {"xyz": [-0.13190692041352675, 0.028100422946804482, -0.24815364829878384], "rgb": [95, 37, 13], "semantic_id": 5, "pcd_info": {"point_index": 748}, "mesh_info": {"face_index": 451, "face_uv": [0.3080949031813503, 0.27990706047028185, 0.41199803634836724]}}, {"xyz": [0.19472090389205857, 0.1999495522872312, -0.11273292443479122], "rgb": [96, 38, 14], "semantic_id": 6, "pcd_info": {"point_index": 1482}, "mesh_info": {"face_index": 4497, "face_uv": [0.16009457276000813, 0.4792618648138425, 0.3606435624261504]}}, {"xyz": [0.19704340541582113, 0.20926713216292026, 0.024708299189531546], "rgb": [95, 37, 13], "semantic_id": 7, "pcd_info": {"point_index": 640}, "mesh_info": {"face_index": 4529, "face_uv": [0.14532605060941234, 0.04052478117420703, 0.8141491682163801]}}, {"xyz": [-0.1989285291676931, 0.20222576771366185, -0.11172343360684733], "rgb": [95, 38, 14], "semantic_id": 8, "pcd_info": {"point_index": 1799}, "mesh_info": {"face_index": 4371, "face_uv": [0.38735685509807033, 0.24290253900589562, 0.36974060589603397]}}, {"xyz": [-0.20444352428691814, 0.2098385345203242, 0.02463248412152086], "rgb": [96, 38, 14], "semantic_id": 9, "pcd_info": {"point_index": 943}, "mesh_info": {"face_index": 4334, "face_uv": [0.006433955058463368, 0.041105935500294, 0.9524601094412435]}}, {"xyz": [0.14932490149794297, -0.27548718297037755, -0.25014949436334816], "rgb": [0, 0, 0], "semantic_id": 10, "pcd_info": {"point_index": 977}, "mesh_info": {"face_index": 5303, "face_uv": [0.41480456347448275, 0.40472677307440413, 0.18046866345111395]}}, {"xyz": [0.2451686201238833, -0.2765200888735573, 0.014918770336879078], "rgb": [0, 0, 0], "semantic_id": 11, "pcd_info": {"point_index": 153}, "mesh_info": {"face_index": 5528, "face_uv": [0.1601749671362988, 0.15185191890154856, 0.6879731139621521]}}, {"xyz": [0.02062831672649673, -0.2762769349375458, 0.17103301429614867], "rgb": [0, 0, 0], "semantic_id": 12, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 5720, "face_uv": [0.15896044033116974, 0.3090287516555153, 0.532010808013314]}}, {"xyz": [-0.20695934286366638, -0.27576195317188446, 0.0069045880156858724], "rgb": [0, 0, 0], "semantic_id": 13, "pcd_info": {"point_index": 995}, "mesh_info": {"face_index": 5879, "face_uv": [0.12074047153677844, 0.5211770014798132, 0.35808252698340837]}}, {"xyz": [-0.12042685960954697, -0.27590895564247386, -0.24724524389018665], "rgb": [0, 0, 0], "semantic_id": 14, "pcd_info": {"point_index": 1646}, "mesh_info": {"face_index": 5139, "face_uv": [0.45310621079981284, 0.32458298783677786, 0.2223108013634091]}}, {"xyz": [-0.0021637959997725803, 0.0015549564401020621, -0.08809271559585707], "rgb": [71, 71, 72], "semantic_id": 15, "pcd_info": {"point_index": 1117}, "mesh_info": {"face_index": 5967, "face_uv": [0.967483078862477, 0.025623819840580406, 0.006893101296940854]}}, {"xyz": [-0.0034396570429345574, -0.21706600487232186, -0.06916100748470355], "rgb": [71, 71, 72], "semantic_id": 16, "pcd_info": {"point_index": 434}, "mesh_info": {"face_index": 5990, "face_uv": [0.8596643022783951, 0.09292131895599992, 0.047414378765603955]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "5c9d582488732ee0d7f7a4c4609b0913", "keypoints": [{"xyz": [0.1345175353600059, 0.3633665735454379, 0.1440819808844562], "rgb": [35, 35, 35], "semantic_id": 0, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 18702, "face_uv": [0.133159997057894, 0.43519898577642674, 0.4316410171656796]}}, {"xyz": [-0.14623714319459058, 0.35612589255719374, 0.14209565938293936], "rgb": [35, 35, 35], "semantic_id": 1, "pcd_info": {"point_index": 591}, "mesh_info": {"face_index": 24632, "face_uv": [0.38316464340442513, 0.3791688134649763, 0.23766654313059912]}}, {"xyz": [0.14640363049523664, -0.06588455824028361, 0.02583767119281488], "rgb": [110, 110, 110], "semantic_id": 2, "pcd_info": {"point_index": 1850}, "mesh_info": {"face_index": 10270, "face_uv": [0.8854965012428722, 0.04440377836625243, 0.07009972039086904]}}, {"xyz": [-0.15764437092892516, -0.07042712752073887, 0.030177883334790156], "rgb": [120, 120, 120], "semantic_id": 3, "pcd_info": {"point_index": 1226}, "mesh_info": {"face_index": 2198, "face_uv": [0.02985698223048651, 0.6628278429006373, 0.3073151748688684]}}, {"xyz": [0.15081157383015506, -0.06080102624408412, -0.22152151073209603], "rgb": [71, 71, 71], "semantic_id": 4, "pcd_info": {"point_index": 1281}, "mesh_info": {"face_index": 10476, "face_uv": [0.008395038823300645, 0.09082388957600127, 0.900781071600697]}}, {"xyz": [-0.1461675275927212, -0.05934160055824145, -0.22391513797915952], "rgb": [108, 108, 108], "semantic_id": 5, "pcd_info": {"point_index": 73}, "mesh_info": {"face_index": 900, "face_uv": [0.11566923987562672, 0.7293870472463039, 0.15494371287807077]}}, {"xyz": [0.2023368725512153, 0.04636738587696532, -0.14807803822289559], "rgb": [34, 34, 34], "semantic_id": 6, "pcd_info": {"point_index": 2009}, "mesh_info": {"face_index": 102603, "face_uv": [0.5465212571336091, 0.36476118306952154, 0.08871755979686817]}}, {"xyz": [0.20304288221424927, 0.07250382723502757, 0.08072515054125332], "rgb": [34, 34, 34], "semantic_id": 7, "pcd_info": {"point_index": 1269}, "mesh_info": {"face_index": 99136, "face_uv": [0.4299571672543799, 0.09860768957269278, 0.4714351431729268]}}, {"xyz": [-0.20879813147696472, 0.04258794633402685, -0.154438473311369], "rgb": [34, 34, 34], "semantic_id": 8, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 95312, "face_uv": [0.3543545101452255, 0.529906968849317, 0.11573852100545577]}}, {"xyz": [-0.19835731566596948, 0.07267590351726216, 0.07616537702645107], "rgb": [34, 34, 34], "semantic_id": 9, "pcd_info": {"point_index": 86}, "mesh_info": {"face_index": 91616, "face_uv": [0.380104212426801, 0.34513524651100047, 0.27476054106219844]}}, {"xyz": [0.106008849621655, -0.374934088676226, -0.2542724450378393], "rgb": [35, 35, 35], "semantic_id": 10, "pcd_info": {"point_index": 1574}, "mesh_info": {"face_index": 79974, "face_uv": [0.22004124904054861, 0.6534236705467132, 0.12653508041273845]}}, {"xyz": [0.20331849752318656, -0.37472227627050025, -0.029086663990147282], "rgb": [35, 35, 35], "semantic_id": 11, "pcd_info": {"point_index": 343}, "mesh_info": {"face_index": 75620, "face_uv": [0.014820809825724866, 0.2986290936359562, 0.6865500965383189]}}, {"xyz": [0.016640894845820764, -0.37316938689938395, 0.1263576680877403], "rgb": [35, 35, 35], "semantic_id": 12, "pcd_info": {"point_index": 1568}, "mesh_info": {"face_index": 71927, "face_uv": [0.5288528685240139, 0.10956726690241538, 0.3615798645735706]}}, {"xyz": [-0.19128007988317397, -0.37461499171485735, 0.00210346807243611], "rgb": [34, 34, 34], "semantic_id": 13, "pcd_info": {"point_index": 477}, "mesh_info": {"face_index": 87758, "face_uv": [0.6497335549176424, 0.1189230070262544, 0.2313434380561027]}}, {"xyz": [-0.13311820431006174, -0.37507104863615126, -0.23069993215288276], "rgb": [34, 34, 34], "semantic_id": 14, "pcd_info": {"point_index": 675}, "mesh_info": {"face_index": 84068, "face_uv": [0.05867121124947991, 0.1171627081451615, 0.8241660806053581]}}, {"xyz": [0.010095261418800044, -0.13411407714303825, -0.08032331713830798], "rgb": [205, 195, 194], "semantic_id": 15, "pcd_info": {"point_index": 1158}, "mesh_info": {"face_index": 90138, "face_uv": [0.308504808174336, 0.13444488741236216, 0.5570503044133039]}}, {"xyz": [0.005653985609830395, -0.34465500712394737, -0.07841296928958941], "rgb": [35, 35, 35], "semantic_id": 16, "pcd_info": {"point_index": 593}, "mesh_info": {"face_index": 68266, "face_uv": [0.25464612856042435, 0.4765124336468536, 0.26884143779272274]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "589e717feb809e7c1c5a16cc04345597", "keypoints": [{"xyz": [0.16326810450511253, 0.43338900804519653, 0.11783558363858493], "rgb": [100, 149, 237], "semantic_id": 0, "pcd_info": {"point_index": 728}, "mesh_info": {"face_index": 1289, "face_uv": [0.09809033877643382, 0.0168855054543228, 0.8850241557692434]}}, {"xyz": [-0.1123285516006644, 0.43338900804519653, 0.16582810296756878], "rgb": [100, 149, 237], "semantic_id": 1, "pcd_info": {"point_index": 1634}, "mesh_info": {"face_index": 1285, "face_uv": [0.9355109642029265, 0.01817214444612663, 0.046316891350946965]}}, {"xyz": [0.162408922286864, 0.1689184658911902, 0.08957914772655906], "rgb": [100, 149, 236], "semantic_id": 2, "pcd_info": {"point_index": 6}, "mesh_info": {"face_index": 1042, "face_uv": [0.14906828350392545, 0.0027128696844889604, 0.8482188468115855]}}, {"xyz": [-0.110265166505777, 0.16463881794108304, 0.133931120925312], "rgb": [100, 149, 237], "semantic_id": 3, "pcd_info": {"point_index": 1264}, "mesh_info": {"face_index": 876, "face_uv": [0.032713720248021, 0.9555244778402378, 0.01176180191174368]}}, {"xyz": [0.10216576521661402, 0.15767307217096582, -0.19366095031217112], "rgb": [99, 149, 236], "semantic_id": 4, "pcd_info": {"point_index": 1481}, "mesh_info": {"face_index": 446, "face_uv": [0.09869959663178299, 0.035959115946220414, 0.8653412874219965]}}, {"xyz": [-0.16640850460832513, 0.1475704193499756, -0.14582337841951243], "rgb": [100, 149, 237], "semantic_id": 5, "pcd_info": {"point_index": 1067}, "mesh_info": {"face_index": 415, "face_uv": [0.7173403349646627, 0.023041959135937762, 0.2596177058993997]}}, {"xyz": [0.14153369247606096, 0.2979209186496249, -0.11796253089351838], "rgb": [100, 149, 237], "semantic_id": 6, "pcd_info": {"point_index": 1509}, "mesh_info": {"face_index": 1133, "face_uv": [0.08596853711109054, 0.5502735089770664, 0.36375795391184346]}}, {"xyz": [0.16677476873861846, 0.3090068268728412, 0.03313674256326915], "rgb": [99, 148, 236], "semantic_id": 7, "pcd_info": {"point_index": 1263}, "mesh_info": {"face_index": 1353, "face_uv": [0.35389261566928704, 0.46988195474130234, 0.17622542958941007]}}, {"xyz": [-0.17473897198024574, 0.30634669298058914, -0.055507897696130515], "rgb": [100, 149, 237], "semantic_id": 8, "pcd_info": {"point_index": 1778}, "mesh_info": {"face_index": 82, "face_uv": [0.16651170970516435, 0.2155629166354171, 0.6179253736594188]}}, {"xyz": [-0.14728357087799165, 0.30901510528136167, 0.09002580480127598], "rgb": [100, 149, 237], "semantic_id": 9, "pcd_info": {"point_index": 1460}, "mesh_info": {"face_index": 135, "face_uv": [0.4036590758284133, 0.3126701687247858, 0.283670755446801]}}, {"xyz": [0.241986526274788, -0.2186846086600659, -0.13665909039904156], "rgb": [100, 149, 237], "semantic_id": 10, "pcd_info": {"point_index": 612}, "mesh_info": {"face_index": 1921, "face_uv": [0.1535973903039019, 0.4937554230647652, 0.352647186631333]}}, {"xyz": [0.19743351883584315, -0.2184473406674637, 0.18440408729844837], "rgb": [100, 149, 237], "semantic_id": 11, "pcd_info": {"point_index": 1621}, "mesh_info": {"face_index": 2353, "face_uv": [0.22205412808964875, 0.27216282098133904, 0.5057830509290127]}}, {"xyz": [-0.10460002872665441, -0.21335087613025752, 0.23553899694786928], "rgb": [99, 148, 236], "semantic_id": 12, "pcd_info": {"point_index": 654}, "mesh_info": {"face_index": 2048, "face_uv": [0.2911851710482114, 0.6552873124014339, 0.05352751655034601]}}, {"xyz": [-0.27780140886661964, -0.21587411350790878, -0.03327305382002077], "rgb": [100, 149, 237], "semantic_id": 13, "pcd_info": {"point_index": 102}, "mesh_info": {"face_index": 1654, "face_uv": [0.496463649446462, 0.03761810285609557, 0.46591824769744294]}}, {"xyz": [-0.06245902308482498, -0.21294676363852677, -0.27693622029950715], "rgb": [99, 148, 236], "semantic_id": 14, "pcd_info": {"point_index": 1342}, "mesh_info": {"face_index": 1446, "face_uv": [0.7481414940877363, 0.23385787731851734, 0.018000628593729605]}}, {"xyz": [-0.001709107964737555, 0.07031846407263642, -0.027508866378756824], "rgb": [99, 148, 236], "semantic_id": 15, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 539, "face_uv": [0.4498262229342948, 0.4168718289615337, 0.13330194810416754]}}, {"xyz": [-0.004760513129464412, -0.2085459977388382, -0.015224014276175035], "rgb": [100, 149, 237], "semantic_id": 16, "pcd_info": {"point_index": 1519}, "mesh_info": {"face_index": 805, "face_uv": [0.21165839800050473, 0.7015342003246245, 0.08680740167487072]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "551be68d484c8910f91663a74ccd2338", "keypoints": [{"xyz": [0.16949964210040447, 0.49777754780397077, 0.17722443275167138], "rgb": [228, 179, 160], "semantic_id": 0, "pcd_info": {"point_index": 766}, "mesh_info": {"face_index": 7113, "face_uv": [0.1102546070747455, 0.0795065456696092, 0.8102388472556453]}}, {"xyz": [-0.16546838729083968, 0.4976450308776812, 0.17634621616453272], "rgb": [228, 179, 160], "semantic_id": 1, "pcd_info": {"point_index": 1642}, "mesh_info": {"face_index": 7126, "face_uv": [0.735623910347307, 0.14776950920500065, 0.11660658044769277]}}, {"xyz": [0.18258923170419708, 0.12456200271844864, 0.061444095382503616], "rgb": [133, 82, 12], "semantic_id": 2, "pcd_info": {"point_index": 1847}, "mesh_info": {"face_index": 3368, "face_uv": [0.22669799378336467, 0.08845062852011724, 0.684851377696518]}}, {"xyz": [-0.17073868769360226, 0.12456200271844864, 0.06809976496324766], "rgb": [133, 82, 12], "semantic_id": 3, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 3265, "face_uv": [0.5138749756324472, 0.0767451411239564, 0.4093798832435964]}}, {"xyz": [0.1832577737460863, 0.12456200271844886, -0.18843354339624374], "rgb": [133, 82, 12], "semantic_id": 4, "pcd_info": {"point_index": 1664}, "mesh_info": {"face_index": 3208, "face_uv": [0.03413686131090403, 0.5140835526029547, 0.45177958608614305]}}, {"xyz": [-0.17373330662391587, 0.12456200271844864, -0.19826480230274635], "rgb": [133, 82, 12], "semantic_id": 5, "pcd_info": {"point_index": 969}, "mesh_info": {"face_index": 3425, "face_uv": [0.9767122719171797, 0.016412251727549117, 0.006875476355271138]}}, {"xyz": [0.21678022418621523, 0.26173499226570107, -0.1309065240299136], "rgb": [55, 55, 55], "semantic_id": 6, "pcd_info": {"point_index": 916}, "mesh_info": {"face_index": 2817, "face_uv": [0.44298777528604505, 0.5031572793756116, 0.05385494533834251]}}, {"xyz": [0.21457924707757212, 0.26173499226570107, 0.026343796376044004], "rgb": [55, 55, 55], "semantic_id": 7, "pcd_info": {"point_index": 1636}, "mesh_info": {"face_index": 2821, "face_uv": [0.7108667806498615, 0.063675415781917, 0.22545780356822054]}}, {"xyz": [-0.21548615614544556, 0.2617349922657013, -0.13287792700609777], "rgb": [56, 56, 56], "semantic_id": 8, "pcd_info": {"point_index": 1859}, "mesh_info": {"face_index": 2941, "face_uv": [0.04266810604082857, 0.35769510329585225, 0.5996367906633192]}}, {"xyz": [-0.21908115607444992, 0.26173499226570107, 0.027633718555564957], "rgb": [55, 55, 55], "semantic_id": 9, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 2950, "face_uv": [0.354897640188765, 0.05586252843273745, 0.5892398313784967]}}, {"xyz": [0.1487932511278791, -0.2132956672839732, -0.19461005603471296], "rgb": [0, 0, 0], "semantic_id": 10, "pcd_info": {"point_index": 1218}, "mesh_info": {"face_index": 6467, "face_uv": [0.09781747438998044, 0.4378169287389906, 0.4643655968710291]}}, {"xyz": [0.22356245426067872, -0.21332697834215342, 0.07269410450330632], "rgb": [0, 0, 0], "semantic_id": 11, "pcd_info": {"point_index": 1257}, "mesh_info": {"face_index": 6632, "face_uv": [0.0880305180965595, 0.006067963287327925, 0.9059015186161129]}}, {"xyz": [-0.004578477740900328, -0.21299811089413145, 0.22138253769539676], "rgb": [0, 0, 0], "semantic_id": 12, "pcd_info": {"point_index": 1430}, "mesh_info": {"face_index": 6097, "face_uv": [0.04543501527717791, 0.41206266094590593, 0.5425023237769152]}}, {"xyz": [-0.2272783633484196, -0.21306717705523326, 0.056399018811038995], "rgb": [0, 0, 0], "semantic_id": 13, "pcd_info": {"point_index": 330}, "mesh_info": {"face_index": 5668, "face_uv": [0.14258519460135025, 0.7595343093702892, 0.09788049602836055]}}, {"xyz": [-0.14179870988918797, -0.21087188092832765, -0.20335069184233862], "rgb": [0, 0, 0], "semantic_id": 14, "pcd_info": {"point_index": 1868}, "mesh_info": {"face_index": 5928, "face_uv": [0.5883743294716467, 0.21987795132534227, 0.19174771920301142]}}, {"xyz": [0.003752402332915239, -0.0018941786694630647, -0.024073531190124342], "rgb": [0, 0, 0], "semantic_id": 15, "pcd_info": {"point_index": 603}, "mesh_info": {"face_index": 5471, "face_uv": [0.14314252170340172, 0.7076646500296309, 0.1491928282669745]}}, {"xyz": [-0.001428942891624263, -0.19787772298600992, -0.023972374456436185], "rgb": [0, 0, 0], "semantic_id": 16, "pcd_info": {"point_index": 1583}, "mesh_info": {"face_index": 5556, "face_uv": [0.8116100941964843, 0.18431747623133854, 0.004072429572159905]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "cd7674dec40cb30f30e06a011e63236a", "keypoints": [{"xyz": [0.20220555185416472, 0.4004744972792872, 0.21369763580896528], "rgb": [133, 96, 70], "semantic_id": 0, "pcd_info": {"point_index": 1637}, "mesh_info": {"face_index": 9711, "face_uv": [0.017332594872487447, 0.9236965837436991, 0.058970821383813335]}}, {"xyz": [-0.20174858083676644, 0.39674967587528853, 0.20885973365454147], "rgb": [125, 89, 62], "semantic_id": 1, "pcd_info": {"point_index": 415}, "mesh_info": {"face_index": 9398, "face_uv": [0.1003742319597771, 0.412956334974812, 0.48666943306541033]}}, {"xyz": [0.20002576415371165, 0.0038584185353565115, 0.07849574440360918], "rgb": [119, 83, 57], "semantic_id": 2, "pcd_info": {"point_index": 1079}, "mesh_info": {"face_index": 658, "face_uv": [0.43424761867324324, 0.018829161917456722, 0.5469232194092974]}}, {"xyz": [-0.20725860272436836, 0.013977230850986122, 0.06527723322649681], "rgb": [130, 93, 67], "semantic_id": 3, "pcd_info": {"point_index": 1113}, "mesh_info": {"face_index": 4768, "face_uv": [0.3629858599434312, 0.30788764567743715, 0.3291264943791322]}}, {"xyz": [0.1819866271300432, 0.03683432908455475, -0.33967024366462995], "rgb": [131, 94, 68], "semantic_id": 4, "pcd_info": {"point_index": 476}, "mesh_info": {"face_index": 37645, "face_uv": [0.038895554608947454, 0.605833849334133, 0.35527059605691946]}}, {"xyz": [-0.18355115927501883, 0.049285043554014196, -0.33743434346936074], "rgb": [187, 134, 69], "semantic_id": 5, "pcd_info": {"point_index": 41}, "mesh_info": {"face_index": 37665, "face_uv": [0.5905873027403824, 0.18339624080121317, 0.22601645645840446]}}, {"xyz": [0.2659433855592281, 0.17145097086189154, -0.15082161104384273], "rgb": [113, 77, 51], "semantic_id": 6, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 54216, "face_uv": [0.3490977552832763, 0.3799784324807321, 0.2709238122359921]}}, {"xyz": [0.2647275532540777, 0.12899021907840003, 0.027902033293240425], "rgb": [114, 77, 51], "semantic_id": 7, "pcd_info": {"point_index": 1862}, "mesh_info": {"face_index": 56202, "face_uv": [0.33705623425281056, 0.47877542192918904, 0.18416834381799962]}}, {"xyz": [-0.26114503304514447, 0.17674657639345437, -0.15294413769033527], "rgb": [126, 89, 63], "semantic_id": 8, "pcd_info": {"point_index": 1338}, "mesh_info": {"face_index": 35790, "face_uv": [0.6546743294744714, 0.21043136304576843, 0.13489430747976094]}}, {"xyz": [-0.2624508665743639, 0.1281042693148513, 0.02206288981692195], "rgb": [106, 69, 43], "semantic_id": 9, "pcd_info": {"point_index": 23}, "mesh_info": {"face_index": 36992, "face_uv": [0.7142028504386594, 0.02285666618161124, 0.2629404833797278]}}, {"xyz": [0.1868854411641131, -0.16874900460243225, -0.17379232146122892], "rgb": [255, 255, 255], "semantic_id": 10, "pcd_info": {"point_index": 92}, "mesh_info": {"face_index": 62475, "face_uv": [0.16736738738990367, 0.7043578373304056, 0.12827477527969072]}}, {"xyz": [0.1861039447535604, -0.16794113563464652, 0.09654208896368766], "rgb": [213, 213, 213], "semantic_id": 11, "pcd_info": {"point_index": 923}, "mesh_info": {"face_index": 97904, "face_uv": [0.03414468307153317, 0.7650184912128491, 0.20083682571561115]}}, {"xyz": [-0.06132715071523176, -0.17234986281765735, 0.1934542154145481], "rgb": [254, 254, 254], "semantic_id": 12, "pcd_info": {"point_index": 522}, "mesh_info": {"face_index": 85870, "face_uv": [0.19869399167630933, 0.7825818180609225, 0.018724190262767112]}}, {"xyz": [-0.2314109363079661, -0.17137025706039938, -0.016282772021274372], "rgb": [255, 255, 255], "semantic_id": 13, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 90062, "face_uv": [0.16935539734101537, 0.31182172655276635, 0.5188228761062236]}}, {"xyz": [-0.0723672032730136, -0.16702128385161902, -0.2567269676097389], "rgb": [79, 79, 79], "semantic_id": 14, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 102569, "face_uv": [0.09927129153045629, 0.5025349963648739, 0.39819371210466964]}}, {"xyz": [-0.0004163057391860514, -0.06587658091599702, -0.0530066427071314], "rgb": [80, 80, 80], "semantic_id": 15, "pcd_info": {"point_index": 1040}, "mesh_info": {"face_index": 103808, "face_uv": [0.46847067188049496, 0.14666877017853813, 0.3848605579409682]}}, {"xyz": [-0.003030911713678419, -0.16531099379062653, -0.025204439112369803], "rgb": [80, 80, 80], "semantic_id": 16, "pcd_info": {"point_index": 268}, "mesh_info": {"face_index": 94018, "face_uv": [0.2798118885044265, 0.659740298884905, 0.06044781261066849]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "a88cdbcd4fe502c743f32dd9b833c1da", "keypoints": [{"xyz": [0.11840684163543375, 0.7182464330274212, 0.13844891236608023], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 404}, "mesh_info": {"face_index": 469, "face_uv": [0.9182836819672696, 0.08090894199326576, 0.0008073760394646264]}}, {"xyz": [-0.10970064802920587, 0.7190114469164909, 0.13203591613559174], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 123}, "mesh_info": {"face_index": 243, "face_uv": [0.03575438690971552, 0.40078538987596724, 0.5634602232143172]}}, {"xyz": [0.11177292754111828, 0.4402239952207656, 0.08709273365323798], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1232}, "mesh_info": {"face_index": 190, "face_uv": [0.02882647575938312, 0.4225817765395319, 0.5485917477010848]}}, {"xyz": [-0.10774823679325406, 0.4402797432119464, 0.08725070403151809], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 424, "face_uv": [0.271988633452548, 0.6840107460663221, 0.044000620481129994]}}, {"xyz": [0.11381858968216557, 0.4626666595170016, -0.14414426136619213], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 115, "face_uv": [0.020186386257413272, 0.3370151624413449, 0.6427984513012418]}}, {"xyz": [-0.11050190271851715, 0.46219514834235764, -0.14548007753824754], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1814}, "mesh_info": {"face_index": 349, "face_uv": [0.5789391702422576, 0.38869063425021916, 0.03237019550752319]}}, {"xyz": [0.1981093450426133, -0.07029554844526098, -0.0591086913917249], "rgb": [34, 34, 34], "semantic_id": 10, "pcd_info": {"point_index": 264}, "mesh_info": {"face_index": 2253, "face_uv": [0.3380904078888155, 0.09337406227750161, 0.5685355298336786]}}, {"xyz": [0.12235656034528097, -0.07061993522214083, 0.17028600615042544], "rgb": [35, 35, 35], "semantic_id": 11, "pcd_info": {"point_index": 1501}, "mesh_info": {"face_index": 5154, "face_uv": [0.38925948828485785, 0.3861176781128149, 0.22462283360233162]}}, {"xyz": [-0.1264455803889326, -0.06728916030089815, 0.1586428775017208], "rgb": [35, 35, 35], "semantic_id": 12, "pcd_info": {"point_index": 1560}, "mesh_info": {"face_index": 7422, "face_uv": [0.09499780196026068, 0.29429595419427396, 0.6107062438454659]}}, {"xyz": [-0.1987673776662596, -0.07088810730797701, -0.0659114218600214], "rgb": [35, 35, 35], "semantic_id": 13, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 9028, "face_uv": [0.11425512347687468, 0.4851284116029909, 0.40061646492013503]}}, {"xyz": [0.0006510046179785921, -0.07052196471791672, -0.21487846600960836], "rgb": [34, 34, 34], "semantic_id": 14, "pcd_info": {"point_index": 822}, "mesh_info": {"face_index": 4301, "face_uv": [0.0477009819525336, 0.5455132431619907, 0.40678577488547535]}}, {"xyz": [-0.0016471533796217352, 0.42843059761728486, -0.012131621621996658], "rgb": [191, 191, 191], "semantic_id": 15, "pcd_info": {"point_index": 276}, "mesh_info": {"face_index": 2791, "face_uv": [0.7472115991860131, 0.23407027539245898, 0.018718125421533553]}}, {"xyz": [0.0012784502663179542, -0.04549200087785721, 0.000358864858168495], "rgb": [35, 35, 35], "semantic_id": 16, "pcd_info": {"point_index": 551}, "mesh_info": {"face_index": 2447, "face_uv": [0.4663047850165987, 0.066283404416687, 0.4674118105667143]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "45e2cdf1708680822165c54dcecaacb4", "keypoints": [{"xyz": [0.20409360537685703, 0.2553060006010268, 0.09210541756970947], "rgb": [149, 68, 38], "semantic_id": 0, "pcd_info": {"point_index": 1356}, "mesh_info": {"face_index": 2879, "face_uv": [0.021072819592560233, 0.11611584949263026, 0.8628113309148089]}}, {"xyz": [-0.2052852215499902, 0.24953767523232018, 0.08864784860539587], "rgb": [152, 71, 42], "semantic_id": 1, "pcd_info": {"point_index": 993}, "mesh_info": {"face_index": 3406, "face_uv": [0.061596945813755535, 0.05491941073883589, 0.8834836434474115]}}, {"xyz": [0.19265308960260147, -0.07726621116837529, 0.06287035924461415], "rgb": [151, 72, 41], "semantic_id": 2, "pcd_info": {"point_index": 1809}, "mesh_info": {"face_index": 431, "face_uv": [0.006266170222596288, 0.01455388527693173, 0.979179944500472]}}, {"xyz": [-0.1895253718590983, -0.07679134948907884, 0.06182567964111074], "rgb": [151, 72, 41], "semantic_id": 3, "pcd_info": {"point_index": 1218}, "mesh_info": {"face_index": 452, "face_uv": [0.7212165515240013, 0.011263636485430713, 0.2675198119905685]}}, {"xyz": [0.2024196696677083, -0.08009307221047135, -0.396141929971469], "rgb": [151, 72, 42], "semantic_id": 4, "pcd_info": {"point_index": 1824}, "mesh_info": {"face_index": 338, "face_uv": [0.7493263993857749, 0.03860608353799704, 0.2120675170762346]}}, {"xyz": [-0.2006541518852698, -0.07860320775176932, -0.3889428566814829], "rgb": [148, 69, 39], "semantic_id": 5, "pcd_info": {"point_index": 1247}, "mesh_info": {"face_index": 375, "face_uv": [0.16836391922272984, 0.01195919244043891, 0.8196768883368533]}}, {"xyz": [0.2541392252075707, 0.13981806512323813, -0.4005146017882454], "rgb": [147, 68, 38], "semantic_id": 6, "pcd_info": {"point_index": 266}, "mesh_info": {"face_index": 5660, "face_uv": [0.27797103346105145, 0.022379804963622938, 0.6996491615753259]}}, {"xyz": [0.256673957276579, 0.13985368670863374, 0.13989985088259516], "rgb": [149, 70, 40], "semantic_id": 7, "pcd_info": {"point_index": 1252}, "mesh_info": {"face_index": 5555, "face_uv": [0.1022498993574632, 0.8769058133021883, 0.020844287340347257]}}, {"xyz": [-0.26394382037358993, 0.1396887557859232, -0.3981995822764438], "rgb": [148, 67, 38], "semantic_id": 8, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 5580, "face_uv": [0.024897140753255945, 0.1598130461115364, 0.815289813135208]}}, {"xyz": [-0.25626554444045574, 0.13979577324842252, 0.141659485368002], "rgb": [143, 64, 34], "semantic_id": 9, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 5579, "face_uv": [0.3571689056799712, 0.6251075285528774, 0.017723565767152335]}}, {"xyz": [0.21643470392196829, -0.29091540016539674, -0.34908023550877765], "rgb": [64, 43, 45], "semantic_id": 17, "pcd_info": {"point_index": 1061}, "mesh_info": {"face_index": 6378, "face_uv": [0.021035496463290716, 0.08834185646115707, 0.890622647075552]}}, {"xyz": [0.21514374035210548, -0.28700223731311814, 0.1434272064546751], "rgb": [61, 41, 41], "semantic_id": 18, "pcd_info": {"point_index": 1731}, "mesh_info": {"face_index": 6842, "face_uv": [0.22778233630912653, 0.060963280994680354, 0.7112543826961939]}}, {"xyz": [-0.2139531980836632, -0.28847401890454416, 0.14298403267617932], "rgb": [64, 43, 42], "semantic_id": 19, "pcd_info": {"point_index": 1658}, "mesh_info": {"face_index": 6614, "face_uv": [0.04594602245520656, 0.6940491138423748, 0.2600048637024183]}}, {"xyz": [-0.22108985186702118, -0.2891847767685192, -0.3494008578686574], "rgb": [53, 33, 27], "semantic_id": 20, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 6103, "face_uv": [0.9374449044095565, 0.03869383594570303, 0.023861259644740097]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9d0043b17b97ac694925bc492489de9c", "keypoints": [{"xyz": [0.15305419582994562, 0.40444296798474444, 0.08694834941359275], "rgb": [101, 164, 155], "semantic_id": 0, "pcd_info": {"point_index": 437}, "mesh_info": {"face_index": 20306, "face_uv": [0.18298445335740257, 0.31690142291821294, 0.500114123724385]}}, {"xyz": [-0.15363058038295074, 0.40249358995317974, 0.08770944668319336], "rgb": [101, 164, 155], "semantic_id": 1, "pcd_info": {"point_index": 496}, "mesh_info": {"face_index": 23496, "face_uv": [0.22474378674273227, 0.3779681248802322, 0.397288088377036]}}, {"xyz": [0.13672877232791267, -0.03174287932009001, 0.09968081110088756], "rgb": [225, 224, 220], "semantic_id": 2, "pcd_info": {"point_index": 1934}, "mesh_info": {"face_index": 73301, "face_uv": [0.4567480455478888, 0.3236840086036459, 0.21956794584841155]}}, {"xyz": [-0.14319405761826218, -0.028162011936669007, 0.09143209702650679], "rgb": [226, 225, 221], "semantic_id": 3, "pcd_info": {"point_index": 1205}, "mesh_info": {"face_index": 73927, "face_uv": [0.1978643990700391, 0.1653558264799526, 0.6367797744500133]}}, {"xyz": [0.16119960931017635, -0.038903635744319875, -0.16753437649256386], "rgb": [225, 224, 220], "semantic_id": 4, "pcd_info": {"point_index": 1152}, "mesh_info": {"face_index": 74063, "face_uv": [0.04076549880371916, 0.5594043567598543, 0.3998301444364258]}}, {"xyz": [-0.15109154644360834, -0.03178447763267478, -0.16981527123295326], "rgb": [226, 225, 221], "semantic_id": 5, "pcd_info": {"point_index": 373}, "mesh_info": {"face_index": 75731, "face_uv": [0.08025238435856444, 0.22512630025344396, 0.6946213153879924]}}, {"xyz": [0.20644715619805665, 0.09213429894523867, -0.1414378472629334], "rgb": [226, 225, 221], "semantic_id": 6, "pcd_info": {"point_index": 609}, "mesh_info": {"face_index": 63125, "face_uv": [0.09765018281250396, 0.3218642466800582, 0.5804855705074381]}}, {"xyz": [0.1997685011327986, 0.08769664657060838, 0.007967028676374222], "rgb": [226, 225, 221], "semantic_id": 7, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 60908, "face_uv": [0.15691513956252418, 0.46175273160944247, 0.3813321288280363]}}, {"xyz": [-0.20292837371006683, 0.09332995500801067, -0.14098509850677055], "rgb": [226, 225, 221], "semantic_id": 8, "pcd_info": {"point_index": 489}, "mesh_info": {"face_index": 68261, "face_uv": [0.11202958133604114, 0.5922661736609024, 0.29570424500305653]}}, {"xyz": [-0.1971080861466623, 0.0874713178081783, 0.012900984341934096], "rgb": [226, 225, 221], "semantic_id": 9, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 68266, "face_uv": [0.13825119742116626, 0.5008572805487325, 0.36089152203010194]}}, {"xyz": [0.14183768550987352, -0.3135961548052173, -0.22575939432719183], "rgb": [57, 57, 57], "semantic_id": 10, "pcd_info": {"point_index": 922}, "mesh_info": {"face_index": 69132, "face_uv": [0.574907657858707, 0.0886015703390474, 0.33649077180224407]}}, {"xyz": [0.22138253413984071, -0.3147765568157502, 0.046915488071151534], "rgb": [57, 57, 57], "semantic_id": 11, "pcd_info": {"point_index": 2001}, "mesh_info": {"face_index": 71469, "face_uv": [0.25952485779058193, 0.7070824264978599, 0.03339271571155817]}}, {"xyz": [0.010337408707270956, -0.31340052704819554, 0.19960621772832288], "rgb": [57, 57, 57], "semantic_id": 12, "pcd_info": {"point_index": 252}, "mesh_info": {"face_index": 69524, "face_uv": [0.002154274523777559, 0.2924983778953163, 0.7053473475809053]}}, {"xyz": [-0.21925060935071294, -0.31548124769771624, 0.0531465060874714], "rgb": [58, 58, 58], "semantic_id": 13, "pcd_info": {"point_index": 994}, "mesh_info": {"face_index": 71388, "face_uv": [0.9577782759100912, 0.003486751228019164, 0.03873497286188986]}}, {"xyz": [-0.1189496564229503, -0.317945938279787, -0.18549299116468987], "rgb": [58, 58, 58], "semantic_id": 14, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 68712, "face_uv": [0.27335288471528124, 0.49268839825751837, 0.23395871702720256]}}, {"xyz": [0.008888859892905165, -0.18197169190484574, -0.03242155180667261], "rgb": [225, 224, 220], "semantic_id": 15, "pcd_info": {"point_index": 420}, "mesh_info": {"face_index": 72936, "face_uv": [0.15889384859578387, 0.04444848299310357, 0.796657668411104]}}, {"xyz": [-0.0036788990846613467, -0.2955488145974632, -0.011799194827444293], "rgb": [226, 225, 221], "semantic_id": 16, "pcd_info": {"point_index": 173}, "mesh_info": {"face_index": 73128, "face_uv": [0.6975843776189887, 0.2336351495148171, 0.06878047286622357]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "38bdba5f6455c5ff91663a74ccd2338", "keypoints": [{"xyz": [0.14711016242438382, 0.45151955060735005, 0.16994977894283816], "rgb": [88, 83, 71], "semantic_id": 0, "pcd_info": {"point_index": 519}, "mesh_info": {"face_index": 70613, "face_uv": [0.8254931823173011, 0.0034027650764758503, 0.17110405260622302]}}, {"xyz": [-0.15613787014335043, 0.4405747502169516, 0.16667391952653277], "rgb": [99, 94, 81], "semantic_id": 1, "pcd_info": {"point_index": 1585}, "mesh_info": {"face_index": 68908, "face_uv": [0.5523366414422113, 0.07184123975225322, 0.37582211880553573]}}, {"xyz": [0.12966730689491138, 0.07988698126296989, 0.062434588784570366], "rgb": [113, 109, 94], "semantic_id": 2, "pcd_info": {"point_index": 1795}, "mesh_info": {"face_index": 77787, "face_uv": [0.030351017379126603, 0.26996233370099215, 0.6996866489198813]}}, {"xyz": [-0.12673581799235267, 0.07601753140805312, 0.08064097099788525], "rgb": [129, 124, 112], "semantic_id": 3, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 82450, "face_uv": [0.008340034939753254, 0.6299626075658684, 0.36169735749437854]}}, {"xyz": [0.1348970345308573, 0.059774165103001764, -0.19334804804268457], "rgb": [83, 77, 65], "semantic_id": 4, "pcd_info": {"point_index": 829}, "mesh_info": {"face_index": 75926, "face_uv": [0.429109064799817, 0.47693703133190885, 0.09395390386827417]}}, {"xyz": [-0.13898298309277662, 0.06055548086323548, -0.19795295058605733], "rgb": [101, 98, 83], "semantic_id": 5, "pcd_info": {"point_index": 1907}, "mesh_info": {"face_index": 77643, "face_uv": [0.9317576580939896, 0.012371154241185678, 0.05587118766482485]}}, {"xyz": [0.008368529153716255, -0.20983701726618098, -0.27471060436938083], "rgb": [28, 28, 28], "semantic_id": 10, "pcd_info": {"point_index": 1726}, "mesh_info": {"face_index": 531, "face_uv": [0.23588820240516342, 0.05052076220061005, 0.7135910353942263]}}, {"xyz": [0.22602162666471792, -0.2101493036473503, -0.12176421833219919], "rgb": [29, 29, 29], "semantic_id": 11, "pcd_info": {"point_index": 2006}, "mesh_info": {"face_index": 2874, "face_uv": [0.013720920519887268, 0.3775154435913151, 0.6087636358887989]}}, {"xyz": [0.1367183106531194, -0.2111305414182989, 0.13748200465456695], "rgb": [29, 29, 29], "semantic_id": 12, "pcd_info": {"point_index": 1967}, "mesh_info": {"face_index": 1129, "face_uv": [0.09304602537265337, 0.47818983150417654, 0.42876414312317085]}}, {"xyz": [-0.14811214469735215, -0.21013779807174693, 0.1324318729978719], "rgb": [28, 28, 28], "semantic_id": 13, "pcd_info": {"point_index": 1327}, "mesh_info": {"face_index": 1708, "face_uv": [0.5211900294212538, 0.02437744998453536, 0.45443252059421047]}}, {"xyz": [-0.2276333110509446, -0.22935904319222988, -0.12702680121607712], "rgb": [28, 28, 28], "semantic_id": 14, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 1779, "face_uv": [0.37514038299157315, 0.5529793954344655, 0.07188022157396119]}}, {"xyz": [0.002604977518467666, -0.04253922834359003, -0.061556698394702014], "rgb": [28, 28, 28], "semantic_id": 15, "pcd_info": {"point_index": 1906}, "mesh_info": {"face_index": 85111, "face_uv": [0.20832901679844676, 0.3682980919573463, 0.4233728912442055]}}, {"xyz": [-0.0026467309253068727, -0.23471100628376007, -0.04650883876774148], "rgb": [29, 29, 29], "semantic_id": 16, "pcd_info": {"point_index": 1268}, "mesh_info": {"face_index": 39771, "face_uv": [0.0935080333827624, 0.3683384060625973, 0.5381535605546403]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "2892ab19f2d3a88a3ee8e30b29f70dfc", "keypoints": [{"xyz": [0.11394132034644988, 0.4153511703572865, 0.13140446168073106], "rgb": [207, 68, 61], "semantic_id": 0, "pcd_info": {"point_index": 1169}, "mesh_info": {"face_index": 28563, "face_uv": [0.7954420143583163, 0.1884601559577988, 0.016097829683884197]}}, {"xyz": [-0.11300535871295107, 0.421028589933359, 0.13872075106984916], "rgb": [186, 46, 37], "semantic_id": 1, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 27849, "face_uv": [0.31580150950000074, 0.42095079484779285, 0.26324769565220624]}}, {"xyz": [0.1480973015173999, 0.08372157735657315, 0.035967098893578964], "rgb": [193, 60, 48], "semantic_id": 2, "pcd_info": {"point_index": 121}, "mesh_info": {"face_index": 2119, "face_uv": [0.3050387330750461, 0.19666080798795274, 0.4983004589370016]}}, {"xyz": [-0.1389566699483168, 0.0841050100352887, 0.044248557488854035], "rgb": [183, 45, 35], "semantic_id": 3, "pcd_info": {"point_index": 76}, "mesh_info": {"face_index": 3716, "face_uv": [0.6837660406690541, 0.09571067099721242, 0.22052328833373444]}}, {"xyz": [0.12115889646205509, 0.05259287718040895, -0.2370612064776214], "rgb": [167, 29, 22], "semantic_id": 4, "pcd_info": {"point_index": 851}, "mesh_info": {"face_index": 3030, "face_uv": [0.7458743652452687, 0.10921217595084298, 0.14491345880388776]}}, {"xyz": [-0.1283416965448852, 0.05333097408621179, -0.2357722708853378], "rgb": [190, 53, 44], "semantic_id": 5, "pcd_info": {"point_index": 624}, "mesh_info": {"face_index": 2571, "face_uv": [0.7407143057885412, 0.14269650601542047, 0.1165891881960395]}}, {"xyz": [0.20473390074520686, -0.26527109469458754, -0.10782696201936547], "rgb": [141, 141, 141], "semantic_id": 10, "pcd_info": {"point_index": 1704}, "mesh_info": {"face_index": 45895, "face_uv": [0.028629937874815832, 0.826919264473213, 0.14445079765197075]}}, {"xyz": [0.1375649796039118, -0.26127019846984334, 0.14994215841908676], "rgb": [24, 24, 24], "semantic_id": 11, "pcd_info": {"point_index": 1904}, "mesh_info": {"face_index": 44170, "face_uv": [0.13327115855788743, 0.17128311517655503, 0.6954457262655576]}}, {"xyz": [-0.13131986270459628, -0.2753319914761916, 0.14758408451134575], "rgb": [142, 142, 142], "semantic_id": 12, "pcd_info": {"point_index": 129}, "mesh_info": {"face_index": 41413, "face_uv": [0.1958203533738617, 0.4295540220813645, 0.37462562454477444]}}, {"xyz": [-0.21090687205722733, -0.2711345000040979, -0.1098489211671318], "rgb": [142, 142, 142], "semantic_id": 13, "pcd_info": {"point_index": 1394}, "mesh_info": {"face_index": 54503, "face_uv": [0.1363052525211075, 0.35189501637417936, 0.5117997311047132]}}, {"xyz": [-0.0047314681763680755, -0.27565175029009104, -0.26870420314993404], "rgb": [142, 142, 142], "semantic_id": 14, "pcd_info": {"point_index": 1042}, "mesh_info": {"face_index": 47429, "face_uv": [0.31626657434902294, 0.12880090599161909, 0.5549325196593581]}}, {"xyz": [-0.0009530179258598892, -0.055421796512223204, -0.04789581694120926], "rgb": [86, 86, 86], "semantic_id": 15, "pcd_info": {"point_index": 1504}, "mesh_info": {"face_index": 13078, "face_uv": [0.002841249385757658, 0.6066755696472228, 0.3904831809670208]}}, {"xyz": [-0.0028835766926865736, -0.2075165884067377, -0.03758899596443799], "rgb": [86, 86, 86], "semantic_id": 16, "pcd_info": {"point_index": 270}, "mesh_info": {"face_index": 14074, "face_uv": [0.3492442270585675, 0.480056106784616, 0.17069966615681686]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "fb381061e67388ba80360680c1602c7d", "keypoints": [{"xyz": [0.12549257934164543, 0.329788807882625, 0.11988722810409302], "rgb": [25, 16, 88], "semantic_id": 0, "pcd_info": {"point_index": 457}, "mesh_info": {"face_index": 10250, "face_uv": [0.6845551181175706, 0.16222334696865487, 0.15322153491377427]}}, {"xyz": [-0.15472890184445853, 0.3350246581038019, 0.0809416210151579], "rgb": [26, 17, 89], "semantic_id": 1, "pcd_info": {"point_index": 658}, "mesh_info": {"face_index": 10212, "face_uv": [0.08609526815289026, 0.5990709755678871, 0.31483375627922316]}}, {"xyz": [0.15399408715612514, 0.08504060292386906, 0.06870748405584881], "rgb": [26, 17, 89], "semantic_id": 2, "pcd_info": {"point_index": 369}, "mesh_info": {"face_index": 15291, "face_uv": [0.4725019349756412, 0.4917646866921187, 0.03573337833224102]}}, {"xyz": [-0.1824194673018624, 0.08427352770708851, 0.03521103867678632], "rgb": [26, 17, 89], "semantic_id": 3, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 15299, "face_uv": [0.41864730728807387, 0.36873876860933724, 0.21261392410258975]}}, {"xyz": [0.16813577067808594, 0.07139197038092715, -0.1565326890214842], "rgb": [26, 17, 89], "semantic_id": 4, "pcd_info": {"point_index": 1087}, "mesh_info": {"face_index": 14191, "face_uv": [0.19497203974606597, 0.49066530810144343, 0.31436265215249065]}}, {"xyz": [-0.1389414871452236, 0.06645933456067032, -0.1935355080908503], "rgb": [25, 16, 88], "semantic_id": 5, "pcd_info": {"point_index": 1541}, "mesh_info": {"face_index": 14827, "face_uv": [0.2645907231382534, 0.3371712334387233, 0.398238043423023]}}, {"xyz": [-0.06055231134613859, -0.3512739991055345, -0.26148420635254344], "rgb": [8, 8, 8], "semantic_id": 10, "pcd_info": {"point_index": 812}, "mesh_info": {"face_index": 6050, "face_uv": [0.06066790921572619, 0.5154296285611554, 0.423902462223119]}}, {"xyz": [0.1730760303941794, -0.353899967471621, -0.16002158710074693], "rgb": [7, 7, 7], "semantic_id": 11, "pcd_info": {"point_index": 1800}, "mesh_info": {"face_index": 6800, "face_uv": [0.0460436374654939, 0.245073899986461, 0.7088824625480437]}}, {"xyz": [0.15454925350727455, -0.35316208417316997, 0.06924975019120216], "rgb": [8, 8, 8], "semantic_id": 12, "pcd_info": {"point_index": 903}, "mesh_info": {"face_index": 2847, "face_uv": [0.10480557670068077, 0.13481311869832777, 0.7603813046009923]}}, {"xyz": [-0.10029576716352306, -0.35412648323583595, 0.1273388089579791], "rgb": [8, 8, 8], "semantic_id": 13, "pcd_info": {"point_index": 1754}, "mesh_info": {"face_index": 2013, "face_uv": [0.3121559220946307, 0.6201754962149661, 0.06766858169040338]}}, {"xyz": [-0.23577520696306464, -0.35372880271587803, -0.08825216651641588], "rgb": [7, 7, 7], "semantic_id": 14, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 7836, "face_uv": [0.30662374792200114, 0.06481126236327171, 0.6285649897147259]}}, {"xyz": [0.0016926431081835114, -0.013463652119227065, -0.06730618890136308], "rgb": [126, 126, 126], "semantic_id": 15, "pcd_info": {"point_index": 260}, "mesh_info": {"face_index": 22, "face_uv": [0.43539889489660616, 0.08615451424854015, 0.47844659085485397]}}, {"xyz": [-0.0046883507869837915, -0.30184200406074524, -0.05962421981180732], "rgb": [68, 68, 68], "semantic_id": 16, "pcd_info": {"point_index": 809}, "mesh_info": {"face_index": 8783, "face_uv": [0.09159280967574535, 0.004384135815813941, 0.9040230545084407]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}], "rotation": [{"kp_indexes": [6, 7, 8, 9, 10], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "7520005e70a54526c266013a269e5f81", "keypoints": [{"xyz": [0.11827906725917857, 0.2952496853328306, 0.17210757442508479], "rgb": [199, 22, 18], "semantic_id": 0, "pcd_info": {"point_index": 250}, "mesh_info": {"face_index": 577, "face_uv": [0.7248781839750619, 0.01763098098086879, 0.2574908350440691]}}, {"xyz": [-0.09901403762953485, 0.2975828215674241, 0.16823715509832482], "rgb": [214, 36, 40], "semantic_id": 1, "pcd_info": {"point_index": 635}, "mesh_info": {"face_index": 634, "face_uv": [0.44943308874708665, 0.383174170920609, 0.1673927403323039]}}, {"xyz": [0.17821214149419368, -0.08847751515832902, 0.10085940863594117], "rgb": [200, 11, 28], "semantic_id": 2, "pcd_info": {"point_index": 1509}, "mesh_info": {"face_index": 13661, "face_uv": [0.027507704271563488, 0.3947278265268906, 0.5777644692015427]}}, {"xyz": [-0.15898734137099035, -0.0852468105657449, 0.11261661191562644], "rgb": [180, 5, 39], "semantic_id": 3, "pcd_info": {"point_index": 1028}, "mesh_info": {"face_index": 13633, "face_uv": [0.23999214721074233, 0.6742087144177836, 0.08579913837147235]}}, {"xyz": [0.17973778764874593, -0.0793647929246808, -0.16500104425660567], "rgb": [181, 0, 1], "semantic_id": 4, "pcd_info": {"point_index": 1885}, "mesh_info": {"face_index": 13640, "face_uv": [0.3799646996639177, 0.25689915085578924, 0.36313614948029527]}}, {"xyz": [-0.16256640756887147, -0.07760932454771963, -0.17538847340238384], "rgb": [201, 10, 6], "semantic_id": 5, "pcd_info": {"point_index": 1299}, "mesh_info": {"face_index": 13587, "face_uv": [0.07297150376500722, 0.33267784513864446, 0.5943506510963485]}}, {"xyz": [0.2330741830177298, 0.0710712563391589, -0.14826600235304563], "rgb": [80, 80, 80], "semantic_id": 6, "pcd_info": {"point_index": 1778}, "mesh_info": {"face_index": 1542, "face_uv": [0.5483927073517058, 0.4227486600553479, 0.028858632592947287]}}, {"xyz": [0.23042542033289265, 0.07216118083828449, 0.08567583574679333], "rgb": [80, 80, 80], "semantic_id": 7, "pcd_info": {"point_index": 1807}, "mesh_info": {"face_index": 7608, "face_uv": [0.2562621378844954, 0.6281209736871871, 0.1156168884283177]}}, {"xyz": [-0.22952630057248546, 0.06678242337536666, -0.1544057567362225], "rgb": [80, 80, 80], "semantic_id": 8, "pcd_info": {"point_index": 1967}, "mesh_info": {"face_index": 20700, "face_uv": [0.3009466653778562, 0.029927847545651726, 0.669125487076493]}}, {"xyz": [-0.2313923307610311, 0.0622961673847795, 0.09530028316419753], "rgb": [79, 79, 79], "semantic_id": 9, "pcd_info": {"point_index": 382}, "mesh_info": {"face_index": 25388, "face_uv": [0.255481634271637, 0.5747093835634918, 0.16980898216487103]}}, {"xyz": [0.16506568825566467, -0.4396899938583374, -0.08366629113985877], "rgb": [0, 0, 0], "semantic_id": 10, "pcd_info": {"point_index": 810}, "mesh_info": {"face_index": 52, "face_uv": [0.46311210685953463, 0.3654932035149526, 0.17139468962551274]}}, {"xyz": [0.11798766401613225, -0.4396899938583374, 0.12111967396357116], "rgb": [0, 0, 0], "semantic_id": 11, "pcd_info": {"point_index": 123}, "mesh_info": {"face_index": 136, "face_uv": [0.3340268701623798, 0.08838911483881083, 0.5775840149988094]}}, {"xyz": [-0.11712784853112482, -0.4396899938583374, 0.12474677303836794], "rgb": [0, 0, 0], "semantic_id": 12, "pcd_info": {"point_index": 508}, "mesh_info": {"face_index": 196, "face_uv": [0.3641870622169986, 0.12428736355820796, 0.5115255742247935]}}, {"xyz": [-0.18929477927005797, -0.4396899938583374, -0.08290993213352463], "rgb": [0, 0, 0], "semantic_id": 13, "pcd_info": {"point_index": 715}, "mesh_info": {"face_index": 312, "face_uv": [0.24753010689345772, 0.615149628539588, 0.13732026456695431]}}, {"xyz": [0.005924701395578838, -0.4396899938583374, -0.2150057749711363], "rgb": [0, 0, 0], "semantic_id": 14, "pcd_info": {"point_index": 1451}, "mesh_info": {"face_index": 364, "face_uv": [0.3840312961923688, 0.10462357992601884, 0.5113451238816124]}}, {"xyz": [0.005589353549796235, -0.10604216153493984, -0.05006212687046929], "rgb": [80, 80, 80], "semantic_id": 15, "pcd_info": {"point_index": 179}, "mesh_info": {"face_index": 673, "face_uv": [0.029034975877805746, 0.8739149031937836, 0.09705012092841435]}}, {"xyz": [0.0028893366472204085, -0.3711972923109008, -0.05047789110710332], "rgb": [100, 100, 100], "semantic_id": 16, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 405, "face_uv": [0.3726022152411774, 0.5862627794722067, 0.041135005286616476]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}], "rotation": [{"kp_indexes": [10, 11, 12, 13, 14], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "43d40b726c369eaaed98cca8f0ccd5f7", "keypoints": [{"xyz": [0.392015837465683, 0.23660752851217637, 0.16491598052849166], "rgb": [197, 110, 45], "semantic_id": 0, "pcd_info": {"point_index": 1763}, "mesh_info": {"face_index": 35968, "face_uv": [0.6469701474517159, 0.3435941777806203, 0.009435674767663552]}}, {"xyz": [-0.4100107407212932, 0.22783950927131125, 0.17321368256159086], "rgb": [28, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 730}, "mesh_info": {"face_index": 24117, "face_uv": [0.2639191795388025, 0.25020829942069533, 0.4858725210405006]}}, {"xyz": [0.399971462145856, 0.03460059577433705, 0.06583604213691885], "rgb": [28, 28, 28], "semantic_id": 2, "pcd_info": {"point_index": 1074}, "mesh_info": {"face_index": 13667, "face_uv": [0.7413280955674333, 0.0076618731574639885, 0.2510100312751026]}}, {"xyz": [-0.4091679982642814, 0.03870881236357371, 0.06326496582236762], "rgb": [28, 28, 28], "semantic_id": 3, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 21651, "face_uv": [0.18161077434538136, 0.7613962579147252, 0.05699296773989249]}}, {"xyz": [0.3921210187028391, 0.017272960840871265, -0.17410259815949225], "rgb": [193, 102, 45], "semantic_id": 4, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 40356, "face_uv": [0.0004946867169387523, 0.04231471847166762, 0.9571905948113931]}}, {"xyz": [-0.40035200119018555, 0.00744487997620058, -0.16451418891257064], "rgb": [196, 105, 46], "semantic_id": 5, "pcd_info": {"point_index": 1280}, "mesh_info": {"face_index": 40160, "face_uv": [0.38745394832408264, 0.1199808359728464, 0.492565215703071]}}, {"xyz": [0.40422177884276056, -0.1488507454174186, -0.11361720110601081], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 9184, "face_uv": [0.10696295138503466, 0.22527768637557194, 0.6677593622393936]}}, {"xyz": [0.4124976847353977, -0.15371499955654144, 0.134189499668639], "rgb": [29, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 1511}, "mesh_info": {"face_index": 746, "face_uv": [0.3450484768871936, 0.6076174644191169, 0.04733405869368955]}}, {"xyz": [-0.4109393810621658, -0.15371499955654166, 0.1389674304481395], "rgb": [29, 29, 29], "semantic_id": 19, "pcd_info": {"point_index": 613}, "mesh_info": {"face_index": 17916, "face_uv": [0.2821261651211435, 0.49698227452936583, 0.22089156034949212]}}, {"xyz": [-0.40942065659770205, -0.15371499955654166, -0.11890573512990804], "rgb": [29, 29, 29], "semantic_id": 20, "pcd_info": {"point_index": 358}, "mesh_info": {"face_index": 17892, "face_uv": [0.1685619436724382, 0.4220020469552863, 0.40943600937227687]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "88382b877be91b2a572f8e1c1caad99e", "keypoints": [{"xyz": [0.1939893539155844, 0.3182252409469595, 0.09729935464440631], "rgb": [154, 107, 61], "semantic_id": 0, "pcd_info": {"point_index": 1090}, "mesh_info": {"face_index": 1690, "face_uv": [0.1679214622315415, 0.5162023545008737, 0.31587618326758576]}}, {"xyz": [-0.1538239683168816, 0.32001702717167524, 0.14405660884259963], "rgb": [157, 113, 64], "semantic_id": 1, "pcd_info": {"point_index": 732}, "mesh_info": {"face_index": 1105, "face_uv": [0.3175240801760887, 0.4048029196333465, 0.2776730001905656]}}, {"xyz": [0.18622631937956238, -0.04946477822374207, 0.06661111156944322], "rgb": [161, 117, 67], "semantic_id": 2, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 1715, "face_uv": [0.2299126007045611, 0.662657210343308, 0.10743018895213285]}}, {"xyz": [-0.1632188843384414, -0.05024399980902694, 0.11223883196217654], "rgb": [146, 84, 37], "semantic_id": 3, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 3078, "face_uv": [0.1636475379511799, 0.0010200612638750016, 0.8353324007849495]}}, {"xyz": [0.16182811429963567, -0.05024399980902694, -0.15834044669807623], "rgb": [148, 82, 33], "semantic_id": 4, "pcd_info": {"point_index": 327}, "mesh_info": {"face_index": 2842, "face_uv": [0.3565302969823208, 0.018784802014563333, 0.6246849010031202]}}, {"xyz": [-0.1919878085444931, -0.05261953643095185, -0.1111291412657589], "rgb": [154, 90, 46], "semantic_id": 5, "pcd_info": {"point_index": 1033}, "mesh_info": {"face_index": 3090, "face_uv": [0.22833343302129677, 0.08075662001456771, 0.6909099469641357]}}, {"xyz": [0.13816630572387367, -0.4838570058345797, -0.17967424698575496], "rgb": [169, 113, 66], "semantic_id": 17, "pcd_info": {"point_index": 1221}, "mesh_info": {"face_index": 813, "face_uv": [0.02481192992705452, 0.07213610267906587, 0.90305196739388]}}, {"xyz": [0.20348531923945867, -0.48390600085258484, 0.10936788998497415], "rgb": [165, 118, 69], "semantic_id": 18, "pcd_info": {"point_index": 477}, "mesh_info": {"face_index": 1414, "face_uv": [0.6602607974478756, 0.133963538727448, 0.20577566382467644]}}, {"xyz": [-0.16188539004672842, -0.4839060008525846, 0.14032695590502087], "rgb": [168, 117, 70], "semantic_id": 19, "pcd_info": {"point_index": 1760}, "mesh_info": {"face_index": 957, "face_uv": [0.2980950466413089, 0.4720265276178848, 0.2298784257408059]}}, {"xyz": [-0.15897110023898164, -0.48385700583457947, -0.14459246028438644], "rgb": [168, 112, 65], "semantic_id": 20, "pcd_info": {"point_index": 764}, "mesh_info": {"face_index": 2417, "face_uv": [0.3683012719623071, 0.36680402731152023, 0.2648947007261726]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6cc65de3b510406ba0c5548d84070f68", "keypoints": [{"xyz": [0.18068912386632296, 0.25424745006254734, 0.1591226052237955], "rgb": [225, 225, 200], "semantic_id": 0, "pcd_info": {"point_index": 1135}, "mesh_info": {"face_index": 5326, "face_uv": [0.6017209710630533, 0.12158939452513397, 0.2766896344118151]}}, {"xyz": [-0.19238610017759902, 0.2478784229214528, 0.15985425406202514], "rgb": [225, 225, 200], "semantic_id": 1, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 5132, "face_uv": [0.26839065201985196, 0.3769866472431457, 0.35462270073700247]}}, {"xyz": [0.19362235501262254, -0.12449964283721182, 0.07907513985781689], "rgb": [225, 225, 200], "semantic_id": 2, "pcd_info": {"point_index": 257}, "mesh_info": {"face_index": 6518, "face_uv": [0.01198777233244367, 0.37785417853217423, 0.6101580491353824]}}, {"xyz": [-0.20441351903935392, -0.12504652048971399, 0.07993748352226171], "rgb": [224, 224, 199], "semantic_id": 3, "pcd_info": {"point_index": 1327}, "mesh_info": {"face_index": 6494, "face_uv": [0.4609798902216022, 0.0161073505770929, 0.5229127592013024]}}, {"xyz": [0.2053086449287515, -0.10845723602449564, -0.2711138514511464], "rgb": [225, 225, 200], "semantic_id": 4, "pcd_info": {"point_index": 1803}, "mesh_info": {"face_index": 6264, "face_uv": [0.011508848608974054, 0.32175468486376546, 0.6667364665272618]}}, {"xyz": [-0.21769069869608035, -0.11319586247082669, -0.27283897161983717], "rgb": [225, 225, 200], "semantic_id": 5, "pcd_info": {"point_index": 1980}, "mesh_info": {"face_index": 6211, "face_uv": [0.8699646420500603, 0.12481557610648426, 0.005219781843455763]}}, {"xyz": [0.23182483771579376, 0.05428700149059296, -0.2075992285140844], "rgb": [225, 225, 200], "semantic_id": 6, "pcd_info": {"point_index": 1307}, "mesh_info": {"face_index": 471, "face_uv": [0.26032566254462464, 0.6942463332672723, 0.04542800418810303]}}, {"xyz": [0.22539094544615762, 0.05428700149059251, 0.12444006960985465], "rgb": [224, 224, 199], "semantic_id": 7, "pcd_info": {"point_index": 195}, "mesh_info": {"face_index": 21, "face_uv": [0.33831161865948606, 0.039144084738505724, 0.6225442966020001]}}, {"xyz": [-0.23156197353269947, 0.05428700149059296, -0.21083575421919742], "rgb": [224, 224, 200], "semantic_id": 8, "pcd_info": {"point_index": 279}, "mesh_info": {"face_index": 2224, "face_uv": [0.44070586289747543, 0.26263042300071965, 0.2966637141018048]}}, {"xyz": [-0.2331386798512221, 0.05428700149059296, 0.1258348037172457], "rgb": [225, 225, 200], "semantic_id": 9, "pcd_info": {"point_index": 1397}, "mesh_info": {"face_index": 1562, "face_uv": [0.31566653103647807, 0.3332010833224807, 0.35113238564104116]}}, {"xyz": [0.224477776246454, -0.42967599630355835, -0.21888921957885277], "rgb": [225, 225, 200], "semantic_id": 17, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 9502, "face_uv": [0.2543423121013255, 0.6301410190664389, 0.11551666883223553]}}, {"xyz": [0.2281571277916196, -0.4296759963035581, 0.14242258046163664], "rgb": [224, 224, 199], "semantic_id": 18, "pcd_info": {"point_index": 1633}, "mesh_info": {"face_index": 6999, "face_uv": [0.0990229256053254, 0.3364928727938827, 0.5644842016007914]}}, {"xyz": [-0.23362457134072523, -0.4296759963035581, 0.14632201622833269], "rgb": [224, 224, 199], "semantic_id": 19, "pcd_info": {"point_index": 1269}, "mesh_info": {"face_index": 9948, "face_uv": [0.370433227597898, 0.09872086783588466, 0.5308459045662168]}}, {"xyz": [-0.2313954394239876, -0.42967599630355835, -0.2217866818563805], "rgb": [225, 225, 200], "semantic_id": 20, "pcd_info": {"point_index": 521}, "mesh_info": {"face_index": 12208, "face_uv": [0.47380288359351797, 0.048316729367002986, 0.47788038703947905]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2ed8d45343a442097869557127addfc0", "keypoints": [{"xyz": [0.13091538312939857, 0.40612199902534485, 0.05055376811316742], "rgb": [196, 191, 140], "semantic_id": 0, "pcd_info": {"point_index": 317}, "mesh_info": {"face_index": 273, "face_uv": [0.28341544372714356, 0.5610368603837299, 0.15554769588912662]}}, {"xyz": [-0.14258315904353563, 0.40612199902534485, 0.05248138568224747], "rgb": [195, 191, 140], "semantic_id": 1, "pcd_info": {"point_index": 373}, "mesh_info": {"face_index": 285, "face_uv": [0.6287742893284752, 0.15720122681777815, 0.2140244838537465]}}, {"xyz": [0.12975098238998503, 0.012493000365793705, 0.0403954626265306], "rgb": [196, 191, 140], "semantic_id": 2, "pcd_info": {"point_index": 1810}, "mesh_info": {"face_index": 127, "face_uv": [0.9671423004381904, 0.02283018703415148, 0.010027512527658284]}}, {"xyz": [-0.13631295132427157, 0.012493000365793483, 0.04064115091038906], "rgb": [195, 190, 139], "semantic_id": 3, "pcd_info": {"point_index": 1847}, "mesh_info": {"face_index": 171, "face_uv": [0.1526468850012562, 0.024054137753835986, 0.82329897724489]}}, {"xyz": [0.14265782134432706, -0.001298138108634772, -0.18560313473598544], "rgb": [196, 191, 140], "semantic_id": 4, "pcd_info": {"point_index": 1568}, "mesh_info": {"face_index": 115, "face_uv": [0.02835210749914899, 0.4169884425617521, 0.554659449939099]}}, {"xyz": [-0.1514856231293624, -0.003118292291770741, -0.18742328870413733], "rgb": [196, 191, 140], "semantic_id": 5, "pcd_info": {"point_index": 840}, "mesh_info": {"face_index": 117, "face_uv": [0.34004258874007787, 0.4399447245190826, 0.22001268674084037]}}, {"xyz": [0.1262165053900871, -0.4937349855899811, -0.153110222470554], "rgb": [148, 88, 31], "semantic_id": 17, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 416, "face_uv": [0.311407787885165, 0.403304467220458, 0.2852877448943771]}}, {"xyz": [0.12749487348895566, -0.4937349855899811, 0.05393741933053789], "rgb": [128, 74, 26], "semantic_id": 18, "pcd_info": {"point_index": 1254}, "mesh_info": {"face_index": 601, "face_uv": [0.6214274154895182, 0.34316908831659687, 0.03540349619388483]}}, {"xyz": [-0.132652643014954, -0.4937349855899811, 0.05427389041851502], "rgb": [125, 73, 25], "semantic_id": 19, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 508, "face_uv": [0.21784408211765915, 0.363846345815368, 0.4183095720669729]}}, {"xyz": [-0.13198964119226414, -0.4937349855899811, -0.15556146489451095], "rgb": [151, 91, 33], "semantic_id": 20, "pcd_info": {"point_index": 146}, "mesh_info": {"face_index": 325, "face_uv": [0.5040988497853186, 0.47143026096283547, 0.024470889251845894]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9c103621101bcf9919fb4103277a6b93", "keypoints": [{"xyz": [0.32817763238289255, 0.24970592522547563, 0.09710950158676002], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 803}, "mesh_info": {"face_index": 21868, "face_uv": [0.16817460970405618, 0.4438167781238404, 0.38800861217210353]}}, {"xyz": [-0.32852691043824167, 0.249910888331349, 0.09833573987112576], "rgb": [222, 199, 164], "semantic_id": 1, "pcd_info": {"point_index": 435}, "mesh_info": {"face_index": 38918, "face_uv": [0.057274914441351715, 0.09811968787900278, 0.844605397679645]}}, {"xyz": [0.323228169772533, 0.0008075942376635226, 0.021657002851756424], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1194}, "mesh_info": {"face_index": 3648, "face_uv": [0.18867454227327832, 0.1880388637005918, 0.6232865940261403]}}, {"xyz": [-0.3156381933137414, 0.0017589200322603027, 0.016859597207929955], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 147}, "mesh_info": {"face_index": 18010, "face_uv": [0.016926418535474767, 0.7250865227964335, 0.257987058668145]}}, {"xyz": [0.3199994203239829, -0.014562850875958322, -0.2705863448049646], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 12}, "mesh_info": {"face_index": 3512, "face_uv": [0.3521147140211477, 0.466714138009402, 0.18117114796945097]}}, {"xyz": [-0.3210828297650532, 0.0013993744514509965, -0.2612534152664756], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 1812}, "mesh_info": {"face_index": 19335, "face_uv": [0.024287208073500932, 0.8445904818988156, 0.13112231002768424]}}, {"xyz": [0.35856204135539943, 0.11357643530491912, -0.24360017481338936], "rgb": [222, 199, 164], "semantic_id": 6, "pcd_info": {"point_index": 1706}, "mesh_info": {"face_index": 31255, "face_uv": [0.45528755489596523, 0.18978440743605574, 0.35492803766797815]}}, {"xyz": [0.35148517017036557, 0.12060130847108841, 0.06269590982227125], "rgb": [222, 199, 164], "semantic_id": 7, "pcd_info": {"point_index": 193}, "mesh_info": {"face_index": 31186, "face_uv": [0.19070173511422145, 0.008171964623082438, 0.801126300262695]}}, {"xyz": [-0.351209204273264, 0.10531240958075361, -0.25470696668675297], "rgb": [223, 200, 165], "semantic_id": 8, "pcd_info": {"point_index": 324}, "mesh_info": {"face_index": 43288, "face_uv": [0.011762094746269129, 0.41220971756403696, 0.5760281876896949]}}, {"xyz": [-0.35276057536461, 0.12020087550784497, 0.06432200483564732], "rgb": [222, 199, 164], "semantic_id": 9, "pcd_info": {"point_index": 726}, "mesh_info": {"face_index": 43307, "face_uv": [0.190286974841059, 0.11832456086250648, 0.6913884642964332]}}, {"xyz": [0.3436590728348695, -0.2530980110168457, -0.25833345556946763], "rgb": [198, 198, 198], "semantic_id": 17, "pcd_info": {"point_index": 1307}, "mesh_info": {"face_index": 32286, "face_uv": [0.004191674654477201, 0.3609071580601223, 0.6349011672854005]}}, {"xyz": [0.3468874537156318, -0.23896893051560641, 0.08835400376410255], "rgb": [198, 198, 198], "semantic_id": 18, "pcd_info": {"point_index": 77}, "mesh_info": {"face_index": 31867, "face_uv": [0.14209075712171887, 0.1300499536254427, 0.7278592892528388]}}, {"xyz": [-0.35030730955913925, -0.2530980110168457, 0.07782770008754852], "rgb": [198, 198, 198], "semantic_id": 19, "pcd_info": {"point_index": 1783}, "mesh_info": {"face_index": 44035, "face_uv": [0.40766413327581824, 0.12069395447403347, 0.47164191225014823]}}, {"xyz": [-0.34612551704089756, -0.2530980110168459, -0.24949284856930495], "rgb": [198, 198, 198], "semantic_id": 20, "pcd_info": {"point_index": 1367}, "mesh_info": {"face_index": 44299, "face_uv": [0.2689937273140641, 0.07802031038149117, 0.6529859623044456]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e5da52f5d1ae95f75a8ae8f7c307d01c", "keypoints": [{"xyz": [0.2615122527707136, 0.28395991445101953, 0.2585952173849593], "rgb": [156, 53, 54], "semantic_id": 0, "pcd_info": {"point_index": 391}, "mesh_info": {"face_index": 203, "face_uv": [0.577422956868941, 0.03443360925282055, 0.38814343387823963]}}, {"xyz": [-0.259394094001703, 0.2804800123515172, 0.25729986202294164], "rgb": [157, 53, 54], "semantic_id": 1, "pcd_info": {"point_index": 532}, "mesh_info": {"face_index": 619, "face_uv": [0.5202462143156125, 0.056140804210009776, 0.4236129814743773]}}, {"xyz": [0.24197934361806706, -0.020964875111359804, 0.13734269733274584], "rgb": [186, 74, 73], "semantic_id": 2, "pcd_info": {"point_index": 1491}, "mesh_info": {"face_index": 2116, "face_uv": [0.023137017128298177, 0.164668860622441, 0.8121941222492648]}}, {"xyz": [-0.24000510034595857, -0.020959348288569934, 0.1344231159562459], "rgb": [181, 70, 69], "semantic_id": 3, "pcd_info": {"point_index": 118}, "mesh_info": {"face_index": 2525, "face_uv": [0.19394070661102325, 0.7763692680081684, 0.029690025380801732]}}, {"xyz": [0.22957159468858723, 0.026349320352148098, -0.30482301115989685], "rgb": [193, 81, 80], "semantic_id": 4, "pcd_info": {"point_index": 373}, "mesh_info": {"face_index": 2142, "face_uv": [0.7193249827551021, 0.11848864029482759, 0.16218637695007035]}}, {"xyz": [-0.23968648728793024, 0.024940816467351024, -0.30482301115989685], "rgb": [183, 73, 72], "semantic_id": 5, "pcd_info": {"point_index": 1882}, "mesh_info": {"face_index": 1763, "face_uv": [0.3972226794472281, 0.0025941379408285573, 0.6001831826119434]}}, {"xyz": [0.26269332932443, 0.14756432727577884, -0.21127987099790912], "rgb": [159, 58, 56], "semantic_id": 6, "pcd_info": {"point_index": 277}, "mesh_info": {"face_index": 101, "face_uv": [0.00832792855139497, 0.6284722769367967, 0.36319979451180867]}}, {"xyz": [0.26095866374148236, 0.12965781661442222, 0.20115795504595502], "rgb": [158, 56, 54], "semantic_id": 7, "pcd_info": {"point_index": 248}, "mesh_info": {"face_index": 191, "face_uv": [0.44650465684103485, 0.0030491634603064454, 0.5504461796986568]}}, {"xyz": [-0.2597882234896973, 0.14366863920332185, -0.22151557517587994], "rgb": [159, 57, 56], "semantic_id": 8, "pcd_info": {"point_index": 1656}, "mesh_info": {"face_index": 715, "face_uv": [0.425084772043424, 0.49678986229331323, 0.07812536566326327]}}, {"xyz": [-0.2625800633824439, 0.129422657511444, 0.19529345034963086], "rgb": [150, 49, 48], "semantic_id": 9, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 583, "face_uv": [0.1027890744226546, 0.6174659338421733, 0.2797449917351722]}}, {"xyz": [0.2588311954790552, -0.3150810003280642, -0.2926142346879915], "rgb": [160, 56, 55], "semantic_id": 17, "pcd_info": {"point_index": 1034}, "mesh_info": {"face_index": 275, "face_uv": [0.11795259762909277, 0.5384595838278798, 0.34358781854302806]}}, {"xyz": [0.2556892486506561, -0.31508100032806396, 0.2723318719048112], "rgb": [149, 46, 47], "semantic_id": 18, "pcd_info": {"point_index": 423}, "mesh_info": {"face_index": 97, "face_uv": [0.09810510544585843, 0.3257369843163312, 0.5761579102378104]}}, {"xyz": [-0.2598773750556451, -0.31508100032806396, 0.2635215419110681], "rgb": [152, 49, 50], "semantic_id": 19, "pcd_info": {"point_index": 988}, "mesh_info": {"face_index": 513, "face_uv": [0.2445753320673952, 0.4993565998376357, 0.25606806809496907]}}, {"xyz": [-0.2562989126459821, -0.31508100032806396, -0.2943120434213251], "rgb": [159, 53, 53], "semantic_id": 20, "pcd_info": {"point_index": 712}, "mesh_info": {"face_index": 483, "face_uv": [0.27952435931275277, 0.3459659106310612, 0.374509730056186]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fe5310a3457bf0e5c4e8952b27b5f370", "keypoints": [{"xyz": [0.18592810943839894, 0.4847182728795283, 0.15697117451051107], "rgb": [209, 178, 145], "semantic_id": 0, "pcd_info": {"point_index": 1828}, "mesh_info": {"face_index": 750, "face_uv": [0.5309554699272606, 0.0058047761123164315, 0.46323975396042344]}}, {"xyz": [-0.18197982814325606, 0.48722133596877804, 0.15856681450707344], "rgb": [214, 186, 154], "semantic_id": 1, "pcd_info": {"point_index": 1820}, "mesh_info": {"face_index": 767, "face_uv": [0.8569945897507082, 0.01629927188554031, 0.12670613836375316]}}, {"xyz": [0.17669550477932167, 0.09838881639377756, 0.15325597863451668], "rgb": [212, 182, 148], "semantic_id": 2, "pcd_info": {"point_index": 98}, "mesh_info": {"face_index": 692, "face_uv": [0.3000477591141815, 0.03034495532642745, 0.6696072855593915]}}, {"xyz": [-0.1827391327139638, 0.09575294990518213, 0.158698000432558], "rgb": [216, 187, 154], "semantic_id": 3, "pcd_info": {"point_index": 897}, "mesh_info": {"face_index": 682, "face_uv": [0.25417718552545154, 0.014281047242404995, 0.731541767232142]}}, {"xyz": [0.18626873151970363, 0.08872417706174107, -0.23208423605367545], "rgb": [216, 187, 156], "semantic_id": 4, "pcd_info": {"point_index": 1508}, "mesh_info": {"face_index": 634, "face_uv": [0.004899405718135256, 0.417989533526348, 0.5771110607555159]}}, {"xyz": [-0.1819297654824907, 0.089032117573973, -0.23162313505079402], "rgb": [217, 188, 158], "semantic_id": 5, "pcd_info": {"point_index": 1260}, "mesh_info": {"face_index": 632, "face_uv": [0.016432337982537813, 0.4468302660768376, 0.5367373959406236]}}, {"xyz": [0.129314284344962, -0.3133249878883366, -0.18256209727829753], "rgb": [149, 98, 46], "semantic_id": 17, "pcd_info": {"point_index": 840}, "mesh_info": {"face_index": 315, "face_uv": [0.4790000803628304, 0.48385071855207706, 0.037149201085093946]}}, {"xyz": [0.13294078511967072, -0.3133249878883362, 0.15732476404227635], "rgb": [148, 95, 43], "semantic_id": 18, "pcd_info": {"point_index": 1524}, "mesh_info": {"face_index": 432, "face_uv": [0.08072441111060491, 0.708796185335782, 0.210479403553613]}}, {"xyz": [-0.13041388955889177, -0.31332498788833596, 0.1640706768943314], "rgb": [153, 101, 50], "semantic_id": 19, "pcd_info": {"point_index": 1503}, "mesh_info": {"face_index": 224, "face_uv": [0.2509625170694831, 0.4472632535892199, 0.30177422934129633]}}, {"xyz": [-0.1256168788589358, -0.3133249878883362, -0.1893805593657244], "rgb": [158, 105, 53], "semantic_id": 20, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 64, "face_uv": [0.05148750444903112, 0.7003738817934092, 0.24813861375755972]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7a338e9b13ae5da3245e874042d8b8db", "keypoints": [{"xyz": [0.156544692141809, 0.6661840081214905, 0.15659936007555375], "rgb": [31, 36, 31], "semantic_id": 0, "pcd_info": {"point_index": 1500}, "mesh_info": {"face_index": 15941, "face_uv": [0.40751470019830716, 0.031047159015853306, 0.5614381407858395]}}, {"xyz": [-0.17111142446960542, 0.6623830897820508, 0.15343176234302836], "rgb": [30, 35, 30], "semantic_id": 1, "pcd_info": {"point_index": 856}, "mesh_info": {"face_index": 15931, "face_uv": [0.02544461713739612, 0.015358238762536, 0.9591971441000674]}}, {"xyz": [0.15626933892009903, 0.2863142411506736, 0.10583843802469939], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 61}, "mesh_info": {"face_index": 17005, "face_uv": [0.08564398269033438, 0.8589453198529703, 0.055410697456694635]}}, {"xyz": [-0.17721924794505145, 0.28480225167158335, 0.10475014485646039], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 960}, "mesh_info": {"face_index": 17305, "face_uv": [0.0001160844760897353, 0.9768550346692534, 0.02302888085465707]}}, {"xyz": [0.1616936320317921, 0.2843429338181651, -0.20870205512678575], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1079}, "mesh_info": {"face_index": 17922, "face_uv": [0.26119496780705515, 0.24443572013620898, 0.49436931205673657]}}, {"xyz": [-0.17642831234587258, 0.2774771932276332, -0.2109914102151268], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 849}, "mesh_info": {"face_index": 18105, "face_uv": [0.29632020125890013, 0.3641070216800619, 0.3395727770610383]}}, {"xyz": [0.19758811598888726, -0.055343885938859305, -0.005641398713492372], "rgb": [105, 105, 105], "semantic_id": 17, "pcd_info": {"point_index": 418}, "mesh_info": {"face_index": 11915, "face_uv": [0.6451034570326125, 0.04891871023613183, 0.30597783273125967]}}, {"xyz": [-0.007408000063151121, -0.062144875089502394, 0.19952481251448617], "rgb": [105, 105, 105], "semantic_id": 18, "pcd_info": {"point_index": 1636}, "mesh_info": {"face_index": 2455, "face_uv": [0.5568842728852335, 0.3076399653030549, 0.13547576181171164]}}, {"xyz": [-0.19298385023679798, -0.09679612311756491, -0.009527127520219891], "rgb": [105, 105, 105], "semantic_id": 19, "pcd_info": {"point_index": 1879}, "mesh_info": {"face_index": 7006, "face_uv": [0.24084847350191846, 0.05359311863220665, 0.7055584078658804]}}, {"xyz": [0.0023691058909135476, -0.08136902480909858, -0.1857419281349043], "rgb": [105, 105, 105], "semantic_id": 20, "pcd_info": {"point_index": 866}, "mesh_info": {"face_index": 7652, "face_uv": [0.21800120283819294, 0.630861289042154, 0.15113750811965937]}}, {"xyz": [-0.0011843349596235703, 0.24793599545955658, -0.043197804917180616], "rgb": [31, 36, 31], "semantic_id": 15, "pcd_info": {"point_index": 1030}, "mesh_info": {"face_index": 16942, "face_uv": [0.459887379324727, 0.11249435651861982, 0.42761826415665316]}}, {"xyz": [0.0012234602222676583, -0.018585000187158585, 0.0025017117828178836], "rgb": [31, 36, 31], "semantic_id": 16, "pcd_info": {"point_index": 706}, "mesh_info": {"face_index": 15476, "face_uv": [0.029547489002549224, 0.4792710359704703, 0.4911814750269804]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": [{"kp_indexes": [6, 7, 8, 9], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "901cab3f56c74894d7f7a4c4609b0913", "keypoints": [{"xyz": [0.17056716836283253, 0.253784120605159, 0.2172469187477541], "rgb": [34, 34, 34], "semantic_id": 0, "pcd_info": {"point_index": 354}, "mesh_info": {"face_index": 1444, "face_uv": [0.6125208536626543, 0.18637084989000102, 0.2011082964473423]}}, {"xyz": [-0.18117516211021722, 0.25262775517523783, 0.2272679339191647], "rgb": [35, 35, 35], "semantic_id": 1, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 5036, "face_uv": [0.35116921237764315, 0.64505440269943, 0.003776384922927721]}}, {"xyz": [0.1732733743004824, -0.05953425490816566, 0.10800629412040375], "rgb": [34, 34, 34], "semantic_id": 2, "pcd_info": {"point_index": 1659}, "mesh_info": {"face_index": 3157, "face_uv": [0.3533852455849966, 0.028962590666526563, 0.617652163748442]}}, {"xyz": [-0.17815554858844568, -0.0592743481817648, 0.1103662897043115], "rgb": [35, 35, 35], "semantic_id": 3, "pcd_info": {"point_index": 510}, "mesh_info": {"face_index": 2400, "face_uv": [0.021734140792855648, 0.9411284355383313, 0.03713742366881363]}}, {"xyz": [0.17997476203078433, -0.05360570791593422, -0.24571586550772462], "rgb": [34, 34, 34], "semantic_id": 4, "pcd_info": {"point_index": 1323}, "mesh_info": {"face_index": 3278, "face_uv": [0.11453476582130821, 0.33595691367972985, 0.549508320498959]}}, {"xyz": [-0.19019302202690969, -0.053206955819243396, -0.24588010597962795], "rgb": [35, 35, 35], "semantic_id": 5, "pcd_info": {"point_index": 1014}, "mesh_info": {"face_index": 2563, "face_uv": [0.32503537778528135, 0.5959708493487105, 0.0789937728660089]}}, {"xyz": [0.1756556924495476, -0.4437823103854519, -0.2806723331007772], "rgb": [34, 34, 34], "semantic_id": 17, "pcd_info": {"point_index": 1841}, "mesh_info": {"face_index": 3542, "face_uv": [0.7851782297884006, 0.00746304649341513, 0.20735872371817812]}}, {"xyz": [0.19856281375437435, -0.438902795097577, 0.10360500430145292], "rgb": [35, 35, 35], "semantic_id": 18, "pcd_info": {"point_index": 319}, "mesh_info": {"face_index": 2184, "face_uv": [0.1489315761938306, 0.8298924904153124, 0.021175933390857455]}}, {"xyz": [-0.21436341981342566, -0.4451620197602987, 0.10350223679028625], "rgb": [34, 34, 34], "semantic_id": 19, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 5925, "face_uv": [0.0031260203216279766, 0.2683251604829016, 0.728548819195469]}}, {"xyz": [-0.19771153008636644, -0.4385595775943154, -0.28271396988226005], "rgb": [34, 34, 34], "semantic_id": 20, "pcd_info": {"point_index": 935}, "mesh_info": {"face_index": 2943, "face_uv": [0.023275997734713495, 0.18190532784721367, 0.7948186744180726]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e1ab1f421891fb01f302352a74d4e413", "keypoints": [{"xyz": [0.15369442292164998, 0.3372078572686995, 0.04701999947428703], "rgb": [172, 104, 37], "semantic_id": 0, "pcd_info": {"point_index": 1094}, "mesh_info": {"face_index": 61, "face_uv": [0.8060313061257817, 0.039424236015269114, 0.15454445785894905]}}, {"xyz": [-0.13381014488341159, 0.3390448766265293, 0.04701999947428703], "rgb": [178, 103, 39], "semantic_id": 1, "pcd_info": {"point_index": 81}, "mesh_info": {"face_index": 321, "face_uv": [0.2638519097248642, 0.6873866565559359, 0.04876143371919984]}}, {"xyz": [0.15961123783759557, -0.0793989971280098, 0.041308562705619334], "rgb": [172, 97, 39], "semantic_id": 2, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 255, "face_uv": [0.8247602490500202, 0.152811174767199, 0.022428576182780876]}}, {"xyz": [-0.14708644993745046, -0.0793989971280098, 0.04620464226931009], "rgb": [179, 103, 43], "semantic_id": 3, "pcd_info": {"point_index": 1389}, "mesh_info": {"face_index": 392, "face_uv": [0.8725671847664175, 0.003201874051784424, 0.12423094118179809]}}, {"xyz": [0.16619108313247888, -0.07939899712800969, -0.20529957543110866], "rgb": [179, 108, 47], "semantic_id": 4, "pcd_info": {"point_index": 903}, "mesh_info": {"face_index": 355, "face_uv": [0.990819818996821, 0.009151455686575332, 2.872531660234554e-05]}}, {"xyz": [-0.1488256675853742, -0.0793989971280098, -0.20485258608058743], "rgb": [170, 95, 37], "semantic_id": 5, "pcd_info": {"point_index": 689}, "mesh_info": {"face_index": 355, "face_uv": [0.01568329250674976, 0.010906764395596038, 0.9734099430976542]}}, {"xyz": [0.14696100832170916, 0.09229823753138733, -0.22157099843025185], "rgb": [170, 100, 38], "semantic_id": 6, "pcd_info": {"point_index": 1354}, "mesh_info": {"face_index": 161, "face_uv": [0.0014572240289349278, 0.3873557381128315, 0.6111870378582325]}}, {"xyz": [0.14107603436743127, 0.09253343491520338, 0.04206573221064347], "rgb": [165, 92, 27], "semantic_id": 7, "pcd_info": {"point_index": 1553}, "mesh_info": {"face_index": 403, "face_uv": [0.4742173059491852, 0.018445395796193146, 0.5073372982546246]}}, {"xyz": [-0.12809792090512423, 0.0918240025639534, -0.22080984598180375], "rgb": [178, 104, 41], "semantic_id": 8, "pcd_info": {"point_index": 43}, "mesh_info": {"face_index": 212, "face_uv": [0.5596623691865569, 0.002833871776740806, 0.43750375903670236]}}, {"xyz": [-0.12810344547610752, 0.0918240025639534, 0.04585350563563906], "rgb": [181, 106, 45], "semantic_id": 9, "pcd_info": {"point_index": 369}, "mesh_info": {"face_index": 204, "face_uv": [0.4402456619283233, 0.004343011671085708, 0.5554113264005909]}}, {"xyz": [0.13275912075536284, -0.4475089907646177, -0.16690102677757793], "rgb": [176, 104, 44], "semantic_id": 17, "pcd_info": {"point_index": 1321}, "mesh_info": {"face_index": 84, "face_uv": [0.3463592480355175, 0.41784154602100515, 0.2357992059434769]}}, {"xyz": [0.1254254017303631, -0.4475089907646177, 0.08678122221234508], "rgb": [178, 103, 45], "semantic_id": 18, "pcd_info": {"point_index": 279}, "mesh_info": {"face_index": 1, "face_uv": [0.41721506893406024, 0.37579782983414517, 0.20698710123179404]}}, {"xyz": [-0.11065962096177795, -0.4475089907646179, 0.0788119988198901], "rgb": [178, 106, 43], "semantic_id": 19, "pcd_info": {"point_index": 1840}, "mesh_info": {"face_index": 333, "face_uv": [0.05915139759262036, 0.40165853216287045, 0.5391900702445092]}}, {"xyz": [-0.11232771111308354, -0.4475089907646179, -0.180241820401427], "rgb": [178, 107, 43], "semantic_id": 20, "pcd_info": {"point_index": 1642}, "mesh_info": {"face_index": 391, "face_uv": [0.2536904725388032, 0.3030134581413559, 0.4432960693198409]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8b886cf32f340c89a9e00c019d029152", "keypoints": [{"xyz": [0.16405082857297879, 0.2995411668677087, 0.13954445704099983], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 538}, "mesh_info": {"face_index": 5680, "face_uv": [0.5094325921029883, 0.27395010210604204, 0.21661730579096983]}}, {"xyz": [-0.16369305849366156, 0.2979223329492764, 0.13155115945850215], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 727}, "mesh_info": {"face_index": 2209, "face_uv": [0.07720116127013292, 0.23670071362627101, 0.6860981251035972]}}, {"xyz": [0.17373100863308738, -0.050529127754903036, 0.052516834380428534], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 849}, "mesh_info": {"face_index": 1338, "face_uv": [0.13427271569817392, 0.4944709597971942, 0.37125632450463264]}}, {"xyz": [-0.17325548725410722, -0.028845904134566447, 0.0643629019837797], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1958}, "mesh_info": {"face_index": 840, "face_uv": [0.28351142090999015, 0.6033189593536193, 0.11316961973641408]}}, {"xyz": [0.1822213664906293, -0.04329670253052964, -0.306609292024314], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1674}, "mesh_info": {"face_index": 1090, "face_uv": [0.5511562975247101, 0.07137917531668045, 0.3774645271586101]}}, {"xyz": [-0.18764702633803831, -0.04290994858969721, -0.3041094360773007], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1342}, "mesh_info": {"face_index": 2884, "face_uv": [0.008882561642290558, 0.007555756517567286, 0.9835616818401431]}}, {"xyz": [0.19784803037145784, -0.44278201139930284, -0.32931526329421035], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 438}, "mesh_info": {"face_index": 6377, "face_uv": [0.02750755421113314, 0.2647686087733894, 0.7077238370154773]}}, {"xyz": [0.20376412827165336, -0.4440622983033746, 0.14302259068135115], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 6432, "face_uv": [0.8886778073832766, 0.08489293937409839, 0.026429253242625045]}}, {"xyz": [-0.198590079046121, -0.4438044306832065, 0.14266983423475982], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 359}, "mesh_info": {"face_index": 6522, "face_uv": [0.7550226370958866, 0.19938388280698352, 0.04559348009713001]}}, {"xyz": [-0.19057016660702206, -0.4420375390102582, -0.321786966246332], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 6552, "face_uv": [0.30560742215123593, 0.5192061790084034, 0.17518639884036497]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b2f125cba550eb8bfebad4f49b26ec52", "keypoints": [{"xyz": [0.2045661543559044, 0.2705291283472616, 0.15102531304449185], "rgb": [213, 209, 192], "semantic_id": 0, "pcd_info": {"point_index": 1753}, "mesh_info": {"face_index": 11018, "face_uv": [0.00191677501612351, 0.583606667843388, 0.41447655714048787]}}, {"xyz": [-0.2158596013465335, 0.2709852079538456, 0.1551545664358902], "rgb": [227, 220, 204], "semantic_id": 1, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 11025, "face_uv": [0.9144888185778647, 0.08373764687472268, 0.0017735345474123477]}}, {"xyz": [0.19998586460647902, 0.03573256025257843, 0.03573721221254922], "rgb": [197, 191, 174], "semantic_id": 2, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 7493, "face_uv": [0.22452144071171826, 0.38690724293576145, 0.38857131635251074]}}, {"xyz": [-0.2180335541532385, 0.028805842288986083, 0.042215036714500886], "rgb": [174, 167, 149], "semantic_id": 3, "pcd_info": {"point_index": 286}, "mesh_info": {"face_index": 12474, "face_uv": [0.7891084588685414, 0.05804338248592509, 0.15284815864553686]}}, {"xyz": [0.20335927317284, 0.02865511125082887, -0.3301112403883526], "rgb": [182, 174, 155], "semantic_id": 4, "pcd_info": {"point_index": 1621}, "mesh_info": {"face_index": 12466, "face_uv": [0.2508579936224135, 0.6231902733586283, 0.12595173301895546]}}, {"xyz": [-0.22685827242202394, 0.028356209317279002, -0.32770729020346767], "rgb": [204, 197, 179], "semantic_id": 5, "pcd_info": {"point_index": 1581}, "mesh_info": {"face_index": 10434, "face_uv": [0.5172931045136188, 0.35769458340609883, 0.12501231208028277]}}, {"xyz": [0.2604250291088648, 0.2226826820260588, -0.32834399464140074], "rgb": [214, 210, 191], "semantic_id": 6, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 9112, "face_uv": [0.24506685399295094, 0.13695837818766962, 0.6179747678193797]}}, {"xyz": [0.2599705357378037, 0.22294040785440083, 0.2102162762361589], "rgb": [197, 191, 173], "semantic_id": 7, "pcd_info": {"point_index": 458}, "mesh_info": {"face_index": 9106, "face_uv": [0.20859648555606314, 0.45916560301021686, 0.332237911433721]}}, {"xyz": [-0.27133289720470805, 0.21998955525462427, -0.3320463924437185], "rgb": [193, 190, 172], "semantic_id": 8, "pcd_info": {"point_index": 1880}, "mesh_info": {"face_index": 10793, "face_uv": [0.13985926919779076, 0.6411639192888615, 0.21897681151334783]}}, {"xyz": [-0.26968884736264087, 0.22315452696877847, 0.20517940087043446], "rgb": [184, 182, 166], "semantic_id": 9, "pcd_info": {"point_index": 1392}, "mesh_info": {"face_index": 10765, "face_uv": [0.07926880899310715, 0.007782858422343426, 0.91294833258455]}}, {"xyz": [-0.005615792738655756, -0.30007699131965615, -0.28258714755834036], "rgb": [206, 213, 223], "semantic_id": 17, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 2578, "face_uv": [0.007420714978611935, 0.07362540235809992, 0.9189538826632875]}}, {"xyz": [0.22258263510583132, -0.3000769913196566, -0.06526726830686969], "rgb": [206, 213, 223], "semantic_id": 18, "pcd_info": {"point_index": 1417}, "mesh_info": {"face_index": 2686, "face_uv": [0.029574434590209007, 0.9498462815324441, 0.020579283877347657]}}, {"xyz": [-0.008989503115435837, -0.30007699131965637, 0.16940879112012153], "rgb": [202, 209, 219], "semantic_id": 19, "pcd_info": {"point_index": 676}, "mesh_info": {"face_index": 2844, "face_uv": [0.27083833061729884, 0.42760234767786054, 0.3015593217048406]}}, {"xyz": [-0.23006779765479585, -0.30007699131965637, -0.05492541753300517], "rgb": [200, 207, 217], "semantic_id": 20, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 3066, "face_uv": [0.32500247587641423, 0.1351861206068851, 0.5398114035167006]}}, {"xyz": [-0.006157857219021845, -0.17168632704975106, -0.08087268490375843], "rgb": [197, 204, 215], "semantic_id": 15, "pcd_info": {"point_index": 1292}, "mesh_info": {"face_index": 1908, "face_uv": [0.07128016168316471, 0.09310263452036448, 0.8356172037964734]}}, {"xyz": [-0.007498315867032229, -0.29160699248313904, -0.05380333664717851], "rgb": [199, 206, 217], "semantic_id": 16, "pcd_info": {"point_index": 1668}, "mesh_info": {"face_index": 767, "face_uv": [0.3327925340168917, 0.46697805512518076, 0.20022941085792756]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "122a480cfcdd742650c626aa72455dae", "keypoints": [{"xyz": [0.3968965130364557, 0.24921932811704828, 0.11542518246291467], "rgb": [239, 191, 116], "semantic_id": 0, "pcd_info": {"point_index": 482}, "mesh_info": {"face_index": 95, "face_uv": [0.08252582556904776, 0.9151879233889089, 0.0022862510420408465]}}, {"xyz": [-0.38847773053596, 0.25249811492360796, 0.11630388969314365], "rgb": [233, 186, 107], "semantic_id": 1, "pcd_info": {"point_index": 1077}, "mesh_info": {"face_index": 93, "face_uv": [0.9759572814343526, 0.021376672682042987, 0.002666045883607552]}}, {"xyz": [0.3940252351205643, 0.055131867856333616, 0.06598115103715929], "rgb": [216, 161, 58], "semantic_id": 2, "pcd_info": {"point_index": 170}, "mesh_info": {"face_index": 119, "face_uv": [0.9918699801487465, 0.007233283970788265, 0.000896735880466842]}}, {"xyz": [-0.3924068744182785, 0.05556055039821017, 0.0660959872577167], "rgb": [254, 221, 159], "semantic_id": 3, "pcd_info": {"point_index": 1010}, "mesh_info": {"face_index": 117, "face_uv": [0.012814348582803276, 0.984472898344371, 0.0027127530728257286]}}, {"xyz": [0.3870438185650025, 0.01979903615328249, -0.19117100536823295], "rgb": [249, 195, 120], "semantic_id": 4, "pcd_info": {"point_index": 1683}, "mesh_info": {"face_index": 215, "face_uv": [0.04590740640664612, 0.004514447110973949, 0.9495781464823813]}}, {"xyz": [-0.3925618639093714, 0.021130469892177706, -0.19117100536823295], "rgb": [235, 189, 111], "semantic_id": 5, "pcd_info": {"point_index": 1858}, "mesh_info": {"face_index": 206, "face_uv": [0.10018577313741947, 0.007747689835535171, 0.8920665370270464]}}, {"xyz": [0.2982016955777863, -0.16985701051611246, -0.2277378357983737], "rgb": [234, 192, 123], "semantic_id": 17, "pcd_info": {"point_index": 833}, "mesh_info": {"face_index": 356, "face_uv": [0.016992761742850665, 0.5571930645977068, 0.425814173659443]}}, {"xyz": [0.3025721191387565, -0.17354089946327222, 0.13492212440681606], "rgb": [242, 192, 122], "semantic_id": 18, "pcd_info": {"point_index": 1800}, "mesh_info": {"face_index": 334, "face_uv": [0.31044245469802195, 0.5867142245076347, 0.10284332079434308]}}, {"xyz": [-0.3093459904193876, -0.17309116960275345, 0.143568001594913], "rgb": [244, 196, 122], "semantic_id": 19, "pcd_info": {"point_index": 1787}, "mesh_info": {"face_index": 46, "face_uv": [0.5356105520448985, 0.0025948042493496755, 0.46179464370575113]}}, {"xyz": [-0.2997265498707495, -0.1730911462688199, -0.2262478925463427], "rgb": [231, 194, 127], "semantic_id": 20, "pcd_info": {"point_index": 158}, "mesh_info": {"face_index": 4, "face_uv": [0.00014471128779755, 0.3280549885911251, 0.6718003001210764]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "776cdc2ed288076882eddefc99ebacfd", "keypoints": [{"xyz": [0.20649826276874822, 0.3607729613035533, 0.09631896644467972], "rgb": [174, 149, 106], "semantic_id": 0, "pcd_info": {"point_index": 139}, "mesh_info": {"face_index": 189, "face_uv": [0.5748982320993189, 0.023703595850050992, 0.40139817205062983]}}, {"xyz": [-0.21877015491433155, 0.3600709867276415, 0.09932610851966192], "rgb": [165, 140, 80], "semantic_id": 1, "pcd_info": {"point_index": 1359}, "mesh_info": {"face_index": 184, "face_uv": [0.3478049048790019, 0.027083141656994776, 0.6251119534640035]}}, {"xyz": [0.19382261084089086, -0.056905999779701455, 0.05281027015745957], "rgb": [178, 153, 115], "semantic_id": 2, "pcd_info": {"point_index": 5}, "mesh_info": {"face_index": 237, "face_uv": [0.9133823781439241, 0.051996072837217994, 0.0346215490188618]}}, {"xyz": [-0.2156941026279828, -0.056905999779701455, 0.04973773839302205], "rgb": [185, 163, 120], "semantic_id": 3, "pcd_info": {"point_index": 1163}, "mesh_info": {"face_index": 64, "face_uv": [0.9564630782558131, 0.03394899274048798, 0.009587929003702766]}}, {"xyz": [0.2072419925410604, -0.05690599977970123, -0.27383499847194814], "rgb": [166, 146, 85], "semantic_id": 4, "pcd_info": {"point_index": 1239}, "mesh_info": {"face_index": 64, "face_uv": [0.017572360738977288, 0.9779564337553347, 0.0044712055056875715]}}, {"xyz": [-0.2178485980023322, -0.05690599977970123, -0.26648088120158747], "rgb": [155, 130, 65], "semantic_id": 5, "pcd_info": {"point_index": 1254}, "mesh_info": {"face_index": 259, "face_uv": [0.9319485710383839, 0.029140087356789766, 0.03891134160482632]}}, {"xyz": [0.20865151911085295, -0.44461798667907726, -0.27318442585277963], "rgb": [155, 134, 82], "semantic_id": 17, "pcd_info": {"point_index": 1702}, "mesh_info": {"face_index": 330, "face_uv": [0.10218005577938646, 0.7783876420811321, 0.11943230213948171]}}, {"xyz": [0.20494388909479028, -0.44304469891728193, 0.09403010674542045], "rgb": [152, 125, 68], "semantic_id": 18, "pcd_info": {"point_index": 1015}, "mesh_info": {"face_index": 36, "face_uv": [0.0045651108235552846, 0.6006145769116816, 0.39482031226476405]}}, {"xyz": [-0.22117448030238673, -0.44461798667907726, 0.09620211260144407], "rgb": [173, 151, 100], "semantic_id": 19, "pcd_info": {"point_index": 1900}, "mesh_info": {"face_index": 299, "face_uv": [0.5222369207840435, 0.12923830635314776, 0.34852477286280903]}}, {"xyz": [-0.2242774925886487, -0.44461798667907715, -0.2727052120360445], "rgb": [120, 99, 61], "semantic_id": 20, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 178, "face_uv": [0.29964013948593676, 0.46563344056698314, 0.23472641994708007]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "419698e72a0d4d75d8f2ca82d6e1c314", "keypoints": [{"xyz": [0.17894515543654835, 0.3262676606116479, 0.08946705385108938], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 40, "face_uv": [0.41066365583501513, 0.5414162842811482, 0.0479200598838367]}}, {"xyz": [-0.16575600206851965, 0.3248040698156359, 0.09508855707450337], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 804}, "mesh_info": {"face_index": 163, "face_uv": [0.380338836862339, 0.000728707329750488, 0.6189324558079108]}}, {"xyz": [0.17552794748671136, -0.03631199896335602, 0.046924384119185425], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 137, "face_uv": [0.9866178542146086, 0.013298223229326023, 8.392255606528937e-05]}}, {"xyz": [-0.15647885557385494, -0.03631199896335613, 0.04812758895699054], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 548}, "mesh_info": {"face_index": 21, "face_uv": [0.9642726406483519, 0.008908054254738436, 0.026819305096912816]}}, {"xyz": [0.17694378639341418, -0.03631199896335591, -0.2138644095314698], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 132, "face_uv": [0.009289096739675172, 0.035154014634079966, 0.9555568886262414]}}, {"xyz": [-0.16051325203971137, -0.03631199896335591, -0.22268114671577766], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 48}, "mesh_info": {"face_index": 132, "face_uv": [0.98484373264448, 0.002984125661347061, 0.012172141694169972]}}, {"xyz": [0.17305290261527068, -0.4855180084705353, -0.21998849099520235], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1810}, "mesh_info": {"face_index": 1, "face_uv": [0.8915503501994345, 0.0591602314208196, 0.04928941837974589]}}, {"xyz": [0.17303551135985296, -0.4855180084705353, 0.11676819153455711], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1291}, "mesh_info": {"face_index": 55, "face_uv": [0.1087151408152765, 0.07858318458145233, 0.8127016746032711]}}, {"xyz": [-0.1616407053486023, -0.4855180084705353, 0.11887959902414028], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 86, "face_uv": [0.9060284361992852, 0.049194813415699014, 0.044776750385015794]}}, {"xyz": [-0.15986838406630127, -0.4833814319862876, -0.22349900007247925], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 335}, "mesh_info": {"face_index": 153, "face_uv": [0.004756339939867955, 0.13444198763408174, 0.8608016724260503]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bfbb19b74bb5973e14de2a9aaff52ac7", "keypoints": [{"xyz": [0.1507810328486614, 0.563557028770447, 0.09224965081102998], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1478}, "mesh_info": {"face_index": 911, "face_uv": [0.026721035855550045, 0.3886789277321767, 0.5846000364122736]}}, {"xyz": [-0.11370498094267353, 0.5635570287704468, 0.09624695527419086], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 93}, "mesh_info": {"face_index": 514, "face_uv": [0.5294091071447167, 0.44013030576432005, 0.03046058709096326]}}, {"xyz": [0.14722782725643252, 0.01874000020325184, 0.027118353047788923], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1484}, "mesh_info": {"face_index": 102, "face_uv": [0.33238135333716456, 0.0387801410201884, 0.6288385056426469]}}, {"xyz": [-0.11500861850614572, 0.01874000020325184, 0.0329721808291229], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 324}, "mesh_info": {"face_index": 57, "face_uv": [0.7613169965614491, 0.014520597965437839, 0.224162405473113]}}, {"xyz": [0.17035216928571797, 0.018740000203251617, -0.23746199132268844], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 254}, "mesh_info": {"face_index": 81, "face_uv": [0.6135761362948241, 0.1613222037281719, 0.22510165997699205]}}, {"xyz": [-0.1289925176634773, 0.01874000020325184, -0.2306789863450006], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1157}, "mesh_info": {"face_index": 39, "face_uv": [0.026514245242505726, 0.33562079075217566, 0.6378649640053186]}}, {"xyz": [0.15995697133256923, -0.3159340023994446, -0.2314164594845388], "rgb": [165, 112, 66], "semantic_id": 17, "pcd_info": {"point_index": 1574}, "mesh_info": {"face_index": 247, "face_uv": [0.2926247726599147, 0.19442110700293652, 0.5129541203371488]}}, {"xyz": [0.1449993912427916, -0.30036699771881104, 0.08144994540022034], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1912}, "mesh_info": {"face_index": 250, "face_uv": [0.4264802309503071, 0.44431739299739587, 0.129202376052297]}}, {"xyz": [-0.10545990561798296, -0.30036699771881126, 0.07637620545520958], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 976}, "mesh_info": {"face_index": 94, "face_uv": [0.5393021760541574, 0.42530590952022007, 0.03539191442562326]}}, {"xyz": [-0.12208312061761134, -0.30036699771881104, -0.22562818063193274], "rgb": [140, 91, 53], "semantic_id": 20, "pcd_info": {"point_index": 1602}, "mesh_info": {"face_index": 4, "face_uv": [0.008467086880123872, 0.5576762695060761, 0.43385664361380005]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "42ceba8e460de1de820898ba01899de3", "keypoints": [{"xyz": [0.1659954647202148, 0.2419924380099594, 0.16950359484250277], "rgb": [99, 99, 99], "semantic_id": 0, "pcd_info": {"point_index": 1731}, "mesh_info": {"face_index": 8087, "face_uv": [0.08751261588680122, 0.048494113823872094, 0.8639932702893264]}}, {"xyz": [-0.16218115004576802, 0.24107142807774284, 0.16676166376359491], "rgb": [100, 100, 100], "semantic_id": 1, "pcd_info": {"point_index": 282}, "mesh_info": {"face_index": 10024, "face_uv": [0.680896971252064, 0.3075312755174048, 0.01157175323053203]}}, {"xyz": [0.18326889445640554, -0.028472954718046672, 0.06667596880234339], "rgb": [100, 100, 100], "semantic_id": 2, "pcd_info": {"point_index": 466}, "mesh_info": {"face_index": 10828, "face_uv": [0.5002244907819938, 0.1628493437878548, 0.3369261654301528]}}, {"xyz": [-0.178606788063498, -0.02480521962374116, 0.07117901510050406], "rgb": [99, 99, 99], "semantic_id": 3, "pcd_info": {"point_index": 605}, "mesh_info": {"face_index": 14026, "face_uv": [0.08973525547909421, 0.2832225110622832, 0.6270422334586222]}}, {"xyz": [0.17805975645445354, -0.032724171261715895, -0.16742920348494406], "rgb": [99, 99, 99], "semantic_id": 4, "pcd_info": {"point_index": 706}, "mesh_info": {"face_index": 7614, "face_uv": [0.5659235413350207, 0.23655183665199392, 0.19752462201297902]}}, {"xyz": [-0.167546503482228, -0.03194846397702045, -0.18301957288131898], "rgb": [99, 99, 99], "semantic_id": 5, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 9919, "face_uv": [0.07237561216500726, 0.280064943371138, 0.6475594444638535]}}, {"xyz": [0.225981521755948, 0.12862345043899515, -0.12980310490801739], "rgb": [55, 55, 55], "semantic_id": 6, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 3664, "face_uv": [0.16874915176516983, 0.5511990247184317, 0.28005182351639796]}}, {"xyz": [0.20487808661207346, 0.13454687247515684, 0.06740747483227078], "rgb": [55, 55, 55], "semantic_id": 7, "pcd_info": {"point_index": 1444}, "mesh_info": {"face_index": 3769, "face_uv": [0.026974289324139165, 0.011634622031250132, 0.9613910886446098]}}, {"xyz": [-0.2235671617321182, 0.12934323569644146, -0.1283625627444768], "rgb": [55, 55, 55], "semantic_id": 8, "pcd_info": {"point_index": 1523}, "mesh_info": {"face_index": 15573, "face_uv": [0.15653232813180004, 0.32726509553904265, 0.5162025763291557]}}, {"xyz": [-0.19699579606180007, 0.13454095380117237, 0.06874073779259082], "rgb": [55, 55, 55], "semantic_id": 9, "pcd_info": {"point_index": 913}, "mesh_info": {"face_index": 14481, "face_uv": [0.6015747858463625, 0.023862304247590425, 0.37456290990604557]}}, {"xyz": [0.2319147619795865, -0.45041024863129375, -0.2598732157003856], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 122}, "mesh_info": {"face_index": 2052, "face_uv": [0.3323289942454679, 0.04375810120224454, 0.6239129045522877]}}, {"xyz": [0.21770277977192973, -0.4315241236517988, 0.14189731091965876], "rgb": [149, 149, 149], "semantic_id": 18, "pcd_info": {"point_index": 104}, "mesh_info": {"face_index": 18287, "face_uv": [0.04273929396933476, 0.6960434914039634, 0.26121721462670183]}}, {"xyz": [-0.21949553097045216, -0.4520455397998069, 0.1386002892354432], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 497}, "mesh_info": {"face_index": 19047, "face_uv": [0.10761674723736889, 0.408506986827895, 0.4838762659347367]}}, {"xyz": [-0.2286314736455214, -0.4501553167276935, -0.2598724754361079], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 674}, "mesh_info": {"face_index": 1582, "face_uv": [0.05071870097314363, 0.37649496224959417, 0.5727863367772622]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b2dc781aae692b2555182f299fe41fdc", "keypoints": [{"xyz": [0.16303470361132497, 0.4196248489650669, 0.2796322197982005], "rgb": [246, 246, 246], "semantic_id": 0, "pcd_info": {"point_index": 1718}, "mesh_info": {"face_index": 1814, "face_uv": [0.28818316129351523, 0.022077346333561034, 0.689739492372924]}}, {"xyz": [-0.16356777255083566, 0.42000083019804624, 0.28319896523733573], "rgb": [245, 245, 245], "semantic_id": 1, "pcd_info": {"point_index": 1119}, "mesh_info": {"face_index": 1811, "face_uv": [0.6329606917859782, 0.020514699139344665, 0.34652460907467686]}}, {"xyz": [0.16275397143482673, -0.02837814267863137, 0.05434737745988216], "rgb": [245, 245, 245], "semantic_id": 2, "pcd_info": {"point_index": 1452}, "mesh_info": {"face_index": 1112, "face_uv": [0.46762491918331384, 0.0229002893253875, 0.509474791491297]}}, {"xyz": [-0.15931004923048717, -0.02734503733288407, 0.05868815741214728], "rgb": [245, 245, 245], "semantic_id": 3, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 1135, "face_uv": [0.18506647413574095, 0.03299586040602338, 0.7819376654582315]}}, {"xyz": [0.1594304038741156, 0.03105616594297289, -0.2618207912894351], "rgb": [246, 246, 246], "semantic_id": 4, "pcd_info": {"point_index": 411}, "mesh_info": {"face_index": 1294, "face_uv": [0.5793120995499167, 0.03264305079316714, 0.38804484965692115]}}, {"xyz": [-0.16079981834665905, 0.03103607853886725, -0.26067563243329], "rgb": [246, 246, 246], "semantic_id": 5, "pcd_info": {"point_index": 1}, "mesh_info": {"face_index": 1304, "face_uv": [0.46473924969154207, 0.028628726332236717, 0.5066320239762225]}}, {"xyz": [0.18638347880673037, 0.08465100079774857, -0.21007743303900367], "rgb": [219, 219, 219], "semantic_id": 6, "pcd_info": {"point_index": 2011}, "mesh_info": {"face_index": 258, "face_uv": [0.019308691066430742, 0.5254978304642827, 0.4551934784692866]}}, {"xyz": [0.18485512851048078, 0.08299057475977278, 0.12148575462349251], "rgb": [218, 218, 218], "semantic_id": 7, "pcd_info": {"point_index": 574}, "mesh_info": {"face_index": 261, "face_uv": [0.28182175195481435, 0.5252779220197162, 0.19290032602546925]}}, {"xyz": [-0.18840424167801073, 0.08465100079774857, -0.21001464400637043], "rgb": [219, 219, 219], "semantic_id": 8, "pcd_info": {"point_index": 839}, "mesh_info": {"face_index": 2074, "face_uv": [0.01949629069804667, 0.40736719685780853, 0.5731365124441448]}}, {"xyz": [-0.1867349162471755, 0.08038180856157173, 0.12559438697084113], "rgb": [219, 219, 219], "semantic_id": 9, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 2076, "face_uv": [0.18653606272946013, 0.5371734918185131, 0.2762904454520273]}}, {"xyz": [0.18825154158687846, -0.3046999871730802, -0.2579096801092319], "rgb": [218, 218, 218], "semantic_id": 17, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 794, "face_uv": [0.1912979541477362, 0.5875597108997667, 0.22114233495249644]}}, {"xyz": [0.18921560236432056, -0.30469998717308044, 0.16428492631763986], "rgb": [219, 219, 219], "semantic_id": 18, "pcd_info": {"point_index": 1348}, "mesh_info": {"face_index": 795, "face_uv": [0.025395757541360562, 0.38041169491273086, 0.5941925475459086]}}, {"xyz": [-0.18433250651288308, -0.30469998717308044, 0.16358601959780084], "rgb": [219, 219, 219], "semantic_id": 19, "pcd_info": {"point_index": 771}, "mesh_info": {"face_index": 2611, "face_uv": [0.0032429909345655403, 0.4573592225813386, 0.5393977864840959]}}, {"xyz": [-0.1880394056247608, -0.3046999871730802, -0.26235389286508914], "rgb": [218, 218, 218], "semantic_id": 20, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 2610, "face_uv": [0.010939967609762586, 0.41948799480740806, 0.5695720375828286]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a1ee33aadb4754a492d9da2668ec34c", "keypoints": [{"xyz": [0.18029719986527692, 0.3088298769545563, 0.14354360312613723], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 251}, "mesh_info": {"face_index": 847, "face_uv": [0.13182837276569578, 0.38476586662758844, 0.48340576060671775]}}, {"xyz": [-0.1897418042877584, 0.31021366928787897, 0.14134646883885327], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1695}, "mesh_info": {"face_index": 407, "face_uv": [0.16330347455604446, 0.4974160651825535, 0.33928046026140213]}}, {"xyz": [0.1883031371238699, -0.0169303911424874, 0.043939772832521484], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 48}, "mesh_info": {"face_index": 940, "face_uv": [0.26442130618864584, 0.4958648401086569, 0.23971385370269935]}}, {"xyz": [-0.1968066377819594, -0.020185873583207448, 0.032655763281574046], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 338, "face_uv": [0.035566424960674956, 0.4300134598121065, 0.5344201152272172]}}, {"xyz": [0.16308960659178062, -0.01725330593805363, -0.2580255849640598], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 2787, "face_uv": [0.33305412846706306, 0.6013945093941429, 0.06555136213879431]}}, {"xyz": [-0.18826796000809945, -0.02163524337125733, -0.264328422379998], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1008}, "mesh_info": {"face_index": 2700, "face_uv": [0.9093562861041797, 0.03784789434980751, 0.052795819546013346]}}, {"xyz": [0.22761408857487322, 0.1530321285782139, -0.1245644312240306], "rgb": [51, 51, 51], "semantic_id": 6, "pcd_info": {"point_index": 639}, "mesh_info": {"face_index": 227, "face_uv": [0.1703235796688113, 0.07118598633891232, 0.7584904339922807]}}, {"xyz": [0.21510152996292706, 0.1575686282275588, 0.040060188700697094], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1114}, "mesh_info": {"face_index": 17, "face_uv": [0.3521248501018122, 0.6180796125591439, 0.02979553733904511]}}, {"xyz": [-0.22220905734156246, 0.15751767301450137, -0.12202813026543], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 41}, "mesh_info": {"face_index": 50, "face_uv": [0.36182570353290433, 0.0023074607814867424, 0.6358668356856088]}}, {"xyz": [-0.2240298374534465, 0.1575290009683905, 0.042583257613580075], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 958}, "mesh_info": {"face_index": 44, "face_uv": [0.47335468030478434, 0.024750632165831347, 0.5018946875293833]}}, {"xyz": [0.22412009863260263, -0.38606747550423304, -0.2513158896736559], "rgb": [50, 50, 50], "semantic_id": 17, "pcd_info": {"point_index": 1693}, "mesh_info": {"face_index": 2621, "face_uv": [0.530425453120671, 0.15290203992311432, 0.3166725069562141]}}, {"xyz": [0.22249051780853246, -0.39963103537424427, 0.15006929337412467], "rgb": [51, 51, 51], "semantic_id": 18, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 2565, "face_uv": [0.03499527973407211, 0.347263121299832, 0.6177415989660962]}}, {"xyz": [-0.23330291861840122, -0.39729845536409225, 0.14601600531480408], "rgb": [50, 50, 50], "semantic_id": 19, "pcd_info": {"point_index": 991}, "mesh_info": {"face_index": 2585, "face_uv": [0.07270082148331251, 0.9219807814478286, 0.005318397068858288]}}, {"xyz": [-0.220005765123465, -0.3987564076152307, -0.26375019982769854], "rgb": [51, 51, 51], "semantic_id": 20, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 2640, "face_uv": [0.04955186813024258, 0.2330478880975939, 0.7174002437721642]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b971b6c16dded4fd44db5bc086b2ea47", "keypoints": [{"xyz": [0.1532983743470635, 0.2457650968734464, 0.1383423500280221], "rgb": [60, 60, 60], "semantic_id": 0, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 19756, "face_uv": [0.3626901471034956, 0.010706455976103726, 0.6266033969204005]}}, {"xyz": [-0.14609281167796362, 0.24377900042924794, 0.130987963810285], "rgb": [61, 61, 61], "semantic_id": 1, "pcd_info": {"point_index": 404}, "mesh_info": {"face_index": 6273, "face_uv": [0.15705156547105978, 0.6281847288491885, 0.21476370567975805]}}, {"xyz": [0.13717577010584298, -0.17236068239392865, 0.08169470437093818], "rgb": [48, 48, 48], "semantic_id": 2, "pcd_info": {"point_index": 145}, "mesh_info": {"face_index": 13539, "face_uv": [0.6278117444576017, 0.14245890891159538, 0.22972934663080008]}}, {"xyz": [-0.12473993788154525, -0.17464360579987948, 0.08770650422880233], "rgb": [50, 50, 50], "semantic_id": 3, "pcd_info": {"point_index": 2021}, "mesh_info": {"face_index": 187, "face_uv": [0.2193299059163493, 0.602324647880836, 0.17834544620281464]}}, {"xyz": [0.14830412963760947, -0.17111197589703098, -0.279300467203653], "rgb": [51, 51, 51], "semantic_id": 4, "pcd_info": {"point_index": 1048}, "mesh_info": {"face_index": 15631, "face_uv": [0.14066822108371424, 0.3503253702116051, 0.5090064087047753]}}, {"xyz": [-0.15042844297453772, -0.17101938282508233, -0.2791524052635128], "rgb": [47, 47, 47], "semantic_id": 5, "pcd_info": {"point_index": 1189}, "mesh_info": {"face_index": 2293, "face_uv": [0.6258472992846152, 0.36643130831094745, 0.007721392404482461]}}, {"xyz": [0.2179960512230578, -0.040833882698445345, -0.2726600977233056], "rgb": [51, 51, 51], "semantic_id": 6, "pcd_info": {"point_index": 185}, "mesh_info": {"face_index": 14107, "face_uv": [0.6401397897609921, 0.052623665016705005, 0.3072365452223037]}}, {"xyz": [0.189885399812323, -0.03155677106846255, 0.1078667730932823], "rgb": [49, 49, 49], "semantic_id": 7, "pcd_info": {"point_index": 1516}, "mesh_info": {"face_index": 14971, "face_uv": [0.04103996799749944, 0.15137406680594936, 0.8075859651965318]}}, {"xyz": [-0.21522090698783752, -0.034545312358973845, -0.2662261180509627], "rgb": [51, 51, 51], "semantic_id": 8, "pcd_info": {"point_index": 166}, "mesh_info": {"face_index": 775, "face_uv": [0.5632883072329372, 0.21652518529035236, 0.22018650747670906]}}, {"xyz": [-0.18116811089693144, -0.03233195127407518, 0.12404065338814427], "rgb": [52, 52, 52], "semantic_id": 9, "pcd_info": {"point_index": 1529}, "mesh_info": {"face_index": 878, "face_uv": [0.2270547757486676, 0.3872664542630104, 0.3856787699883438]}}, {"xyz": [0.1775332227332077, -0.4309059977531433, -0.2759948078394927], "rgb": [61, 61, 61], "semantic_id": 17, "pcd_info": {"point_index": 21}, "mesh_info": {"face_index": 16237, "face_uv": [0.21563887747909105, 0.7400056084687877, 0.04435551405212123]}}, {"xyz": [0.16893448649082665, -0.4309059977531433, 0.11043527512671314], "rgb": [61, 61, 61], "semantic_id": 18, "pcd_info": {"point_index": 1754}, "mesh_info": {"face_index": 25806, "face_uv": [0.4863019883463581, 0.2732604663470843, 0.24043754530655764]}}, {"xyz": [-0.1689618641970707, -0.4309059977531433, 0.11110476257742552], "rgb": [61, 61, 61], "semantic_id": 19, "pcd_info": {"point_index": 1551}, "mesh_info": {"face_index": 12464, "face_uv": [0.22110724014665065, 0.2605859325439822, 0.5183068273093672]}}, {"xyz": [-0.17957649380152546, -0.4309059977531431, -0.27818395732327794], "rgb": [60, 60, 60], "semantic_id": 20, "pcd_info": {"point_index": 236}, "mesh_info": {"face_index": 3341, "face_uv": [0.12452046408124197, 0.8342355959119726, 0.04124394000678486]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "342d41101756553eb3ad032acba61b79", "keypoints": [{"xyz": [0.2051108307266914, 0.2939792344313963, 0.05546416289000451], "rgb": [155, 115, 71], "semantic_id": 0, "pcd_info": {"point_index": 1976}, "mesh_info": {"face_index": 341, "face_uv": [0.17841146056204116, 0.31493078702614524, 0.5066577524118134]}}, {"xyz": [-0.19217277508808575, 0.29735167152372277, 0.05351539970038277], "rgb": [156, 116, 72], "semantic_id": 1, "pcd_info": {"point_index": 1222}, "mesh_info": {"face_index": 267, "face_uv": [0.01860294454761331, 0.5282696144294132, 0.45312744102297364]}}, {"xyz": [0.20273211589345858, -0.15980499982833862, 0.0034711110247572785], "rgb": [156, 116, 72], "semantic_id": 2, "pcd_info": {"point_index": 979}, "mesh_info": {"face_index": 253, "face_uv": [0.034436322177840484, 0.022789158302553843, 0.9427745195196057]}}, {"xyz": [-0.19216920493033987, -0.15980499982833862, 0.003185405255484719], "rgb": [156, 116, 72], "semantic_id": 3, "pcd_info": {"point_index": 1247}, "mesh_info": {"face_index": 19, "face_uv": [0.22579409564135394, 0.023656378691354684, 0.7505495256672914]}}, {"xyz": [0.20372293872625105, -0.15980499982833862, -0.303175568380525], "rgb": [155, 115, 72], "semantic_id": 4, "pcd_info": {"point_index": 1319}, "mesh_info": {"face_index": 239, "face_uv": [0.9284261935528909, 0.04642721343742958, 0.025146593009679453]}}, {"xyz": [-0.19628074064188236, -0.1598049998283384, -0.3051183687598847], "rgb": [155, 115, 71], "semantic_id": 5, "pcd_info": {"point_index": 1174}, "mesh_info": {"face_index": 134, "face_uv": [0.015426712076855338, 0.9594698886919412, 0.02510339923120212]}}, {"xyz": [0.1717640171074752, -0.43147099018096924, -0.2815355753325739], "rgb": [156, 115, 72], "semantic_id": 17, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 60, "face_uv": [0.5225147723969288, 0.4723140887599523, 0.005171138843118906]}}, {"xyz": [0.17349955305036918, -0.43147099018096924, 0.05909248041446863], "rgb": [156, 115, 71], "semantic_id": 18, "pcd_info": {"point_index": 1406}, "mesh_info": {"face_index": 92, "face_uv": [0.43636239242720315, 0.5033874608422839, 0.06025014673051287]}}, {"xyz": [-0.1754032324677115, -0.43147099018096924, 0.06031467830895937], "rgb": [156, 115, 72], "semantic_id": 19, "pcd_info": {"point_index": 229}, "mesh_info": {"face_index": 50, "face_uv": [0.42889546183626104, 0.5112410555614566, 0.05986348260228233]}}, {"xyz": [-0.1737197159099876, -0.43147099018096924, -0.2775634271418116], "rgb": [156, 115, 72], "semantic_id": 20, "pcd_info": {"point_index": 1510}, "mesh_info": {"face_index": 1, "face_uv": [0.4083574267569045, 0.5231081660863972, 0.06853440715669824]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c2e50f21663db36af8f5708c6c7585cb", "keypoints": [{"xyz": [0.17945000529289248, 0.2589004644764423, 0.15275563673269987], "rgb": [51, 19, 19], "semantic_id": 0, "pcd_info": {"point_index": 1816}, "mesh_info": {"face_index": 7670, "face_uv": [0.05082546006133149, 0.7900309555175266, 0.1591435844211421]}}, {"xyz": [-0.1814419955899344, 0.2729429669559058, 0.14990906530814097], "rgb": [50, 18, 18], "semantic_id": 1, "pcd_info": {"point_index": 1808}, "mesh_info": {"face_index": 7127, "face_uv": [0.19379012434191425, 0.15079346502820357, 0.6554164106298701]}}, {"xyz": [0.17724819665721203, -0.11303699761629127, 0.05564304398029185], "rgb": [51, 19, 19], "semantic_id": 2, "pcd_info": {"point_index": 1024}, "mesh_info": {"face_index": 7974, "face_uv": [0.23190698391737422, 0.006155134645101577, 0.7619378814375263]}}, {"xyz": [-0.17395191574097552, -0.11303699761629082, 0.051757984797211165], "rgb": [50, 18, 18], "semantic_id": 3, "pcd_info": {"point_index": 429}, "mesh_info": {"face_index": 8050, "face_uv": [0.5473703732930738, 0.4405612627950198, 0.012068363911904396]}}, {"xyz": [0.174867180445397, -0.11826161112461109, -0.2503480017185211], "rgb": [51, 19, 19], "semantic_id": 4, "pcd_info": {"point_index": 761}, "mesh_info": {"face_index": 7987, "face_uv": [0.012811242327846467, 0.857531623535904, 0.1296571341362496]}}, {"xyz": [-0.17295872096530182, -0.12756205100355822, -0.2503480017185211], "rgb": [51, 19, 19], "semantic_id": 5, "pcd_info": {"point_index": 1528}, "mesh_info": {"face_index": 7977, "face_uv": [0.014844830255990153, 0.4096839470403517, 0.5754712227036581]}}, {"xyz": [0.18465509927383136, 0.058006708012894315, -0.29844000935554527], "rgb": [51, 19, 19], "semantic_id": 6, "pcd_info": {"point_index": 1394}, "mesh_info": {"face_index": 3775, "face_uv": [0.25896868418255986, 0.3917411747006698, 0.34929014111677104]}}, {"xyz": [0.18433153718661913, 0.06708899885416031, 0.046406337674821385], "rgb": [51, 19, 19], "semantic_id": 7, "pcd_info": {"point_index": 1875}, "mesh_info": {"face_index": 3752, "face_uv": [0.0746574674528965, 0.09439948857095909, 0.8309430439761444]}}, {"xyz": [-0.20405039265854003, 0.06011047306919037, -0.29844000935554504], "rgb": [51, 19, 19], "semantic_id": 8, "pcd_info": {"point_index": 638}, "mesh_info": {"face_index": 485, "face_uv": [0.009801580006507821, 0.18918121757761022, 0.8010172024158819]}}, {"xyz": [-0.1864836276887932, 0.06708899885416031, 0.05791092063789294], "rgb": [51, 19, 19], "semantic_id": 9, "pcd_info": {"point_index": 913}, "mesh_info": {"face_index": 437, "face_uv": [0.28341308852029007, 0.0641873192820729, 0.6523995921976371]}}, {"xyz": [0.19004487030430622, -0.3499526860936162, -0.28367281413615864], "rgb": [51, 19, 19], "semantic_id": 17, "pcd_info": {"point_index": 1651}, "mesh_info": {"face_index": 6887, "face_uv": [0.49787945778259807, 0.23852988420971105, 0.26359065800769116]}}, {"xyz": [0.1863491131948036, -0.3505330143112857, 0.09032380407012441], "rgb": [50, 18, 18], "semantic_id": 18, "pcd_info": {"point_index": 618}, "mesh_info": {"face_index": 6877, "face_uv": [0.3967412527370843, 0.2137104497201455, 0.38954829754276993]}}, {"xyz": [-0.19873927562324717, -0.3417139444653068, 0.10174046244438964], "rgb": [51, 19, 19], "semantic_id": 19, "pcd_info": {"point_index": 980}, "mesh_info": {"face_index": 6085, "face_uv": [0.19281391884749208, 0.5908837796335438, 0.2163023015189643]}}, {"xyz": [-0.18171701548857383, -0.35003378411743014, -0.283567832730377], "rgb": [51, 19, 19], "semantic_id": 20, "pcd_info": {"point_index": 1051}, "mesh_info": {"face_index": 5790, "face_uv": [0.2983179905173824, 0.2350614898976674, 0.4666205195849504]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4ab439279e665e08410fc47639efb60", "keypoints": [{"xyz": [0.2047021023884158, 0.31500447730867576, 0.13048303348348145], "rgb": [209, 170, 108], "semantic_id": 0, "pcd_info": {"point_index": 1276}, "mesh_info": {"face_index": 4940, "face_uv": [0.4769702930408835, 0.09654772494088729, 0.4264819820182285]}}, {"xyz": [-0.21068598888261442, 0.3132228542411313, 0.127636658428665], "rgb": [195, 155, 94], "semantic_id": 1, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 4648, "face_uv": [0.5083313882657516, 0.32395716428854726, 0.1677114474457005]}}, {"xyz": [0.17991821300693994, -0.0501417271265433, 0.024216309308285666], "rgb": [184, 147, 88], "semantic_id": 2, "pcd_info": {"point_index": 958}, "mesh_info": {"face_index": 3355, "face_uv": [0.01104447251574073, 0.7923571148941605, 0.19659841259009858]}}, {"xyz": [-0.1782673131630262, -0.047680687164023405, 0.033541898204683784], "rgb": [213, 177, 112], "semantic_id": 3, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 1819, "face_uv": [0.6961013786334281, 0.14893492510148337, 0.15496369626508674]}}, {"xyz": [0.20037128950364283, -0.04102212769416713, -0.3166723145314392], "rgb": [205, 162, 101], "semantic_id": 4, "pcd_info": {"point_index": 503}, "mesh_info": {"face_index": 3093, "face_uv": [0.1378397333524382, 0.33518747264427845, 0.5269727940032835]}}, {"xyz": [-0.19773405301152447, -0.042571939566581785, -0.3172117944516699], "rgb": [171, 132, 71], "semantic_id": 5, "pcd_info": {"point_index": 1164}, "mesh_info": {"face_index": 1265, "face_uv": [0.37682392302593837, 0.575474661360545, 0.047701415613516804]}}, {"xyz": [0.19833856925755305, -0.4133803137395128, -0.313101016129667], "rgb": [99, 29, 9], "semantic_id": 17, "pcd_info": {"point_index": 335}, "mesh_info": {"face_index": 714, "face_uv": [0.1234649050305311, 0.3859147710421951, 0.49062032392727334]}}, {"xyz": [0.2001545715249716, -0.41339060541353345, 0.12883490223683408], "rgb": [93, 29, 11], "semantic_id": 18, "pcd_info": {"point_index": 264}, "mesh_info": {"face_index": 1056, "face_uv": [0.44722584533430865, 0.133173357829749, 0.419600796835936]}}, {"xyz": [-0.19740885947621986, -0.402558223707562, 0.1256010237561092], "rgb": [99, 32, 10], "semantic_id": 19, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 932, "face_uv": [0.3957764216883627, 0.5149838030453153, 0.0892397752663145]}}, {"xyz": [-0.20217388832741168, -0.4153246358549474, -0.31230667604363127], "rgb": [89, 28, 10], "semantic_id": 20, "pcd_info": {"point_index": 1262}, "mesh_info": {"face_index": 682, "face_uv": [0.22578950851693239, 0.07984774808217703, 0.6943627434008905]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "56b171b1f1521d27291d12adef12641b", "keypoints": [{"xyz": [0.19527178046754914, 0.36047300696372975, 0.15480118686177047], "rgb": [171, 154, 38], "semantic_id": 0, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 124, "face_uv": [0.41538257935388756, 0.5519141652560728, 0.03270325539003927]}}, {"xyz": [-0.19402607597287724, 0.36047300696372975, 0.15421398841237438], "rgb": [187, 165, 54], "semantic_id": 1, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 102, "face_uv": [0.40350894014186456, 0.4483642362221263, 0.14812682363600885]}}, {"xyz": [0.1555293647897274, -0.04358332121768127, 0.127251997590065], "rgb": [63, 55, 37], "semantic_id": 2, "pcd_info": {"point_index": 1702}, "mesh_info": {"face_index": 247, "face_uv": [0.04750268050808526, 0.11473860185516474, 0.83775871763675]}}, {"xyz": [-0.15417894386733094, -0.04194600135087967, 0.12044071760895902], "rgb": [52, 44, 36], "semantic_id": 3, "pcd_info": {"point_index": 572}, "mesh_info": {"face_index": 243, "face_uv": [0.026038695060955862, 0.9543818263547843, 0.019579478584259635]}}, {"xyz": [0.1643767883206429, -0.0470944772487511, -0.25376001000404347], "rgb": [105, 96, 53], "semantic_id": 4, "pcd_info": {"point_index": 1638}, "mesh_info": {"face_index": 253, "face_uv": [0.021595904130493084, 0.6392098219874797, 0.33919427388202683]}}, {"xyz": [-0.16593628635525645, -0.05084997392233065, -0.2537600100040436], "rgb": [144, 131, 57], "semantic_id": 5, "pcd_info": {"point_index": 1509}, "mesh_info": {"face_index": 252, "face_uv": [0.011190654541478343, 0.6239644339017955, 0.36484491155672616]}}, {"xyz": [0.1970952652183896, 0.10446004631439229, -0.24854857004985942], "rgb": [181, 160, 49], "semantic_id": 6, "pcd_info": {"point_index": 1362}, "mesh_info": {"face_index": 202, "face_uv": [0.5510661222213528, 0.15560224653188315, 0.2933316312467636]}}, {"xyz": [0.19927166186469253, 0.10935000330209732, 0.11545202039186941], "rgb": [249, 248, 241], "semantic_id": 7, "pcd_info": {"point_index": 1226}, "mesh_info": {"face_index": 215, "face_uv": [0.06014452798397636, 0.3876887258982025, 0.552166746117821]}}, {"xyz": [-0.19377074443385758, 0.10633952653767045, -0.2494809925556183], "rgb": [190, 169, 57], "semantic_id": 8, "pcd_info": {"point_index": 1453}, "mesh_info": {"face_index": 186, "face_uv": [0.4710958968665802, 0.09487405438305137, 0.43403004875036844]}}, {"xyz": [-0.19338260137831115, 0.10931800305843353, 0.11571462628841056], "rgb": [189, 167, 55], "semantic_id": 9, "pcd_info": {"point_index": 1815}, "mesh_info": {"face_index": 189, "face_uv": [0.05913547325543603, 0.5212630406392428, 0.41960148610532133]}}, {"xyz": [0.18207541935617996, -0.40726301074028015, -0.22404795825046397], "rgb": [181, 160, 47], "semantic_id": 17, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 92, "face_uv": [0.5159613650138186, 0.47912206154043935, 0.004916573445742126]}}, {"xyz": [0.17505144253168495, -0.40726301074028015, 0.13775250816890156], "rgb": [180, 159, 46], "semantic_id": 18, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 83, "face_uv": [0.45629536326874925, 0.43013263760720083, 0.11357199912404986]}}, {"xyz": [-0.17171147762726313, -0.40726301074028004, 0.13215304633207392], "rgb": [193, 175, 67], "semantic_id": 19, "pcd_info": {"point_index": 1847}, "mesh_info": {"face_index": 62, "face_uv": [0.4710437974798659, 0.4143381349226268, 0.114618067597507]}}, {"xyz": [-0.1781439612945824, -0.40726301074028026, -0.22530287685821038], "rgb": [192, 174, 66], "semantic_id": 20, "pcd_info": {"point_index": 335}, "mesh_info": {"face_index": 72, "face_uv": [0.4989179961674529, 0.49781292185652987, 0.0032690819760174787]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6455bf241fcbe3a03adc3470b30138f3", "keypoints": [{"xyz": [0.24865610184494827, 0.18270231312396668, 0.1331101421613783], "rgb": [204, 172, 108], "semantic_id": 0, "pcd_info": {"point_index": 1150}, "mesh_info": {"face_index": 458, "face_uv": [0.10055972465122777, 0.07191788712527687, 0.8275223882234967]}}, {"xyz": [-0.2532250156521628, 0.18194524687204217, 0.14288905878759706], "rgb": [192, 157, 95], "semantic_id": 1, "pcd_info": {"point_index": 768}, "mesh_info": {"face_index": 615, "face_uv": [0.7579445282586685, 0.0597831714956011, 0.18227230024572944]}}, {"xyz": [0.2361188288919391, -0.02935999573167858, 0.023172324069109518], "rgb": [201, 169, 105], "semantic_id": 2, "pcd_info": {"point_index": 157}, "mesh_info": {"face_index": 322, "face_uv": [0.7543113842607373, 0.2284544781295799, 0.01723413760968035]}}, {"xyz": [-0.22319278644584783, -0.0283474207911798, 0.04056515595906096], "rgb": [202, 169, 105], "semantic_id": 3, "pcd_info": {"point_index": 967}, "mesh_info": {"face_index": 144, "face_uv": [0.3888751053836172, 0.2834426275551314, 0.32768226706125025]}}, {"xyz": [0.23232952553649497, -0.04396356072625096, -0.3706037213453861], "rgb": [201, 165, 103], "semantic_id": 4, "pcd_info": {"point_index": 706}, "mesh_info": {"face_index": 46, "face_uv": [0.23670115253602772, 0.7235579129642402, 0.039740934499732684]}}, {"xyz": [-0.23095738539021116, -0.04618915798533241, -0.37251608798780944], "rgb": [201, 166, 101], "semantic_id": 5, "pcd_info": {"point_index": 1843}, "mesh_info": {"face_index": 42, "face_uv": [0.8155447521478676, 0.10762862849136401, 0.07682661936076725]}}, {"xyz": [0.2691782665959712, 0.08867823670053121, -0.4096438809619385], "rgb": [170, 170, 170], "semantic_id": 6, "pcd_info": {"point_index": 1557}, "mesh_info": {"face_index": 5863, "face_uv": [0.6364977330941186, 0.19808046987465458, 0.16542179703122797]}}, {"xyz": [0.2747215552790013, 0.11995698946642541, 0.03234519191493679], "rgb": [169, 169, 169], "semantic_id": 7, "pcd_info": {"point_index": 1983}, "mesh_info": {"face_index": 6276, "face_uv": [0.04592501477896603, 0.8790038957729672, 0.07507108944806577]}}, {"xyz": [-0.2700664711085137, 0.08337490082478771, -0.4144613208417627], "rgb": [170, 170, 170], "semantic_id": 8, "pcd_info": {"point_index": 351}, "mesh_info": {"face_index": 3279, "face_uv": [0.1185392954236464, 0.48289412945000043, 0.3985665751263544]}}, {"xyz": [-0.2660578224607146, 0.1175164154643431, 0.030109331133318262], "rgb": [169, 169, 169], "semantic_id": 9, "pcd_info": {"point_index": 53}, "mesh_info": {"face_index": 3626, "face_uv": [0.2708869098163476, 0.648380041948437, 0.0807330482352145]}}, {"xyz": [0.27192662024122277, -0.22701799869537354, -0.4313459320327656], "rgb": [170, 170, 170], "semantic_id": 17, "pcd_info": {"point_index": 1790}, "mesh_info": {"face_index": 5842, "face_uv": [0.4078915510112971, 0.5529257968222404, 0.0391826521664625]}}, {"xyz": [0.2749053930896068, -0.2271050065755844, 0.2428947786060881], "rgb": [170, 170, 170], "semantic_id": 18, "pcd_info": {"point_index": 858}, "mesh_info": {"face_index": 5138, "face_uv": [0.21891351634500042, 0.2754194921656326, 0.505666991489367]}}, {"xyz": [-0.27344310312450903, -0.2271050065755844, 0.24475212969378246], "rgb": [170, 170, 170], "semantic_id": 19, "pcd_info": {"point_index": 1702}, "mesh_info": {"face_index": 4093, "face_uv": [0.481807703918253, 0.33799910738596384, 0.18019318869578319]}}, {"xyz": [-0.27500305300858296, -0.2270179986953731, -0.4287835410770506], "rgb": [169, 169, 169], "semantic_id": 20, "pcd_info": {"point_index": 797}, "mesh_info": {"face_index": 2982, "face_uv": [0.33652892698124454, 0.1731258790346186, 0.49034519398413484]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fe6b3c001a86d844d5767a0de8dd037e", "keypoints": [{"xyz": [0.19247026972603942, 0.2493010014295578, 0.0722925859622571], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 716, "face_uv": [0.12475060184962188, 0.1941432590891271, 0.6811061390612511]}}, {"xyz": [-0.18664740247912012, 0.24930100142955758, 0.07419736689788758], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 636}, "mesh_info": {"face_index": 837, "face_uv": [0.25823125316246054, 0.4795019383804808, 0.2622668084570578]}}, {"xyz": [0.20603564677514286, -0.1368045717350994, 0.06894399970769904], "rgb": [170, 122, 74], "semantic_id": 2, "pcd_info": {"point_index": 356}, "mesh_info": {"face_index": 454, "face_uv": [0.01796442988088267, 0.9057989563160443, 0.07623661380307616]}}, {"xyz": [-0.2023563811209737, -0.13934475412574976, 0.0689439997076986], "rgb": [159, 107, 62], "semantic_id": 3, "pcd_info": {"point_index": 1214}, "mesh_info": {"face_index": 478, "face_uv": [0.004266737194851954, 0.14789634589373904, 0.8478369169114056]}}, {"xyz": [0.16764546548174378, -0.15238060382348972, -0.2834030091762543], "rgb": [160, 109, 63], "semantic_id": 4, "pcd_info": {"point_index": 613}, "mesh_info": {"face_index": 230, "face_uv": [0.33970027471322906, 0.07774617217396762, 0.5825535531128033]}}, {"xyz": [-0.1583811771271168, -0.15451016916920535, -0.27241249455602823], "rgb": [166, 139, 82], "semantic_id": 5, "pcd_info": {"point_index": 1847}, "mesh_info": {"face_index": 436, "face_uv": [0.8353347401468523, 0.028221619047768057, 0.1364436408053791]}}, {"xyz": [0.2055946989470599, 0.06385499984025955, -0.28230906285224444], "rgb": [162, 114, 65], "semantic_id": 6, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 536, "face_uv": [0.10371201926165731, 0.0028090528498178973, 0.8934789278885247]}}, {"xyz": [0.207669656812965, 0.06385499984025955, 0.09828334447343659], "rgb": [162, 114, 65], "semantic_id": 7, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 539, "face_uv": [0.03905676173867019, 0.019899682530803257, 0.9410435557305266]}}, {"xyz": [-0.2084765841584767, 0.06385499984025955, -0.28296392408530613], "rgb": [163, 115, 66], "semantic_id": 8, "pcd_info": {"point_index": 1659}, "mesh_info": {"face_index": 560, "face_uv": [0.9841155417675969, 0.0011274897122186395, 0.01475696852018455]}}, {"xyz": [-0.206769083861712, 0.06385499984025955, 0.10130413723546579], "rgb": [152, 100, 53], "semantic_id": 9, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 561, "face_uv": [0.05271499081064786, 0.012142842610372831, 0.9351421665789793]}}, {"xyz": [0.18581850925849175, -0.5663127945435462, -0.28340300917625416], "rgb": [164, 116, 68], "semantic_id": 17, "pcd_info": {"point_index": 1418}, "mesh_info": {"face_index": 15, "face_uv": [0.9156551605124011, 0.08298522791605976, 0.0013596115715387097]}}, {"xyz": [0.1840684435666084, -0.5628573947609226, 0.10603299736976624], "rgb": [165, 114, 67], "semantic_id": 18, "pcd_info": {"point_index": 176}, "mesh_info": {"face_index": 42, "face_uv": [0.11549747731222108, 0.007975773428329924, 0.876526749259449]}}, {"xyz": [-0.18306863876361004, -0.5705333593735173, 0.10139005041249996], "rgb": [163, 112, 64], "semantic_id": 19, "pcd_info": {"point_index": 245}, "mesh_info": {"face_index": 68, "face_uv": [0.0031127220399986676, 0.2503746753443332, 0.7465126026156683]}}, {"xyz": [-0.18578066083076505, -0.5678213388472864, -0.2776947258708825], "rgb": [163, 114, 65], "semantic_id": 20, "pcd_info": {"point_index": 1348}, "mesh_info": {"face_index": 140, "face_uv": [0.10652239834609958, 0.6921928946789209, 0.20128470697497944]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d015bbb45833955537b2bb75885cfc44", "keypoints": [{"xyz": [0.08190465883281622, 0.2829790090511011, 0.10563464678260415], "rgb": [255, 242, 204], "semantic_id": 0, "pcd_info": {"point_index": 1448}, "mesh_info": {"face_index": 708, "face_uv": [0.45255327832801623, 0.10234750385108979, 0.4450992178208957]}}, {"xyz": [-0.09798699314325893, 0.27819139083849004, 0.10371710207571327], "rgb": [254, 241, 203], "semantic_id": 1, "pcd_info": {"point_index": 254}, "mesh_info": {"face_index": 943, "face_uv": [0.6307726233338081, 0.36102498640482805, 0.008202390261356825]}}, {"xyz": [0.13376417781645433, 0.024697526696019434, 0.03070301015707866], "rgb": [254, 241, 203], "semantic_id": 2, "pcd_info": {"point_index": 1968}, "mesh_info": {"face_index": 2792, "face_uv": [0.3815683769225415, 0.1713354275266156, 0.4470961955508368]}}, {"xyz": [-0.15060345782139406, 0.025157891339627314, 0.02278253123067797], "rgb": [254, 241, 203], "semantic_id": 3, "pcd_info": {"point_index": 468}, "mesh_info": {"face_index": 2858, "face_uv": [0.4090423721403993, 0.19807608805953894, 0.392881539800058]}}, {"xyz": [0.170676871048, 0.020110758473386836, -0.20224087745499653], "rgb": [255, 242, 204], "semantic_id": 4, "pcd_info": {"point_index": 1263}, "mesh_info": {"face_index": 4162, "face_uv": [0.7742348580466717, 0.011426601184589413, 0.21433854076874187]}}, {"xyz": [-0.1866102280546123, 0.022936671928730945, -0.20372043915751048], "rgb": [254, 241, 203], "semantic_id": 5, "pcd_info": {"point_index": 178}, "mesh_info": {"face_index": 4211, "face_uv": [0.4410943781857417, 0.12108855108725808, 0.4378170707269951]}}, {"xyz": [0.18540526479041097, -0.45939800143241905, -0.23510619522668078], "rgb": [17, 14, 10], "semantic_id": 17, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 12366, "face_uv": [0.4322181769276456, 0.04244548271073309, 0.5253363403616218]}}, {"xyz": [0.18397546110006105, -0.4593980014324188, 0.12334881153950297], "rgb": [17, 14, 10], "semantic_id": 18, "pcd_info": {"point_index": 1721}, "mesh_info": {"face_index": 12928, "face_uv": [0.8395810675543325, 0.04064298307297289, 0.11977594937269462]}}, {"xyz": [-0.17884455702554497, -0.4593980014324188, 0.12183766876152682], "rgb": [17, 14, 10], "semantic_id": 19, "pcd_info": {"point_index": 1620}, "mesh_info": {"face_index": 12769, "face_uv": [0.27599474276141306, 0.023308295093875213, 0.7006969621447118]}}, {"xyz": [-0.18243198602046365, -0.4593980014324186, -0.23777769648165306], "rgb": [16, 13, 9], "semantic_id": 20, "pcd_info": {"point_index": 966}, "mesh_info": {"face_index": 12246, "face_uv": [0.17369675594528636, 0.3180738465389785, 0.5082293975157346]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cc6840207c0cf55db30e42459dcb06f", "keypoints": [{"xyz": [0.1911826479902159, 0.4197031610761588, 0.0973910868790232], "rgb": [171, 143, 116], "semantic_id": 0, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 52, "face_uv": [0.925988630055151, 0.015085356879547925, 0.058926013065300854]}}, {"xyz": [-0.17455652537392788, 0.41843832174928197, 0.09134715755554887], "rgb": [172, 144, 117], "semantic_id": 1, "pcd_info": {"point_index": 903}, "mesh_info": {"face_index": 81, "face_uv": [0.5121330576519322, 0.04564819683729813, 0.44221874551077]}}, {"xyz": [0.1859417331524813, 0.05000730584853841, 0.08064702176557659], "rgb": [172, 144, 117], "semantic_id": 2, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 664, "face_uv": [0.39641215313262707, 0.4921658137535739, 0.11142203311380404]}}, {"xyz": [-0.17874289860977774, 0.05021499842405319, 0.07883887758061536], "rgb": [172, 143, 116], "semantic_id": 3, "pcd_info": {"point_index": 1290}, "mesh_info": {"face_index": 949, "face_uv": [0.411110101272895, 0.5291006345145448, 0.05978926421256008]}}, {"xyz": [0.18302306615775754, 0.04928381289677808, -0.2794048292107463], "rgb": [172, 144, 117], "semantic_id": 4, "pcd_info": {"point_index": 708}, "mesh_info": {"face_index": 670, "face_uv": [0.6726578716155854, 0.17407857621517844, 0.15326355216924048]}}, {"xyz": [-0.17655181757332278, 0.050744464260481736, -0.2834046695353312], "rgb": [171, 143, 116], "semantic_id": 5, "pcd_info": {"point_index": 1485}, "mesh_info": {"face_index": 953, "face_uv": [0.07156080333687327, 0.8931736590508942, 0.03526553761223199]}}, {"xyz": [0.1858921649212789, -0.3362269997596743, -0.29601745803009283], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 2148, "face_uv": [0.3975861860510244, 0.038760126245001365, 0.563653687703975]}}, {"xyz": [0.18336804622095598, -0.3362269997596743, 0.16946090587570584], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 2202, "face_uv": [0.541340017850042, 0.028043492338313724, 0.43061648981164485]}}, {"xyz": [-0.1750469650431353, -0.3362269997596741, 0.17636448719981657], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1117}, "mesh_info": {"face_index": 3234, "face_uv": [0.4276043697193877, 0.014203113042446274, 0.558192517238166]}}, {"xyz": [-0.17493748493487674, -0.3362269997596741, -0.3093691099184522], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 549}, "mesh_info": {"face_index": 3180, "face_uv": [0.5697465760451029, 0.011992580867373683, 0.4182608430875234]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fd43278c60023763d4da89766e80607a", "keypoints": [{"xyz": [0.15837551398234803, 0.35685202667180915, 0.13914673358540885], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1863}, "mesh_info": {"face_index": 1722, "face_uv": [0.0612698067813204, 0.006746459520728108, 0.9319837336979521]}}, {"xyz": [-0.14841638039601143, 0.35789422381876634, 0.13916118709660497], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 79}, "mesh_info": {"face_index": 1683, "face_uv": [0.949821998776837, 0.02212774350810107, 0.028050257715058816]}}, {"xyz": [0.1496606938598541, -0.03683599829673767, 0.11852241050817014], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 868}, "mesh_info": {"face_index": 734, "face_uv": [0.7354896609968302, 0.05253779072543236, 0.21197254827773748]}}, {"xyz": [-0.14809200716326318, -0.03683599829673767, 0.106791998403029], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1359}, "mesh_info": {"face_index": 670, "face_uv": [0.17162915155610337, 0.0864172018121319, 0.7419536466317647]}}, {"xyz": [0.16263549658755003, -0.03683599829673745, -0.1860582845058475], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 736}, "mesh_info": {"face_index": 621, "face_uv": [0.40838626648219284, 0.5314019514097086, 0.060211782108092506]}}, {"xyz": [-0.16277858401791753, -0.03683599829673767, -0.1911229445210807], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 562, "face_uv": [0.04625522099050374, 0.3064130599603172, 0.6473317190491791]}}, {"xyz": [0.19904665911304703, 0.07897000014781952, -0.19615801961235468], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1630}, "mesh_info": {"face_index": 586, "face_uv": [0.9075612688224356, 0.07443063436453146, 0.018008096813032903]}}, {"xyz": [0.18485925415165588, 0.07897000014781952, 0.07699457668696486], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1724}, "mesh_info": {"face_index": 827, "face_uv": [0.09732494566453366, 0.016237313380477812, 0.8864377409549885]}}, {"xyz": [-0.19478435473812436, 0.07897000014781952, -0.1996984997036807], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1416}, "mesh_info": {"face_index": 965, "face_uv": [0.01610579315345635, 0.9746260636904199, 0.009268143156123827]}}, {"xyz": [-0.18098373366854295, 0.07897000014781952, 0.07495352924852228], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 64}, "mesh_info": {"face_index": 1060, "face_uv": [0.9770898343308863, 0.01645837184097444, 0.006451793828139313]}}, {"xyz": [0.20595451659831698, -0.41685399413108826, -0.20347028208497364], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 551}, "mesh_info": {"face_index": 1905, "face_uv": [0.5399094783819703, 0.0948408280045235, 0.3652496936135062]}}, {"xyz": [0.18470816946054977, -0.4167410454419178, 0.22338705975941736], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 2044, "face_uv": [0.021603757837395828, 0.4304984229312025, 0.5478978192314015]}}, {"xyz": [-0.18481746596899723, -0.4167416166687523, 0.22402184290382182], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 168}, "mesh_info": {"face_index": 1713, "face_uv": [0.22015547384644377, 0.23756907404933636, 0.5422754521042197]}}, {"xyz": [-0.19943690562361477, -0.41685399413108826, -0.20484545943573304], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1008}, "mesh_info": {"face_index": 863, "face_uv": [0.36136603608044093, 0.3750595571907309, 0.26357440672882815]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4719c75b8ce30de84b3c42e318f3affc", "keypoints": [{"xyz": [0.2575078866960469, 0.49366500973701477, 0.4319073778195894], "rgb": [119, 105, 92], "semantic_id": 0, "pcd_info": {"point_index": 788}, "mesh_info": {"face_index": 1156, "face_uv": [0.452252808609029, 0.5408507606606331, 0.006896430730337777]}}, {"xyz": [-0.23985681138405984, 0.49366500973701477, 0.4271097364218233], "rgb": [119, 105, 92], "semantic_id": 1, "pcd_info": {"point_index": 850}, "mesh_info": {"face_index": 1157, "face_uv": [0.47576026449426856, 0.5130826011416401, 0.01115713436409128]}}, {"xyz": [0.1803792626050169, 0.19643099606037118, 0.2990041039474445], "rgb": [90, 78, 66], "semantic_id": 2, "pcd_info": {"point_index": 2044}, "mesh_info": {"face_index": 1308, "face_uv": [0.16556417087317352, 0.8140520312675738, 0.020383797859251648]}}, {"xyz": [-0.16063895459410932, 0.19643099606037118, 0.31120777770980546], "rgb": [88, 76, 64], "semantic_id": 3, "pcd_info": {"point_index": 1788}, "mesh_info": {"face_index": 1309, "face_uv": [0.7950369037527523, 0.15918540909586568, 0.04577768715138092]}}, {"xyz": [0.16903615791730292, 0.18780914027963624, -0.07220199704170227], "rgb": [120, 106, 93], "semantic_id": 4, "pcd_info": {"point_index": 186}, "mesh_info": {"face_index": 1311, "face_uv": [0.08685433427219452, 0.05144556377880884, 0.8617001019489967]}}, {"xyz": [-0.15716837183169516, 0.17597916104133615, -0.07220199704170227], "rgb": [112, 98, 85], "semantic_id": 5, "pcd_info": {"point_index": 209}, "mesh_info": {"face_index": 1303, "face_uv": [0.1507449981928133, 0.055281472255940885, 0.7939735295512454]}}, {"xyz": [0.23788975514771676, 0.3524456381782055, 0.04031376163955347], "rgb": [89, 76, 64], "semantic_id": 6, "pcd_info": {"point_index": 736}, "mesh_info": {"face_index": 961, "face_uv": [0.12575601605827452, 0.6424463003985972, 0.23179768354312844]}}, {"xyz": [0.24440031943072432, 0.36454867812852054, 0.3753813212875241], "rgb": [82, 70, 58], "semantic_id": 7, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 116, "face_uv": [0.02452352929330772, 0.40399740859540295, 0.5714790621112896]}}, {"xyz": [-0.23271312791808663, 0.35432974007564755, 0.04040911711405626], "rgb": [94, 82, 70], "semantic_id": 8, "pcd_info": {"point_index": 1279}, "mesh_info": {"face_index": 922, "face_uv": [0.1011468669664604, 0.33469822057177756, 0.5641549124617607]}}, {"xyz": [-0.2367214897626866, 0.36264326735484986, 0.3794913294357859], "rgb": [100, 86, 75], "semantic_id": 9, "pcd_info": {"point_index": 297}, "mesh_info": {"face_index": 407, "face_uv": [0.01254770071314346, 0.42157423860329857, 0.5658780606835587]}}, {"xyz": [0.2245104920742798, -0.11462266901829743, -0.03442724427321858], "rgb": [94, 89, 62], "semantic_id": 17, "pcd_info": {"point_index": 107}, "mesh_info": {"face_index": 4452, "face_uv": [0.3593589844233785, 0.10566087517678566, 0.5349801403998353]}}, {"xyz": [0.23969634531373923, -0.11940299719572067, 0.43049750220464866], "rgb": [119, 105, 92], "semantic_id": 18, "pcd_info": {"point_index": 404}, "mesh_info": {"face_index": 34, "face_uv": [0.05513294867622752, 0.7257673337587803, 0.21909971756499216]}}, {"xyz": [-0.2024540622049213, -0.11940299719572067, 0.4336929641475421], "rgb": [115, 101, 88], "semantic_id": 19, "pcd_info": {"point_index": 25}, "mesh_info": {"face_index": 22, "face_uv": [0.10589201329491492, 0.6132985285885749, 0.2808094581165102]}}, {"xyz": [-0.2160905149668152, -0.11786347055640123, -0.04089900106191641], "rgb": [130, 124, 98], "semantic_id": 20, "pcd_info": {"point_index": 1044}, "mesh_info": {"face_index": 1352, "face_uv": [0.01891820040172095, 0.46888543695765217, 0.5121963626406283]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a559b02ec38b9995c5fdf6b0c2c57721", "keypoints": [{"xyz": [0.16652088408747534, 0.3561174118402154, 0.15326711125091785], "rgb": [102, 67, 48], "semantic_id": 0, "pcd_info": {"point_index": 1185}, "mesh_info": {"face_index": 18996, "face_uv": [0.0907072424842077, 0.41757881468474883, 0.4917139428310428]}}, {"xyz": [-0.17128187897443398, 0.3623974289143661, 0.1543979711375707], "rgb": [102, 67, 48], "semantic_id": 1, "pcd_info": {"point_index": 1810}, "mesh_info": {"face_index": 13507, "face_uv": [0.10820814491268366, 0.16971315025308872, 0.7220787048342262]}}, {"xyz": [0.1591364889361076, 0.09328799694776535, 0.11495314611493557], "rgb": [174, 99, 96], "semantic_id": 2, "pcd_info": {"point_index": 742}, "mesh_info": {"face_index": 11139, "face_uv": [0.9523707489781242, 0.009637260617835021, 0.03799199040404085]}}, {"xyz": [-0.17254995077832516, 0.09174444827611428, 0.1265160343145253], "rgb": [150, 89, 83], "semantic_id": 3, "pcd_info": {"point_index": 1082}, "mesh_info": {"face_index": 10909, "face_uv": [0.4633356844570992, 0.5190010812021576, 0.017663234340744]}}, {"xyz": [0.1672821506561011, 0.08279239788735193, -0.21774600446224213], "rgb": [148, 85, 88], "semantic_id": 4, "pcd_info": {"point_index": 1542}, "mesh_info": {"face_index": 10684, "face_uv": [0.009538587730339037, 0.7915642299858072, 0.19889718228385372]}}, {"xyz": [-0.17374667564690105, 0.06581443658405095, -0.224363869816405], "rgb": [103, 68, 49], "semantic_id": 5, "pcd_info": {"point_index": 1295}, "mesh_info": {"face_index": 18866, "face_uv": [0.04243677503230411, 0.3885404587844413, 0.5690227661832558]}}, {"xyz": [0.22171944317771897, -0.40556464530420056, -0.03552173085776267], "rgb": [103, 68, 49], "semantic_id": 17, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 41843, "face_uv": [0.2842168706896232, 0.2890308740015172, 0.4267522553088597]}}, {"xyz": [0.0008488294176269839, -0.4051840007305143, 0.15939792962475302], "rgb": [102, 67, 48], "semantic_id": 18, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 37077, "face_uv": [0.5889975883812766, 0.17662007902063745, 0.23438233259808547]}}, {"xyz": [-0.21342337958192265, -0.40518400073051475, -0.03436725641971548], "rgb": [103, 68, 49], "semantic_id": 19, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 46964, "face_uv": [0.18676061768626973, 0.19889828974634302, 0.6143410925673878]}}, {"xyz": [-0.0009881770126153322, -0.4051840007305145, -0.24275881113104208], "rgb": [103, 68, 49], "semantic_id": 20, "pcd_info": {"point_index": 511}, "mesh_info": {"face_index": 32514, "face_uv": [0.1779648802427829, 0.3742715152498386, 0.4477636045073785]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9d229e34818effff07d3e3c7bfacb95", "keypoints": [{"xyz": [0.1476092572866613, 0.21056046711446696, 0.0005347212576309879], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1739}, "mesh_info": {"face_index": 633, "face_uv": [0.4254972004435355, 0.5614274498881056, 0.013075349668358707]}}, {"xyz": [-0.163399797274661, 0.20423770151650578, -0.010097751764444357], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1569}, "mesh_info": {"face_index": 1365, "face_uv": [0.31351813578345705, 0.6690392160083356, 0.017442648208208077]}}, {"xyz": [0.17161441522256637, -0.20520499348640442, -0.046159904510819194], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 2015}, "mesh_info": {"face_index": 31, "face_uv": [0.38817524836644846, 0.010478604684965781, 0.6013461469485858]}}, {"xyz": [-0.1825732678566203, -0.20520499348640442, -0.04685914315213735], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 82, "face_uv": [0.6508805542271643, 0.012658038441721626, 0.33646140733111407]}}, {"xyz": [0.19333261894997134, -0.20520499348640442, -0.34141704511192655], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 424}, "mesh_info": {"face_index": 23, "face_uv": [0.8955055622736897, 0.06924419505019147, 0.03525024267611884]}}, {"xyz": [-0.18221534751744886, -0.20520499348640442, -0.34217810988911507], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 885, "face_uv": [0.9301813005694446, 0.06687205745871679, 0.002946641971838482]}}, {"xyz": [0.16762479743745334, -0.5571240186691284, -0.32664772060649055], "rgb": [68, 56, 50], "semantic_id": 17, "pcd_info": {"point_index": 1479}, "mesh_info": {"face_index": 1, "face_uv": [0.39121245238141866, 0.4373591939451988, 0.17142835367338252]}}, {"xyz": [0.14853016074374567, -0.5571240186691284, 0.016718137701804636], "rgb": [175, 159, 156], "semantic_id": 18, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 5, "face_uv": [0.3958104731061818, 0.597047572471118, 0.007141954422700219]}}, {"xyz": [-0.1443987946486614, -0.5571240186691284, 0.01511175447735058], "rgb": [48, 39, 36], "semantic_id": 19, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 7, "face_uv": [0.2550287672987467, 0.41942815288271773, 0.32554307981853564]}}, {"xyz": [-0.16543574180474485, -0.5571240186691284, -0.3224424564499424], "rgb": [158, 144, 135], "semantic_id": 20, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 2, "face_uv": [0.4320091299840117, 0.5129126268092062, 0.055078243206782014]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d5bd619acad1bed3d2b12aa6a0f050b3", "keypoints": [{"xyz": [0.4113779565787672, 0.1743500525220003, 0.13684658464262645], "rgb": [224, 224, 199], "semantic_id": 0, "pcd_info": {"point_index": 353}, "mesh_info": {"face_index": 27962, "face_uv": [0.10807055289620844, 0.05905195443557741, 0.8328774926682129]}}, {"xyz": [-0.40847281611300057, 0.17166029553223217, 0.13680052778644874], "rgb": [225, 225, 200], "semantic_id": 1, "pcd_info": {"point_index": 665}, "mesh_info": {"face_index": 53610, "face_uv": [0.32439215210269523, 0.0017909546266954817, 0.6738168932706093]}}, {"xyz": [0.391735287483229, -0.0222152196421177, 0.053603896049339905], "rgb": [79, 79, 79], "semantic_id": 2, "pcd_info": {"point_index": 63}, "mesh_info": {"face_index": 40856, "face_uv": [0.009332266979429148, 0.2208547756793158, 0.7698129573412495]}}, {"xyz": [-0.39852127603761733, -0.02609817892936328, 0.049388420810587697], "rgb": [80, 80, 80], "semantic_id": 3, "pcd_info": {"point_index": 751}, "mesh_info": {"face_index": 40861, "face_uv": [0.044007568616866194, 0.006918508834416704, 0.9490739225487184]}}, {"xyz": [0.4109590053558349, -0.026617480680998007, -0.11590386221274053], "rgb": [224, 224, 199], "semantic_id": 4, "pcd_info": {"point_index": 153}, "mesh_info": {"face_index": 9656, "face_uv": [0.17168942700820475, 0.8130285804219922, 0.015281992569802885]}}, {"xyz": [-0.39820810417350294, -0.025709346899897456, -0.12504421834434973], "rgb": [224, 224, 199], "semantic_id": 5, "pcd_info": {"point_index": 740}, "mesh_info": {"face_index": 30328, "face_uv": [0.8149920861365914, 0.01429514111018345, 0.17071277275320734]}}, {"xyz": [0.4128287555697788, 0.08615672178962575, -0.11233705771498725], "rgb": [224, 224, 199], "semantic_id": 6, "pcd_info": {"point_index": 876}, "mesh_info": {"face_index": 24314, "face_uv": [0.26078392248498056, 0.2951430792131268, 0.44407299830189084]}}, {"xyz": [0.42327636095769894, 0.0464412503881515, 0.05489042856334082], "rgb": [225, 225, 200], "semantic_id": 7, "pcd_info": {"point_index": 174}, "mesh_info": {"face_index": 18087, "face_uv": [0.13535169575498443, 0.34025783553043165, 0.5243904687145848]}}, {"xyz": [-0.41622826840887633, 0.08577187482438697, -0.11343686218862942], "rgb": [225, 225, 200], "semantic_id": 8, "pcd_info": {"point_index": 667}, "mesh_info": {"face_index": 83230, "face_uv": [0.029039151759962297, 0.1988040522262259, 0.7721567960138122]}}, {"xyz": [-0.4177064128137613, 0.03928208938723676, 0.06907097765695608], "rgb": [225, 225, 200], "semantic_id": 9, "pcd_info": {"point_index": 778}, "mesh_info": {"face_index": 79308, "face_uv": [0.5998880721679231, 0.139291823378154, 0.26082010445392634]}}, {"xyz": [0.41793196669132093, -0.21710748180692896, -0.13351873543034376], "rgb": [224, 224, 199], "semantic_id": 17, "pcd_info": {"point_index": 8}, "mesh_info": {"face_index": 14321, "face_uv": [0.6346684632442158, 0.02437278589595019, 0.3409587508598332]}}, {"xyz": [0.4135209554609347, -0.21701830172187275, 0.11094287505765477], "rgb": [224, 224, 199], "semantic_id": 18, "pcd_info": {"point_index": 277}, "mesh_info": {"face_index": 24121, "face_uv": [0.36225090644532865, 0.2422956628660805, 0.39545343068858974]}}, {"xyz": [-0.41844066686203296, -0.2173514168762387, 0.11382421558925926], "rgb": [225, 225, 200], "semantic_id": 19, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 83923, "face_uv": [0.2953952194958055, 0.07245111208688663, 0.6321536684173078]}}, {"xyz": [-0.42108700448486525, -0.21710189154071724, -0.13797584773480231], "rgb": [224, 224, 199], "semantic_id": 20, "pcd_info": {"point_index": 1637}, "mesh_info": {"face_index": 74933, "face_uv": [0.47402361858500836, 0.030536613519963115, 0.4954397678950278]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e8089df5cd0f9a573a3e9361d5a49edf", "keypoints": [{"xyz": [0.18984214979635777, 0.3261969024121214, 0.03796600177884102], "rgb": [159, 113, 61], "semantic_id": 0, "pcd_info": {"point_index": 1445}, "mesh_info": {"face_index": 20, "face_uv": [0.9780943222813426, 0.004936948697766169, 0.016968729020891173]}}, {"xyz": [-0.19829052459761892, 0.3229773666007811, 0.03796600177884102], "rgb": [149, 100, 60], "semantic_id": 1, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 945, "face_uv": [0.4559967016923963, 0.007267160990842964, 0.5367361373167606]}}, {"xyz": [0.21198198429474086, -0.15296873017007473, 0.03796600177884102], "rgb": [163, 115, 69], "semantic_id": 2, "pcd_info": {"point_index": 938}, "mesh_info": {"face_index": 288, "face_uv": [0.02021217875485487, 0.9724560496219175, 0.007331771623227557]}}, {"xyz": [-0.21267829982166003, -0.14752943280636233, 0.03796600177884102], "rgb": [161, 110, 60], "semantic_id": 3, "pcd_info": {"point_index": 53}, "mesh_info": {"face_index": 878, "face_uv": [0.006084283375119294, 0.898595470343228, 0.09532024628165281]}}, {"xyz": [0.20120950676708665, -0.15642436885752553, -0.34472545330536297], "rgb": [147, 99, 52], "semantic_id": 4, "pcd_info": {"point_index": 623}, "mesh_info": {"face_index": 814, "face_uv": [0.2540636806477107, 0.009194139406084708, 0.736742179946205]}}, {"xyz": [-0.19164193059106763, -0.15646025852418832, -0.3506595245996589], "rgb": [139, 86, 45], "semantic_id": 5, "pcd_info": {"point_index": 1956}, "mesh_info": {"face_index": 1826, "face_uv": [0.050745996035970214, 0.00931499306266606, 0.9399390109013636]}}, {"xyz": [0.19181783885838433, -0.4506619870662689, -0.3207276975903848], "rgb": [153, 103, 56], "semantic_id": 17, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 722, "face_uv": [0.13709294055033813, 0.3745387693040475, 0.48836829014561434]}}, {"xyz": [0.1952824231212934, -0.4506619870662689, 0.07112360287515584], "rgb": [159, 106, 58], "semantic_id": 18, "pcd_info": {"point_index": 1335}, "mesh_info": {"face_index": 674, "face_uv": [0.10691149702597237, 0.3669394855202115, 0.5261490174538161]}}, {"xyz": [-0.19445963847821035, -0.4506619870662689, 0.07170764353708092], "rgb": [157, 103, 54], "semantic_id": 19, "pcd_info": {"point_index": 1477}, "mesh_info": {"face_index": 1776, "face_uv": [0.2667166133009213, 0.3570184340423866, 0.3762649526566922]}}, {"xyz": [-0.20545013991988015, -0.4479795572474239, -0.34092452580504706], "rgb": [160, 110, 71], "semantic_id": 20, "pcd_info": {"point_index": 1325}, "mesh_info": {"face_index": 754, "face_uv": [0.009032723964132485, 0.7206368188223045, 0.27033045721356275]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d601777b8862bdc8b04cb542e2c50eb4", "keypoints": [{"xyz": [0.24404278391003686, 0.45711508652971644, 0.24556004086562244], "rgb": [102, 51, 0], "semantic_id": 0, "pcd_info": {"point_index": 1672}, "mesh_info": {"face_index": 1723, "face_uv": [0.2127641275182741, 0.10069467073057396, 0.6865412017511523]}}, {"xyz": [-0.24348621020468442, 0.4563602377435627, 0.24448142822739438], "rgb": [101, 50, 0], "semantic_id": 1, "pcd_info": {"point_index": 1568}, "mesh_info": {"face_index": 1738, "face_uv": [0.6155272162112213, 0.26560270869923536, 0.11887007508954266]}}, {"xyz": [0.24505107457880815, 0.10077398129351844, 0.127175629690659], "rgb": [102, 51, 0], "semantic_id": 2, "pcd_info": {"point_index": 1195}, "mesh_info": {"face_index": 1520, "face_uv": [0.021199030628603358, 0.5564551760809787, 0.42234579329043764]}}, {"xyz": [-0.24864270652920595, 0.10479702609467201, 0.13280425627332915], "rgb": [101, 50, 0], "semantic_id": 3, "pcd_info": {"point_index": 656}, "mesh_info": {"face_index": 1639, "face_uv": [0.9909022793549952, 0.008070802738001155, 0.0010269179070012337]}}, {"xyz": [0.24055221430024504, 0.14308795048266565, -0.2656696011767645], "rgb": [102, 51, 0], "semantic_id": 4, "pcd_info": {"point_index": 236}, "mesh_info": {"face_index": 1541, "face_uv": [0.0783244696286319, 0.7617473211247956, 0.15992820924657264]}}, {"xyz": [-0.24555278751037754, 0.14067835277597585, -0.2689624527373038], "rgb": [102, 51, 0], "semantic_id": 5, "pcd_info": {"point_index": 1377}, "mesh_info": {"face_index": 1816, "face_uv": [0.5101752945496996, 0.4470016917951445, 0.042823013655156575]}}, {"xyz": [0.22494840406635308, -0.1884038370714134, -0.2047247653192883], "rgb": [197, 197, 197], "semantic_id": 17, "pcd_info": {"point_index": 1664}, "mesh_info": {"face_index": 3384, "face_uv": [0.014710283239904857, 0.6082230336928333, 0.37706668306725755]}}, {"xyz": [0.23113920857527975, -0.18737066037824887, 0.19192580922789682], "rgb": [198, 198, 198], "semantic_id": 18, "pcd_info": {"point_index": 436}, "mesh_info": {"face_index": 2342, "face_uv": [0.12262221870180896, 0.3907390574276921, 0.48663872387053203]}}, {"xyz": [-0.22224282577949006, -0.19138528997427606, 0.19162379450355327], "rgb": [251, 255, 230], "semantic_id": 19, "pcd_info": {"point_index": 1301}, "mesh_info": {"face_index": 1974, "face_uv": [0.5269980468361846, 0.17820105262521727, 0.2948009005385987]}}, {"xyz": [-0.22481679315915093, -0.1888692820693021, -0.20421440169711436], "rgb": [197, 197, 197], "semantic_id": 20, "pcd_info": {"point_index": 330}, "mesh_info": {"face_index": 360, "face_uv": [0.00972501107041521, 0.4683553334227225, 0.521919655506856]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9f6a7ac15495575f6672e04a03e08d1", "keypoints": [{"xyz": [0.14704841584233472, 0.5490626526874106, 0.029274101026086186], "rgb": [174, 109, 43], "semantic_id": 0, "pcd_info": {"point_index": 71}, "mesh_info": {"face_index": 5904, "face_uv": [0.3801886734633986, 0.5428016170399648, 0.07700970949662769]}}, {"xyz": [-0.14645467575106488, 0.5471274066556978, 0.02919408862469597], "rgb": [173, 102, 36], "semantic_id": 1, "pcd_info": {"point_index": 354}, "mesh_info": {"face_index": 5611, "face_uv": [0.5386412748622579, 0.37215057493891784, 0.08920815019881415]}}, {"xyz": [0.13196148087963944, 0.10741992387983723, 0.050562674435255195], "rgb": [181, 108, 45], "semantic_id": 2, "pcd_info": {"point_index": 1576}, "mesh_info": {"face_index": 5218, "face_uv": [0.02573308630902358, 0.6730138492483075, 0.30125306444266314]}}, {"xyz": [-0.134755716326647, 0.1014152228320424, 0.05218223069986394], "rgb": [174, 107, 45], "semantic_id": 3, "pcd_info": {"point_index": 508}, "mesh_info": {"face_index": 5492, "face_uv": [0.25098131264016565, 0.009962450898201296, 0.739056236461635]}}, {"xyz": [0.15068169919233904, 0.09762199968099594, -0.20610446508168812], "rgb": [186, 111, 46], "semantic_id": 4, "pcd_info": {"point_index": 36}, "mesh_info": {"face_index": 1061, "face_uv": [0.012787096228692934, 0.9847107892375793, 0.0025021145337277254]}}, {"xyz": [-0.1399024919584978, 0.09762199968099594, -0.2051449746295697], "rgb": [173, 94, 35], "semantic_id": 5, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 1061, "face_uv": [0.9619753771870421, 0.03182638871310027, 0.006198234099857733]}}, {"xyz": [0.13829742479133544, -0.2995069921016693, -0.1725496710968882], "rgb": [178, 106, 45], "semantic_id": 17, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 1792, "face_uv": [0.4936629777196433, 0.38297465104911144, 0.1233623712312454]}}, {"xyz": [0.13754262266747252, -0.2995069921016693, 0.06608491436242953], "rgb": [178, 109, 44], "semantic_id": 18, "pcd_info": {"point_index": 1923}, "mesh_info": {"face_index": 5101, "face_uv": [0.14934535986717612, 0.39390491319345683, 0.45674972693936705]}}, {"xyz": [-0.13707300101207126, -0.29950699210166953, 0.06386157926273917], "rgb": [174, 104, 35], "semantic_id": 19, "pcd_info": {"point_index": 1974}, "mesh_info": {"face_index": 1825, "face_uv": [0.49163749324758604, 0.23464022269377435, 0.2737222840586403]}}, {"xyz": [-0.1362951220080454, -0.2995069921016693, -0.17358021018613828], "rgb": [176, 103, 43], "semantic_id": 20, "pcd_info": {"point_index": 833}, "mesh_info": {"face_index": 5118, "face_uv": [0.16116695079962357, 0.3091537409597927, 0.5296793082405837]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "23b0da45f23e5fb4f4b6538438a0b930", "keypoints": [{"xyz": [0.1477484787183586, 0.3052147419292105, 0.16881204654775517], "rgb": [255, 218, 152], "semantic_id": 0, "pcd_info": {"point_index": 142}, "mesh_info": {"face_index": 3192, "face_uv": [0.011101276933276559, 0.7676389511118931, 0.2212597719548306]}}, {"xyz": [-0.13366669073684073, 0.2993525393086828, 0.1659373414891825], "rgb": [254, 218, 147], "semantic_id": 1, "pcd_info": {"point_index": 1859}, "mesh_info": {"face_index": 319, "face_uv": [0.5141138331369249, 0.00847984102247748, 0.47740632584059733]}}, {"xyz": [0.20668326717296348, -0.018571408102105558, 0.0506113801413024], "rgb": [253, 219, 152], "semantic_id": 2, "pcd_info": {"point_index": 621}, "mesh_info": {"face_index": 14028, "face_uv": [0.6487170872184097, 0.027598752032954595, 0.3236841607486333]}}, {"xyz": [-0.1909281125166618, -0.018056658807281023, 0.05322235610343207], "rgb": [250, 220, 159], "semantic_id": 3, "pcd_info": {"point_index": 1255}, "mesh_info": {"face_index": 15685, "face_uv": [0.5727960666210692, 0.015886973740300882, 0.4113169596386303]}}, {"xyz": [0.20945119624078123, 0.018200558180028636, -0.24047941081020285], "rgb": [255, 219, 146], "semantic_id": 4, "pcd_info": {"point_index": 781}, "mesh_info": {"face_index": 15199, "face_uv": [0.29607804986514824, 0.6834650854051613, 0.020456864729692593]}}, {"xyz": [-0.1905255651624841, 0.018426245493025073, -0.2451344475995373], "rgb": [250, 219, 156], "semantic_id": 5, "pcd_info": {"point_index": 1778}, "mesh_info": {"face_index": 15838, "face_uv": [0.7318780952172332, 0.25904865939628346, 0.009073245386479953]}}, {"xyz": [0.24802469632873198, 0.14038065211538853, -0.07155927173575266], "rgb": [253, 215, 145], "semantic_id": 6, "pcd_info": {"point_index": 1929}, "mesh_info": {"face_index": 17763, "face_uv": [0.3818569056770459, 0.5791646837445804, 0.038978410578374485]}}, {"xyz": [0.24444361094222494, 0.14151008644603613, 0.14983390049434886], "rgb": [254, 218, 145], "semantic_id": 7, "pcd_info": {"point_index": 93}, "mesh_info": {"face_index": 21669, "face_uv": [0.19516262117825822, 0.3053899112946519, 0.4994474675270895]}}, {"xyz": [-0.23638540281845083, 0.13809560344863314, -0.07516221877678247], "rgb": [253, 218, 143], "semantic_id": 8, "pcd_info": {"point_index": 1824}, "mesh_info": {"face_index": 24669, "face_uv": [0.15936355017823695, 0.5603827685226457, 0.2802536812991181]}}, {"xyz": [-0.22817777148758994, 0.138562566816111, 0.154724889983575], "rgb": [250, 212, 137], "semantic_id": 9, "pcd_info": {"point_index": 1933}, "mesh_info": {"face_index": 1931, "face_uv": [0.41962696900483665, 0.38286722780160476, 0.19750580319355962]}}, {"xyz": [0.23865132543455672, -0.31208199262619063, -0.2620662245876285], "rgb": [254, 217, 143], "semantic_id": 17, "pcd_info": {"point_index": 230}, "mesh_info": {"face_index": 18369, "face_uv": [0.4352927572567442, 0.3155413932732395, 0.24916584947001771]}}, {"xyz": [0.2104265773565829, -0.3120819926261902, 0.23508797105845058], "rgb": [255, 215, 139], "semantic_id": 18, "pcd_info": {"point_index": 1981}, "mesh_info": {"face_index": 23923, "face_uv": [0.10579515390758672, 0.2789229816423021, 0.6152818644501111]}}, {"xyz": [-0.20076833502618852, -0.3120819926261902, 0.2325584058647806], "rgb": [254, 219, 149], "semantic_id": 19, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 5817, "face_uv": [0.09778846250764445, 0.6524056430872328, 0.2498058944051227]}}, {"xyz": [-0.2167111728429864, -0.31208199262619063, -0.2566459464880235], "rgb": [254, 216, 142], "semantic_id": 20, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 29328, "face_uv": [0.06708780558819669, 0.3958616881997662, 0.5370505062120385]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7dfdfe28e3d25a0d19fb4103277a6b93", "keypoints": [{"xyz": [0.3243612828220014, 0.1975285277362121, 0.23672644646142652], "rgb": [222, 199, 164], "semantic_id": 0, "pcd_info": {"point_index": 841}, "mesh_info": {"face_index": 1611, "face_uv": [0.3204698213400092, 0.034998993379205694, 0.6445311852807847]}}, {"xyz": [-0.3187659102464371, 0.19879472087798022, 0.23948403841679894], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1106}, "mesh_info": {"face_index": 14159, "face_uv": [0.04542994513047044, 0.07029673377735789, 0.8842733210921717]}}, {"xyz": [0.3139284001100413, -0.029996933552094873, 0.11825703641562102], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 279}, "mesh_info": {"face_index": 17115, "face_uv": [0.04798195783136201, 0.4582801717709194, 0.4937378703977189]}}, {"xyz": [-0.3258005291750324, -0.04564597684643734, 0.12636055844525085], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 2013}, "mesh_info": {"face_index": 12786, "face_uv": [0.11712899578625437, 0.4581738105995068, 0.4246971936142394]}}, {"xyz": [0.32766932764903833, -0.011793231860905029, -0.19391025418948815], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 1582}, "mesh_info": {"face_index": 2354, "face_uv": [0.2993769621523269, 0.31216086230732587, 0.3884621755403476]}}, {"xyz": [-0.32698663907472303, -0.021850790897247424, -0.2053757681923727], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 626}, "mesh_info": {"face_index": 12715, "face_uv": [0.2561607685973557, 0.5881586013748139, 0.1556806300278303]}}, {"xyz": [0.348177014902635, 0.12169741727764172, -0.12865765938104168], "rgb": [163, 76, 19], "semantic_id": 6, "pcd_info": {"point_index": 933}, "mesh_info": {"face_index": 18594, "face_uv": [0.0817314897706255, 0.12266117025842546, 0.7956073399709476]}}, {"xyz": [0.35831460901564666, 0.05218178293776421, 0.23531826663846023], "rgb": [163, 77, 19], "semantic_id": 7, "pcd_info": {"point_index": 1683}, "mesh_info": {"face_index": 20851, "face_uv": [0.5214788010971796, 0.021523108426426497, 0.45699809047639495]}}, {"xyz": [-0.3488091152765328, 0.11958821579133672, -0.12949752105719534], "rgb": [164, 76, 19], "semantic_id": 8, "pcd_info": {"point_index": 1460}, "mesh_info": {"face_index": 27238, "face_uv": [0.041149511486078885, 0.2567112118614284, 0.7021392766524925]}}, {"xyz": [-0.3551719181345064, 0.05297037675159422, 0.233006896937054], "rgb": [156, 74, 19], "semantic_id": 9, "pcd_info": {"point_index": 1096}, "mesh_info": {"face_index": 29617, "face_uv": [0.5756914607539413, 0.13189315052521178, 0.2924153887208471]}}, {"xyz": [0.3524042649220482, -0.2630921467265974, -0.16010190974837718], "rgb": [176, 80, 19], "semantic_id": 17, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 25223, "face_uv": [0.25607741155360003, 0.126255466318393, 0.6176671221280076]}}, {"xyz": [0.31662488922706866, -0.2607491150646303, 0.21432704746808862], "rgb": [222, 199, 164], "semantic_id": 18, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 1330, "face_uv": [0.08667326504294884, 0.01818108693325531, 0.8951456480237956]}}, {"xyz": [-0.3261354894644375, -0.2562394887165503, 0.2070054655359702], "rgb": [223, 200, 165], "semantic_id": 19, "pcd_info": {"point_index": 400}, "mesh_info": {"face_index": 13381, "face_uv": [0.1484047930270888, 0.615827845487154, 0.23576736148575728]}}, {"xyz": [-0.3487792805930962, -0.2630545452691604, -0.1617293547974981], "rgb": [174, 78, 19], "semantic_id": 20, "pcd_info": {"point_index": 1541}, "mesh_info": {"face_index": 30253, "face_uv": [0.43058296633484355, 0.24925368559704228, 0.3201633480681143]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "501bf2a6d014d22ba169b9ecd9e046dc", "keypoints": [{"xyz": [0.23535539039815845, 0.3418905053347584, 0.08363000303506851], "rgb": [58, 58, 58], "semantic_id": 0, "pcd_info": {"point_index": 471}, "mesh_info": {"face_index": 858, "face_uv": [0.061197769513480084, 0.009831749863262051, 0.9289704806232578]}}, {"xyz": [-0.24151000380516052, 0.34237458504232243, 0.08308877189824423], "rgb": [58, 58, 58], "semantic_id": 1, "pcd_info": {"point_index": 438}, "mesh_info": {"face_index": 1091, "face_uv": [0.011040822242422251, 0.9801140957734126, 0.008845081984165181]}}, {"xyz": [0.23103318081081814, 0.05365000949634102, 0.03188492261888226], "rgb": [57, 57, 57], "semantic_id": 2, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 544, "face_uv": [0.14946736692298143, 0.1213795255521868, 0.7291531075248298]}}, {"xyz": [-0.2415100038051604, 0.05729340233238678, 0.03489566177915229], "rgb": [57, 57, 57], "semantic_id": 3, "pcd_info": {"point_index": 213}, "mesh_info": {"face_index": 690, "face_uv": [0.7193604769715282, 0.021472191445855632, 0.25916733158261573]}}, {"xyz": [0.23770472342120155, 0.04898044824757797, -0.396232008934021], "rgb": [58, 58, 58], "semantic_id": 4, "pcd_info": {"point_index": 1516}, "mesh_info": {"face_index": 327, "face_uv": [0.010134035889626206, 0.003084875603575578, 0.9867810885067982]}}, {"xyz": [-0.24025912580287168, 0.0503397591973016, -0.396232008934021], "rgb": [57, 57, 57], "semantic_id": 5, "pcd_info": {"point_index": 1874}, "mesh_info": {"face_index": 336, "face_uv": [0.9898634542609781, 0.0019755976454801146, 0.00816094809354168]}}, {"xyz": [0.21223346170992208, -0.38970398902893066, -0.3769960585097138], "rgb": [57, 57, 57], "semantic_id": 17, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 188, "face_uv": [0.39285096800034275, 0.5334014642672019, 0.07374756773245529]}}, {"xyz": [0.21212612916190843, -0.3897039890289309, 0.06231204903844495], "rgb": [58, 58, 58], "semantic_id": 18, "pcd_info": {"point_index": 1054}, "mesh_info": {"face_index": 557, "face_uv": [0.10023108661631544, 0.4644065548464797, 0.43536235853720545]}}, {"xyz": [-0.21389449989517623, -0.38970398902893066, 0.05863006077082519], "rgb": [58, 58, 58], "semantic_id": 19, "pcd_info": {"point_index": 1272}, "mesh_info": {"face_index": 451, "face_uv": [0.07454162674942215, 0.4360155228334496, 0.48944285041712826]}}, {"xyz": [-0.2162806734308123, -0.38970398902893044, -0.3776253091971731], "rgb": [57, 57, 57], "semantic_id": 20, "pcd_info": {"point_index": 319}, "mesh_info": {"face_index": 325, "face_uv": [0.13525231658754705, 0.4847477436290972, 0.37999993978335517]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f5ef49d354efe6741cda53280488fc3f", "keypoints": [{"xyz": [0.2089489996433258, 0.3642074031061622, 0.19718445921837668], "rgb": [204, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 84}, "mesh_info": {"face_index": 112, "face_uv": [0.005493318214110511, 0.8397949552806555, 0.15471172650523404]}}, {"xyz": [-0.20215300759148147, 0.36875806951491263, 0.19464326256424247], "rgb": [203, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 234}, "mesh_info": {"face_index": 73, "face_uv": [0.01815367312241302, 0.062022023329067776, 0.9198243035485191]}}, {"xyz": [0.19901088709855197, -0.02002499997615803, 0.14367653248664802], "rgb": [226, 112, 112], "semantic_id": 2, "pcd_info": {"point_index": 1876}, "mesh_info": {"face_index": 541, "face_uv": [0.5492648339701733, 0.43933173755518623, 0.011403428474635019]}}, {"xyz": [-0.2045514102336648, -0.020024999976158253, 0.14865516815173652], "rgb": [204, 4, 4], "semantic_id": 3, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 546, "face_uv": [0.9842740385074296, 0.012696876346303268, 0.0030290851462727152]}}, {"xyz": [0.191199595070222, -0.020024999976158142, -0.16556903784351062], "rgb": [215, 58, 58], "semantic_id": 4, "pcd_info": {"point_index": 1943}, "mesh_info": {"face_index": 599, "face_uv": [0.15522591193645002, 0.6148708897615149, 0.229903198302035]}}, {"xyz": [-0.18498838021783576, -0.021146182387504875, -0.16791718448075432], "rgb": [204, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1325}, "mesh_info": {"face_index": 143, "face_uv": [0.0026888479980183263, 0.7221784558036265, 0.2751326961983557]}}, {"xyz": [0.16707657768862655, -0.43700000643730164, -0.12517372615395878], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 17, "face_uv": [0.08101968006213543, 0.5996506536473125, 0.31932966629055204]}}, {"xyz": [0.17254158117253054, -0.4370000064373014, 0.19556616205983107], "rgb": [203, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 302}, "mesh_info": {"face_index": 198, "face_uv": [0.5547205350604077, 0.3529097292941961, 0.09236973564539563]}}, {"xyz": [-0.19100636534895157, -0.43700000643730164, 0.19028858181752314], "rgb": [123, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1963}, "mesh_info": {"face_index": 236, "face_uv": [0.39435498880466496, 0.5660898826580794, 0.039555128537255735]}}, {"xyz": [-0.1736420356479637, -0.43700000643730164, -0.1205559415275411], "rgb": [109, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 366}, "mesh_info": {"face_index": 206, "face_uv": [0.3454048631783282, 0.46385290368292154, 0.19074223313875027]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5f9fd9bf28da76ebed2eab6efdeec5f8", "keypoints": [{"xyz": [0.1358153685224429, 0.5258409976959229, 0.07770907731972387], "rgb": [147, 84, 43], "semantic_id": 0, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 1117, "face_uv": [0.2271625387898662, 0.28117850851127063, 0.4916589526988631]}}, {"xyz": [-0.13727204257363923, 0.5258409976959229, 0.07008315271858323], "rgb": [155, 90, 47], "semantic_id": 1, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 1190, "face_uv": [0.3664257566632404, 0.3235387825361649, 0.31003546080059463]}}, {"xyz": [0.11565031714172277, 0.04964660864640513, 0.07023026505110153], "rgb": [153, 85, 40], "semantic_id": 2, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 681, "face_uv": [0.011352462498524849, 0.288259943684643, 0.7003875938168403]}}, {"xyz": [-0.11109408006965302, 0.05127193099571503, 0.06988994759581085], "rgb": [152, 84, 39], "semantic_id": 3, "pcd_info": {"point_index": 0}, "mesh_info": {"face_index": 275, "face_uv": [0.014853275198537087, 0.5638046263688331, 0.42134209843263054]}}, {"xyz": [0.14162847059483144, 0.027180999517440796, -0.2002609931594724], "rgb": [144, 77, 34], "semantic_id": 4, "pcd_info": {"point_index": 110}, "mesh_info": {"face_index": 78, "face_uv": [0.8064317383790586, 0.16566002158129797, 0.02790824003964362]}}, {"xyz": [-0.13738773791933678, 0.027180999517440796, -0.20514947884080081], "rgb": [155, 85, 41], "semantic_id": 5, "pcd_info": {"point_index": 654}, "mesh_info": {"face_index": 80, "face_uv": [0.3933425523246255, 0.014837880704128184, 0.5918195669712463]}}, {"xyz": [0.11393017363022201, -0.3339180052280426, -0.19499756682731612], "rgb": [158, 91, 46], "semantic_id": 17, "pcd_info": {"point_index": 1715}, "mesh_info": {"face_index": 839, "face_uv": [0.445256599087954, 0.5143389644369486, 0.040404436475097526]}}, {"xyz": [0.11562095397134395, -0.3339180052280426, 0.06853216622879843], "rgb": [154, 88, 45], "semantic_id": 18, "pcd_info": {"point_index": 392}, "mesh_info": {"face_index": 1003, "face_uv": [0.33665792870984296, 0.5471155557512986, 0.11622651553885856]}}, {"xyz": [-0.09937257717052764, -0.3339180052280426, 0.06043789637584862], "rgb": [154, 87, 44], "semantic_id": 19, "pcd_info": {"point_index": 97}, "mesh_info": {"face_index": 538, "face_uv": [0.506433810877483, 0.2872596222820227, 0.20630656684049453]}}, {"xyz": [-0.116945919224682, -0.3339180052280426, -0.20053239119839167], "rgb": [158, 92, 45], "semantic_id": 20, "pcd_info": {"point_index": 1867}, "mesh_info": {"face_index": 375, "face_uv": [0.5525518199946975, 0.37207931977840636, 0.07536886022689615]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "54b6c08ddcd0762adbbc9440457e303e", "keypoints": [{"xyz": [0.18711680271676961, 0.36883899569511414, 0.1437518191206557], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 2029}, "mesh_info": {"face_index": 1337, "face_uv": [0.5125880678293875, 0.32797454850040525, 0.15943738367020727]}}, {"xyz": [-0.18514341306998022, 0.3649981804482758, 0.125388359791748], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 1400, "face_uv": [0.011820548335480473, 0.5308124175899354, 0.45736703407458323]}}, {"xyz": [0.1410730343609773, 0.043765000998973846, 0.09198913103123951], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 901}, "mesh_info": {"face_index": 3252, "face_uv": [0.45351016939542454, 0.018346421497663166, 0.5281434091069123]}}, {"xyz": [-0.13258877290535442, 0.043765000998973846, 0.08480397717069854], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 760}, "mesh_info": {"face_index": 3873, "face_uv": [0.6604044359027216, 0.29839661054495653, 0.04119895355232196]}}, {"xyz": [0.17036276176953402, 0.043765000998973846, -0.21833233995101664], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 531}, "mesh_info": {"face_index": 3400, "face_uv": [0.5802312489454695, 0.022722574451495007, 0.3970461766030355]}}, {"xyz": [-0.17186340904032857, 0.043852999806404114, -0.23217417883472868], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 887}, "mesh_info": {"face_index": 1306, "face_uv": [0.07288381982279109, 0.6749420700156344, 0.25217411016157454]}}, {"xyz": [0.2241913206788343, 0.2506600022315981, -0.11983672432008952], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 797}, "mesh_info": {"face_index": 2186, "face_uv": [0.7518919875833291, 0.004792868760480369, 0.24331514365619133]}}, {"xyz": [0.23187808432246265, 0.2506600022315979, 0.12127845988665431], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 2202, "face_uv": [0.5119036884689907, 0.06942554444705305, 0.4186707670839562]}}, {"xyz": [-0.23729802006598621, 0.24078662132556752, -0.12083169907948821], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1223}, "mesh_info": {"face_index": 2976, "face_uv": [0.4759669288408029, 0.341609671390978, 0.18242339976821992]}}, {"xyz": [-0.24427986894719989, 0.24183177209188933, 0.1285719531753946], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 388}, "mesh_info": {"face_index": 3009, "face_uv": [0.01882133002401929, 0.4764505445256557, 0.5047281254503253]}}, {"xyz": [0.18523442447013372, -0.36029300093650796, -0.22918203461904235], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1200}, "mesh_info": {"face_index": 1520, "face_uv": [0.48210739144141884, 0.4671249020166687, 0.05076770654191182]}}, {"xyz": [0.19076617806973428, -0.36038100719451904, 0.14661839114748293], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 481}, "mesh_info": {"face_index": 1389, "face_uv": [0.1483546784634509, 0.2469866274808558, 0.6046586940556933]}}, {"xyz": [-0.1890121247301818, -0.36038100719451927, 0.13151151549633272], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 337}, "mesh_info": {"face_index": 1446, "face_uv": [0.4483665000096711, 0.41879676171881736, 0.13283673827151216]}}, {"xyz": [-0.1829259989204991, -0.3602930009365082, -0.22415571008561685], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 807}, "mesh_info": {"face_index": 1286, "face_uv": [0.5046066839560887, 0.2797710889550239, 0.21562222708888737]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "48190d05babcbe2c68b95f9576f01a6b", "keypoints": [{"xyz": [0.2165651256392861, 0.2581260467555392, 0.11302343268696413], "rgb": [254, 215, 99], "semantic_id": 0, "pcd_info": {"point_index": 1171}, "mesh_info": {"face_index": 234, "face_uv": [0.903418705602032, 0.023450049570235956, 0.0731312448277316]}}, {"xyz": [-0.21476939380670695, 0.25824979903156886, 0.11291557216493509], "rgb": [255, 216, 100], "semantic_id": 1, "pcd_info": {"point_index": 192}, "mesh_info": {"face_index": 182, "face_uv": [0.928656293920778, 0.02316584979210647, 0.048177856287116]}}, {"xyz": [0.20031300187110895, -0.08419373259026852, 0.06243464167574864], "rgb": [254, 215, 99], "semantic_id": 2, "pcd_info": {"point_index": 600}, "mesh_info": {"face_index": 880, "face_uv": [0.2640153457268013, 0.08221946305660077, 0.6537651912165977]}}, {"xyz": [-0.19805499911308289, -0.08460244808440753, 0.07069865560751842], "rgb": [255, 216, 100], "semantic_id": 3, "pcd_info": {"point_index": 1865}, "mesh_info": {"face_index": 763, "face_uv": [0.19281563980347083, 0.05889455827740597, 0.7482898019191232]}}, {"xyz": [0.2181123078960613, -0.059748001396656036, -0.26233049351394144], "rgb": [255, 216, 100], "semantic_id": 4, "pcd_info": {"point_index": 1700}, "mesh_info": {"face_index": 885, "face_uv": [0.45863660253256433, 0.0013531350563527206, 0.540010262411083]}}, {"xyz": [-0.2226338100792854, -0.059748001396655925, -0.2590100103960009], "rgb": [254, 215, 99], "semantic_id": 5, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 758, "face_uv": [0.6280453910182305, 0.012460398232651123, 0.3594942107491166]}}, {"xyz": [0.21002101659764913, 0.0679090389340995, -0.2627350091934202], "rgb": [254, 215, 99], "semantic_id": 6, "pcd_info": {"point_index": 127}, "mesh_info": {"face_index": 2627, "face_uv": [0.31346096861210304, 0.31520550238058087, 0.3713335290073153]}}, {"xyz": [0.21980535121954992, 0.07368767082991778, 0.06826197207368256], "rgb": [254, 215, 99], "semantic_id": 7, "pcd_info": {"point_index": 1525}, "mesh_info": {"face_index": 271, "face_uv": [0.3692842413807426, 0.5901175208400992, 0.04059823777915775]}}, {"xyz": [-0.20956612381981365, 0.07133730348774714, -0.2627350091934204], "rgb": [255, 216, 100], "semantic_id": 8, "pcd_info": {"point_index": 1965}, "mesh_info": {"face_index": 2688, "face_uv": [0.10703848579692815, 0.3737499322318865, 0.5192115819711853]}}, {"xyz": [-0.22033957530674142, 0.07402086720760648, 0.06873288990023485], "rgb": [255, 216, 100], "semantic_id": 9, "pcd_info": {"point_index": 852}, "mesh_info": {"face_index": 162, "face_uv": [0.01632200444128629, 0.4111777591030294, 0.5725002364556893]}}, {"xyz": [0.2361544765925079, -0.4892495764622913, -0.20524134441870204], "rgb": [255, 216, 100], "semantic_id": 17, "pcd_info": {"point_index": 4}, "mesh_info": {"face_index": 2952, "face_uv": [0.006116215763865582, 0.6536013195796005, 0.3402824646565347]}}, {"xyz": [0.2341638474795619, -0.48767485905151653, 0.047778120256157075], "rgb": [254, 215, 99], "semantic_id": 18, "pcd_info": {"point_index": 931}, "mesh_info": {"face_index": 3001, "face_uv": [0.010299343259257196, 0.27259715570163323, 0.717103501039109]}}, {"xyz": [-0.23943943735310258, -0.48822302236420767, 0.08291014567865296], "rgb": [254, 216, 100], "semantic_id": 19, "pcd_info": {"point_index": 1466}, "mesh_info": {"face_index": 2993, "face_uv": [0.3908441756708031, 0.12778683535979077, 0.48136898896940605]}}, {"xyz": [-0.24468725028684676, -0.48158915964960314, -0.22422227923474564], "rgb": [255, 216, 100], "semantic_id": 20, "pcd_info": {"point_index": 1246}, "mesh_info": {"face_index": 2938, "face_uv": [0.26076046976234835, 0.6175639546241039, 0.12167557561354801]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c8f5189b54fb3fcc6c518c577d808035", "keypoints": [{"xyz": [0.2666781525444468, 0.3495407979940006, 0.20488169182263455], "rgb": [156, 103, 61], "semantic_id": 0, "pcd_info": {"point_index": 2019}, "mesh_info": {"face_index": 19189, "face_uv": [0.9348849153470403, 0.0008631226686406321, 0.06425196198431929]}}, {"xyz": [-0.23466389435698204, 0.35056313611775547, 0.20101483229975217], "rgb": [125, 84, 52], "semantic_id": 1, "pcd_info": {"point_index": 542}, "mesh_info": {"face_index": 24789, "face_uv": [0.30798647416233577, 0.20607947026654733, 0.48593405557111713]}}, {"xyz": [0.2645271299269963, 0.005929175157089794, 0.06319322078558093], "rgb": [161, 108, 67], "semantic_id": 2, "pcd_info": {"point_index": 1292}, "mesh_info": {"face_index": 20697, "face_uv": [0.9147892483002902, 0.01783799427547833, 0.06737275742418634]}}, {"xyz": [-0.23445394376845713, 0.006121428765828663, 0.06205496440354731], "rgb": [118, 79, 34], "semantic_id": 3, "pcd_info": {"point_index": 1684}, "mesh_info": {"face_index": 21758, "face_uv": [0.02996485209641228, 0.04059671185019115, 0.9294384360533829]}}, {"xyz": [0.2731648644844527, 0.05025990470584607, -0.274372301656507], "rgb": [146, 88, 48], "semantic_id": 4, "pcd_info": {"point_index": 437}, "mesh_info": {"face_index": 20965, "face_uv": [0.5318367792788832, 0.11935945295393152, 0.3488037677671859]}}, {"xyz": [-0.23513255198292088, 0.05161124143785312, -0.2784103624569064], "rgb": [129, 74, 27], "semantic_id": 5, "pcd_info": {"point_index": 1694}, "mesh_info": {"face_index": 24031, "face_uv": [0.28422754429971947, 0.20595939854326295, 0.5098130571570207]}}, {"xyz": [0.2368208801921037, -0.298469808373818, -0.25166223316450365], "rgb": [193, 198, 218], "semantic_id": 17, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 5891, "face_uv": [0.17370032412508846, 0.07303690173321355, 0.7532627741416978]}}, {"xyz": [0.23807981408016402, -0.29678311773996313, 0.2272112478857064], "rgb": [191, 194, 216], "semantic_id": 18, "pcd_info": {"point_index": 999}, "mesh_info": {"face_index": 10472, "face_uv": [0.19182526415106657, 0.30290206965238337, 0.5052726661965502]}}, {"xyz": [-0.23794571627865674, -0.30159448821990886, 0.22405256274641727], "rgb": [214, 217, 234], "semantic_id": 19, "pcd_info": {"point_index": 933}, "mesh_info": {"face_index": 10200, "face_uv": [0.16653100466688123, 0.6993715645583667, 0.1340974307747529]}}, {"xyz": [-0.23658796798599796, -0.3003296471111516, -0.25097791330487845], "rgb": [217, 219, 236], "semantic_id": 20, "pcd_info": {"point_index": 464}, "mesh_info": {"face_index": 5868, "face_uv": [0.022793633570083772, 0.20713526226971482, 0.7700711041602013]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1f3591151aef17ab997a9cd87230da", "keypoints": [{"xyz": [0.19800322214400778, 0.17852036049744413, 0.023116120416580344], "rgb": [150, 86, 44], "semantic_id": 0, "pcd_info": {"point_index": 1442}, "mesh_info": {"face_index": 51, "face_uv": [0.1484158802264897, 0.4463606468117728, 0.40522347296173833]}}, {"xyz": [-0.19358323114509957, 0.1669907607224912, 0.020380073150503747], "rgb": [147, 82, 37], "semantic_id": 1, "pcd_info": {"point_index": 963}, "mesh_info": {"face_index": 91, "face_uv": [0.47972146554887585, 0.486589535664732, 0.033688998786392296]}}, {"xyz": [0.21877098880279705, -0.22607499361038208, -0.01610462672402138], "rgb": [163, 96, 54], "semantic_id": 2, "pcd_info": {"point_index": 935}, "mesh_info": {"face_index": 16, "face_uv": [0.0043534207930153645, 0.005709655913561323, 0.9899369232934233]}}, {"xyz": [-0.2004386892072708, -0.22607499361038208, -0.02436551769445272], "rgb": [153, 90, 45], "semantic_id": 3, "pcd_info": {"point_index": 1971}, "mesh_info": {"face_index": 25, "face_uv": [0.9726907967464455, 0.014537759750297991, 0.012771443503256492]}}, {"xyz": [0.21007348414091165, -0.22607499361038186, -0.3685405958686601], "rgb": [151, 87, 39], "semantic_id": 4, "pcd_info": {"point_index": 64}, "mesh_info": {"face_index": 25, "face_uv": [0.01627964797496818, 0.9739630398357162, 0.009757312189314561]}}, {"xyz": [-0.20259668788302823, -0.22607499361038186, -0.36780288719340215], "rgb": [163, 95, 50], "semantic_id": 5, "pcd_info": {"point_index": 726}, "mesh_info": {"face_index": 25, "face_uv": [0.0183296302261674, 0.009494210208207525, 0.9721761595656241]}}, {"xyz": [0.1982733476391824, -0.5371149778366089, -0.3361868415891633], "rgb": [157, 86, 40], "semantic_id": 17, "pcd_info": {"point_index": 745}, "mesh_info": {"face_index": 6, "face_uv": [0.4921162841650798, 0.5017559253807857, 0.0061277904541344646]}}, {"xyz": [0.1910800514458345, -0.5371149778366089, 0.01697441749019446], "rgb": [160, 92, 46], "semantic_id": 18, "pcd_info": {"point_index": 1617}, "mesh_info": {"face_index": 626, "face_uv": [0.008840811489160173, 0.527823057586667, 0.4633361309241728]}}, {"xyz": [-0.1823844822274842, -0.5371149778366091, 0.015751584958654363], "rgb": [160, 92, 47], "semantic_id": 19, "pcd_info": {"point_index": 1323}, "mesh_info": {"face_index": 716, "face_uv": [0.04298746629212429, 0.4023690066754624, 0.5546435270324137]}}, {"xyz": [-0.19295400424528558, -0.5371149778366088, -0.3328212367386689], "rgb": [148, 81, 36], "semantic_id": 20, "pcd_info": {"point_index": 117}, "mesh_info": {"face_index": 81, "face_uv": [0.44738351627686535, 0.34825808694560967, 0.20435839677752485]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d13c7cdbaa6941c2f0f0b1b5588b0b7e", "keypoints": [{"xyz": [0.18892275589977542, 0.4365149166994554, 0.15065675716562454], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1687}, "mesh_info": {"face_index": 1818, "face_uv": [0.013911277392928944, 0.5101060429618972, 0.47598267964517216]}}, {"xyz": [-0.19045077603010305, 0.44335367265695313, 0.16178479755395303], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1551}, "mesh_info": {"face_index": 1848, "face_uv": [0.7748234565768424, 0.01918953600187646, 0.20598700742128048]}}, {"xyz": [0.18076916416920594, 0.01304334629961823, 0.13606931778904396], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 808}, "mesh_info": {"face_index": 134, "face_uv": [0.5357105504230933, 0.03469211882931928, 0.42959733074758405]}}, {"xyz": [-0.18340209641422048, 0.013911849669489662, 0.13706526066158187], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1260}, "mesh_info": {"face_index": 115, "face_uv": [0.37047727608533054, 0.03715431744714114, 0.5923684064675325]}}, {"xyz": [0.18372927753960666, 0.02464542813103887, -0.11896381955553914], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 669}, "mesh_info": {"face_index": 1294, "face_uv": [0.9619856116018197, 0.010158805732004015, 0.027855582666209223]}}, {"xyz": [-0.18464774142606463, 0.01775487292082545, -0.09534562538401792], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1423}, "mesh_info": {"face_index": 1390, "face_uv": [0.862142413696753, 0.033979575280433647, 0.10387801102281953]}}, {"xyz": [0.18635450527402436, -0.3490779995918274, -0.10906131208372405], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 1630, "face_uv": [0.5114042972466959, 0.45607775725767263, 0.032517945495631514]}}, {"xyz": [0.1900264826749271, -0.3490779995918274, 0.20906032517812378], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 650}, "mesh_info": {"face_index": 334, "face_uv": [0.5243914975348152, 0.27744596161109103, 0.19816254085409385]}}, {"xyz": [-0.1885265163611584, -0.3490779995918274, 0.21170846922416908], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 286}, "mesh_info": {"face_index": 394, "face_uv": [0.3068832337901163, 0.6023627388777755, 0.09075402733210829]}}, {"xyz": [-0.1852547862036541, -0.3490779995918274, -0.1137290777514266], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 977}, "mesh_info": {"face_index": 1608, "face_uv": [0.27117676722448325, 0.1891672317883371, 0.5396560009871796]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "38201114b7f2c48d6c63709946cf3bde", "keypoints": [{"xyz": [0.23868637005914128, 0.22353965790108343, 0.01493099983781554], "rgb": [185, 112, 48], "semantic_id": 0, "pcd_info": {"point_index": 555}, "mesh_info": {"face_index": 68, "face_uv": [0.0195483230450007, 0.9115334895003915, 0.06891818745459294]}}, {"xyz": [-0.22251743305973265, 0.22002313419540864, 0.014930999837815762], "rgb": [186, 111, 50], "semantic_id": 1, "pcd_info": {"point_index": 717}, "mesh_info": {"face_index": 643, "face_uv": [0.11062075150356808, 0.06325632673172048, 0.8261229217647115]}}, {"xyz": [0.23736368117326306, -0.09336240074755842, 0.01686899922788143], "rgb": [177, 106, 44], "semantic_id": 2, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 399, "face_uv": [0.9492635325718514, 0.016585220783344477, 0.034151246644804005]}}, {"xyz": [-0.22071155060424302, -0.09772267081975561, 0.014930999837815762], "rgb": [165, 95, 34], "semantic_id": 3, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 77, "face_uv": [0.0012366968365429632, 0.08319386417593978, 0.915569438987517]}}, {"xyz": [0.23711454087315476, -0.0994335853993713, -0.4605410099029543], "rgb": [247, 239, 233], "semantic_id": 4, "pcd_info": {"point_index": 339}, "mesh_info": {"face_index": 1012, "face_uv": [0.06290022746327814, 0.036901838115669904, 0.9001979344210524]}}, {"xyz": [-0.22414976413440132, -0.10212900184434304, -0.4629090130329132], "rgb": [237, 220, 206], "semantic_id": 5, "pcd_info": {"point_index": 1988}, "mesh_info": {"face_index": 460, "face_uv": [0.2245187971992657, 0.0452348537262992, 0.7302463490744351]}}, {"xyz": [0.1913308099731592, -0.4247387892301999, -0.4605410099029541], "rgb": [178, 105, 40], "semantic_id": 17, "pcd_info": {"point_index": 1359}, "mesh_info": {"face_index": 5, "face_uv": [0.012102894630209474, 0.4576306013847428, 0.5302665039850477]}}, {"xyz": [0.19539353508607576, -0.4284760057926178, 0.02431143963656779], "rgb": [170, 97, 32], "semantic_id": 18, "pcd_info": {"point_index": 607}, "mesh_info": {"face_index": 47, "face_uv": [0.5024844328973368, 0.0663360509182193, 0.4311795161844439]}}, {"xyz": [-0.19294230920593997, -0.4284760057926178, 0.02468045470405933], "rgb": [173, 104, 40], "semantic_id": 19, "pcd_info": {"point_index": 1114}, "mesh_info": {"face_index": 141, "face_uv": [0.38977544067513586, 0.08689973443116296, 0.5233248248937011]}}, {"xyz": [-0.18308795295733388, -0.4284760057926178, -0.45578147998287144], "rgb": [183, 109, 44], "semantic_id": 20, "pcd_info": {"point_index": 649}, "mesh_info": {"face_index": 42, "face_uv": [0.4985707812013258, 0.06352977696748, 0.43789944183119417]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "45833f137eb7b1fb77591d1bf8931b62", "keypoints": [{"xyz": [0.4150064846185978, 0.2755259877401892, 0.08135418661264504], "rgb": [254, 48, 48], "semantic_id": 0, "pcd_info": {"point_index": 2040}, "mesh_info": {"face_index": 2904, "face_uv": [0.07679525404942165, 0.006332942704883453, 0.9168718032456923]}}, {"xyz": [-0.4162239733669355, 0.2747606747848874, 0.08066071719379231], "rgb": [255, 49, 49], "semantic_id": 1, "pcd_info": {"point_index": 1044}, "mesh_info": {"face_index": 2888, "face_uv": [0.009074472620741658, 0.8313507476597646, 0.1595747797194969]}}, {"xyz": [0.39657813316139406, 0.05933197967637527, 0.07827568534143281], "rgb": [102, 204, 0], "semantic_id": 2, "pcd_info": {"point_index": 282}, "mesh_info": {"face_index": 1448, "face_uv": [0.14763431876150296, 0.48878611595421356, 0.3635795652842834]}}, {"xyz": [-0.39812129356071974, 0.06018148638553067, 0.07959734673058949], "rgb": [101, 203, 0], "semantic_id": 3, "pcd_info": {"point_index": 342}, "mesh_info": {"face_index": 1807, "face_uv": [0.09404267306699575, 0.4866059314779472, 0.41935139545505623]}}, {"xyz": [0.41663503663599477, 0.05145790727970079, -0.20285700261592865], "rgb": [254, 254, 99], "semantic_id": 4, "pcd_info": {"point_index": 256}, "mesh_info": {"face_index": 632, "face_uv": [0.14021296841745198, 0.8560714111278844, 0.0037156204546634304]}}, {"xyz": [-0.42477849541709184, 0.05392661556481748, -0.20285700261592865], "rgb": [255, 255, 100], "semantic_id": 5, "pcd_info": {"point_index": 1476}, "mesh_info": {"face_index": 633, "face_uv": [0.9489618316345462, 0.04255675191047056, 0.008481416454983145]}}, {"xyz": [0.4034554161447442, 0.13959528123901732, -0.20285700261592865], "rgb": [49, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 186}, "mesh_info": {"face_index": 16, "face_uv": [0.5519937558519143, 0.2444445147453792, 0.20356172940270648]}}, {"xyz": [0.40359637192068504, 0.14596599340438843, 0.06505021680958922], "rgb": [49, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 124}, "mesh_info": {"face_index": 60, "face_uv": [0.04046357852740145, 0.01359052862504947, 0.9459458928475492]}}, {"xyz": [-0.41240385666390855, 0.13683016112056534, -0.20285700261592865], "rgb": [49, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1729}, "mesh_info": {"face_index": 215, "face_uv": [0.3061854445158305, 0.35054229910953955, 0.34327225637462994]}}, {"xyz": [-0.40792574722452507, 0.1459659934043882, 0.07023425623549884], "rgb": [48, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 406}, "mesh_info": {"face_index": 265, "face_uv": [0.9722838825862876, 0.005835602734933781, 0.021880514678777063]}}, {"xyz": [0.3957971691503669, -0.13986200094223022, -0.10048695665386781], "rgb": [102, 204, 0], "semantic_id": 17, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 1552, "face_uv": [0.24495790883231355, 0.17437636829600078, 0.5806657228716857]}}, {"xyz": [0.41437564468362054, -0.13986200094222978, 0.0831909743511669], "rgb": [101, 203, 0], "semantic_id": 18, "pcd_info": {"point_index": 189}, "mesh_info": {"face_index": 1412, "face_uv": [0.522491624445397, 0.10064144779981651, 0.37686692775478337]}}, {"xyz": [-0.41089656407001485, -0.13986200094223022, 0.10587934481783379], "rgb": [102, 204, 0], "semantic_id": 19, "pcd_info": {"point_index": 472}, "mesh_info": {"face_index": 1687, "face_uv": [0.03818222994767717, 0.7067219883742901, 0.2550957816780327]}}, {"xyz": [-0.40475073281284024, -0.13986200094223022, -0.1077350066778949], "rgb": [102, 204, 0], "semantic_id": 20, "pcd_info": {"point_index": 262}, "mesh_info": {"face_index": 1032, "face_uv": [0.28143247620198164, 0.3905961492733024, 0.32797137452471603]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bd0b06e158bcee8ac0d89fc15154c9a2", "keypoints": [{"xyz": [0.21045022163333432, 0.30391770560073295, 0.20486709481324672], "rgb": [152, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 1670}, "mesh_info": {"face_index": 773, "face_uv": [0.6945923327113276, 0.0219086171306705, 0.2834990501580016]}}, {"xyz": [-0.18614904360766404, 0.3078527295330382, 0.2055452224011176], "rgb": [152, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 553}, "mesh_info": {"face_index": 890, "face_uv": [0.20491057366164653, 0.0023051447480600448, 0.7927842815902918]}}, {"xyz": [0.2060682783641951, -0.03854042059033036, 0.10701821898000774], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1465}, "mesh_info": {"face_index": 1952, "face_uv": [0.05208611164510963, 0.9317795451424506, 0.016134343212441633]}}, {"xyz": [-0.18414419041097663, -0.03858716787885652, 0.10695654107782504], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 1973, "face_uv": [0.8975249624975211, 0.08249443800931164, 0.019980599493169937]}}, {"xyz": [0.20566553283670397, -0.06537583264609759, -0.2679258560543838], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 313}, "mesh_info": {"face_index": 2251, "face_uv": [0.01712918686020884, 0.2823348479168095, 0.700535965222982]}}, {"xyz": [-0.1889899049999341, -0.06174342752236639, -0.26636794241681905], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 2240, "face_uv": [0.00801093614829769, 0.20569810593972193, 0.7862909579119791]}}, {"xyz": [0.22920133511668794, -0.42230319574986186, -0.26204225209781096], "rgb": [194, 165, 119], "semantic_id": 17, "pcd_info": {"point_index": 548}, "mesh_info": {"face_index": 106, "face_uv": [0.2365548592083205, 0.39959078913095286, 0.36385435166072666]}}, {"xyz": [0.22587037042854075, -0.41827487013209286, 0.19426280203015622], "rgb": [210, 195, 155], "semantic_id": 18, "pcd_info": {"point_index": 187}, "mesh_info": {"face_index": 438, "face_uv": [0.5177394446518242, 0.01946069617109436, 0.4627998591770699]}}, {"xyz": [-0.19643491587930817, -0.40841041997508243, 0.1901131685915305], "rgb": [210, 176, 122], "semantic_id": 19, "pcd_info": {"point_index": 1027}, "mesh_info": {"face_index": 1977, "face_uv": [0.8009692021194499, 0.04998954280860788, 0.14904125507192997]}}, {"xyz": [-0.21418892715948373, -0.4139494029510201, -0.26279981209116476], "rgb": [207, 168, 110], "semantic_id": 20, "pcd_info": {"point_index": 1542}, "mesh_info": {"face_index": 1010, "face_uv": [0.7787725068983683, 0.022633382293472133, 0.19859411080815867]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "95e5f6e550761aefe65b629e4a22f51e", "keypoints": [{"xyz": [0.1627095836221783, 0.2637229821284861, 0.025877617956084467], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 390, "face_uv": [0.020116735761718785, 0.8634644733070707, 0.11641879093121096]}}, {"xyz": [-0.1553795266066228, 0.2637859592373615, 0.025521292139852533], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 507}, "mesh_info": {"face_index": 76, "face_uv": [0.10494550586202585, 0.2639416798761518, 0.6311128142618214]}}, {"xyz": [0.15363270348245422, -0.253509998321533, -0.024590171461745136], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 2043}, "mesh_info": {"face_index": 426, "face_uv": [0.0564595752046753, 0.40523205096620746, 0.5383083738291163]}}, {"xyz": [-0.14624659657906974, -0.2535099983215332, -0.02212152604551587], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 566}, "mesh_info": {"face_index": 562, "face_uv": [0.01865221471480089, 0.5484285979504155, 0.4329191873347836]}}, {"xyz": [0.1579758755740574, -0.2535099983215333, -0.31357835335768036], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1950}, "mesh_info": {"face_index": 435, "face_uv": [0.05573415838512462, 0.6895254785619004, 0.2547403630529753]}}, {"xyz": [-0.15748919013564094, -0.2535099983215333, -0.32030214732289375], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1238}, "mesh_info": {"face_index": 462, "face_uv": [0.8187923295009958, 0.10546772703444283, 0.07573994346456189]}}, {"xyz": [0.14986273033033826, -0.5950980186462402, -0.30521372431872473], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 140}, "mesh_info": {"face_index": 408, "face_uv": [0.4283266884737433, 0.44546985306708087, 0.12620345845917588]}}, {"xyz": [0.15177279793640863, -0.598005523105201, 0.03685621107505701], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 709}, "mesh_info": {"face_index": 363, "face_uv": [0.05202904430014113, 0.4780539819970975, 0.4699169737027612]}}, {"xyz": [-0.14429491334828454, -0.5984064282760335, 0.034586217277177984], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1869}, "mesh_info": {"face_index": 1, "face_uv": [0.3968257612170559, 0.38992371472900333, 0.2132505240539407]}}, {"xyz": [-0.15163294676069256, -0.5950980186462402, -0.3045775738200728], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 257}, "mesh_info": {"face_index": 611, "face_uv": [0.22745435686529783, 0.3640837615505441, 0.408461881584158]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7e7c1aca9d7ce7f2f7628281ecb18112", "keypoints": [{"xyz": [0.2228807842999201, 0.27067249284099026, 0.21924317013230166], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 1244}, "mesh_info": {"face_index": 575, "face_uv": [0.4515877628407687, 0.18245312724394883, 0.36595910991528263]}}, {"xyz": [-0.21400557565962336, 0.2753284763714383, 0.2129307391792763], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1201}, "mesh_info": {"face_index": 2759, "face_uv": [0.12974215548449225, 0.20645990789748653, 0.6637979366180212]}}, {"xyz": [0.2110215001134607, 0.04634105384791254, 0.13552885930266556], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 459}, "mesh_info": {"face_index": 1402, "face_uv": [0.3389361229713403, 0.3119429540410504, 0.34912092298760966]}}, {"xyz": [-0.21283189242249828, 0.04666670354094937, 0.13665267719418872], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 1991}, "mesh_info": {"face_index": 3476, "face_uv": [0.16994128042037152, 0.18294118595635311, 0.6471175336232737]}}, {"xyz": [0.21339526784394214, 0.005609107558284476, -0.2752451062985155], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 152}, "mesh_info": {"face_index": 11723, "face_uv": [0.20654107276364264, 0.304520892360056, 0.4889380348763012]}}, {"xyz": [-0.2099695534436385, 0.0019039123262476476, -0.2753399686876026], "rgb": [222, 199, 164], "semantic_id": 5, "pcd_info": {"point_index": 1398}, "mesh_info": {"face_index": 14573, "face_uv": [0.5508442781315527, 0.18829197892451602, 0.26086374294393083]}}, {"xyz": [0.2716509273986991, 0.1871069828326628, -0.2570509049976133], "rgb": [223, 200, 165], "semantic_id": 6, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 6563, "face_uv": [0.3896646608094128, 0.14629355791316737, 0.46404178127742046]}}, {"xyz": [0.268373178330752, 0.19253787937520972, 0.27460494403031194], "rgb": [223, 199, 165], "semantic_id": 7, "pcd_info": {"point_index": 871}, "mesh_info": {"face_index": 7400, "face_uv": [0.4809464873699611, 0.15688624162034964, 0.3621672710096892]}}, {"xyz": [-0.2701774766418896, 0.19032097449723318, -0.2527916572122093], "rgb": [223, 200, 165], "semantic_id": 8, "pcd_info": {"point_index": 968}, "mesh_info": {"face_index": 15551, "face_uv": [0.6399615867524138, 0.29682015069906226, 0.06321826254852435]}}, {"xyz": [-0.2613966624515111, 0.19222228305031686, 0.2753268152339163], "rgb": [223, 200, 165], "semantic_id": 9, "pcd_info": {"point_index": 616}, "mesh_info": {"face_index": 17724, "face_uv": [0.1119624743555261, 0.42938741967667643, 0.45865010596779754]}}, {"xyz": [0.1978664086242352, -0.2714437972952344, -0.21939108666150653], "rgb": [157, 72, 19], "semantic_id": 17, "pcd_info": {"point_index": 1325}, "mesh_info": {"face_index": 5165, "face_uv": [0.22529508604601498, 0.4680445125185188, 0.3066604014354651]}}, {"xyz": [0.1959209263622178, -0.27149200439453125, 0.25025186804123245], "rgb": [167, 75, 19], "semantic_id": 18, "pcd_info": {"point_index": 1775}, "mesh_info": {"face_index": 5437, "face_uv": [0.2203650906217256, 0.7683620929544148, 0.011272816423859517]}}, {"xyz": [-0.19604975973056538, -0.2714920043945317, 0.2003755485959844], "rgb": [169, 77, 20], "semantic_id": 19, "pcd_info": {"point_index": 1999}, "mesh_info": {"face_index": 5708, "face_uv": [0.8367823961527298, 0.059495499527636456, 0.1037221043196354]}}, {"xyz": [-0.18668256544381356, -0.27149200439453125, -0.20668597015698698], "rgb": [164, 79, 20], "semantic_id": 20, "pcd_info": {"point_index": 438}, "mesh_info": {"face_index": 5984, "face_uv": [0.051630808832260816, 0.18900010559754452, 0.7593690855701947]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "313bfbd7bc2d516e14d782de5388fe8c", "keypoints": [{"xyz": [0.2000710221581627, 0.5020684782369743, 0.11270895858220809], "rgb": [144, 154, 107], "semantic_id": 0, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 612, "face_uv": [0.5396724729128674, 0.34850568080150207, 0.11182184628563083]}}, {"xyz": [-0.1968100320770861, 0.5100801442648479, 0.12293439683245411], "rgb": [143, 153, 106], "semantic_id": 1, "pcd_info": {"point_index": 772}, "mesh_info": {"face_index": 588, "face_uv": [0.03286139883969219, 0.7219582959368909, 0.2451803052234162]}}, {"xyz": [0.1870855112138003, 0.1634901672019291, 0.07885675713703533], "rgb": [144, 154, 107], "semantic_id": 2, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 276, "face_uv": [0.040213625813447326, 0.002741312468129738, 0.9570450617184237]}}, {"xyz": [-0.18270089721132815, 0.1641280705277688, 0.06952696083150789], "rgb": [144, 154, 107], "semantic_id": 3, "pcd_info": {"point_index": 929}, "mesh_info": {"face_index": 268, "face_uv": [0.016400685810290472, 0.35023014707678113, 0.6333691671129285]}}, {"xyz": [0.18635028036326226, 0.164802591742383, -0.26782885300899295], "rgb": [144, 154, 106], "semantic_id": 4, "pcd_info": {"point_index": 1703}, "mesh_info": {"face_index": 373, "face_uv": [0.004691511411173556, 0.027963468060309197, 0.9673450205285172]}}, {"xyz": [-0.18613442790088705, 0.1686708494509812, -0.2628147618210658], "rgb": [144, 154, 107], "semantic_id": 5, "pcd_info": {"point_index": 1062}, "mesh_info": {"face_index": 342, "face_uv": [0.007293249803236025, 0.7701444143069873, 0.2225623358897774]}}, {"xyz": [0.1950502234332875, -0.25768798589706443, -0.2549463330151156], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 610}, "mesh_info": {"face_index": 1082, "face_uv": [0.5143929418691048, 0.11171292829886662, 0.37389412983202946]}}, {"xyz": [0.19489107628462635, -0.2576879858970642, 0.15783286336888083], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1175}, "mesh_info": {"face_index": 700, "face_uv": [0.14263109733739116, 0.6478233261597035, 0.20954557650290534]}}, {"xyz": [-0.19891406348624047, -0.2576879858970642, 0.15148532692596853], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 955}, "mesh_info": {"face_index": 1248, "face_uv": [0.10921261445697128, 0.533076824668778, 0.35771056087425057]}}, {"xyz": [-0.19898859116297546, -0.2576879858970642, -0.23005350535604654], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1038}, "mesh_info": {"face_index": 1517, "face_uv": [0.00375093867532844, 0.533320440675811, 0.46292862064886053]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "56ab99b69cbc1bb50d55c58aabe6e7b", "keypoints": [{"xyz": [0.27545174120829363, 0.33121539617289386, 0.3132163450352099], "rgb": [195, 163, 119], "semantic_id": 0, "pcd_info": {"point_index": 1722}, "mesh_info": {"face_index": 461, "face_uv": [0.5510478289749499, 0.00923489129620644, 0.43971727972884395]}}, {"xyz": [-0.2751663788526228, 0.3302986153410824, 0.3031312736344805], "rgb": [195, 163, 119], "semantic_id": 1, "pcd_info": {"point_index": 1377}, "mesh_info": {"face_index": 1161, "face_uv": [0.7320499906656417, 0.009741509484938604, 0.2582084998494204]}}, {"xyz": [0.18630193163718498, -0.02601237410162771, 0.14931185024534532], "rgb": [194, 162, 118], "semantic_id": 2, "pcd_info": {"point_index": 336}, "mesh_info": {"face_index": 142, "face_uv": [0.7425889994816766, 0.24067450720411687, 0.016736493314206086]}}, {"xyz": [-0.19117553650272395, -0.029546431387592165, 0.14920703368774324], "rgb": [195, 163, 119], "semantic_id": 3, "pcd_info": {"point_index": 1747}, "mesh_info": {"face_index": 734, "face_uv": [0.6335708207882035, 0.3623320963847401, 0.004097082827056942]}}, {"xyz": [0.18281478971345894, -0.052033704964740864, -0.2401844143884091], "rgb": [195, 163, 119], "semantic_id": 4, "pcd_info": {"point_index": 472}, "mesh_info": {"face_index": 150, "face_uv": [0.6808832857706566, 0.020255943672222294, 0.2988607705571214]}}, {"xyz": [-0.19078735932178448, -0.05435747524165211, -0.23758146406069014], "rgb": [195, 163, 119], "semantic_id": 5, "pcd_info": {"point_index": 1796}, "mesh_info": {"face_index": 676, "face_uv": [0.8699074549658549, 0.06691987091287956, 0.06317267412126569]}}, {"xyz": [0.25109003612110864, 0.08274945691566205, -0.23693899810314178], "rgb": [195, 162, 119], "semantic_id": 6, "pcd_info": {"point_index": 1625}, "mesh_info": {"face_index": 26, "face_uv": [0.7908815919346563, 0.10826991872613102, 0.10084848933921257]}}, {"xyz": [0.2496472081440222, 0.10509025444571463, 0.16409809716542012], "rgb": [195, 163, 119], "semantic_id": 7, "pcd_info": {"point_index": 50}, "mesh_info": {"face_index": 519, "face_uv": [0.030473752531646102, 0.2443547547822186, 0.7251714926861356]}}, {"xyz": [-0.2625831260543775, 0.08176958456188632, -0.23693899810314167], "rgb": [194, 162, 118], "semantic_id": 8, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 1064, "face_uv": [0.2739166462671959, 0.11126271637955837, 0.6148206373532452]}}, {"xyz": [-0.262224786612816, 0.10418530958144956, 0.16149097094808773], "rgb": [194, 162, 118], "semantic_id": 9, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 1102, "face_uv": [0.08898656682665118, 0.3166727158044671, 0.5943407173688812]}}, {"xyz": [0.27628005478034545, -0.23212000727653503, -0.23366208891491233], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 1097, "face_uv": [0.008500214508059593, 0.9823002998404895, 0.009199485651450831]}}, {"xyz": [0.27739817538269207, -0.23212000727653503, 0.18499494198483937], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1254}, "mesh_info": {"face_index": 1096, "face_uv": [0.08910813308888228, 0.005766974440873463, 0.9051248924702442]}}, {"xyz": [-0.2781619092606782, -0.23212000727653503, 0.18383716652652604], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1803}, "mesh_info": {"face_index": 1099, "face_uv": [0.871950839173461, 0.004404442077576299, 0.1236447187489627]}}, {"xyz": [-0.27962669059530915, -0.23212000727653503, -0.23064906568380866], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1729}, "mesh_info": {"face_index": 1100, "face_uv": [0.9836840840760626, 0.014521240951027628, 0.0017946749729098367]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "57b043906feef78fbeae145d587f201e", "keypoints": [{"xyz": [0.16256102913132126, 0.5996170043945312, 0.1810523155264543], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 326}, "mesh_info": {"face_index": 690, "face_uv": [0.006226076184482493, 0.1952703774887382, 0.7985035463267793]}}, {"xyz": [-0.1908318354363696, 0.555787980556488, 0.1934921116943533], "rgb": [201, 208, 218], "semantic_id": 1, "pcd_info": {"point_index": 612}, "mesh_info": {"face_index": 376, "face_uv": [0.07116972356939259, 0.4093031208242889, 0.5195271556063186]}}, {"xyz": [0.17158972329430108, 0.12817557861636386, 0.16970300674438477], "rgb": [206, 213, 223], "semantic_id": 2, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 4, "face_uv": [0.35017292371432146, 0.0049022367671821415, 0.6449248395184964]}}, {"xyz": [-0.1922272558788546, 0.12606899440288544, 0.16499607242290482], "rgb": [201, 208, 218], "semantic_id": 3, "pcd_info": {"point_index": 84}, "mesh_info": {"face_index": 63, "face_uv": [0.01135637667176325, 0.5611703265668709, 0.4274732967613659]}}, {"xyz": [0.15768836142712742, 0.17308919222288122, -0.24477200210094452], "rgb": [245, 246, 248], "semantic_id": 4, "pcd_info": {"point_index": 1151}, "mesh_info": {"face_index": 371, "face_uv": [0.18340734591852503, 0.7959541964108954, 0.020638457670579674]}}, {"xyz": [-0.16531642044425027, 0.17736755876828322, -0.24477200210094452], "rgb": [248, 249, 250], "semantic_id": 5, "pcd_info": {"point_index": 2015}, "mesh_info": {"face_index": 695, "face_uv": [0.023977670337248774, 0.13162195248934275, 0.8444003771734084]}}, {"xyz": [0.1810622122113239, -0.11192448444229486, -0.2781189963728285], "rgb": [204, 211, 221], "semantic_id": 17, "pcd_info": {"point_index": 1510}, "mesh_info": {"face_index": 532, "face_uv": [0.011103546047818352, 0.47820424073199114, 0.5106922132201898]}}, {"xyz": [0.17876435092366064, -0.11381480249208176, 0.23954467211666775], "rgb": [204, 211, 221], "semantic_id": 18, "pcd_info": {"point_index": 673}, "mesh_info": {"face_index": 120, "face_uv": [0.36783992326566395, 0.579266662167479, 0.05289341456685671]}}, {"xyz": [-0.19293384117106888, -0.10925125527842883, 0.24680683923328536], "rgb": [202, 209, 219], "semantic_id": 19, "pcd_info": {"point_index": 699}, "mesh_info": {"face_index": 158, "face_uv": [0.4347918704879782, 0.4177432315077887, 0.1474648980042333]}}, {"xyz": [-0.18874507135029533, -0.11194601082742617, -0.2780847410935394], "rgb": [206, 213, 223], "semantic_id": 20, "pcd_info": {"point_index": 407}, "mesh_info": {"face_index": 540, "face_uv": [0.06547431505451802, 0.4772732896515354, 0.4572523952939469]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3075380de1f28ced3d290591da43d03e", "keypoints": [{"xyz": [0.15960139847462632, 0.4562980505371055, 0.005473618024149918], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 2277, "face_uv": [0.7499364793538678, 0.10159548234800893, 0.14846803829812327]}}, {"xyz": [-0.1574238204417598, 0.4438878981580403, 0.009366095084742732], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1525}, "mesh_info": {"face_index": 2495, "face_uv": [0.05729318711990985, 0.42916995209529774, 0.5135368607847924]}}, {"xyz": [0.11957812091628013, 0.015540396737051654, 0.04591564302478579], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1554}, "mesh_info": {"face_index": 1747, "face_uv": [0.06457191699338727, 0.00329944301409184, 0.9321286399925219]}}, {"xyz": [-0.11567341345042952, 0.014193999581038952, 0.0407641919666164], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 2166, "face_uv": [0.09670453709507416, 0.03229776089101289, 0.8709977020139129]}}, {"xyz": [0.14968473665691356, -0.011077238460211025, -0.20388533748385096], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 2139, "face_uv": [0.08045916855244069, 0.021231502740052994, 0.8983093287075068]}}, {"xyz": [-0.1506137132477205, -0.011064506901664717, -0.20387260638092886], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 2062, "face_uv": [0.10214323629118777, 0.17616221049391947, 0.7216945532148933]}}, {"xyz": [0.11898769518538241, -0.4105069935321808, -0.1625298483923644], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1639}, "mesh_info": {"face_index": 343, "face_uv": [0.07890128753861016, 0.426339599354219, 0.49475911310717086]}}, {"xyz": [0.1198444078989919, -0.4105069935321808, 0.031446951500888776], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1127}, "mesh_info": {"face_index": 670, "face_uv": [0.4817143830842683, 0.38834655239907806, 0.12993906451665366]}}, {"xyz": [-0.11813010829739579, -0.4105069935321808, 0.027962231999578813], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1789}, "mesh_info": {"face_index": 999, "face_uv": [0.07282912446936927, 0.44140580544344515, 0.48576507008718556]}}, {"xyz": [-0.12194698981668106, -0.4105069935321808, -0.15424120422663667], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 912}, "mesh_info": {"face_index": 15, "face_uv": [0.1559854760779536, 0.3001326180870895, 0.5438819058349569]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a272771d6e9a29c2f4eefa83fb709ec6", "keypoints": [{"xyz": [0.17566174513710375, 0.3340155815869914, 0.19577778316002947], "rgb": [217, 173, 100], "semantic_id": 0, "pcd_info": {"point_index": 949}, "mesh_info": {"face_index": 534, "face_uv": [0.6534659362436093, 0.33579348573764817, 0.010740578018743105]}}, {"xyz": [-0.17513953410932437, 0.3339571643588862, 0.1923896924921614], "rgb": [213, 152, 92], "semantic_id": 1, "pcd_info": {"point_index": 197}, "mesh_info": {"face_index": 533, "face_uv": [0.5505908049867998, 0.4372141360236338, 0.012195058989566432]}}, {"xyz": [0.1752260004161805, -0.13981990726497973, 0.143502097640695], "rgb": [106, 122, 86], "semantic_id": 2, "pcd_info": {"point_index": 1723}, "mesh_info": {"face_index": 547, "face_uv": [0.9792508211328603, 0.008794948950973741, 0.011954229916165907]}}, {"xyz": [-0.17938637534208618, -0.13998800516128562, 0.13616226756051297], "rgb": [219, 175, 98], "semantic_id": 3, "pcd_info": {"point_index": 1986}, "mesh_info": {"face_index": 247, "face_uv": [0.0003666037663456675, 0.021235981476176197, 0.97839741475748]}}, {"xyz": [0.16891887179004275, -0.14797404653717722, -0.22118563518223167], "rgb": [213, 129, 85], "semantic_id": 4, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 287, "face_uv": [0.9704789281765256, 0.00874035871410648, 0.020780713109369776]}}, {"xyz": [-0.17800541890207522, -0.15692316168476889, -0.2268568567862237], "rgb": [206, 120, 77], "semantic_id": 5, "pcd_info": {"point_index": 1583}, "mesh_info": {"face_index": 295, "face_uv": [0.004212893401540119, 0.518231182480516, 0.4775559241179453]}}, {"xyz": [0.19764538386869665, -0.019954451389284755, -0.19083169289322344], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 155}, "mesh_info": {"face_index": 781, "face_uv": [0.40872212342689146, 0.17577768555102155, 0.41550019102208735]}}, {"xyz": [0.20006806956089532, -0.016697000712156296, 0.17040550670578702], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 42}, "mesh_info": {"face_index": 865, "face_uv": [0.01921652139246559, 0.49440106799113354, 0.4863824106164008]}}, {"xyz": [-0.1910839856529868, -0.022497361288037032, -0.1917501601272804], "rgb": [183, 110, 44], "semantic_id": 8, "pcd_info": {"point_index": 1769}, "mesh_info": {"face_index": 1011, "face_uv": [0.46342740592786724, 0.10315090784744939, 0.43342168622468275]}}, {"xyz": [-0.1999250265935138, -0.016697000712156296, 0.17658210523119433], "rgb": [183, 111, 46], "semantic_id": 9, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 1079, "face_uv": [0.02796322475979977, 0.5020796072284107, 0.4699571680117894]}}, {"xyz": [0.19607205285825302, -0.4482159912586212, -0.17516238677896476], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1900}, "mesh_info": {"face_index": 611, "face_uv": [0.11894530671483321, 0.38908172323484835, 0.4919729700503184]}}, {"xyz": [0.19242336673493016, -0.4482159912586212, 0.16227250830003398], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 774}, "mesh_info": {"face_index": 703, "face_uv": [0.07799946689561983, 0.47626551453274296, 0.44573501857163716]}}, {"xyz": [-0.19359272282785797, -0.4482159912586212, 0.16172957977598001], "rgb": [181, 108, 43], "semantic_id": 19, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 1287, "face_uv": [0.05765563646132481, 0.48058003955875805, 0.4617643239799171]}}, {"xyz": [-0.18806880254948832, -0.4482159912586212, -0.17285948540833385], "rgb": [180, 105, 42], "semantic_id": 20, "pcd_info": {"point_index": 1243}, "mesh_info": {"face_index": 1273, "face_uv": [0.12447395416191348, 0.31556270917494256, 0.559963336663144]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "67b082d174af9ab06acc27496f96b513", "keypoints": [{"xyz": [0.2729364632763599, 0.5065249800682068, 0.25845944179596103], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 529}, "mesh_info": {"face_index": 4, "face_uv": [0.03142878077517351, 0.9554435553960178, 0.013127663828808705]}}, {"xyz": [-0.2813981904064385, 0.5065249800682068, 0.25341068499185593], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 925}, "mesh_info": {"face_index": 14, "face_uv": [0.015716708111670506, 0.005102173568002972, 0.9791811183203265]}}, {"xyz": [0.20096429697228954, 0.3132840096950529, 0.17059134677259136], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 19, "face_uv": [0.974485046241839, 0.0008139824212233586, 0.02470097133693707]}}, {"xyz": [-0.19663422737807015, 0.3132840096950533, 0.17457446841404467], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 314}, "mesh_info": {"face_index": 32, "face_uv": [0.9842934617464777, 0.004136863258332044, 0.011569674995190902]}}, {"xyz": [0.1990061120942276, 0.3132840096950531, -0.3337646706753923], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1466}, "mesh_info": {"face_index": 38, "face_uv": [0.09449107544623007, 0.005678023077646877, 0.899830901476123]}}, {"xyz": [-0.19614401172087195, 0.3132840096950533, -0.3357295462589067], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 474}, "mesh_info": {"face_index": 504, "face_uv": [0.07576585784245178, 0.012787348011534073, 0.9114467941460148]}}, {"xyz": [0.2494211677311704, 0.5065249800682068, -0.2607837472365891], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1646}, "mesh_info": {"face_index": 462, "face_uv": [0.5967404013331976, 0.40224835562163064, 0.0010112430451717034]}}, {"xyz": [0.2385770960733844, 0.506524980068207, 0.17909770390887658], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 960}, "mesh_info": {"face_index": 1, "face_uv": [0.08968729700062433, 0.46307113642299286, 0.44724156657638325]}}, {"xyz": [-0.24640837516468905, 0.5065249800682068, -0.2578268931741431], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1587}, "mesh_info": {"face_index": 485, "face_uv": [0.4317943579087746, 0.5603335558574816, 0.007872086233743919]}}, {"xyz": [-0.24504872899574653, 0.5065249800682068, 0.18293263366417645], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 160}, "mesh_info": {"face_index": 476, "face_uv": [0.4625198430930884, 0.4565528907145752, 0.08092726619233644]}}, {"xyz": [0.2490388650817702, -0.05709400027990341, -0.19476586088931458], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1428}, "mesh_info": {"face_index": 101, "face_uv": [0.19570222715504787, 0.5069671188677141, 0.297330653977238]}}, {"xyz": [0.2380429956286737, -0.05709400027990319, 0.22599990993525482], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1218}, "mesh_info": {"face_index": 851, "face_uv": [0.19160906297072886, 0.4131666806542853, 0.3952242563749821]}}, {"xyz": [-0.24110589315567643, -0.05709400027990341, 0.22619982083635198], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1948}, "mesh_info": {"face_index": 324, "face_uv": [0.33262853162368267, 0.5141403940024065, 0.1532310743739109]}}, {"xyz": [-0.24142451380502916, -0.05709400027990341, -0.19838473745982552], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1096}, "mesh_info": {"face_index": 294, "face_uv": [0.4876666594183231, 0.023760910647734213, 0.4885724299339426]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "557542994c02cffce83221ad0d21775", "keypoints": [{"xyz": [0.2121835407724821, 0.30260559983724034, 0.2100553707698668], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 164}, "mesh_info": {"face_index": 2251, "face_uv": [0.2651146653327404, 0.10439099212867449, 0.6304943425385853]}}, {"xyz": [-0.21650331935925013, 0.2990913865847076, 0.21168090668937944], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 7861, "face_uv": [0.08531645398338425, 0.5681190503462313, 0.34656449567038455]}}, {"xyz": [0.2164486162721257, 0.041056448721639605, 0.06848384176949496], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1780}, "mesh_info": {"face_index": 13729, "face_uv": [0.9226943020371713, 0.06723512419485735, 0.010070573767971764]}}, {"xyz": [-0.21283800313717843, 0.04002519285814432, 0.07097129870131547], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 1255}, "mesh_info": {"face_index": 20177, "face_uv": [0.3025503242440384, 0.42311077756904564, 0.2743388981869164]}}, {"xyz": [0.2164794247819821, -0.0017724669015071193, -0.2788794654248883], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 1792}, "mesh_info": {"face_index": 15627, "face_uv": [0.4542318854173216, 0.05108086627415117, 0.4946872483085273]}}, {"xyz": [-0.22031045713938227, 0.023771924087482077, -0.2686252057995341], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 922}, "mesh_info": {"face_index": 21492, "face_uv": [0.12936769083771218, 0.48137102383004704, 0.3892612853322409]}}, {"xyz": [0.2387719444331279, 0.125954697124123, -0.28957467294689027], "rgb": [28, 28, 28], "semantic_id": 6, "pcd_info": {"point_index": 1195}, "mesh_info": {"face_index": 69335, "face_uv": [0.519866607322936, 0.1576790940589731, 0.32245429861809033]}}, {"xyz": [0.2583450238476665, 0.16407939101803826, 0.20882506180271573], "rgb": [29, 29, 29], "semantic_id": 7, "pcd_info": {"point_index": 41}, "mesh_info": {"face_index": 70399, "face_uv": [0.12213742025353391, 0.48627513139518785, 0.3915874483512782]}}, {"xyz": [-0.27214945248153977, 0.13265129414954435, -0.27835124091067015], "rgb": [28, 28, 28], "semantic_id": 8, "pcd_info": {"point_index": 256}, "mesh_info": {"face_index": 74342, "face_uv": [0.3738342095316637, 0.1061483721922033, 0.5200174182761327]}}, {"xyz": [-0.2770992510075141, 0.16744609355976536, 0.18935826390638255], "rgb": [28, 28, 28], "semantic_id": 9, "pcd_info": {"point_index": 1353}, "mesh_info": {"face_index": 75637, "face_uv": [0.08838002694699693, 0.8680347308648467, 0.043585242188155834]}}, {"xyz": [0.2590273457307086, -0.2772097660851498, -0.2740052494153886], "rgb": [223, 200, 165], "semantic_id": 17, "pcd_info": {"point_index": 1157}, "mesh_info": {"face_index": 46079, "face_uv": [0.8701576891196121, 0.08512733213803482, 0.04471497874235321]}}, {"xyz": [0.25103907034845996, -0.277219932669311, 0.17241399113503286], "rgb": [223, 200, 165], "semantic_id": 18, "pcd_info": {"point_index": 916}, "mesh_info": {"face_index": 47699, "face_uv": [0.15843659064958024, 0.17164834823258543, 0.6699150611178345]}}, {"xyz": [-0.25452397656700787, -0.277228128419831, 0.15397623587476228], "rgb": [223, 200, 165], "semantic_id": 19, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 26857, "face_uv": [0.7207152705771451, 0.12088117541491182, 0.15840355400794326]}}, {"xyz": [-0.25282239008122165, -0.27715218234896666, -0.28508638882112836], "rgb": [223, 200, 165], "semantic_id": 20, "pcd_info": {"point_index": 806}, "mesh_info": {"face_index": 35340, "face_uv": [0.18028022263293575, 0.04059657644926185, 0.7791232009178025]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6a152238c2ae02faf7b2f235a439923e", "keypoints": [{"xyz": [0.316221845818763, 0.16750859555043363, 0.056721255871335696], "rgb": [166, 118, 75], "semantic_id": 0, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 79, "face_uv": [0.11805299033641227, 0.05680215471498536, 0.825144854948603]}}, {"xyz": [-0.3179048679380392, 0.16589148849084567, 0.05403900146484397], "rgb": [143, 93, 56], "semantic_id": 1, "pcd_info": {"point_index": 1759}, "mesh_info": {"face_index": 466, "face_uv": [0.0328882969133371, 0.9582148080245211, 0.008896895062146066]}}, {"xyz": [0.3126636062354442, -0.12379864342666125, 0.05403900146484397], "rgb": [153, 105, 57], "semantic_id": 2, "pcd_info": {"point_index": 406}, "mesh_info": {"face_index": 97, "face_uv": [0.05208656866031062, 0.9345305822450072, 0.013382849094686376]}}, {"xyz": [-0.3076350444050147, -0.12130591876833974, 0.05403900146484353], "rgb": [142, 97, 56], "semantic_id": 3, "pcd_info": {"point_index": 756}, "mesh_info": {"face_index": 73, "face_uv": [0.8670822135095474, 0.11016432500740228, 0.02275346148304633]}}, {"xyz": [0.2872242568151651, -0.12745000422000896, -0.35364638719545827], "rgb": [153, 105, 58], "semantic_id": 4, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 17, "face_uv": [0.014321202319305412, 0.11089759238378323, 0.8747812052969124]}}, {"xyz": [-0.2929439864750346, -0.12745000422000896, -0.3552676177399716], "rgb": [156, 108, 60], "semantic_id": 5, "pcd_info": {"point_index": 323}, "mesh_info": {"face_index": 389, "face_uv": [0.9232158060188546, 0.00895965317219425, 0.06782454080895205]}}, {"xyz": [0.30368838639074314, 0.009836536603682333, -0.3599030077457428], "rgb": [169, 121, 75], "semantic_id": 6, "pcd_info": {"point_index": 812}, "mesh_info": {"face_index": 13, "face_uv": [0.29889133706762766, 0.0039502252443578325, 0.6971584376880146]}}, {"xyz": [0.3106864379313985, 0.010381000116467698, 0.050232151193661756], "rgb": [163, 115, 71], "semantic_id": 7, "pcd_info": {"point_index": 1293}, "mesh_info": {"face_index": 30, "face_uv": [0.561748888013261, 0.009196578715079097, 0.42905453327168147]}}, {"xyz": [-0.31909406648698835, 0.010301251190868221, -0.336123795215832], "rgb": [162, 115, 68], "semantic_id": 8, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 458, "face_uv": [0.17573662165449294, 0.057445758103300756, 0.766817620242192]}}, {"xyz": [-0.31305515775551085, 0.010324563932069486, 0.05342036115150728], "rgb": [159, 113, 69], "semantic_id": 9, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 481, "face_uv": [0.54116183704251, 0.001494509616252681, 0.45734365334123195]}}, {"xyz": [0.29490308995645764, -0.3744910061359401, -0.34819778022207404], "rgb": [168, 119, 73], "semantic_id": 17, "pcd_info": {"point_index": 1060}, "mesh_info": {"face_index": 0, "face_uv": [0.3165114802745222, 0.5312120140546346, 0.1522765056708421]}}, {"xyz": [0.29846984140145405, -0.37449100613594055, 0.08509643241513065], "rgb": [164, 113, 70], "semantic_id": 18, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 471, "face_uv": [0.07058110141882765, 0.3422961693646883, 0.587122729216484]}}, {"xyz": [-0.3041140716703593, -0.37449100613594055, 0.08110233157987756], "rgb": [154, 106, 62], "semantic_id": 19, "pcd_info": {"point_index": 797}, "mesh_info": {"face_index": 513, "face_uv": [0.0348247528730496, 0.4268793218957056, 0.5382959252312448]}}, {"xyz": [-0.3066472953277961, -0.37449100613594055, -0.3401254815069752], "rgb": [145, 94, 57], "semantic_id": 20, "pcd_info": {"point_index": 37}, "mesh_info": {"face_index": 69, "face_uv": [0.3636076963317876, 0.5347879050913793, 0.10160439857683318]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3dd04235c696c117db6d2ff65cc5b310", "keypoints": [{"xyz": [0.13768904700902782, 0.3014400027784391, 0.23965836227793516], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 494, "face_uv": [0.5584733573798359, 0.4408296240317377, 0.0006970185884263214]}}, {"xyz": [-0.13784554479325994, 0.2997699804298032, 0.2294000729188852], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 2012}, "mesh_info": {"face_index": 5333, "face_uv": [0.9007569344255529, 0.08836771013721159, 0.010875355437234157]}}, {"xyz": [0.09358335495873654, -0.045389266598288014, 0.1738188852896979], "rgb": [241, 235, 235], "semantic_id": 2, "pcd_info": {"point_index": 2046}, "mesh_info": {"face_index": 1138, "face_uv": [0.9647371083521064, 0.006775548501452654, 0.028487343146284025]}}, {"xyz": [-0.09610827003603331, -0.04435168058450745, 0.16711625190984936], "rgb": [241, 235, 235], "semantic_id": 3, "pcd_info": {"point_index": 60}, "mesh_info": {"face_index": 5836, "face_uv": [0.07495330037982431, 0.035611957554828114, 0.8894347420652771]}}, {"xyz": [0.16670958388454127, -0.06371348181545433, -0.16740918573647257], "rgb": [252, 246, 246], "semantic_id": 4, "pcd_info": {"point_index": 1539}, "mesh_info": {"face_index": 1320, "face_uv": [0.8386195554289824, 0.08680626282569187, 0.07457418174532557]}}, {"xyz": [-0.16081273936560458, -0.06285650986330427, -0.16677279005477297], "rgb": [250, 244, 244], "semantic_id": 5, "pcd_info": {"point_index": 1169}, "mesh_info": {"face_index": 5864, "face_uv": [0.5829577868406594, 0.12966986326666272, 0.287372349892678]}}, {"xyz": [0.1873284024920463, 0.1179911478337492, -0.16482532757019094], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 4632, "face_uv": [0.1668043848817456, 0.19967672357968827, 0.6335188915385678]}}, {"xyz": [0.18130172171770587, 0.13452234653542705, 0.1805925653651973], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 4072, "face_uv": [0.36625332839704333, 0.034922132579906714, 0.5988245390230509]}}, {"xyz": [-0.18549577309018844, 0.12005761062434939, -0.1581633017342176], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 810}, "mesh_info": {"face_index": 8859, "face_uv": [0.017013662260171043, 0.6442987766904348, 0.33868756104939496]}}, {"xyz": [-0.17706320046691998, 0.13495773534394995, 0.18759247214304048], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 282}, "mesh_info": {"face_index": 9284, "face_uv": [0.09845477077587832, 0.5089844938924802, 0.39256073533164243]}}, {"xyz": [0.18989648946304366, -0.40974199771881104, -0.15322188653479385], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1849}, "mesh_info": {"face_index": 2427, "face_uv": [0.03083069034130937, 0.15326254518249297, 0.8159067644761977]}}, {"xyz": [0.11538022780747328, -0.41214365908575157, 0.21500911996055844], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 819}, "mesh_info": {"face_index": 2067, "face_uv": [0.23222335943746453, 0.31901161848503384, 0.4487650220775016]}}, {"xyz": [-0.1138781066750858, -0.41231830749050946, 0.21380400907818528], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1437}, "mesh_info": {"face_index": 6798, "face_uv": [0.15931461466898406, 0.59904310303819, 0.24164228229282614]}}, {"xyz": [-0.18860513214592797, -0.40974199771881115, -0.15732799188616117], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1467}, "mesh_info": {"face_index": 6986, "face_uv": [0.2325562864098154, 0.47861542373629934, 0.28882828985388553]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4647b2b982deda84217ad902ee02afb5", "keypoints": [{"xyz": [0.16146081878722607, 0.3225702749485025, 0.03612999990582466], "rgb": [179, 101, 42], "semantic_id": 0, "pcd_info": {"point_index": 246}, "mesh_info": {"face_index": 5, "face_uv": [0.9617080452323578, 0.009758251552664708, 0.028533703214977685]}}, {"xyz": [-0.16624900698661804, 0.32008345505224944, 0.038785853619007826], "rgb": [184, 113, 49], "semantic_id": 1, "pcd_info": {"point_index": 162}, "mesh_info": {"face_index": 18, "face_uv": [0.9654127162208206, 0.0018080388605670788, 0.032779244918612185]}}, {"xyz": [0.1641330254866386, -0.019609769021421926, 0.03612999990582466], "rgb": [169, 93, 31], "semantic_id": 2, "pcd_info": {"point_index": 494}, "mesh_info": {"face_index": 3, "face_uv": [0.9917337580939283, 0.0027557944353933965, 0.005510447470678398]}}, {"xyz": [-0.16465749760737314, -0.017603099670801203, 0.036129999905824606], "rgb": [176, 106, 45], "semantic_id": 3, "pcd_info": {"point_index": 939}, "mesh_info": {"face_index": 2, "face_uv": [0.014100312340797607, 0.004803903816052647, 0.9810957838431486]}}, {"xyz": [0.16504600644111644, -0.0264806191251154, -0.21677744060559534], "rgb": [169, 91, 29], "semantic_id": 4, "pcd_info": {"point_index": 1276}, "mesh_info": {"face_index": 66, "face_uv": [0.9736284902568848, 0.024721478636137585, 0.0016500311069782504]}}, {"xyz": [-0.1632424547151733, -0.026441875913446322, -0.2183769941329956], "rgb": [173, 98, 40], "semantic_id": 5, "pcd_info": {"point_index": 1118}, "mesh_info": {"face_index": 74, "face_uv": [0.013363970352482239, 0.9795816118231387, 0.007054417824379075]}}, {"xyz": [0.16341004662314793, -0.4641770124435425, -0.2145630633673381], "rgb": [161, 84, 22], "semantic_id": 17, "pcd_info": {"point_index": 1573}, "mesh_info": {"face_index": 104, "face_uv": [0.016884537031631088, 0.05894520335067775, 0.9241702596176912]}}, {"xyz": [0.1584693205605634, -0.4641770124435425, 0.1080358896106075], "rgb": [184, 113, 51], "semantic_id": 18, "pcd_info": {"point_index": 1224}, "mesh_info": {"face_index": 103, "face_uv": [0.9321228461261963, 0.06356686730578076, 0.004310286568022857]}}, {"xyz": [-0.15961145326932158, -0.4641770124435425, 0.11061014917555484], "rgb": [174, 104, 42], "semantic_id": 19, "pcd_info": {"point_index": 1299}, "mesh_info": {"face_index": 101, "face_uv": [0.06556255553813328, 0.03004218721811691, 0.9043952572437498]}}, {"xyz": [-0.16031545488519364, -0.4641770124435425, -0.21135961166432987], "rgb": [175, 99, 39], "semantic_id": 20, "pcd_info": {"point_index": 422}, "mesh_info": {"face_index": 115, "face_uv": [0.058608766988103016, 0.8915446918099278, 0.04984654120196925]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5283a98b5c693e64ebefe6b1d594ad2e", "keypoints": [{"xyz": [0.18348528047248852, 0.30133271714864795, 0.0900153410813774], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 125, "face_uv": [0.2182540954666902, 0.4342546197440315, 0.34749128478927843]}}, {"xyz": [-0.17900259534972546, 0.2936957221330223, 0.07561288492137533], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 263}, "mesh_info": {"face_index": 85, "face_uv": [0.25793938286007906, 0.5652884760918637, 0.176772141048057]}}, {"xyz": [0.18852281873667776, -0.025692999362945557, 0.020978889051263827], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 269}, "mesh_info": {"face_index": 1, "face_uv": [0.9638555880910932, 0.024142316487390396, 0.012002095421516507]}}, {"xyz": [-0.18658175908497815, -0.025692999362945557, 0.017895589582822502], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1193}, "mesh_info": {"face_index": 3, "face_uv": [0.941084614465705, 0.035004244253726634, 0.023911141280568225]}}, {"xyz": [0.19559519030110112, -0.025692999362945557, -0.25190012007664686], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 598}, "mesh_info": {"face_index": 2, "face_uv": [0.9670252815283238, 0.014552394670478528, 0.018422323801197776]}}, {"xyz": [-0.1831681128745034, -0.025692999362945557, -0.24612358058524095], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 890}, "mesh_info": {"face_index": 1, "face_uv": [0.03246512325952751, 0.9650978613824122, 0.0024370153580604613]}}, {"xyz": [0.1777335106101841, -0.48375600576400757, -0.21292434639741037], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 53, "face_uv": [0.02407221627524196, 0.48805054524372, 0.4878772384810381]}}, {"xyz": [0.17424685341212387, -0.4837560057640078, 0.09437438809519659], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 2014}, "mesh_info": {"face_index": 133, "face_uv": [0.06824516590465392, 0.6054040838740706, 0.32635075022127585]}}, {"xyz": [-0.18104314486482076, -0.48375600576400757, 0.09225802217110453], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 148, "face_uv": [0.2889938926868677, 0.5861493411137993, 0.12485676619933289]}}, {"xyz": [-0.18727084019136553, -0.48375600576400735, -0.21489712718029655], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1027}, "mesh_info": {"face_index": 76, "face_uv": [0.16965280626974671, 0.4885200347548201, 0.3418271589754327]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bf0ba9e2ebcfb431e6fe3612af521500", "keypoints": [{"xyz": [0.15243914489211424, 0.34327692627969, 0.2318149616760874], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1298}, "mesh_info": {"face_index": 6200, "face_uv": [0.05946522178288986, 0.48335068676831655, 0.45718409144879196]}}, {"xyz": [-0.15914075583326898, 0.3397749261457037, 0.23013636925138092], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1698}, "mesh_info": {"face_index": 2893, "face_uv": [0.0965172498393887, 0.29793188289177575, 0.6055508672688363]}}, {"xyz": [0.19291968798412273, 0.03759911897615131, 0.06011337513415693], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1991}, "mesh_info": {"face_index": 1828, "face_uv": [0.09190345041619899, 0.6419420127273774, 0.2661545368564205]}}, {"xyz": [-0.1904585598877746, 0.042383846625149824, 0.07887625048348812], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 240}, "mesh_info": {"face_index": 2641, "face_uv": [0.2127453064317476, 0.7662317527455338, 0.021022940822723712]}}, {"xyz": [0.1827943487969548, 0.041286825792872905, -0.208736246123834], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 802}, "mesh_info": {"face_index": 6319, "face_uv": [0.10048838716454292, 0.08545080318644942, 0.8140608096490197]}}, {"xyz": [-0.1903951495257667, 0.04172777067154487, -0.21274766575493187], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1891}, "mesh_info": {"face_index": 2704, "face_uv": [0.8622085516415867, 0.08561003319386255, 0.05218141516455618]}}, {"xyz": [0.22595386804556547, -0.37773600220680237, -0.232984186743933], "rgb": [91, 91, 91], "semantic_id": 17, "pcd_info": {"point_index": 1092}, "mesh_info": {"face_index": 191, "face_uv": [0.15650280215932413, 0.4341432113602337, 0.40935398648044213]}}, {"xyz": [0.21596588523620114, -0.3776080012321472, 0.2319114829188016], "rgb": [90, 90, 90], "semantic_id": 18, "pcd_info": {"point_index": 266}, "mesh_info": {"face_index": 731, "face_uv": [0.08186483624493773, 0.6465368009279417, 0.2715983628271204]}}, {"xyz": [-0.21987049862197686, -0.377608001232147, 0.23526469935845334], "rgb": [90, 90, 90], "semantic_id": 19, "pcd_info": {"point_index": 1030}, "mesh_info": {"face_index": 1599, "face_uv": [0.3151971112691879, 0.31160029422555297, 0.3732025945052585]}}, {"xyz": [-0.22620057167461347, -0.37773600220680237, -0.2377002399602101], "rgb": [91, 91, 91], "semantic_id": 20, "pcd_info": {"point_index": 45}, "mesh_info": {"face_index": 975, "face_uv": [0.23989235459872438, 0.564530779983284, 0.19557686541799152]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2343e2c4fa69f33a2ff834514c92e8fd", "keypoints": [{"xyz": [0.16753847663396226, 0.40030446540317577, 0.17517361209091553], "rgb": [255, 63, 0], "semantic_id": 0, "pcd_info": {"point_index": 1422}, "mesh_info": {"face_index": 13035, "face_uv": [0.3457169551316422, 0.29665401023793475, 0.35762903463042295]}}, {"xyz": [-0.1619953512439246, 0.406538776376173, 0.18090443349327967], "rgb": [255, 63, 0], "semantic_id": 1, "pcd_info": {"point_index": 1926}, "mesh_info": {"face_index": 12660, "face_uv": [0.346409476814851, 0.040608426634226584, 0.6129820965509227]}}, {"xyz": [0.2018726771952184, 0.07301376293416029, 0.12024655919799876], "rgb": [169, 169, 169], "semantic_id": 2, "pcd_info": {"point_index": 1998}, "mesh_info": {"face_index": 40885, "face_uv": [0.2431863851171891, 0.11712238588231383, 0.6396912290004968]}}, {"xyz": [-0.19369293582333952, 0.08845135810153848, 0.10896598910515487], "rgb": [254, 62, 0], "semantic_id": 3, "pcd_info": {"point_index": 1246}, "mesh_info": {"face_index": 8874, "face_uv": [0.1981262820653412, 0.6577347450010586, 0.14413897293359965]}}, {"xyz": [0.18246700170533675, 0.05764093068984644, -0.18363536989503493], "rgb": [255, 63, 0], "semantic_id": 4, "pcd_info": {"point_index": 1114}, "mesh_info": {"face_index": 10979, "face_uv": [0.5157306352102832, 0.11656183148259898, 0.3677075333071185]}}, {"xyz": [-0.17987813432307875, 0.05387600356398403, -0.1885096477592797], "rgb": [255, 63, 0], "semantic_id": 5, "pcd_info": {"point_index": 1808}, "mesh_info": {"face_index": 8271, "face_uv": [0.32988228915080353, 0.043796254207015516, 0.6263214566421832]}}, {"xyz": [0.22024197231169484, 0.2573942629943664, -0.13477260801515323], "rgb": [170, 170, 170], "semantic_id": 6, "pcd_info": {"point_index": 933}, "mesh_info": {"face_index": 39869, "face_uv": [0.31849820289017233, 0.6555633820373861, 0.02593841507244215]}}, {"xyz": [0.22676843660775342, 0.2343833118097276, 0.08221775484023697], "rgb": [170, 170, 170], "semantic_id": 7, "pcd_info": {"point_index": 1048}, "mesh_info": {"face_index": 38025, "face_uv": [0.06398207789974529, 0.20304147106133819, 0.7329764510389165]}}, {"xyz": [-0.22582362957011726, 0.25608909739563357, -0.13553462097726088], "rgb": [170, 170, 170], "semantic_id": 8, "pcd_info": {"point_index": 1905}, "mesh_info": {"face_index": 34375, "face_uv": [0.03909580790690847, 0.410227416056409, 0.5506767760366825]}}, {"xyz": [-0.2256860322536472, 0.22907977718496353, 0.08623268421477248], "rgb": [170, 170, 170], "semantic_id": 9, "pcd_info": {"point_index": 1530}, "mesh_info": {"face_index": 30599, "face_uv": [0.08754226139015837, 0.3503964252051697, 0.5620613134046718]}}, {"xyz": [0.2263426285187911, -0.3318078912891964, -0.19720240178780002], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1705}, "mesh_info": {"face_index": 786, "face_uv": [0.11061311676379865, 0.3949446539664531, 0.49444222926974685]}}, {"xyz": [0.24235534606244089, -0.3315940045480721, 0.22931124154105975], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1120}, "mesh_info": {"face_index": 4447, "face_uv": [0.03727513692943139, 0.6868943478841462, 0.27583051518642177]}}, {"xyz": [-0.2402586580631289, -0.3281580974299756, 0.23315847011267932], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1184}, "mesh_info": {"face_index": 2594, "face_uv": [0.30801055931663907, 0.20941897193532164, 0.4825704687480394]}}, {"xyz": [-0.2234442021107052, -0.32798829506195704, -0.19653290656097444], "rgb": [81, 81, 81], "semantic_id": 20, "pcd_info": {"point_index": 88}, "mesh_info": {"face_index": 27156, "face_uv": [0.47940506784208026, 0.001965109409771106, 0.518629822748149]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7212f652dd37232a80360680c1602c7d", "keypoints": [{"xyz": [0.12390791930924713, 0.2662325675995224, 0.2388829189482624], "rgb": [24, 24, 24], "semantic_id": 0, "pcd_info": {"point_index": 1201}, "mesh_info": {"face_index": 1478, "face_uv": [0.18927853019922605, 0.732152907119181, 0.07856856268159296]}}, {"xyz": [-0.11578015385273972, 0.26929283370969453, 0.23760871828103447], "rgb": [23, 23, 23], "semantic_id": 1, "pcd_info": {"point_index": 692}, "mesh_info": {"face_index": 4763, "face_uv": [0.21180286597930764, 0.3014096727595852, 0.4867874612611068]}}, {"xyz": [0.1394116593499512, -0.05550835690606759, 0.11169256715860898], "rgb": [23, 23, 23], "semantic_id": 2, "pcd_info": {"point_index": 1416}, "mesh_info": {"face_index": 13345, "face_uv": [0.20968456647821546, 0.6281624022170177, 0.1621530313047557]}}, {"xyz": [-0.14408626432087346, -0.0529818449189865, 0.10320186666973608], "rgb": [24, 24, 24], "semantic_id": 3, "pcd_info": {"point_index": 222}, "mesh_info": {"face_index": 11523, "face_uv": [0.3670721401583279, 0.07763816390446134, 0.5552896959372192]}}, {"xyz": [0.1791538823859863, -0.041250571601623154, -0.18386799138911503], "rgb": [24, 24, 24], "semantic_id": 4, "pcd_info": {"point_index": 1777}, "mesh_info": {"face_index": 13283, "face_uv": [0.050519305172512886, 0.15553437714999988, 0.7939463176774892]}}, {"xyz": [-0.16255285480696363, -0.04832383745171853, -0.18885344850747265], "rgb": [24, 24, 24], "semantic_id": 5, "pcd_info": {"point_index": 840}, "mesh_info": {"face_index": 12625, "face_uv": [0.24025532062961458, 0.011296883991110182, 0.7484477953792794]}}, {"xyz": [0.25256773780409825, 0.14969964450592305, -0.08078890082849433], "rgb": [24, 24, 24], "semantic_id": 6, "pcd_info": {"point_index": 1866}, "mesh_info": {"face_index": 664, "face_uv": [0.6118338820866154, 0.12861954258732905, 0.25954657532605635]}}, {"xyz": [0.2206317717193385, 0.2611115091009134, 0.19576429596543776], "rgb": [24, 24, 24], "semantic_id": 7, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 1292, "face_uv": [0.4753738293903825, 0.010408397273697568, 0.5142177733359213]}}, {"xyz": [-0.24395589106965096, 0.12717598345409525, -0.10201800937855654], "rgb": [24, 24, 24], "semantic_id": 8, "pcd_info": {"point_index": 1022}, "mesh_info": {"face_index": 2538, "face_uv": [0.2941440171117821, 0.3547268569556189, 0.3511291259326005]}}, {"xyz": [-0.2356947411538105, 0.2506253070096568, 0.14861700636067865], "rgb": [24, 24, 24], "semantic_id": 9, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 1960, "face_uv": [0.11921490593064153, 0.24186751070135834, 0.6389175833680013]}}, {"xyz": [0.23164817226783085, -0.3994287518335824, -0.22747664334735407], "rgb": [24, 24, 24], "semantic_id": 17, "pcd_info": {"point_index": 1156}, "mesh_info": {"face_index": 3169, "face_uv": [0.005650377768971523, 0.5276283707647264, 0.46672125146630244]}}, {"xyz": [0.24124511535063242, -0.4006826464398885, 0.12625284106554183], "rgb": [24, 24, 24], "semantic_id": 18, "pcd_info": {"point_index": 1398}, "mesh_info": {"face_index": 11380, "face_uv": [0.4384279839633075, 0.14190431794415173, 0.41966769809254106]}}, {"xyz": [-0.2354402534345425, -0.3993259093106406, 0.12988102057838705], "rgb": [24, 24, 24], "semantic_id": 19, "pcd_info": {"point_index": 1220}, "mesh_info": {"face_index": 9622, "face_uv": [0.31899773286119576, 0.48304704858491365, 0.1979552185538909]}}, {"xyz": [-0.22070740396977773, -0.39992385332896885, -0.2237337531641249], "rgb": [23, 23, 23], "semantic_id": 20, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 6228, "face_uv": [0.3098666550262525, 0.5644315303757969, 0.1257018145979506]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "871243bc93615a758df4f3f615062e0", "keypoints": [{"xyz": [0.25774376690603457, 0.18810200691223122, 0.21724635237924006], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1583}, "mesh_info": {"face_index": 1949, "face_uv": [0.8781453155269457, 0.000293448818228786, 0.12156123565482423]}}, {"xyz": [-0.2495217229970202, 0.18810200691223145, 0.21661519829544562], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 597}, "mesh_info": {"face_index": 2011, "face_uv": [0.09152067778605831, 0.016195132224213257, 0.8922841899897285]}}, {"xyz": [0.22479876533800147, -0.056252126176778106, 0.17267177387268062], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1405}, "mesh_info": {"face_index": 1228, "face_uv": [0.5953348453004023, 0.06465955813867537, 0.3400055965609223]}}, {"xyz": [-0.21566862809926057, -0.05887920391283297, 0.17129752294708145], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 999}, "mesh_info": {"face_index": 1229, "face_uv": [0.07230332361098486, 0.719831107000164, 0.20786556938885076]}}, {"xyz": [0.2103506809951457, -0.07225845223724758, -0.08991407811459173], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 48}, "mesh_info": {"face_index": 283, "face_uv": [0.9070313473374575, 0.03621740785784986, 0.056751244804689384]}}, {"xyz": [-0.2004869623681381, -0.07254429437806742, -0.09134964905914833], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 887}, "mesh_info": {"face_index": 283, "face_uv": [0.10204977303730997, 0.3126607445358757, 0.5852894824268088]}}, {"xyz": [0.22740511921687467, 0.02041690336652291, -0.07088585393192282], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 509}, "mesh_info": {"face_index": 1022, "face_uv": [0.6279522747302584, 0.3287569798781957, 0.043290745391541374]}}, {"xyz": [0.23963436090983925, 0.0515916611844327, 0.19377894916093297], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 614}, "mesh_info": {"face_index": 1834, "face_uv": [0.5589323584920671, 0.03990507963512605, 0.4011625618728094]}}, {"xyz": [-0.23304512550786693, 0.026366081116155682, -0.0718044553794599], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 400}, "mesh_info": {"face_index": 319, "face_uv": [0.5687682931676344, 0.186876054659593, 0.24435565217277502]}}, {"xyz": [-0.23361979748005068, 0.0510325644295162, 0.17967362596823233], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 2009}, "mesh_info": {"face_index": 1207, "face_uv": [0.09887529985357896, 0.5814606530604198, 0.3196640470860024]}}, {"xyz": [0.2278126005324348, -0.36823010926838173, -0.1431187539556665], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1544}, "mesh_info": {"face_index": 37, "face_uv": [0.05875434998969687, 0.8031509562171021, 0.1380946937932014]}}, {"xyz": [0.21747414632675474, -0.36871200799942017, 0.13191456950406283], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 834}, "mesh_info": {"face_index": 1, "face_uv": [0.02704414948041176, 0.9209888276943422, 0.05196702282524593]}}, {"xyz": [-0.23131661360409733, -0.368308338305839, 0.14147407707455145], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1929}, "mesh_info": {"face_index": 2, "face_uv": [0.04164318277483725, 0.5521997343442977, 0.4061570828808651]}}, {"xyz": [-0.21515356124528645, -0.3682771039001089, -0.14250352646426828], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1963}, "mesh_info": {"face_index": 36, "face_uv": [0.07331252842383464, 0.2751721041640234, 0.6515153674121424]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3cf6db91f872d26c222659d33fd79709", "keypoints": [{"xyz": [0.17166532869008966, 0.49960699677467346, 0.04741858399698943], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 389}, "mesh_info": {"face_index": 282, "face_uv": [0.24475272897847175, 0.5126454174741639, 0.24260185354736433]}}, {"xyz": [-0.1727490074978231, 0.49960699677467346, 0.04527084657878786], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1171}, "mesh_info": {"face_index": 157, "face_uv": [0.32387974310015455, 0.19651739897731782, 0.47960285792252766]}}, {"xyz": [0.1635575326065108, 0.02276800014078617, 0.05025159796710349], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 95}, "mesh_info": {"face_index": 96, "face_uv": [0.027071403903447415, 0.8177764082446861, 0.1551521878518663]}}, {"xyz": [-0.1626573066047719, 0.02276800014078617, 0.05680658256437876], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1297}, "mesh_info": {"face_index": 107, "face_uv": [0.10161100370964947, 0.035392230460110925, 0.8629967658302397]}}, {"xyz": [0.16709414078597606, 0.022768000140786393, -0.242596043305306], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 2}, "mesh_info": {"face_index": 97, "face_uv": [0.965966950037002, 0.01712580286883073, 0.01690724709417713]}}, {"xyz": [-0.1622286445077743, 0.02276800014078617, -0.24015597651229442], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 107, "face_uv": [0.9225868759854736, 0.036624198648550446, 0.04078892536597593]}}, {"xyz": [0.15864472294327808, -0.2776859998703003, -0.22870436934854477], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1269}, "mesh_info": {"face_index": 1407, "face_uv": [0.15598150590529597, 0.3602297752414772, 0.4837887188532269]}}, {"xyz": [0.15723820919325887, -0.2776859998703003, 0.07973622437197625], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1619}, "mesh_info": {"face_index": 2062, "face_uv": [0.48657028978478484, 0.4276302699217959, 0.0857994402934193]}}, {"xyz": [-0.16014255066447533, -0.2776859998703003, 0.08446975640917484], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 474}, "mesh_info": {"face_index": 2388, "face_uv": [0.3990489833806927, 0.4153262573908622, 0.18562475922844507]}}, {"xyz": [-0.15924113744527588, -0.2776859998703003, -0.22412125093657131], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1500}, "mesh_info": {"face_index": 1732, "face_uv": [0.4054624565518363, 0.4585201403644238, 0.1360174030837399]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3a98a93f381ff5fb4b3c42e318f3affc", "keypoints": [{"xyz": [0.19796418921042028, 0.2299589979195822, 0.06238468807506237], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1711}, "mesh_info": {"face_index": 4326, "face_uv": [0.2535837652338721, 0.02490171116244803, 0.7215145236036807]}}, {"xyz": [-0.19653121583993827, 0.2302787942384521, 0.06047547638350104], "rgb": [66, 39, 32], "semantic_id": 1, "pcd_info": {"point_index": 1215}, "mesh_info": {"face_index": 4229, "face_uv": [0.11936528300125553, 0.8399308161855865, 0.04070390081315926]}}, {"xyz": [0.11402111123112332, -0.10763200372457526, 0.09546983947823895], "rgb": [127, 64, 49], "semantic_id": 2, "pcd_info": {"point_index": 1426}, "mesh_info": {"face_index": 715, "face_uv": [0.931022234347764, 0.0035222122988743964, 0.06545555335336371]}}, {"xyz": [-0.11391082413423878, -0.046047564306477495, 0.04156086828329997], "rgb": [106, 46, 38], "semantic_id": 3, "pcd_info": {"point_index": 1490}, "mesh_info": {"face_index": 1843, "face_uv": [0.6739406372451342, 0.005424982902159209, 0.3206343798527059]}}, {"xyz": [0.17311986099879287, -0.10763200372457504, -0.24373121666047903], "rgb": [132, 65, 44], "semantic_id": 4, "pcd_info": {"point_index": 1251}, "mesh_info": {"face_index": 708, "face_uv": [0.05147018849235337, 0.026973060301182503, 0.9215567512064642]}}, {"xyz": [-0.18176619691657694, -0.10763200372457504, -0.24507082968805627], "rgb": [103, 50, 41], "semantic_id": 5, "pcd_info": {"point_index": 121}, "mesh_info": {"face_index": 708, "face_uv": [0.9385128106696412, 0.022457941840773654, 0.03902924748958513]}}, {"xyz": [0.24303055958063757, 0.057113258243625564, -0.24318517244109034], "rgb": [128, 66, 53], "semantic_id": 6, "pcd_info": {"point_index": 944}, "mesh_info": {"face_index": 1069, "face_uv": [0.18719899139123686, 0.8037062802497634, 0.009094728358995571]}}, {"xyz": [0.19687611191464932, 0.056291373139278233, 0.051822407478878674], "rgb": [104, 45, 39], "semantic_id": 7, "pcd_info": {"point_index": 131}, "mesh_info": {"face_index": 1065, "face_uv": [0.3229889800088533, 0.6618395225448823, 0.015171497446268212]}}, {"xyz": [-0.25574299239470244, 0.05685138934338374, -0.2449964718745507], "rgb": [129, 67, 54], "semantic_id": 8, "pcd_info": {"point_index": 828}, "mesh_info": {"face_index": 2031, "face_uv": [0.001029266529249889, 0.2178715289044179, 0.7810992045663312]}}, {"xyz": [-0.18007524801033606, 0.05732732410954533, 0.04898376643222824], "rgb": [116, 51, 39], "semantic_id": 9, "pcd_info": {"point_index": 873}, "mesh_info": {"face_index": 2371, "face_uv": [0.5199170398949068, 0.466588842364173, 0.013494117740924402]}}, {"xyz": [0.2189120054244995, -0.38985282440872004, -0.23782195294498054], "rgb": [136, 113, 96], "semantic_id": 17, "pcd_info": {"point_index": 1145}, "mesh_info": {"face_index": 256, "face_uv": [0.03345821987075257, 0.9181820518064159, 0.04835972832283152]}}, {"xyz": [0.14087767573797955, -0.3989399969577787, 0.10371030468729836], "rgb": [60, 46, 45], "semantic_id": 18, "pcd_info": {"point_index": 1851}, "mesh_info": {"face_index": 26, "face_uv": [0.3097619167884249, 0.31992428396658457, 0.37031379924498997]}}, {"xyz": [-0.12551507517597016, -0.39893999695777893, 0.11122388838778041], "rgb": [60, 46, 45], "semantic_id": 19, "pcd_info": {"point_index": 1206}, "mesh_info": {"face_index": 2, "face_uv": [0.4024526807419732, 0.015212502660196647, 0.5823348165978302]}}, {"xyz": [-0.22226525528442537, -0.38865877488614814, -0.23807600140571594], "rgb": [161, 145, 131], "semantic_id": 20, "pcd_info": {"point_index": 738}, "mesh_info": {"face_index": 590, "face_uv": [0.189866958494739, 0.6562973102022838, 0.1538357313029772]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "20627f21d8681503f2aa3fc45e8202cf", "keypoints": [{"xyz": [0.189152496102447, 0.4087636238449064, 0.22717622322393222], "rgb": [78, 29, 8], "semantic_id": 0, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 984, "face_uv": [0.6276389354462854, 0.019939447464473303, 0.352421617089241]}}, {"xyz": [-0.1915661751722205, 0.40727404782298615, 0.23128751946517456], "rgb": [83, 37, 10], "semantic_id": 1, "pcd_info": {"point_index": 915}, "mesh_info": {"face_index": 985, "face_uv": [0.4358932843180749, 0.013813638227193692, 0.5502930774547314]}}, {"xyz": [0.19124812253395948, 0.014337268590675967, 0.12769563335916723], "rgb": [106, 56, 28], "semantic_id": 2, "pcd_info": {"point_index": 509}, "mesh_info": {"face_index": 1015, "face_uv": [0.943694209245805, 0.014620841559982674, 0.04168494919421529]}}, {"xyz": [-0.19696646023117848, 0.012397956635776919, 0.1188506895770245], "rgb": [45, 13, 0], "semantic_id": 3, "pcd_info": {"point_index": 961}, "mesh_info": {"face_index": 711, "face_uv": [0.00010795692416457655, 0.03412918012554285, 0.9657628629502939]}}, {"xyz": [0.1905339873525984, 0.027424335520750187, -0.28153804127312293], "rgb": [45, 17, 5], "semantic_id": 4, "pcd_info": {"point_index": 878}, "mesh_info": {"face_index": 907, "face_uv": [0.932283693325011, 0.051283022050213005, 0.016433284624773274]}}, {"xyz": [-0.19136255243581146, 0.027368409277311656, -0.28272505563848205], "rgb": [45, 14, 0], "semantic_id": 5, "pcd_info": {"point_index": 1188}, "mesh_info": {"face_index": 907, "face_uv": [0.0011183815756511534, 0.01321204202505512, 0.9856695763992918]}}, {"xyz": [0.21719348608398553, 0.12136039058412917, -0.2769957612434686], "rgb": [91, 43, 18], "semantic_id": 6, "pcd_info": {"point_index": 1770}, "mesh_info": {"face_index": 192, "face_uv": [0.3585866281903655, 0.3387414436974642, 0.3026719281121701]}}, {"xyz": [0.2211477222572621, 0.06244910126907932, 0.21831270581967366], "rgb": [82, 36, 11], "semantic_id": 7, "pcd_info": {"point_index": 622}, "mesh_info": {"face_index": 224, "face_uv": [0.25164698036673977, 0.42883543284071585, 0.3195175867925469]}}, {"xyz": [-0.22040913898273679, 0.12307045388181903, -0.26587674209235235], "rgb": [88, 41, 15], "semantic_id": 8, "pcd_info": {"point_index": 497}, "mesh_info": {"face_index": 1346, "face_uv": [0.12589960989229976, 0.5842858350594584, 0.2898145550482421]}}, {"xyz": [-0.2189942368230019, 0.06082843432479401, 0.22548008362736055], "rgb": [84, 36, 9], "semantic_id": 9, "pcd_info": {"point_index": 1683}, "mesh_info": {"face_index": 1369, "face_uv": [0.3144397612844452, 0.3905777843443775, 0.29498245437117854]}}, {"xyz": [0.22504453988706144, -0.22811199724674247, -0.25720522212362185], "rgb": [88, 42, 15], "semantic_id": 17, "pcd_info": {"point_index": 1564}, "mesh_info": {"face_index": 402, "face_uv": [0.029386091593843863, 0.4686780793490381, 0.501935829057119]}}, {"xyz": [0.22396447202193112, -0.22811199724674225, 0.2333569114858878], "rgb": [87, 37, 12], "semantic_id": 18, "pcd_info": {"point_index": 1044}, "mesh_info": {"face_index": 128, "face_uv": [0.47887627392766974, 0.414340086604988, 0.10678363946734222]}}, {"xyz": [-0.23535748063089224, -0.22811199724674225, 0.23330440834975177], "rgb": [90, 38, 12], "semantic_id": 19, "pcd_info": {"point_index": 944}, "mesh_info": {"face_index": 1272, "face_uv": [0.3187217447340243, 0.4130555117003072, 0.26822274356566855]}}, {"xyz": [-0.21759959206452542, -0.22811199724674225, -0.24745164751462814], "rgb": [103, 52, 22], "semantic_id": 20, "pcd_info": {"point_index": 1914}, "mesh_info": {"face_index": 1295, "face_uv": [0.3658012856979486, 0.1879592243911271, 0.4462394899109243]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8c281caf626df58671a782a4379556c7", "keypoints": [{"xyz": [0.21856199527312117, 0.4897114701516637, 0.3339647716360945], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1452}, "mesh_info": {"face_index": 231, "face_uv": [0.40048901924291963, 0.5991189060832517, 0.00039207467382873734]}}, {"xyz": [-0.21113833389919556, 0.4898250158170905, 0.3335258349889558], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 229, "face_uv": [0.5657462932366087, 0.43150310751161425, 0.002750599251777001]}}, {"xyz": [0.2164015107691787, 0.18124003586387882, 0.12623596049616473], "rgb": [126, 255, 0], "semantic_id": 2, "pcd_info": {"point_index": 159}, "mesh_info": {"face_index": 22, "face_uv": [0.005404160212077554, 0.31607335040446466, 0.6785224893834583]}}, {"xyz": [-0.20832299761817566, 0.1850072247463519, 0.14691348712401373], "rgb": [126, 255, 0], "semantic_id": 3, "pcd_info": {"point_index": 1812}, "mesh_info": {"face_index": 136, "face_uv": [0.24011839996933546, 0.7505997314114587, 0.009281868619208138]}}, {"xyz": [0.2117979272435222, 0.21683315995104013, -0.26756313440606494], "rgb": [125, 254, 0], "semantic_id": 4, "pcd_info": {"point_index": 557}, "mesh_info": {"face_index": 1, "face_uv": [0.0160839657700239, 0.4601776774042055, 0.5237383568257702]}}, {"xyz": [-0.20987869478624577, 0.22473465390495256, -0.25594330758431516], "rgb": [126, 255, 0], "semantic_id": 5, "pcd_info": {"point_index": 470}, "mesh_info": {"face_index": 4, "face_uv": [0.005672822933505511, 0.610258731469138, 0.38406844559735664]}}, {"xyz": [0.20965088196778325, -0.10839506038871272, -0.20926401325679114], "rgb": [191, 191, 191], "semantic_id": 17, "pcd_info": {"point_index": 124}, "mesh_info": {"face_index": 4429, "face_uv": [0.22629850793044487, 0.06338252076717006, 0.7103189713023855]}}, {"xyz": [0.19131314256620255, -0.1136496771985196, 0.26610040706091087], "rgb": [191, 191, 191], "semantic_id": 18, "pcd_info": {"point_index": 885}, "mesh_info": {"face_index": 3141, "face_uv": [0.04750679108307286, 0.1808342121915117, 0.7716589967254179]}}, {"xyz": [-0.1791719620182145, -0.11344998340277535, 0.27437515767945686], "rgb": [191, 191, 191], "semantic_id": 19, "pcd_info": {"point_index": 1940}, "mesh_info": {"face_index": 3092, "face_uv": [0.3332973308355474, 0.058604279724099734, 0.6080983894403531]}}, {"xyz": [-0.2041632469597465, -0.1086689271981629, -0.20816328311776394], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 984}, "mesh_info": {"face_index": 4842, "face_uv": [0.005978797371347587, 0.5606402859910511, 0.43338091663760203]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3ba15bab072af6ced014b923da2a041e", "keypoints": [{"xyz": [0.2067326784501975, 0.31665059906409265, 0.054432999342679866], "rgb": [253, 253, 253], "semantic_id": 0, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 158, "face_uv": [0.04283559603571393, 0.007526175698025512, 0.9496382282662585]}}, {"xyz": [-0.195469588954522, 0.3133704912101273, 0.05443299934267998], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1468}, "mesh_info": {"face_index": 156, "face_uv": [0.00245515180983513, 0.004532564561586043, 0.9930122836285789]}}, {"xyz": [0.20859801435964598, -0.04012599959969526, 0.05155521643099159], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1151}, "mesh_info": {"face_index": 160, "face_uv": [0.003104101292178948, 0.9911886356155142, 0.005707263092308211]}}, {"xyz": [-0.18957232055135076, -0.035398984275241685, 0.054432999342679866], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 156, "face_uv": [0.9677433969236766, 0.01897787357230458, 0.013278729504016812]}}, {"xyz": [0.20455553949055755, -0.04012599959969515, -0.27197962014645527], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 160, "face_uv": [0.9838200181900881, 0.0005707107607250991, 0.01560927104918543]}}, {"xyz": [-0.19386404539018248, -0.04319894880461811, -0.27216601371765137], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 160}, "mesh_info": {"face_index": 71, "face_uv": [0.036072019473891215, 0.962364369841331, 0.0015636106847778796]}}, {"xyz": [0.20497873972824182, -0.4483740031719208, -0.2706747336439699], "rgb": [250, 250, 250], "semantic_id": 17, "pcd_info": {"point_index": 336}, "mesh_info": {"face_index": 80, "face_uv": [0.9271362291974713, 0.018264295557684915, 0.05459947524484382]}}, {"xyz": [0.20737898919136044, -0.4483740031719208, 0.1347059096338243], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1740}, "mesh_info": {"face_index": 2, "face_uv": [0.043466598246317406, 0.016865855459095472, 0.9396675462945872]}}, {"xyz": [-0.1880080125636286, -0.4483740031719208, 0.13256437203193078], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1483}, "mesh_info": {"face_index": 150, "face_uv": [0.07095349281025602, 0.04309411516219544, 0.8859523920275485]}}, {"xyz": [-0.1906646686376375, -0.4483740031719208, -0.26201910178823096], "rgb": [234, 234, 234], "semantic_id": 20, "pcd_info": {"point_index": 1526}, "mesh_info": {"face_index": 101, "face_uv": [0.08151048374604787, 0.12427323461730613, 0.794216281636646]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "78e1977bc5f0f4041552c6ecbda964b", "keypoints": [{"xyz": [0.15394128993648054, 0.3388285971790639, 0.07143675116534448], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 636}, "mesh_info": {"face_index": 156, "face_uv": [0.43542354206736833, 0.07834405946322225, 0.48623239846940924]}}, {"xyz": [-0.15383850820561992, 0.33535143751915264, 0.08419324112367477], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1557}, "mesh_info": {"face_index": 112, "face_uv": [0.3126516541516338, 0.04956287244007344, 0.6377854734082928]}}, {"xyz": [0.16544258986424454, -0.03990000113844849, 0.004332805681486668], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 48, "face_uv": [0.02834606487795384, 0.9655305265235384, 0.006123408598502111]}}, {"xyz": [-0.1680165752316723, -0.039900001138448715, 0.004596826961591166], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 406}, "mesh_info": {"face_index": 36, "face_uv": [0.012365622249419285, 0.03339147479871459, 0.9542429029518662]}}, {"xyz": [0.16247272470230628, -0.039900001138448715, -0.2192796415113513], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1289}, "mesh_info": {"face_index": 49, "face_uv": [0.9105892079021175, 0.052521081583928854, 0.03688971051395366]}}, {"xyz": [-0.1543841607050566, -0.03990000113844849, -0.21864234608681382], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1822}, "mesh_info": {"face_index": 36, "face_uv": [0.05158306564418957, 0.9448768417019883, 0.0035400926538164492]}}, {"xyz": [0.13277128440693248, -0.45897099375724804, -0.1884261629000688], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1576}, "mesh_info": {"face_index": 120, "face_uv": [0.3774270918816377, 0.5662409793466886, 0.056331928771673936]}}, {"xyz": [0.12899771958009504, -0.4589709937572479, 0.09162376178245646], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 835}, "mesh_info": {"face_index": 158, "face_uv": [0.4899392288397466, 0.4618817493585971, 0.0481790218016563]}}, {"xyz": [-0.11780520403145732, -0.4589709937572478, 0.0985326315891083], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1337}, "mesh_info": {"face_index": 83, "face_uv": [0.27757831253995247, 0.3345199132659377, 0.38790177419410965]}}, {"xyz": [-0.12799628616530428, -0.4589709937572479, -0.18410869044595662], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1130}, "mesh_info": {"face_index": 3, "face_uv": [0.0641607124738542, 0.4765970381667899, 0.4592422493593559]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1e9004958eb935b2ef2777c7d8e09db2", "keypoints": [{"xyz": [0.18559466511373124, 0.48943299055099476, 0.1255697837062531], "rgb": [70, 40, 21], "semantic_id": 0, "pcd_info": {"point_index": 1894}, "mesh_info": {"face_index": 155, "face_uv": [0.30198956783749237, 0.6485549262446731, 0.04945550591783434]}}, {"xyz": [-0.19874414126775983, 0.48943299055099476, 0.12617084793744754], "rgb": [71, 41, 21], "semantic_id": 1, "pcd_info": {"point_index": 1969}, "mesh_info": {"face_index": 176, "face_uv": [0.622969774185544, 0.33946738786080316, 0.03756283795365265]}}, {"xyz": [0.190075706551404, 0.05197500064969085, 0.07866644273513357], "rgb": [86, 56, 35], "semantic_id": 2, "pcd_info": {"point_index": 785}, "mesh_info": {"face_index": 132, "face_uv": [8.933064734956733e-05, 0.03872163830201303, 0.9611890310506418]}}, {"xyz": [-0.20156765142575367, 0.05197500064969063, 0.07732377375063382], "rgb": [79, 44, 27], "semantic_id": 3, "pcd_info": {"point_index": 244}, "mesh_info": {"face_index": 132, "face_uv": [0.9268015473659528, 0.042342751553745075, 0.030855701080302063]}}, {"xyz": [0.19324276032632165, 0.05197500064969063, -0.2689236679336211], "rgb": [250, 250, 249], "semantic_id": 4, "pcd_info": {"point_index": 508}, "mesh_info": {"face_index": 109, "face_uv": [0.9448675819351617, 0.023844660283496997, 0.03128775778134125]}}, {"xyz": [-0.2037113409243379, 0.05197500064969063, -0.26674593431867294], "rgb": [249, 248, 248], "semantic_id": 5, "pcd_info": {"point_index": 1360}, "mesh_info": {"face_index": 229, "face_uv": [0.025763451335684567, 0.9702820975824622, 0.00395445108185317]}}, {"xyz": [0.17724885591837033, -0.3140380084514618, -0.2508426514780557], "rgb": [53, 26, 8], "semantic_id": 17, "pcd_info": {"point_index": 1725}, "mesh_info": {"face_index": 77, "face_uv": [0.03305198292433415, 0.562617006278392, 0.4043310107972739]}}, {"xyz": [0.1772671893429775, -0.31403800845146157, 0.11223664016437779], "rgb": [61, 33, 15], "semantic_id": 18, "pcd_info": {"point_index": 930}, "mesh_info": {"face_index": 134, "face_uv": [0.21250912947784964, 0.3827854177960624, 0.4047054527260872]}}, {"xyz": [-0.18948138782100815, -0.314038008451462, 0.11988291136793544], "rgb": [64, 36, 15], "semantic_id": 19, "pcd_info": {"point_index": 1718}, "mesh_info": {"face_index": 165, "face_uv": [0.0007974005448004169, 0.5351744262023642, 0.4640281732528361]}}, {"xyz": [-0.18208365596092957, -0.3140380084514618, -0.2522072714697294], "rgb": [67, 39, 21], "semantic_id": 20, "pcd_info": {"point_index": 1407}, "mesh_info": {"face_index": 170, "face_uv": [0.3990756654646281, 0.465900500194983, 0.13502383434038892]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1a38407b3036795d19fb4103277a6b93", "keypoints": [{"xyz": [0.420174987699483, 0.260819220634225, 0.09847624357138296], "rgb": [223, 199, 165], "semantic_id": 0, "pcd_info": {"point_index": 230}, "mesh_info": {"face_index": 79308, "face_uv": [0.05449456302416794, 0.13541255236181826, 0.8100928846140137]}}, {"xyz": [-0.4162389800822762, 0.2632530739977904, 0.10117048216174573], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 776}, "mesh_info": {"face_index": 91670, "face_uv": [0.2813614184735855, 0.00940808898416148, 0.709230492542253]}}, {"xyz": [0.383252263716716, 0.07560793379800224, 0.02827445672129425], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 676}, "mesh_info": {"face_index": 84519, "face_uv": [0.19641441635004414, 0.41545561309576556, 0.38812997055418336]}}, {"xyz": [-0.3835499882698058, 0.07780567217887435, 0.026381049676938995], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 569}, "mesh_info": {"face_index": 63519, "face_uv": [0.17445561140118324, 0.14012070716507122, 0.6854236814337452]}}, {"xyz": [0.3788468455548935, 0.0709402195446312, -0.17313077681125244], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 1208}, "mesh_info": {"face_index": 1167, "face_uv": [0.1715815617271757, 0.32252945209982653, 0.5058889861729984]}}, {"xyz": [-0.37661225019775146, 0.07273399558651578, -0.17068759781626253], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 1493}, "mesh_info": {"face_index": 39533, "face_uv": [0.007464160799947272, 0.36656855282395545, 0.6259672863760974]}}, {"xyz": [0.4080098418221953, 0.140796660418672, -0.1821004790333236], "rgb": [223, 200, 165], "semantic_id": 6, "pcd_info": {"point_index": 1070}, "mesh_info": {"face_index": 29340, "face_uv": [0.3399714691611614, 0.2932049807210551, 0.3668235501177844]}}, {"xyz": [0.40954833955893355, 0.15849853381338463, 0.05188365561924008], "rgb": [222, 199, 164], "semantic_id": 7, "pcd_info": {"point_index": 1025}, "mesh_info": {"face_index": 79300, "face_uv": [0.7415666611213999, 0.030464937069879718, 0.227968401808693]}}, {"xyz": [-0.4036447837531642, 0.14185207700232272, -0.18070314681075328], "rgb": [222, 199, 164], "semantic_id": 8, "pcd_info": {"point_index": 50}, "mesh_info": {"face_index": 62550, "face_uv": [0.19358319548396427, 0.4847295738741864, 0.3216872306418491]}}, {"xyz": [-0.40878483729274295, 0.16529925144989122, 0.05394685709840957], "rgb": [222, 199, 164], "semantic_id": 9, "pcd_info": {"point_index": 473}, "mesh_info": {"face_index": 90848, "face_uv": [0.7654301329759369, 0.15620496985543722, 0.07836489716862173]}}, {"xyz": [0.4079465920844836, -0.14979399740695953, -0.13098422860430414], "rgb": [164, 75, 19], "semantic_id": 17, "pcd_info": {"point_index": 712}, "mesh_info": {"face_index": 6939, "face_uv": [0.5547103662981887, 0.0628542626017569, 0.3824353711000543]}}, {"xyz": [0.41005317351152637, -0.14979399740695953, 0.07893023121138851], "rgb": [159, 73, 19], "semantic_id": 18, "pcd_info": {"point_index": 1701}, "mesh_info": {"face_index": 18187, "face_uv": [0.31055941295737116, 0.216636876963041, 0.47280371007958777]}}, {"xyz": [-0.40446734172356535, -0.14979399740695953, 0.07838860199261649], "rgb": [167, 74, 20], "semantic_id": 19, "pcd_info": {"point_index": 680}, "mesh_info": {"face_index": 51231, "face_uv": [0.0729141879303493, 0.48009158225058646, 0.4469942298190643]}}, {"xyz": [-0.4040558794584391, -0.14979399740695953, -0.12214234524440806], "rgb": [163, 73, 19], "semantic_id": 20, "pcd_info": {"point_index": 1184}, "mesh_info": {"face_index": 39911, "face_uv": [0.48048797963652284, 0.28107035245881556, 0.2384416679046616]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fc557cf617e03564da733bb42d274ff9", "keypoints": [{"xyz": [0.21774569839196634, 0.5118579864501951, 0.2172755184316857], "rgb": [254, 139, 0], "semantic_id": 0, "pcd_info": {"point_index": 1852}, "mesh_info": {"face_index": 1438, "face_uv": [0.0014962155125629309, 0.08195115242812062, 0.916552632059316]}}, {"xyz": [-0.2040321063672227, 0.5118579864501953, 0.21368409589327197], "rgb": [254, 140, 0], "semantic_id": 1, "pcd_info": {"point_index": 73}, "mesh_info": {"face_index": 1437, "face_uv": [0.014446424143980233, 0.9651816160471055, 0.02037195980891422]}}, {"xyz": [0.21838699281215676, 0.2530322442152608, 0.12801615357052576], "rgb": [153, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1945}, "mesh_info": {"face_index": 1322, "face_uv": [0.03171210010759161, 0.8297643819065819, 0.13852351798582688]}}, {"xyz": [-0.21022400259971613, 0.24002458184785946, 0.1282569869898178], "rgb": [152, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 180}, "mesh_info": {"face_index": 1371, "face_uv": [0.9519751236554435, 0.02125725276568548, 0.02676762357887078]}}, {"xyz": [0.21537001962637767, 0.23345143012690395, -0.2781173689546228], "rgb": [255, 140, 0], "semantic_id": 4, "pcd_info": {"point_index": 1981}, "mesh_info": {"face_index": 1448, "face_uv": [0.02172255363689721, 0.007038954245398827, 0.9712384921177041]}}, {"xyz": [-0.20780908779730128, 0.23564299941062905, -0.2769734717221186], "rgb": [254, 139, 0], "semantic_id": 5, "pcd_info": {"point_index": 189}, "mesh_info": {"face_index": 1443, "face_uv": [0.994365718965995, 0.001017659996549506, 0.004616621037454583]}}, {"xyz": [0.254108401485987, 0.28819544184951984, -0.24218355348992593], "rgb": [153, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 1987}, "mesh_info": {"face_index": 1351, "face_uv": [0.5311967340184162, 0.05076997652865397, 0.41803328945292983]}}, {"xyz": [0.26347922005710916, 0.35914302592668346, 0.2843876146929971], "rgb": [153, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 489}, "mesh_info": {"face_index": 1367, "face_uv": [0.005682375859688576, 0.4065272907486512, 0.5877903333916606]}}, {"xyz": [-0.25645711462104426, 0.2928311764173781, -0.2371975868137649], "rgb": [152, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 907}, "mesh_info": {"face_index": 1414, "face_uv": [0.39324234526605856, 0.5424740726324738, 0.06428358210146715]}}, {"xyz": [-0.2567159052238227, 0.3590893972197877, 0.28391139823056255], "rgb": [153, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 255}, "mesh_info": {"face_index": 1428, "face_uv": [0.00663474211353425, 0.6054346055383749, 0.38793065234809126]}}, {"xyz": [0.2793378974347709, -0.03402209379195653, -0.2585786740647413], "rgb": [201, 208, 218], "semantic_id": 17, "pcd_info": {"point_index": 749}, "mesh_info": {"face_index": 452, "face_uv": [0.3596819498951529, 0.5697489028410742, 0.07056914726377284]}}, {"xyz": [0.27633960803806, -0.03424856911244745, 0.2820112533401731], "rgb": [199, 206, 216], "semantic_id": 18, "pcd_info": {"point_index": 1614}, "mesh_info": {"face_index": 1052, "face_uv": [0.14118949391633837, 0.5980283872464452, 0.26078211883721686]}}, {"xyz": [-0.27175952506823875, -0.03368516077177408, 0.284287357091458], "rgb": [204, 211, 221], "semantic_id": 19, "pcd_info": {"point_index": 1552}, "mesh_info": {"face_index": 2063, "face_uv": [0.046238462333785924, 0.18413455820522787, 0.7696269794609855]}}, {"xyz": [-0.2709225480019719, -0.04335753556863631, -0.24521858477587227], "rgb": [199, 206, 216], "semantic_id": 20, "pcd_info": {"point_index": 1310}, "mesh_info": {"face_index": 1922, "face_uv": [0.3293150311639004, 0.4465019575694232, 0.22418301126667456]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "20d01aedf15d4d1d23561140a396280f", "keypoints": [{"xyz": [0.178368668080919, 0.3779032387329928, 0.1809158363670901], "rgb": [175, 101, 36], "semantic_id": 0, "pcd_info": {"point_index": 1967}, "mesh_info": {"face_index": 3181, "face_uv": [0.05286791255901093, 0.6046533328258543, 0.34247875461513466]}}, {"xyz": [-0.16890090017339127, 0.3887352952163269, 0.17847673844766515], "rgb": [185, 111, 46], "semantic_id": 1, "pcd_info": {"point_index": 1135}, "mesh_info": {"face_index": 3353, "face_uv": [0.048436508433964645, 0.14720756508952781, 0.8043559264765076]}}, {"xyz": [0.17561603597044764, -0.1383259721553367, 0.06900146185127792], "rgb": [182, 108, 43], "semantic_id": 2, "pcd_info": {"point_index": 726}, "mesh_info": {"face_index": 1109, "face_uv": [0.8791687412283677, 0.11510571049590847, 0.005725548275722697]}}, {"xyz": [-0.17033313871175434, -0.13819537309078167, 0.06944210432347281], "rgb": [170, 96, 38], "semantic_id": 3, "pcd_info": {"point_index": 1562}, "mesh_info": {"face_index": 1188, "face_uv": [0.20949102869358618, 0.7710330524400407, 0.019475918866373863]}}, {"xyz": [0.15711856017996487, -0.14312353807331446, -0.203652085059704], "rgb": [169, 101, 39], "semantic_id": 4, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 2297, "face_uv": [0.08004724389836776, 0.1896489698063469, 0.7303037862952868]}}, {"xyz": [-0.15312165423979224, -0.14315039193205148, -0.2048922176370933], "rgb": [169, 100, 38], "semantic_id": 5, "pcd_info": {"point_index": 1127}, "mesh_info": {"face_index": 2579, "face_uv": [0.11401311644418155, 0.14022317726658481, 0.7457637062892354]}}, {"xyz": [0.20874916354833975, -0.1389208818851974, -0.22839894068805167], "rgb": [168, 93, 35], "semantic_id": 6, "pcd_info": {"point_index": 1615}, "mesh_info": {"face_index": 809, "face_uv": [0.008933653747749848, 0.17404218293349777, 0.8170241633187528]}}, {"xyz": [0.22185721752939452, 0.058049000799655914, 0.17046001768548355], "rgb": [184, 109, 48], "semantic_id": 7, "pcd_info": {"point_index": 1958}, "mesh_info": {"face_index": 911, "face_uv": [0.4613590931817606, 0.07937941579166995, 0.4592614910265695]}}, {"xyz": [-0.21654134610068104, -0.13058961790165202, -0.22399608872624321], "rgb": [176, 102, 44], "semantic_id": 8, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 336, "face_uv": [0.17071457488604855, 0.32176309994860824, 0.5075223251653455]}}, {"xyz": [-0.23407456901277884, 0.058049000799656136, 0.1733783894030735], "rgb": [164, 89, 26], "semantic_id": 9, "pcd_info": {"point_index": 1625}, "mesh_info": {"face_index": 238, "face_uv": [0.13553866187680141, 0.0550275898148771, 0.8094337483083254]}}, {"xyz": [0.22295032584319882, -0.35939631252098614, -0.20744829084998254], "rgb": [175, 108, 48], "semantic_id": 17, "pcd_info": {"point_index": 349}, "mesh_info": {"face_index": 718, "face_uv": [0.43095443533881056, 0.4544759424052147, 0.11456962225597432]}}, {"xyz": [0.22447539449294707, -0.3597699999809266, 0.09354700359126246], "rgb": [174, 99, 39], "semantic_id": 18, "pcd_info": {"point_index": 874}, "mesh_info": {"face_index": 476, "face_uv": [0.1965224789745599, 0.19201238101474286, 0.6114651400106975]}}, {"xyz": [-0.21312551824240383, -0.3597699999809265, 0.09183172475376597], "rgb": [176, 102, 37], "semantic_id": 19, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 1, "face_uv": [0.5765591090401351, 0.1966859361014362, 0.22675495485842873]}}, {"xyz": [-0.21950758550492475, -0.35104506517622136, -0.23188611380313068], "rgb": [174, 101, 41], "semantic_id": 20, "pcd_info": {"point_index": 20}, "mesh_info": {"face_index": 53, "face_uv": [0.33133595771378743, 0.26439769118348877, 0.404266351102724]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d2a5b42cf29b753f71a782a4379556c7", "keypoints": [{"xyz": [0.2064898399013088, 0.413468194596632, 0.2046524321578163], "rgb": [70, 130, 179], "semantic_id": 0, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 18244, "face_uv": [0.6329140542723027, 0.17824942424783322, 0.1888365214798643]}}, {"xyz": [-0.20571202361905014, 0.4132972522427587, 0.20674052557818584], "rgb": [70, 130, 179], "semantic_id": 1, "pcd_info": {"point_index": 1870}, "mesh_info": {"face_index": 14631, "face_uv": [0.32581436975873074, 0.23775318752441094, 0.4364324427168582]}}, {"xyz": [0.19996542891239574, 0.06898320142060332, 0.1630390219230935], "rgb": [191, 191, 191], "semantic_id": 2, "pcd_info": {"point_index": 1369}, "mesh_info": {"face_index": 6152, "face_uv": [0.18490618649590074, 0.4425821293881934, 0.372511684115907]}}, {"xyz": [-0.20110484307474252, 0.07637236637082079, 0.163037549844689], "rgb": [191, 191, 191], "semantic_id": 3, "pcd_info": {"point_index": 2005}, "mesh_info": {"face_index": 252, "face_uv": [0.3670227708948312, 0.07905768643397892, 0.5539195426711906]}}, {"xyz": [0.1801184351353781, 0.11125287378723614, -0.2236196938837961], "rgb": [69, 129, 178], "semantic_id": 4, "pcd_info": {"point_index": 614}, "mesh_info": {"face_index": 17360, "face_uv": [0.11469386019601702, 0.02814957231375954, 0.8571565674902232]}}, {"xyz": [-0.17892548043433232, 0.11331662609228199, -0.22020498686709467], "rgb": [69, 130, 179], "semantic_id": 5, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 13532, "face_uv": [0.08087654104092801, 0.11340243330652909, 0.8057210256525428]}}, {"xyz": [0.21993341190487767, -0.2974836186485308, -0.17714012222287512], "rgb": [35, 35, 35], "semantic_id": 17, "pcd_info": {"point_index": 975}, "mesh_info": {"face_index": 12274, "face_uv": [0.03839674831396357, 0.3797171968265085, 0.581886054859528]}}, {"xyz": [0.2202175853866785, -0.29878205585571194, 0.18181379385812776], "rgb": [34, 34, 34], "semantic_id": 18, "pcd_info": {"point_index": 1466}, "mesh_info": {"face_index": 12498, "face_uv": [0.23566534698299452, 0.7138970028805331, 0.05043765013647216]}}, {"xyz": [-0.218799886931353, -0.2996577391972923, 0.1814366276216167], "rgb": [35, 35, 35], "semantic_id": 19, "pcd_info": {"point_index": 1640}, "mesh_info": {"face_index": 12094, "face_uv": [0.2627245699020257, 0.6993329192429095, 0.03794251085506488]}}, {"xyz": [-0.21640825149192153, -0.29918210014095536, -0.17778985220181656], "rgb": [35, 35, 35], "semantic_id": 20, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 11894, "face_uv": [0.37262979219196624, 0.5338773369635257, 0.09349287084450832]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8b39b501c9fa4d349b9f2eb77f5e247e", "keypoints": [{"xyz": [0.1618426404016291, 0.312106613802808, 0.042367998510599136], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 132}, "mesh_info": {"face_index": 79, "face_uv": [0.16218515765136568, 0.0034127309147593994, 0.834402111433875]}}, {"xyz": [-0.163141371930827, 0.30517175241774225, 0.04236799851059936], "rgb": [226, 225, 221], "semantic_id": 1, "pcd_info": {"point_index": 1672}, "mesh_info": {"face_index": 134, "face_uv": [0.07647355653765556, 0.01710417017973976, 0.9064222732826099]}}, {"xyz": [0.16393226443787257, -0.047192239417395365, 0.042367998510598914], "rgb": [225, 224, 220], "semantic_id": 2, "pcd_info": {"point_index": 973}, "mesh_info": {"face_index": 59, "face_uv": [0.9749297936621757, 0.017340714825800452, 0.0077294915120186755]}}, {"xyz": [-0.16179638409477237, -0.04933487872130582, 0.042367998510599136], "rgb": [226, 225, 221], "semantic_id": 3, "pcd_info": {"point_index": 737}, "mesh_info": {"face_index": 100, "face_uv": [0.0022698277374502214, 0.9896463066725226, 0.008083865590027356]}}, {"xyz": [0.16030824162785573, -0.05850664426231927, -0.22234199941158295], "rgb": [226, 225, 220], "semantic_id": 4, "pcd_info": {"point_index": 1725}, "mesh_info": {"face_index": 18, "face_uv": [0.8846127395154366, 0.00018925401718770257, 0.11519800646737562]}}, {"xyz": [-0.15774150510721135, -0.05348899960517883, -0.22226967659299035], "rgb": [226, 225, 221], "semantic_id": 5, "pcd_info": {"point_index": 462}, "mesh_info": {"face_index": 38, "face_uv": [0.00027321528903438436, 0.021308856901681144, 0.9784179278092845]}}, {"xyz": [0.1408619256464474, -0.4952149987220764, -0.20965533507882128], "rgb": [226, 225, 221], "semantic_id": 17, "pcd_info": {"point_index": 250}, "mesh_info": {"face_index": 3, "face_uv": [0.2803150253616392, 0.19787664889631215, 0.5218083257420487]}}, {"xyz": [0.12890318895485808, -0.4952149987220764, 0.07658420956043765], "rgb": [226, 225, 221], "semantic_id": 18, "pcd_info": {"point_index": 177}, "mesh_info": {"face_index": 93, "face_uv": [0.00985480398502917, 0.47627254092360705, 0.5138726550913638]}}, {"xyz": [-0.1313323701154654, -0.4952149987220764, 0.08203964471862801], "rgb": [226, 225, 221], "semantic_id": 19, "pcd_info": {"point_index": 273}, "mesh_info": {"face_index": 171, "face_uv": [0.0781865680018722, 0.40419545170939536, 0.5176179802887325]}}, {"xyz": [-0.1413567775619159, -0.4952149987220764, -0.2008033910450846], "rgb": [226, 225, 221], "semantic_id": 20, "pcd_info": {"point_index": 322}, "mesh_info": {"face_index": 90, "face_uv": [0.3359423354842561, 0.5393066507454871, 0.12475101377025678]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5609756359a6dd2c1933ffef19678834", "keypoints": [{"xyz": [0.22147722115539178, 0.3640166936369813, 0.16516000032424927], "rgb": [114, 141, 152], "semantic_id": 0, "pcd_info": {"point_index": 35}, "mesh_info": {"face_index": 9, "face_uv": [0.9355876683563862, 0.029126542119059518, 0.035285789524554356]}}, {"xyz": [-0.23381175059993564, 0.37192600085736804, 0.16516000032424927], "rgb": [115, 142, 153], "semantic_id": 1, "pcd_info": {"point_index": 486}, "mesh_info": {"face_index": 4, "face_uv": [0.9685939824892902, 0.009404883657554838, 0.022001133853154928]}}, {"xyz": [0.23760672108977113, 0.06003100052475924, 0.16430137304344372], "rgb": [120, 147, 158], "semantic_id": 2, "pcd_info": {"point_index": 1599}, "mesh_info": {"face_index": 42, "face_uv": [0.9979708966637756, 0.001442093146813026, 0.0005870101894103942]}}, {"xyz": [-0.2319691024158344, 0.06003100052475929, 0.1605122133760527], "rgb": [115, 142, 153], "semantic_id": 3, "pcd_info": {"point_index": 1020}, "mesh_info": {"face_index": 32, "face_uv": [0.013271217141384586, 0.01068100758992012, 0.9760477752686956]}}, {"xyz": [0.22948219757360064, 0.060031000524759404, -0.2661235688996285], "rgb": [113, 140, 151], "semantic_id": 4, "pcd_info": {"point_index": 10}, "mesh_info": {"face_index": 36, "face_uv": [0.018489361085296262, 0.09317654097540928, 0.8883340979392964]}}, {"xyz": [-0.23125611906959076, 0.06003100052475929, -0.26775010581891767], "rgb": [112, 139, 150], "semantic_id": 5, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 42, "face_uv": [0.00412214533042393, 0.985232766739652, 0.010645087929924281]}}, {"xyz": [0.2628420815768162, 0.18953800201416038, -0.2603773149245746], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 206}, "mesh_info": {"face_index": 75, "face_uv": [0.5730283418839086, 0.01931932809416732, 0.4076523300219253]}}, {"xyz": [0.2572792377235324, 0.18953800201415993, 0.2237596081845411], "rgb": [181, 196, 202], "semantic_id": 7, "pcd_info": {"point_index": 1591}, "mesh_info": {"face_index": 200, "face_uv": [0.45811566049586566, 0.007167346594907231, 0.5347169929092258]}}, {"xyz": [-0.26619253289649275, 0.18842269868899852, -0.26998499035835266], "rgb": [253, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1942}, "mesh_info": {"face_index": 213, "face_uv": [0.008611915281297818, 0.6731944140489349, 0.3181936706697673]}}, {"xyz": [-0.26552809346337414, 0.18953800201416038, 0.22393085053571532], "rgb": [207, 216, 220], "semantic_id": 9, "pcd_info": {"point_index": 749}, "mesh_info": {"face_index": 72, "face_uv": [0.6503384117239327, 0.006823008655023294, 0.3428385796210452]}}, {"xyz": [0.24501792740584494, -0.2870500087738035, -0.26613334018571677], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 166, "face_uv": [0.830006067878021, 0.007744984091312333, 0.16224894803066592]}}, {"xyz": [0.26095499891487084, -0.28705000877380393, 0.22496998934566603], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 688}, "mesh_info": {"face_index": 139, "face_uv": [0.5420786809603609, 0.004733485154443608, 0.4531878338851962]}}, {"xyz": [-0.26526838755789817, -0.2870500087738037, 0.1935256937494818], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1308}, "mesh_info": {"face_index": 128, "face_uv": [0.2811429343275, 0.06796237621136793, 0.650894689461132]}}, {"xyz": [-0.24721235038156697, -0.28705000877380416, -0.25539147965289755], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 233}, "mesh_info": {"face_index": 154, "face_uv": [0.18585564922860556, 0.02934495688449409, 0.7847993938869019]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bb04dc0b336abf4b263915c09bc4854f", "keypoints": [{"xyz": [0.22789904088675175, 0.3139950484497659, 0.31053643544403386], "rgb": [157, 84, 32], "semantic_id": 0, "pcd_info": {"point_index": 376}, "mesh_info": {"face_index": 1963, "face_uv": [0.7507942581296413, 0.020264838141362068, 0.2289409037289948]}}, {"xyz": [-0.23214457435449357, 0.3156453012419953, 0.31372012190525256], "rgb": [168, 94, 43], "semantic_id": 1, "pcd_info": {"point_index": 1022}, "mesh_info": {"face_index": 1954, "face_uv": [0.8410117923905064, 0.009524932410280232, 0.14946327519921182]}}, {"xyz": [0.23374210945012242, -0.056739079778393986, 0.0741179183690337], "rgb": [158, 84, 34], "semantic_id": 2, "pcd_info": {"point_index": 977}, "mesh_info": {"face_index": 1938, "face_uv": [0.9369918202329128, 0.007942082855263545, 0.05506609691182353]}}, {"xyz": [-0.23010380272238667, -0.05625189633367844, 0.07460510178871438], "rgb": [174, 98, 49], "semantic_id": 3, "pcd_info": {"point_index": 563}, "mesh_info": {"face_index": 1931, "face_uv": [0.9097227122471051, 0.013828823275930994, 0.07644846447696081]}}, {"xyz": [0.22230376668507323, -0.07545489650199544, -0.267877995967865], "rgb": [148, 74, 25], "semantic_id": 4, "pcd_info": {"point_index": 1051}, "mesh_info": {"face_index": 2084, "face_uv": [0.032065006836651304, 0.06145256458250157, 0.9064824285808472]}}, {"xyz": [-0.21491929615584715, -0.07459883028955616, -0.267877995967865], "rgb": [178, 102, 53], "semantic_id": 5, "pcd_info": {"point_index": 797}, "mesh_info": {"face_index": 2077, "face_uv": [0.06569784355911164, 0.8884499268793217, 0.04585222956156676]}}, {"xyz": [0.2473645355446209, 0.10457387540661056, -0.23709633364328253], "rgb": [112, 116, 123], "semantic_id": 6, "pcd_info": {"point_index": 609}, "mesh_info": {"face_index": 483, "face_uv": [0.09702895743863266, 0.3850618818263711, 0.5179091607349966]}}, {"xyz": [0.25393697277447425, 0.11778400093317054, 0.17370811505754613], "rgb": [110, 114, 120], "semantic_id": 7, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 390, "face_uv": [0.15284636064745652, 0.7743343696260051, 0.07281926972654042]}}, {"xyz": [-0.2548333390249623, 0.11749797618680802, -0.21308006865032114], "rgb": [115, 118, 123], "semantic_id": 8, "pcd_info": {"point_index": 1714}, "mesh_info": {"face_index": 970, "face_uv": [0.03789080554151508, 0.9089906912300983, 0.053118503228387036]}}, {"xyz": [-0.245313035343212, 0.11778400093317076, 0.16302309052538333], "rgb": [111, 114, 120], "semantic_id": 9, "pcd_info": {"point_index": 1228}, "mesh_info": {"face_index": 938, "face_uv": [0.4388156108731494, 0.4624464475658545, 0.0987379415609998]}}, {"xyz": [0.2363791008348216, -0.2915759980678554, -0.2565717558186327], "rgb": [112, 116, 127], "semantic_id": 17, "pcd_info": {"point_index": 1433}, "mesh_info": {"face_index": 151, "face_uv": [0.338292905769537, 0.08930980075575665, 0.5723972934747048]}}, {"xyz": [0.2455116851431174, -0.29157599806785583, 0.07253990285015144], "rgb": [114, 118, 126], "semantic_id": 18, "pcd_info": {"point_index": 766}, "mesh_info": {"face_index": 322, "face_uv": [0.0501170141853981, 0.44561975961432065, 0.5042632262002812]}}, {"xyz": [-0.2432249677785619, -0.29157599806785583, 0.073289054981583], "rgb": [111, 114, 119], "semantic_id": 19, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 1883, "face_uv": [0.021782964064987885, 0.5772322465996156, 0.4009847893353965]}}, {"xyz": [-0.2546423045494059, -0.2884496857823562, -0.267877995967865], "rgb": [105, 109, 113], "semantic_id": 20, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 1855, "face_uv": [0.1317821245132984, 0.10163114358636671, 0.766586731900335]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8ad1db95b5b9d60136d9cfd13835101", "keypoints": [{"xyz": [0.12295294286388973, 0.37863249710587255, 0.1813576019732257], "rgb": [153, 88, 45], "semantic_id": 0, "pcd_info": {"point_index": 801}, "mesh_info": {"face_index": 24544, "face_uv": [0.32186750958642113, 0.6517402056177158, 0.02639228479586128]}}, {"xyz": [-0.13107981650045739, 0.3694654677824549, 0.1939641944593279], "rgb": [148, 85, 44], "semantic_id": 1, "pcd_info": {"point_index": 964}, "mesh_info": {"face_index": 24371, "face_uv": [0.5409396858107882, 0.409364633672325, 0.049695680516887095]}}, {"xyz": [0.15140376966312968, 0.023249498401258895, 0.1239845431512816], "rgb": [154, 92, 47], "semantic_id": 2, "pcd_info": {"point_index": 875}, "mesh_info": {"face_index": 25551, "face_uv": [0.2439876342824721, 0.6316437756004201, 0.12436859011710828]}}, {"xyz": [-0.1536656838817913, 0.021210530030749464, 0.12365637417423936], "rgb": [146, 82, 40], "semantic_id": 3, "pcd_info": {"point_index": 178}, "mesh_info": {"face_index": 27345, "face_uv": [0.34417381052206225, 0.5378284650364639, 0.11799772444147183]}}, {"xyz": [0.17658908860834943, 0.04506383537685732, -0.24298454334039343], "rgb": [157, 130, 77], "semantic_id": 4, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 1650, "face_uv": [0.002611870203137099, 0.9352688699659694, 0.062119259830902725]}}, {"xyz": [-0.17226880373725398, 0.044257139134044055, -0.24503628983467962], "rgb": [223, 195, 145], "semantic_id": 5, "pcd_info": {"point_index": 1925}, "mesh_info": {"face_index": 1395, "face_uv": [0.9172414028990524, 0.00307838483834306, 0.07968021226260524]}}, {"xyz": [0.22016645652352668, 0.1756894713210666, -0.1884046985472334], "rgb": [143, 76, 33], "semantic_id": 6, "pcd_info": {"point_index": 1432}, "mesh_info": {"face_index": 14983, "face_uv": [0.6902532034522705, 0.02921731301142858, 0.2805294835363012]}}, {"xyz": [0.1863292550083193, 0.18385990420727727, 0.1488346507296318], "rgb": [150, 82, 39], "semantic_id": 7, "pcd_info": {"point_index": 67}, "mesh_info": {"face_index": 14238, "face_uv": [0.13969197353005627, 0.7056449761901921, 0.15466305027975055]}}, {"xyz": [-0.20874464524722117, 0.169027195021485, -0.19656563297784535], "rgb": [149, 86, 45], "semantic_id": 8, "pcd_info": {"point_index": 765}, "mesh_info": {"face_index": 8514, "face_uv": [0.016353347422476034, 0.16551258971268173, 0.8181340628648434]}}, {"xyz": [-0.1815205918331993, 0.1840363555209894, 0.14436821825641882], "rgb": [147, 87, 44], "semantic_id": 9, "pcd_info": {"point_index": 779}, "mesh_info": {"face_index": 8186, "face_uv": [0.005242713922487878, 0.2476491509646806, 0.74710813511283]}}, {"xyz": [0.18017659822431994, -0.31527000665664673, -0.24053698672236695], "rgb": [155, 87, 39], "semantic_id": 17, "pcd_info": {"point_index": 1209}, "mesh_info": {"face_index": 32227, "face_uv": [0.4189950003707039, 0.15084046992750286, 0.4301645297017932]}}, {"xyz": [0.15970678438305938, -0.29489205495229776, 0.17643537895621705], "rgb": [143, 77, 35], "semantic_id": 18, "pcd_info": {"point_index": 1465}, "mesh_info": {"face_index": 19474, "face_uv": [0.7465188197461424, 0.14854629926027127, 0.10493488099358193]}}, {"xyz": [-0.15472145608987775, -0.30152334201687614, 0.179521921679219], "rgb": [152, 82, 40], "semantic_id": 19, "pcd_info": {"point_index": 48}, "mesh_info": {"face_index": 29976, "face_uv": [0.6720946254190685, 0.2331550515412782, 0.09475032303964544]}}, {"xyz": [-0.18080359734642676, -0.31527000665664673, -0.23697581699516512], "rgb": [147, 83, 39], "semantic_id": 20, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 11627, "face_uv": [0.247299369904486, 0.272179180505964, 0.48052144958955]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4178e43e2756f1d0af7a8f97983e7906", "keypoints": [{"xyz": [0.1335399549304519, 0.17897199317101165, 0.06551350970279435], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 124, "face_uv": [0.07382966944067237, 0.702062503872779, 0.22410782668655058]}}, {"xyz": [-0.14861046439887382, 0.1766857114767859, 0.060680103619320525], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1989}, "mesh_info": {"face_index": 285, "face_uv": [0.24504274407306978, 0.47054846768335473, 0.2844087882435752]}}, {"xyz": [0.14423042582111623, -0.09773343442499072, 0.015662217562702696], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 2033}, "mesh_info": {"face_index": 9, "face_uv": [0.4253423306669304, 0.5592528449037697, 0.015404824429298754]}}, {"xyz": [-0.14458431028172747, -0.10088021134053626, 0.015240823404017223], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 447}, "mesh_info": {"face_index": 152, "face_uv": [0.00341056901501031, 0.46722473119287256, 0.5293646997921155]}}, {"xyz": [0.1428491037759756, -0.10177499800920486, -0.24103725645616514], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 829}, "mesh_info": {"face_index": 2512, "face_uv": [0.36296838560288114, 0.0017414809244604317, 0.6352901334726585]}}, {"xyz": [-0.1504837953622874, -0.10800832033254237, -0.23449531755113218], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1204}, "mesh_info": {"face_index": 2716, "face_uv": [0.03176212788549766, 0.577859797225711, 0.39037807488879095]}}, {"xyz": [0.13629135907779558, -0.692403972148895, -0.21763568184589366], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 723}, "mesh_info": {"face_index": 3760, "face_uv": [0.4170108956976123, 0.41221809013438304, 0.17077101416800441]}}, {"xyz": [0.14329123211999664, -0.692403972148895, 0.06442297358125422], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 425}, "mesh_info": {"face_index": 44, "face_uv": [0.4833932081499435, 0.4124148904444757, 0.10419190140558039]}}, {"xyz": [-0.1463179122692886, -0.6924039721488953, 0.06287392421238844], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 61}, "mesh_info": {"face_index": 172, "face_uv": [0.3885069094619525, 0.5351300807037283, 0.07636300983431937]}}, {"xyz": [-0.13337750398658413, -0.6924039721488955, -0.2184670426606507], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1960}, "mesh_info": {"face_index": 3804, "face_uv": [0.4264905635910114, 0.44599951584591335, 0.1275099205630756]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fe47e7645f1080735f0277eebfd05be2", "keypoints": [{"xyz": [0.16028235512864009, 0.4682590067386627, 0.049044477775007894], "rgb": [152, 89, 47], "semantic_id": 0, "pcd_info": {"point_index": 1221}, "mesh_info": {"face_index": 2188, "face_uv": [0.3808780077265506, 0.0838751029058794, 0.53524688936757]}}, {"xyz": [-0.15425505974299594, 0.4682590067386627, 0.03557739680772061], "rgb": [149, 83, 38], "semantic_id": 1, "pcd_info": {"point_index": 1656}, "mesh_info": {"face_index": 2228, "face_uv": [0.03268767007124028, 0.5911524358991503, 0.37615989402960937]}}, {"xyz": [0.1798798213484465, -0.043873343078786986, 0.06350500730641626], "rgb": [151, 85, 42], "semantic_id": 2, "pcd_info": {"point_index": 867}, "mesh_info": {"face_index": 2337, "face_uv": [0.05988587063347283, 0.009438815923684915, 0.930675313442844]}}, {"xyz": [-0.17419658855770037, -0.041624223408912475, 0.05473898230209079], "rgb": [156, 88, 45], "semantic_id": 3, "pcd_info": {"point_index": 162}, "mesh_info": {"face_index": 2264, "face_uv": [0.20240082052551966, 0.03353734571461638, 0.7640618337598669]}}, {"xyz": [0.1798268528850461, -0.0560702182741125, -0.21728299558162667], "rgb": [151, 86, 40], "semantic_id": 4, "pcd_info": {"point_index": 1130}, "mesh_info": {"face_index": 2266, "face_uv": [0.3840067504978148, 0.004712942251524524, 0.6112803072506597]}}, {"xyz": [-0.17581055065591927, -0.057428712436444235, -0.2172829955816269], "rgb": [150, 82, 38], "semantic_id": 5, "pcd_info": {"point_index": 1642}, "mesh_info": {"face_index": 2247, "face_uv": [0.4216212075370981, 0.009701695395525477, 0.5686770970673765]}}, {"xyz": [0.16476981071497854, -0.3942109942436218, -0.2044402392765746], "rgb": [153, 89, 43], "semantic_id": 17, "pcd_info": {"point_index": 1465}, "mesh_info": {"face_index": 1238, "face_uv": [0.12436226231712132, 0.408121290162615, 0.46751644752026367]}}, {"xyz": [0.17020897629492748, -0.3942109942436218, 0.053419694846019244], "rgb": [153, 89, 43], "semantic_id": 18, "pcd_info": {"point_index": 1119}, "mesh_info": {"face_index": 957, "face_uv": [0.35963606008787263, 0.42339222017473804, 0.2169717197373894]}}, {"xyz": [-0.15999485663712726, -0.3942109942436218, 0.05655272033211692], "rgb": [153, 89, 43], "semantic_id": 19, "pcd_info": {"point_index": 889}, "mesh_info": {"face_index": 397, "face_uv": [0.3959533108817437, 0.3216792243468191, 0.28236746477143715]}}, {"xyz": [-0.1629050270906816, -0.3942109942436218, -0.20318979840041768], "rgb": [153, 89, 43], "semantic_id": 20, "pcd_info": {"point_index": 13}, "mesh_info": {"face_index": 676, "face_uv": [0.5115663889810276, 0.4478582073420268, 0.040575403676945676]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "74500999671b4c99d7bf6fb68df7f786", "keypoints": [{"xyz": [0.128579209816355, 0.4021606803275879, 0.09581419331686925], "rgb": [154, 90, 45], "semantic_id": 0, "pcd_info": {"point_index": 1963}, "mesh_info": {"face_index": 913, "face_uv": [0.15789080995392624, 0.10185778324716088, 0.7402514067989135]}}, {"xyz": [-0.11916325809111808, 0.40121611820018077, 0.10978506603653404], "rgb": [146, 81, 35], "semantic_id": 1, "pcd_info": {"point_index": 1229}, "mesh_info": {"face_index": 1113, "face_uv": [0.3499005406564332, 0.4917952541541932, 0.15830420518937355]}}, {"xyz": [0.10064145930421958, 0.0864994590182182, 0.04870159126863416], "rgb": [155, 90, 43], "semantic_id": 2, "pcd_info": {"point_index": 997}, "mesh_info": {"face_index": 43, "face_uv": [0.038486357379382156, 0.4985877965215027, 0.4629258460991149]}}, {"xyz": [-0.0874184088568889, 0.08648700267076492, 0.04320894063319902], "rgb": [154, 89, 42], "semantic_id": 3, "pcd_info": {"point_index": 1525}, "mesh_info": {"face_index": 358, "face_uv": [0.274096329476178, 0.367870696115094, 0.358032974408728]}}, {"xyz": [0.07198054713204327, 0.056462687276594536, -0.1563661579164659], "rgb": [147, 83, 39], "semantic_id": 4, "pcd_info": {"point_index": 1214}, "mesh_info": {"face_index": 74, "face_uv": [0.005045496383437865, 0.7681736840463705, 0.22678081957019233]}}, {"xyz": [-0.07687208928574618, 0.05928799882531166, -0.1629676266826543], "rgb": [147, 81, 33], "semantic_id": 5, "pcd_info": {"point_index": 1680}, "mesh_info": {"face_index": 1144, "face_uv": [0.6057541839656826, 0.14984418521623585, 0.24440163081808142]}}, {"xyz": [0.06926355121094518, -0.5006790161132815, -0.13724344026588142], "rgb": [152, 89, 44], "semantic_id": 17, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 257, "face_uv": [0.4862743377917963, 0.2739423623151097, 0.23978329989309446]}}, {"xyz": [0.13219519378600053, -0.4945858100529965, 0.12118111962101817], "rgb": [150, 86, 40], "semantic_id": 18, "pcd_info": {"point_index": 1649}, "mesh_info": {"face_index": 1011, "face_uv": [0.5014478009655844, 0.24600538648018277, 0.2525468125542332]}}, {"xyz": [-0.12709052659851583, -0.49595221960172964, 0.11373022244172315], "rgb": [155, 90, 42], "semantic_id": 19, "pcd_info": {"point_index": 1344}, "mesh_info": {"face_index": 644, "face_uv": [0.11192853137425401, 0.3645546917386851, 0.5235167768870608]}}, {"xyz": [-0.07249263049516486, -0.5006790161132812, -0.13875202932763742], "rgb": [148, 82, 34], "semantic_id": 20, "pcd_info": {"point_index": 918}, "mesh_info": {"face_index": 1340, "face_uv": [0.21768938183137937, 0.6396674587926195, 0.1426431593760011]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4e15234057b863dc659dda512294c744", "keypoints": [{"xyz": [0.19945977279461496, 0.376471465259945, 0.18183135625351854], "rgb": [73, 40, 20], "semantic_id": 0, "pcd_info": {"point_index": 3}, "mesh_info": {"face_index": 443, "face_uv": [0.39490513827829726, 0.07580933978624736, 0.5292855219354557]}}, {"xyz": [-0.20662354185972776, 0.37971223879297356, 0.18234842504912008], "rgb": [71, 38, 17], "semantic_id": 1, "pcd_info": {"point_index": 671}, "mesh_info": {"face_index": 376, "face_uv": [0.5597311594151583, 0.025788149937746044, 0.4144806906470963]}}, {"xyz": [0.20051053379128353, 0.010185443189320353, 0.14901512022406127], "rgb": [70, 36, 14], "semantic_id": 2, "pcd_info": {"point_index": 1398}, "mesh_info": {"face_index": 326, "face_uv": [0.5684344354191232, 0.03007922888828218, 0.4014863356925955]}}, {"xyz": [-0.20221961535398952, 0.023484485437796243, 0.14920648847177254], "rgb": [76, 44, 22], "semantic_id": 3, "pcd_info": {"point_index": 975}, "mesh_info": {"face_index": 12, "face_uv": [0.28661311148558005, 0.3161293382419887, 0.39725755027243514]}}, {"xyz": [0.20439219289169652, -0.0005553723323323823, -0.20332215895138384], "rgb": [67, 34, 13], "semantic_id": 4, "pcd_info": {"point_index": 58}, "mesh_info": {"face_index": 938, "face_uv": [0.47717735915059795, 0.08981698308154105, 0.4330056577678616]}}, {"xyz": [-0.2144409905257077, 0.003116114252772584, -0.2002139398590952], "rgb": [67, 36, 15], "semantic_id": 5, "pcd_info": {"point_index": 740}, "mesh_info": {"face_index": 120, "face_uv": [0.020021579139433206, 0.05895036990395458, 0.9210280509566122]}}, {"xyz": [0.20915600836737785, -0.4007801720787466, -0.23765657733916967], "rgb": [66, 32, 10], "semantic_id": 17, "pcd_info": {"point_index": 1167}, "mesh_info": {"face_index": 385, "face_uv": [0.26679896878812065, 0.003176890308385012, 0.7300241409034932]}}, {"xyz": [0.20340136143202636, -0.40126467654316034, 0.18322099378931767], "rgb": [74, 42, 21], "semantic_id": 18, "pcd_info": {"point_index": 45}, "mesh_info": {"face_index": 513, "face_uv": [0.46757517816374283, 0.03792827338715868, 0.49449654844910046]}}, {"xyz": [-0.20829919003643016, -0.39914897898900115, 0.18267484329655526], "rgb": [76, 45, 24], "semantic_id": 19, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 1071, "face_uv": [0.35765932532542494, 0.14360742920705324, 0.4987332454675217]}}, {"xyz": [-0.20612285211395753, -0.39878249316006464, -0.2374985024858174], "rgb": [70, 37, 15], "semantic_id": 20, "pcd_info": {"point_index": 1848}, "mesh_info": {"face_index": 864, "face_uv": [0.5689213297459191, 0.008279205654200183, 0.42279946459988244]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3aaa59b19eebcb5f41552c6ecbda964b", "keypoints": [{"xyz": [0.22345711587861183, 0.249829132055632, 0.08848900347948097], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1923}, "mesh_info": {"face_index": 77, "face_uv": [0.05742871452800899, 0.007355408519941794, 0.9352158769520518]}}, {"xyz": [-0.226067051141028, 0.23962587601028934, 0.08848900347948074], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 75, "face_uv": [0.02042933320204692, 0.005829243378389812, 0.9737414234195633]}}, {"xyz": [0.21591009090302932, -0.07277129106042218, 0.08848900347948074], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1185}, "mesh_info": {"face_index": 74, "face_uv": [0.010723720846559199, 0.972235364021468, 0.017040915131972603]}}, {"xyz": [-0.22614558346471067, -0.07353529502073064, 0.08848900347948097], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 942}, "mesh_info": {"face_index": 75, "face_uv": [0.985973923694618, 0.005657528348233025, 0.008368547957151418]}}, {"xyz": [0.20889986554617213, -0.09427267969231978, -0.3180359899997711], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1918}, "mesh_info": {"face_index": 108, "face_uv": [0.03689607491103555, 0.3878332010177835, 0.575270724071181]}}, {"xyz": [-0.21384195239298232, -0.08608584788278206, -0.3180359899997711], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 130, "face_uv": [0.017548013681308858, 0.7095449055293184, 0.2729070807893728]}}, {"xyz": [0.20220767995536446, -0.4144909977912903, -0.2993406037079982], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 137, "face_uv": [0.15162411692610409, 0.36790354362438527, 0.4804723394495107]}}, {"xyz": [0.19670113126132596, -0.4144909977912903, 0.11290705510925125], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1194}, "mesh_info": {"face_index": 12, "face_uv": [0.372109840485341, 0.4805190382237445, 0.14737112129091454]}}, {"xyz": [-0.21593773697660823, -0.41449099779129017, 0.10753227912878804], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1585}, "mesh_info": {"face_index": 82, "face_uv": [0.2495760913976576, 0.37474965809632094, 0.3756742505060211]}}, {"xyz": [-0.19328577932289256, -0.4144909977912903, -0.27551819377698783], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 192}, "mesh_info": {"face_index": 190, "face_uv": [0.3085896410106935, 0.16329902718591668, 0.5281113318033898]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e908c290fb506f2e19fb4103277a6b93", "keypoints": [{"xyz": [0.19331231254531672, 0.2705223991405894, 0.24498817291318306], "rgb": [222, 199, 164], "semantic_id": 0, "pcd_info": {"point_index": 1687}, "mesh_info": {"face_index": 32528, "face_uv": [0.15422524159554782, 0.8351782032725767, 0.010596555131875072]}}, {"xyz": [-0.18023704739828814, 0.2702088148165338, 0.24515132004209533], "rgb": [222, 199, 164], "semantic_id": 1, "pcd_info": {"point_index": 2033}, "mesh_info": {"face_index": 30757, "face_uv": [0.6982716896769546, 0.10172359830915259, 0.20000471201389258]}}, {"xyz": [0.18993627737396107, -0.05021380144571208, 0.1600354911457617], "rgb": [223, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 1533}, "mesh_info": {"face_index": 1254, "face_uv": [0.552078900974484, 0.44448871886731534, 0.003432380158200637]}}, {"xyz": [-0.17388646039649797, -0.054880857403648564, 0.17850726095624586], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 131}, "mesh_info": {"face_index": 4233, "face_uv": [0.01974856024346868, 0.48241993608150285, 0.49783150367498474]}}, {"xyz": [0.18244705092647145, -0.05414222625961984, -0.19567993611676554], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 934}, "mesh_info": {"face_index": 2947, "face_uv": [0.04412408252395772, 0.6543641520398914, 0.30151176543615]}}, {"xyz": [-0.1647346254333876, -0.053041049203537805, -0.19366562445487007], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 13}, "mesh_info": {"face_index": 6245, "face_uv": [0.6246120521220498, 0.305912236022462, 0.06947571185549163]}}, {"xyz": [0.22555187535137927, 0.09126699209025113, -0.1486005150342543], "rgb": [167, 74, 18], "semantic_id": 6, "pcd_info": {"point_index": 540}, "mesh_info": {"face_index": 14983, "face_uv": [0.17515992846399586, 0.17780263451466652, 0.6470374370213392]}}, {"xyz": [0.2259843004009417, 0.09559500217437744, 0.18436836694245784], "rgb": [171, 79, 20], "semantic_id": 7, "pcd_info": {"point_index": 1272}, "mesh_info": {"face_index": 8871, "face_uv": [0.16766502275365266, 0.6672950218795295, 0.16503995536681787]}}, {"xyz": [-0.20772735204501191, 0.09400287235680671, -0.14358119814443698], "rgb": [161, 73, 20], "semantic_id": 8, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 20770, "face_uv": [0.4191277729310368, 0.5620064721084784, 0.018865754960483455]}}, {"xyz": [-0.21235387840556386, 0.09559500217437744, 0.19001355327004776], "rgb": [171, 79, 20], "semantic_id": 9, "pcd_info": {"point_index": 192}, "mesh_info": {"face_index": 25414, "face_uv": [0.13530010372143797, 0.7103632096345687, 0.15433668664399322]}}, {"xyz": [0.23600739249725866, -0.37026674733298015, -0.17819344856806363], "rgb": [172, 77, 20], "semantic_id": 17, "pcd_info": {"point_index": 1357}, "mesh_info": {"face_index": 12580, "face_uv": [0.2048764133281273, 0.16315973279867235, 0.6319638538732009]}}, {"xyz": [0.2189673942080278, -0.39724498987197876, 0.25147531628568975], "rgb": [168, 76, 19], "semantic_id": 18, "pcd_info": {"point_index": 1943}, "mesh_info": {"face_index": 8429, "face_uv": [0.07982537076775001, 0.5457377758139874, 0.37443685341826255]}}, {"xyz": [-0.21187517138812348, -0.39724498987197876, 0.24370014716690225], "rgb": [159, 73, 19], "semantic_id": 19, "pcd_info": {"point_index": 1756}, "mesh_info": {"face_index": 19766, "face_uv": [0.24924430370323178, 0.25196828629307416, 0.49878741000369403]}}, {"xyz": [-0.20099010323794664, -0.37255404166981143, -0.17606399953365315], "rgb": [169, 79, 19], "semantic_id": 20, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 29198, "face_uv": [0.12179269934898497, 0.8130545709349413, 0.06515272971607297]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "33ec1e64a02ff718faaadcdc0221eb72", "keypoints": [{"xyz": [0.23660993259777935, 0.43799099326133717, 0.1654499517071689], "rgb": [178, 107, 45], "semantic_id": 0, "pcd_info": {"point_index": 87}, "mesh_info": {"face_index": 367, "face_uv": [0.01587811824266028, 0.4170159840409061, 0.5671058977164334]}}, {"xyz": [-0.24150599539279938, 0.4221861533387672, 0.16575186300769287], "rgb": [172, 101, 40], "semantic_id": 1, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 161, "face_uv": [0.3388265086482304, 0.08090856436589405, 0.5802649269858755]}}, {"xyz": [0.12887004727494955, 0.008053000085055828, 0.1210622933850316], "rgb": [193, 135, 87], "semantic_id": 2, "pcd_info": {"point_index": 1517}, "mesh_info": {"face_index": 85, "face_uv": [0.5716342417903191, 0.2001511411860432, 0.22821461702363768]}}, {"xyz": [-0.12995061370342495, 0.008053000085055828, 0.11865686521349916], "rgb": [190, 126, 77], "semantic_id": 3, "pcd_info": {"point_index": 1763}, "mesh_info": {"face_index": 94, "face_uv": [0.16433252023215902, 0.1600970036300573, 0.6755704761377836]}}, {"xyz": [0.23771261819142797, 0.008053000085055828, -0.24734481341842152], "rgb": [192, 126, 65], "semantic_id": 4, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 364, "face_uv": [0.03938083177354011, 0.9284794490483228, 0.03213971917813704]}}, {"xyz": [-0.23716577531392158, 0.008053000085055828, -0.2529222913666953], "rgb": [187, 110, 51], "semantic_id": 5, "pcd_info": {"point_index": 1726}, "mesh_info": {"face_index": 269, "face_uv": [0.014331978514165351, 0.9630088795270314, 0.02265914195880328]}}, {"xyz": [0.19406446640209718, -0.2886039912700653, -0.2153388604690189], "rgb": [184, 113, 47], "semantic_id": 17, "pcd_info": {"point_index": 1741}, "mesh_info": {"face_index": 321, "face_uv": [0.4398852986386976, 0.44850605129754734, 0.11160865006375513]}}, {"xyz": [0.19994860481289065, -0.2886039912700653, 0.19836886484379895], "rgb": [183, 111, 44], "semantic_id": 18, "pcd_info": {"point_index": 670}, "mesh_info": {"face_index": 278, "face_uv": [0.08308576251356438, 0.5285285422912079, 0.3883856951952277]}}, {"xyz": [-0.18985153818575717, -0.2886039912700653, 0.1921306676321375], "rgb": [177, 102, 43], "semantic_id": 19, "pcd_info": {"point_index": 506}, "mesh_info": {"face_index": 222, "face_uv": [0.10107534382543219, 0.44684639081007943, 0.45207826536448836]}}, {"xyz": [-0.18340488656240106, -0.2886039912700653, -0.2163856798271261], "rgb": [178, 106, 44], "semantic_id": 20, "pcd_info": {"point_index": 1018}, "mesh_info": {"face_index": 314, "face_uv": [0.49150083233826186, 0.49267566596209483, 0.015823501699643264]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "40e5d8e71ee3902a31358207d42bcb21", "keypoints": [{"xyz": [0.18792023835786212, 0.3898319900035858, 0.26867516599036834], "rgb": [251, 234, 182], "semantic_id": 0, "pcd_info": {"point_index": 1665}, "mesh_info": {"face_index": 129, "face_uv": [0.023811971943610507, 0.12028523259832355, 0.8559027954580659]}}, {"xyz": [-0.18400046582214014, 0.3898319900035858, 0.2761525943648948], "rgb": [247, 226, 170], "semantic_id": 1, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 87, "face_uv": [0.5319544386960721, 0.03522410296189742, 0.43282145834203045]}}, {"xyz": [0.17755202153997357, -0.00038411845812547085, 0.13569369973225043], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 284}, "mesh_info": {"face_index": 2756, "face_uv": [0.5254542253097488, 0.008922186328116788, 0.4656235883621484]}}, {"xyz": [-0.18857639414568061, -0.01148781451048464, 0.14543500774066243], "rgb": [220, 196, 148], "semantic_id": 3, "pcd_info": {"point_index": 399}, "mesh_info": {"face_index": 69, "face_uv": [0.01134350648748554, 0.9719799111595652, 0.016676582352948634]}}, {"xyz": [0.19011768763607878, 0.02392962558084616, -0.16379201369100027], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 2467, "face_uv": [0.27601838988281435, 0.6536850060469469, 0.07029660407023951]}}, {"xyz": [-0.18190305278904523, 0.021706355435524682, -0.16848625608239987], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 614}, "mesh_info": {"face_index": 762, "face_uv": [0.12075676511804449, 0.8119988912644582, 0.06724434361749677]}}, {"xyz": [0.17443408683000394, -0.3853429853916167, -0.16904329002167093], "rgb": [231, 207, 154], "semantic_id": 17, "pcd_info": {"point_index": 18}, "mesh_info": {"face_index": 345, "face_uv": [0.05864395075025112, 0.51806629582104, 0.42328975342870856]}}, {"xyz": [0.17653519391203643, -0.3853429853916168, 0.2340936375034376], "rgb": [225, 199, 147], "semantic_id": 18, "pcd_info": {"point_index": 389}, "mesh_info": {"face_index": 544, "face_uv": [0.00485398977058108, 0.4577572248748482, 0.5373887853545707]}}, {"xyz": [-0.1744902286426006, -0.3853429853916167, 0.23783697711869925], "rgb": [231, 209, 155], "semantic_id": 19, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 350, "face_uv": [0.2426002782350339, 0.4666984207485427, 0.2907013010164231]}}, {"xyz": [-0.16650045935936097, -0.3853429853916168, -0.16679881149418022], "rgb": [207, 187, 135], "semantic_id": 20, "pcd_info": {"point_index": 553}, "mesh_info": {"face_index": 19, "face_uv": [0.5263704528488526, 0.3039741201771214, 0.169655426974026]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9a711bb7070ae88de948e3d64826c640", "keypoints": [{"xyz": [0.21086946268198226, 0.32475652024259954, 0.006945999804884195], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 2001, "face_uv": [0.9254988186832026, 0.02861316712700158, 0.04588801418979583]}}, {"xyz": [-0.16891785444327032, 0.3289222073159667, 0.006945999804884417], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 1778, "face_uv": [0.03473727403960429, 0.9599294315076039, 0.005333294452823847]}}, {"xyz": [0.1851406555999618, -0.06908000260591507, 0.0394563272720847], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1391}, "mesh_info": {"face_index": 2346, "face_uv": [0.03784578847748968, 0.5579829708481161, 0.4041712406743942]}}, {"xyz": [-0.1605956101689748, -0.06885909747021834, 0.04603942934635752], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 449}, "mesh_info": {"face_index": 2819, "face_uv": [0.0027803134112028604, 0.2848590395421257, 0.7123606470466712]}}, {"xyz": [0.2298111116646086, -0.09396047052780476, -0.4378480017185211], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 103}, "mesh_info": {"face_index": 321, "face_uv": [0.6408237241549782, 0.01227423546589312, 0.34690204037912875]}}, {"xyz": [-0.1916115461408456, -0.09978283371538099, -0.4378480017185211], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1088}, "mesh_info": {"face_index": 365, "face_uv": [0.7983229590563868, 0.008408709251130716, 0.19326833169248242]}}, {"xyz": [0.2142297481975109, -0.34115898609161366, -0.4246759483816094], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 435, "face_uv": [0.1426342795730345, 0.39221350688010015, 0.465152213546865]}}, {"xyz": [0.19726526571271072, -0.29487499594688416, 0.09034151370296906], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 247, "face_uv": [0.42387458311910425, 0.22510862186582675, 0.35101679501506894]}}, {"xyz": [-0.16560523627709423, -0.29487499594688416, 0.088403354762012], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1779}, "mesh_info": {"face_index": 104, "face_uv": [0.03916163258202476, 0.026205883072426675, 0.9346324843455486]}}, {"xyz": [-0.17108928244445032, -0.33678099513053894, -0.40762392838119044], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 265, "face_uv": [0.12348909365907346, 0.4157368281065511, 0.46077407823437544]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e64275c95e41605caf7c7ad2549a1b15", "keypoints": [{"xyz": [0.16377981793574403, 0.25397896871703673, 0.16498558221393445], "rgb": [148, 148, 148], "semantic_id": 0, "pcd_info": {"point_index": 973}, "mesh_info": {"face_index": 2867, "face_uv": [0.6683177994697064, 0.2006641561849153, 0.13101804434537825]}}, {"xyz": [-0.17034002125523162, 0.25335056079056373, 0.16479630274272872], "rgb": [149, 149, 149], "semantic_id": 1, "pcd_info": {"point_index": 1380}, "mesh_info": {"face_index": 410, "face_uv": [0.01710025209145923, 0.3624474371392174, 0.6204523107693233]}}, {"xyz": [0.18039783456123648, -0.06578445491294094, 0.08350850702345347], "rgb": [149, 149, 149], "semantic_id": 2, "pcd_info": {"point_index": 1387}, "mesh_info": {"face_index": 9697, "face_uv": [0.6454438454691603, 0.2438222037104245, 0.1107339508204155]}}, {"xyz": [-0.17295255077722227, -0.06235808831316758, 0.07834328307568628], "rgb": [149, 149, 149], "semantic_id": 3, "pcd_info": {"point_index": 1806}, "mesh_info": {"face_index": 13090, "face_uv": [0.2124830137624801, 0.13403708471021758, 0.6534799015273043]}}, {"xyz": [0.1962319066741007, -0.09809124705502067, -0.3057901805934524], "rgb": [148, 148, 148], "semantic_id": 4, "pcd_info": {"point_index": 1086}, "mesh_info": {"face_index": 9375, "face_uv": [0.08966210399772397, 0.7929841018029289, 0.1173537941993468]}}, {"xyz": [-0.1898579818815917, -0.10092667056334628, -0.30727118059858527], "rgb": [149, 149, 149], "semantic_id": 5, "pcd_info": {"point_index": 1642}, "mesh_info": {"face_index": 8822, "face_uv": [0.09820977636382523, 0.05184916865923901, 0.8499410549769362]}}, {"xyz": [0.21103209888694494, 0.07637295415242512, -0.18854509204435432], "rgb": [149, 149, 149], "semantic_id": 6, "pcd_info": {"point_index": 80}, "mesh_info": {"face_index": 3652, "face_uv": [0.43384189829101255, 0.050600665525414916, 0.5155574361835732]}}, {"xyz": [0.18530067579078924, 0.08277859051434056, 0.1386552934804623], "rgb": [148, 148, 148], "semantic_id": 7, "pcd_info": {"point_index": 2013}, "mesh_info": {"face_index": 3619, "face_uv": [0.4846935257987266, 0.009899305620433613, 0.5054071685808379]}}, {"xyz": [-0.21549963613456025, 0.07772594073333594, -0.1859633426709696], "rgb": [149, 149, 149], "semantic_id": 8, "pcd_info": {"point_index": 474}, "mesh_info": {"face_index": 4488, "face_uv": [0.2846182893628222, 0.17785982095804959, 0.5375218896791287]}}, {"xyz": [-0.18572894717335864, 0.0827550423360035, 0.1403264968044124], "rgb": [148, 148, 148], "semantic_id": 9, "pcd_info": {"point_index": 507}, "mesh_info": {"face_index": 4200, "face_uv": [0.38234228586040103, 0.004981717549031255, 0.6126759965905663]}}, {"xyz": [0.1871011646495913, -0.4803299903869629, -0.28521454441340865], "rgb": [149, 149, 149], "semantic_id": 17, "pcd_info": {"point_index": 948}, "mesh_info": {"face_index": 15, "face_uv": [0.08008907245980461, 0.4239858638605218, 0.4959250636796736]}}, {"xyz": [0.17381258916870052, -0.48045501112937916, 0.15511520761581088], "rgb": [148, 148, 148], "semantic_id": 18, "pcd_info": {"point_index": 1872}, "mesh_info": {"face_index": 35, "face_uv": [0.5222222736228348, 0.4689026528635844, 0.008875073513580559]}}, {"xyz": [-0.1773579470689554, -0.4804550111293794, 0.1563584319526177], "rgb": [149, 149, 149], "semantic_id": 19, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 93, "face_uv": [0.47637568543699005, 0.46481679591163555, 0.058807518651374624]}}, {"xyz": [-0.19137939972121715, -0.4803299903869629, -0.28523220748641975], "rgb": [149, 149, 149], "semantic_id": 20, "pcd_info": {"point_index": 1893}, "mesh_info": {"face_index": 51, "face_uv": [0.045820394719896386, 0.4230453392859154, 0.5311342659941882]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8920c0e0737409e29f2349486c570dd4", "keypoints": [{"xyz": [0.31359572996039664, 0.1297648920389749, 0.03737882862172337], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 38}, "mesh_info": {"face_index": 11828, "face_uv": [0.7282715412976802, 0.005504087709185881, 0.26622437099313584]}}, {"xyz": [-0.31581047466499634, 0.12986263364170458, 0.041685279240079254], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1969}, "mesh_info": {"face_index": 13450, "face_uv": [0.11257951400165964, 0.6385831874472634, 0.24883729855107609]}}, {"xyz": [0.30532251574953523, -0.01744419815853626, -0.022598817593833642], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 2700, "face_uv": [0.03200619315094024, 0.2374577395115318, 0.7305360673375273]}}, {"xyz": [-0.30660761449586527, -0.01703197120988098, -0.02094528505581228], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1614}, "mesh_info": {"face_index": 7548, "face_uv": [0.26767256080211005, 0.005822926384615254, 0.7265045128132737]}}, {"xyz": [0.3116738471102722, -0.02654723874821996, -0.21629799902439117], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1929}, "mesh_info": {"face_index": 2202, "face_uv": [0.07622987541376437, 0.006008957541288673, 0.917761167044947]}}, {"xyz": [-0.3026859271302039, -0.018971764088147713, -0.21239637802252664], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 605}, "mesh_info": {"face_index": 7406, "face_uv": [0.08958343090452757, 0.37262390463238554, 0.5377926644630885]}}, {"xyz": [0.39042288626009974, -0.010292182931833427, -0.21669700741767883], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1219}, "mesh_info": {"face_index": 7814, "face_uv": [0.657822457676263, 0.25805957850256195, 0.08411796382117502]}}, {"xyz": [0.3894292586806832, 0.020540000870823638, 0.12009039208054306], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1001}, "mesh_info": {"face_index": 7805, "face_uv": [0.5971438652551879, 0.3530251213460296, 0.04983101339877168]}}, {"xyz": [-0.38361753911116536, -0.022322011175088807, -0.2166970074176789], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 361}, "mesh_info": {"face_index": 8223, "face_uv": [0.21945764367406362, 0.35874697793500643, 0.42179537839093023]}}, {"xyz": [-0.37753841807019234, 0.02054000087082386, 0.12817531989367814], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 715}, "mesh_info": {"face_index": 8213, "face_uv": [0.46114009809589523, 0.5118386720019681, 0.027021229902136543]}}, {"xyz": [0.4151252224241221, -0.15071099996566772, -0.1979794455088396], "rgb": [72, 72, 70], "semantic_id": 17, "pcd_info": {"point_index": 617}, "mesh_info": {"face_index": 8493, "face_uv": [0.8558917069775299, 0.03566590354352458, 0.10844238947894547]}}, {"xyz": [0.4032539483081497, -0.15071099996566772, 0.10751920836130198], "rgb": [64, 64, 62], "semantic_id": 18, "pcd_info": {"point_index": 1900}, "mesh_info": {"face_index": 8526, "face_uv": [0.08185523247133988, 0.02886878379136214, 0.889275983737298]}}, {"xyz": [-0.40150099992752075, -0.1324272395554431, 0.10585555618754909], "rgb": [64, 64, 62], "semantic_id": 19, "pcd_info": {"point_index": 277}, "mesh_info": {"face_index": 8433, "face_uv": [0.1532724582886915, 0.6962177248728589, 0.15050981683844955]}}, {"xyz": [-0.4061930003666646, -0.1507109999656675, -0.19034930469194228], "rgb": [72, 72, 70], "semantic_id": 20, "pcd_info": {"point_index": 556}, "mesh_info": {"face_index": 8459, "face_uv": [0.23550858513724654, 0.05903010490590249, 0.7054613099568494]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d23682341fc187a570732116fb5f6e1", "keypoints": [{"xyz": [0.18402216505825014, 0.311211432087175, 0.09790799766778924], "rgb": [188, 132, 79], "semantic_id": 0, "pcd_info": {"point_index": 1269}, "mesh_info": {"face_index": 260, "face_uv": [0.06002116422669387, 0.01581634026728085, 0.9241624955060229]}}, {"xyz": [-0.18380025430860736, 0.31465916420858475, 0.09790799766778946], "rgb": [189, 133, 80], "semantic_id": 1, "pcd_info": {"point_index": 1056}, "mesh_info": {"face_index": 257, "face_uv": [0.03898932352103382, 0.9173481670289844, 0.04366250944998201]}}, {"xyz": [0.1715734738446878, -0.005353000015019926, 0.045011901098733986], "rgb": [188, 132, 79], "semantic_id": 2, "pcd_info": {"point_index": 1671}, "mesh_info": {"face_index": 135, "face_uv": [0.9817949696949094, 0.014703417615192864, 0.0035016126898148015]}}, {"xyz": [-0.17590715067631313, -0.0053530000150203705, 0.03944881458532379], "rgb": [189, 133, 80], "semantic_id": 3, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 132, "face_uv": [0.0012649747884612883, 0.1397176051257263, 0.8590174200858134]}}, {"xyz": [0.17436197199742426, -0.020684659774848624, -0.269202489708654], "rgb": [189, 133, 80], "semantic_id": 4, "pcd_info": {"point_index": 1559}, "mesh_info": {"face_index": 123, "face_uv": [0.2136414176027715, 0.23267474188763346, 0.5536838405095954]}}, {"xyz": [-0.16708062776545007, -0.017347417215859917, -0.27141124884132606], "rgb": [189, 133, 80], "semantic_id": 5, "pcd_info": {"point_index": 1943}, "mesh_info": {"face_index": 118, "face_uv": [0.47789956297934183, 0.4187639927634955, 0.10333644425716312]}}, {"xyz": [0.1855045634177689, -0.432629506769055, -0.27377460035399614], "rgb": [72, 72, 72], "semantic_id": 17, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 178, "face_uv": [0.7390257489874456, 0.015865680525299422, 0.2451085704872554]}}, {"xyz": [0.2089133037351356, -0.4536234722082946, 0.1526916010222058], "rgb": [72, 72, 72], "semantic_id": 18, "pcd_info": {"point_index": 885}, "mesh_info": {"face_index": 240, "face_uv": [0.6415420460971574, 0.09422870614690193, 0.26422924775594064]}}, {"xyz": [-0.19913103187089765, -0.4483722794541713, 0.14642429337213736], "rgb": [103, 103, 103], "semantic_id": 19, "pcd_info": {"point_index": 105}, "mesh_info": {"face_index": 223, "face_uv": [0.480602515717914, 0.2705824360831516, 0.24881504819893271]}}, {"xyz": [-0.1750904445516631, -0.4497148006551152, -0.2750292739054151], "rgb": [71, 71, 71], "semantic_id": 20, "pcd_info": {"point_index": 1780}, "mesh_info": {"face_index": 193, "face_uv": [0.4990081093977494, 0.17379067995788938, 0.3272012106443603]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e3479f55f5894bb3c7f1f7c0570e288d", "keypoints": [{"xyz": [0.21347677920786676, 0.3148372811215103, 0.11707707164838665], "rgb": [198, 132, 98], "semantic_id": 0, "pcd_info": {"point_index": 1376}, "mesh_info": {"face_index": 40, "face_uv": [0.5182452898530368, 0.0064522677105784835, 0.475302442436384]}}, {"xyz": [-0.21882369924763687, 0.315079613747429, 0.11745437054697971], "rgb": [200, 134, 100], "semantic_id": 1, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 39, "face_uv": [0.3290859207602299, 0.002746402156484895, 0.6681676770832851]}}, {"xyz": [0.211219483250926, -0.0036498789378143215, 0.021636579925859545], "rgb": [192, 128, 93], "semantic_id": 2, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 221, "face_uv": [0.024518684853942287, 0.011625826260947106, 0.963855488885116]}}, {"xyz": [-0.21313305612578337, 0.007016858491692313, 0.03515053936605428], "rgb": [190, 130, 96], "semantic_id": 3, "pcd_info": {"point_index": 1243}, "mesh_info": {"face_index": 184, "face_uv": [0.8495566522942025, 0.015788943294974992, 0.13465440441082493]}}, {"xyz": [0.2047861959359385, -0.05423501330272018, -0.3291909992694855], "rgb": [199, 142, 108], "semantic_id": 4, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 403, "face_uv": [0.04133309528871317, 0.32524306756775284, 0.633423837143534]}}, {"xyz": [-0.21964436384591368, -0.05170408943174065, -0.3291909992694855], "rgb": [198, 132, 98], "semantic_id": 5, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 417, "face_uv": [0.05343770048786438, 0.9358878748654006, 0.010674424646734947]}}, {"xyz": [0.19941712594801717, -0.44896232967613525, -0.3291909992694855], "rgb": [226, 172, 134], "semantic_id": 17, "pcd_info": {"point_index": 1864}, "mesh_info": {"face_index": 427, "face_uv": [0.0013669528024692669, 0.5229853816954263, 0.4756476655021044]}}, {"xyz": [0.198080833798973, -0.44859417010467284, 0.11869037758689416], "rgb": [200, 146, 110], "semantic_id": 18, "pcd_info": {"point_index": 208}, "mesh_info": {"face_index": 315, "face_uv": [0.4829749843581126, 0.0022364193197656917, 0.5147885963221416]}}, {"xyz": [-0.19488578542550306, -0.44616558309605003, 0.11808279227484686], "rgb": [205, 151, 115], "semantic_id": 19, "pcd_info": {"point_index": 1548}, "mesh_info": {"face_index": 346, "face_uv": [0.2894759171450601, 0.008285776330813822, 0.7022383065241268]}}, {"xyz": [-0.19983000804335901, -0.44949200749397267, -0.3178336687597765], "rgb": [200, 145, 108], "semantic_id": 20, "pcd_info": {"point_index": 1702}, "mesh_info": {"face_index": 439, "face_uv": [0.08749604200022319, 0.4292340426099422, 0.4832699153898344]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "50faa1777b012058492d9da2668ec34c", "keypoints": [{"xyz": [0.22134160917583473, 0.19727034390295672, 0.10125033927971505], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 187}, "mesh_info": {"face_index": 501, "face_uv": [0.020001069948578108, 0.5941047664871594, 0.3858941635642596]}}, {"xyz": [-0.21536509049536773, 0.20010882826399, 0.10216298313805594], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 538, "face_uv": [0.511600335006731, 0.027192162997716443, 0.46120750199557425]}}, {"xyz": [0.18482281642955523, -0.10003421214516806, 0.006713115356762112], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 667}, "mesh_info": {"face_index": 5, "face_uv": [0.017921805227258607, 0.9817955824041712, 0.00028261236857290024]}}, {"xyz": [-0.18893005837042437, -0.10003399848937988, 0.001397141754750253], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1854}, "mesh_info": {"face_index": 1, "face_uv": [0.9848065731938375, 0.009692855665028149, 0.005500571141134407]}}, {"xyz": [0.1848636517194165, -0.10269852535506496, -0.34997117412670375], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 436}, "mesh_info": {"face_index": 14, "face_uv": [0.7940121928116843, 0.04346585015855592, 0.1625219570297607]}}, {"xyz": [-0.18780116273525177, -0.10218941628272082, -0.3492222195372152], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1594}, "mesh_info": {"face_index": 20, "face_uv": [0.4322584220901664, 0.038391766828865054, 0.5293498110809689]}}, {"xyz": [0.22052237840242433, 0.0020029458516486187, -0.350820925749745], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 544}, "mesh_info": {"face_index": 514, "face_uv": [0.05912621497024544, 0.5180724860701039, 0.42280129895965374]}}, {"xyz": [0.224296923362165, 0.06563177212893812, 0.04429198368676346], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1470}, "mesh_info": {"face_index": 983, "face_uv": [0.3005623641194973, 0.5828944013923684, 0.11654323448813324]}}, {"xyz": [-0.2223304444467743, 0.002335858165952942, -0.3474967589333524], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 460}, "mesh_info": {"face_index": 444, "face_uv": [0.09403000138952437, 0.5068062711458318, 0.3991637274646447]}}, {"xyz": [-0.2214728776797344, 0.06568673704187855, 0.03677953775492515], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 931, "face_uv": [0.3061837065293854, 0.5161331331187595, 0.17768316035185563]}}, {"xyz": [0.2294043045947905, -0.48990100622177124, -0.3488758721099588], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 581}, "mesh_info": {"face_index": 509, "face_uv": [0.1544884360894849, 0.35465426066205125, 0.4908573032484639]}}, {"xyz": [0.22408044769052668, -0.4831115011077318, 0.054777998477220535], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1325}, "mesh_info": {"face_index": 428, "face_uv": [0.2758132991430246, 0.02118813528929777, 0.7029985655676777]}}, {"xyz": [-0.22955553876612234, -0.4749311248732049, 0.054777998477220424], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1196}, "mesh_info": {"face_index": 304, "face_uv": [0.5248786733196155, 0.04491049596089696, 0.4302108307194855]}}, {"xyz": [-0.2326240861725385, -0.48990100622177146, -0.3420147170672516], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 468}, "mesh_info": {"face_index": 366, "face_uv": [0.3241603412333734, 0.2946060771577588, 0.3812335816088682]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bdc58ca6d411823cae786e8787e8886a", "keypoints": [{"xyz": [0.15937169144500238, 0.36043621567368833, 0.08891174999337409], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1468}, "mesh_info": {"face_index": 88, "face_uv": [0.2841853866384177, 0.6664613469345575, 0.04935326642702463]}}, {"xyz": [-0.15374455586184713, 0.3647791051709617, 0.08807733767901371], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1232}, "mesh_info": {"face_index": 93, "face_uv": [0.124292395957339, 0.35613553019133265, 0.5195720738513285]}}, {"xyz": [0.1574599542445667, -0.14211699366569497, 0.05385498109224218], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 0, "face_uv": [0.0261967316275058, 0.9646351764520937, 0.009168091920398885]}}, {"xyz": [-0.15678308062120752, -0.1421169936656952, 0.05433380749049016], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1487}, "mesh_info": {"face_index": 3, "face_uv": [0.9380195667727239, 0.03374391949762761, 0.028236513729648506]}}, {"xyz": [0.15802419106284635, -0.14211699366569497, -0.22167673405707058], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1364}, "mesh_info": {"face_index": 0, "face_uv": [0.024498926050562586, 0.031916189571767596, 0.9435848843776683]}}, {"xyz": [-0.15672255633434468, -0.1421169936656954, -0.2196703512816771], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 45}, "mesh_info": {"face_index": 3, "face_uv": [0.010289483491497756, 0.9612918833771296, 0.028418633131374174]}}, {"xyz": [0.1487002746273806, -0.4652189910411836, -0.21269428454455103], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 480}, "mesh_info": {"face_index": 55, "face_uv": [0.025578668850145505, 0.5014159512867615, 0.47300537986309316]}}, {"xyz": [0.14621473389209125, -0.46521899104118347, 0.08780545196098098], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 954}, "mesh_info": {"face_index": 133, "face_uv": [0.09618285741120045, 0.3634985185568375, 0.5403186240319621]}}, {"xyz": [-0.14852036990977985, -0.46521899104118347, 0.08211384478110365], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 117, "face_uv": [0.03974213057337301, 0.48236599485089326, 0.47789187457573373]}}, {"xyz": [-0.15061489487264132, -0.46521899104118347, -0.2148293787722674], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1411}, "mesh_info": {"face_index": 76, "face_uv": [0.42116964935405793, 0.4407631595849576, 0.13806719106098445]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fc0e86a20a9606493cd6abbbeca4e2ad", "keypoints": [{"xyz": [0.15488956058259104, 0.3111456280500191, 0.07265600233262859], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 607}, "mesh_info": {"face_index": 1930, "face_uv": [0.44105148835391916, 0.2599463912169871, 0.29900212042909347]}}, {"xyz": [-0.15835494089976615, 0.3097679719280687, 0.0715390512686469], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1300}, "mesh_info": {"face_index": 2446, "face_uv": [0.04476765999670826, 0.7246998686058559, 0.2305324713974401]}}, {"xyz": [0.16112444911620247, -0.11212341141477422, -0.0005250351513672591], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 520}, "mesh_info": {"face_index": 2339, "face_uv": [0.5959627837696144, 0.14680014626562957, 0.25723706996469636]}}, {"xyz": [-0.1580949618068886, -0.10791999846696854, -0.013568978136849319], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1569}, "mesh_info": {"face_index": 3120, "face_uv": [0.019033336093529512, 0.9150384688372398, 0.06592819506923071]}}, {"xyz": [0.1883534137342622, -0.1395408154643034, -0.3709175538028242], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 2926, "face_uv": [0.7330787971620275, 0.052361003308400926, 0.2145601995295714]}}, {"xyz": [-0.19162391487771988, -0.13472785087967143, -0.3694095731480802], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 2938, "face_uv": [0.687232600817891, 0.19659993712460558, 0.11616746205750372]}}, {"xyz": [0.1746493780328795, -0.46930727964776964, -0.36954399943351746], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 486}, "mesh_info": {"face_index": 9, "face_uv": [0.0798754850409063, 0.9188983097503679, 0.0012262052087258454]}}, {"xyz": [0.1491685706931648, -0.4646618707673274, 0.04443985710312548], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 158}, "mesh_info": {"face_index": 2186, "face_uv": [0.23263238942572426, 0.28895026805927077, 0.47841734251500606]}}, {"xyz": [-0.15223244206955133, -0.4686898509332178, 0.045841111743393226], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 860}, "mesh_info": {"face_index": 2674, "face_uv": [0.04701113916486058, 0.5642609327271721, 0.38872792810796997]}}, {"xyz": [-0.16863377864632603, -0.4663764651661006, -0.3695439994335177], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 154}, "mesh_info": {"face_index": 42, "face_uv": [0.3928824058723734, 0.5969674601750946, 0.010150133952532546]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b351e06f5826444c19fb4103277a6b93", "keypoints": [{"xyz": [0.34275204095570866, 0.21823195284109154, 0.06701455331964334], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 1701}, "mesh_info": {"face_index": 44949, "face_uv": [0.08332171218913863, 0.5689118658732801, 0.3477664219375813]}}, {"xyz": [-0.35272135546699696, 0.2185427628320391, 0.07345162339046318], "rgb": [222, 199, 164], "semantic_id": 1, "pcd_info": {"point_index": 1344}, "mesh_info": {"face_index": 32280, "face_uv": [0.05338070401861483, 0.07185651969245214, 0.8747627762889328]}}, {"xyz": [0.3053945198734, -0.021719073590664717, 0.017223195084600906], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 1329}, "mesh_info": {"face_index": 1437, "face_uv": [0.6481530285691225, 0.014139553142984344, 0.3377074182878865]}}, {"xyz": [-0.29962762414665095, -0.02219488194939223, 0.026296378005752796], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 19961, "face_uv": [0.07511999886659104, 0.08484337203996599, 0.8400366290934391]}}, {"xyz": [0.3154639949568481, -0.011646175077692056, -0.2588372773978407], "rgb": [223, 199, 165], "semantic_id": 4, "pcd_info": {"point_index": 986}, "mesh_info": {"face_index": 10502, "face_uv": [0.6632521202047059, 0.2726133078517266, 0.06413457194356736]}}, {"xyz": [-0.30387701306451687, -0.013613480355851082, -0.27096935995482796], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 887}, "mesh_info": {"face_index": 20743, "face_uv": [0.7209778968110953, 0.0551293365895206, 0.22389276659938467]}}, {"xyz": [0.34506943840175003, 0.09464000613163881, -0.2911388078613226], "rgb": [223, 200, 165], "semantic_id": 6, "pcd_info": {"point_index": 1972}, "mesh_info": {"face_index": 12676, "face_uv": [0.29772003411301196, 0.30191539773844267, 0.40036456814854543]}}, {"xyz": [0.36238987678310464, 0.09953799843788147, 0.1093482523667908], "rgb": [223, 200, 165], "semantic_id": 7, "pcd_info": {"point_index": 854}, "mesh_info": {"face_index": 10994, "face_uv": [0.005067167309713177, 0.5205301919383, 0.47440264075198685]}}, {"xyz": [-0.35641796921305, 0.09953799843788169, -0.2786494053252677], "rgb": [223, 200, 165], "semantic_id": 8, "pcd_info": {"point_index": 542}, "mesh_info": {"face_index": 26865, "face_uv": [0.11634037504423547, 0.06955476323642315, 0.8141048617193436]}}, {"xyz": [-0.35495721032881755, 0.09401934535644929, 0.11622266189277353], "rgb": [222, 199, 164], "semantic_id": 9, "pcd_info": {"point_index": 650}, "mesh_info": {"face_index": 28125, "face_uv": [0.13426263250164924, 0.8032483076738529, 0.06248905982449736]}}, {"xyz": [0.3421778819292841, -0.25649235324515085, -0.2683028615685471], "rgb": [158, 73, 18], "semantic_id": 17, "pcd_info": {"point_index": 1590}, "mesh_info": {"face_index": 15302, "face_uv": [0.08160805676701877, 0.6431530877932071, 0.2752388554397733]}}, {"xyz": [0.3273572496717209, -0.2566690146923065, 0.10037059783546765], "rgb": [173, 79, 19], "semantic_id": 18, "pcd_info": {"point_index": 872}, "mesh_info": {"face_index": 8377, "face_uv": [0.2557536132565088, 0.5540127999304587, 0.19023358681303265]}}, {"xyz": [-0.3312348282618426, -0.2566690146923065, 0.10161955648230792], "rgb": [169, 79, 19], "semantic_id": 19, "pcd_info": {"point_index": 428}, "mesh_info": {"face_index": 22288, "face_uv": [0.5970253884648539, 0.3678144175506405, 0.03516019398450559]}}, {"xyz": [-0.34485485776249036, -0.2565351293098532, -0.27099212398694916], "rgb": [158, 72, 18], "semantic_id": 20, "pcd_info": {"point_index": 1001}, "mesh_info": {"face_index": 21399, "face_uv": [0.5267320411184768, 0.08230354769168471, 0.39096441118983866]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cbcc5cd1aec9f3413aa677469bbdd68c", "keypoints": [{"xyz": [0.2369140179455782, 0.2964186416345911, 0.24972068292011257], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1145}, "mesh_info": {"face_index": 46798, "face_uv": [0.16199560441880637, 0.02227950165885693, 0.8157248939223364]}}, {"xyz": [-0.24208307424443642, 0.29127953387686145, 0.25407114691387], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 398}, "mesh_info": {"face_index": 135881, "face_uv": [0.20668268715715188, 0.18740014895724952, 0.6059171638855989]}}, {"xyz": [0.14024612646735846, -0.047099964917810544, 0.15126230262420237], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1892}, "mesh_info": {"face_index": 88810, "face_uv": [0.2099590572974042, 0.1284070246307822, 0.6616339180718138]}}, {"xyz": [-0.13667496602293766, -0.04382719238542432, 0.14166174374329765], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 302}, "mesh_info": {"face_index": 122512, "face_uv": [0.04362486122261565, 0.8738207130501081, 0.08255442572728515]}}, {"xyz": [0.21624841420247962, -0.0528322752450463, -0.234210314245618], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1525}, "mesh_info": {"face_index": 33432, "face_uv": [0.007676280834896111, 0.0015998233995251046, 0.9907238957655807]}}, {"xyz": [-0.2126270931324261, -0.051067045835352376, -0.23251052386636228], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1203}, "mesh_info": {"face_index": 120918, "face_uv": [0.09419663022759277, 0.7126839158339234, 0.19311945393848282]}}, {"xyz": [0.23841951106952938, 0.10274415236393253, -0.16886343121921055], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1618}, "mesh_info": {"face_index": 87417, "face_uv": [0.05065033646559213, 0.06566994460606305, 0.8836797189283445]}}, {"xyz": [0.20594016516301483, 0.11068101249007145, 0.1609486186195508], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 409}, "mesh_info": {"face_index": 100410, "face_uv": [0.0051650924689767745, 0.2429204884639251, 0.7519144190670972]}}, {"xyz": [-0.2422605251148695, 0.10650370791300934, -0.16518118368456958], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1160}, "mesh_info": {"face_index": 176024, "face_uv": [0.47024040883522, 0.05926145565574198, 0.4704981355090362]}}, {"xyz": [-0.2132089603952914, 0.1102860500673204, 0.16456145504072772], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1554}, "mesh_info": {"face_index": 146731, "face_uv": [0.08858498309723209, 0.15093519903175961, 0.7604798178710089]}}, {"xyz": [0.204465418617472, -0.3191918219507519, -0.21426541917405972], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 700}, "mesh_info": {"face_index": 117402, "face_uv": [0.030178838726982026, 0.6707669115087885, 0.29905424976422423]}}, {"xyz": [0.1518782386775116, -0.32179999351501465, 0.18851521996461063], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1193}, "mesh_info": {"face_index": 115040, "face_uv": [0.14983512231527693, 0.5823906510093241, 0.26777422667539896]}}, {"xyz": [-0.1517593449606985, -0.32179999351501465, 0.19266697228996943], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1923}, "mesh_info": {"face_index": 202642, "face_uv": [0.2326654602408787, 0.7552730729051252, 0.012061466853996162]}}, {"xyz": [-0.20948583438377336, -0.31482830225095526, -0.2121089994907378], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1309}, "mesh_info": {"face_index": 235142, "face_uv": [0.14405052694386042, 0.3313260724074555, 0.5246234006486835]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2c76aaa00e55c26836c07750784b6bc6", "keypoints": [{"xyz": [0.10175741168318377, 0.39684998989105214, 0.014561179249625522], "rgb": [122, 123, 118], "semantic_id": 0, "pcd_info": {"point_index": 1054}, "mesh_info": {"face_index": 1037, "face_uv": [0.15670740162374328, 0.5729792217331755, 0.27031337664308097]}}, {"xyz": [-0.1076404091610905, 0.39684998989105225, 0.01911925009673965], "rgb": [121, 121, 121], "semantic_id": 1, "pcd_info": {"point_index": 1134}, "mesh_info": {"face_index": 953, "face_uv": [0.517704251331316, 0.24816084273401, 0.2341349059346739]}}, {"xyz": [0.10785233423281979, -0.07527600228786446, 0.027686000297049984], "rgb": [148, 80, 35], "semantic_id": 2, "pcd_info": {"point_index": 1075}, "mesh_info": {"face_index": 626, "face_uv": [0.012028748397396824, 0.3603731156027596, 0.6275981359998406]}}, {"xyz": [-0.11062904146930065, -0.07527600228786469, 0.03750569966856432], "rgb": [147, 80, 37], "semantic_id": 3, "pcd_info": {"point_index": 384}, "mesh_info": {"face_index": 673, "face_uv": [0.2554992225112101, 0.023068649113597885, 0.7214321283751921]}}, {"xyz": [0.12617581999759414, -0.08650524580840546, -0.21604109124007798], "rgb": [150, 82, 37], "semantic_id": 4, "pcd_info": {"point_index": 1503}, "mesh_info": {"face_index": 584, "face_uv": [0.5739558521186061, 0.0024426751986651838, 0.4236014726827313]}}, {"xyz": [-0.12688392018931632, -0.08934164677225054, -0.21957211496366458], "rgb": [162, 95, 48], "semantic_id": 5, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 614, "face_uv": [0.46634112014837265, 0.14930936876597453, 0.3843495110856529]}}, {"xyz": [0.11929102009390258, -0.5018969774246216, -0.2092060727423351], "rgb": [148, 80, 35], "semantic_id": 17, "pcd_info": {"point_index": 1191}, "mesh_info": {"face_index": 1388, "face_uv": [0.46436820914846283, 0.5220258695950525, 0.013605921256484741]}}, {"xyz": [0.11549080305918757, -0.5018969774246215, 0.028751945808360907], "rgb": [148, 80, 35], "semantic_id": 18, "pcd_info": {"point_index": 842}, "mesh_info": {"face_index": 1514, "face_uv": [0.45546182163082677, 0.49795253704495823, 0.04658564132421476]}}, {"xyz": [-0.11896668544234512, -0.5018969774246215, 0.031722197837527416], "rgb": [148, 80, 35], "semantic_id": 19, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 1637, "face_uv": [0.06994462425684907, 0.43938656079700183, 0.4906688149461489]}}, {"xyz": [-0.12348749528838612, -0.5018969774246215, -0.20872617138462318], "rgb": [148, 80, 35], "semantic_id": 20, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 1267, "face_uv": [0.09794230467820643, 0.4880982024455816, 0.4139594928762118]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "469597794b28bb2bae5a95f4529b204a", "keypoints": [{"xyz": [0.21876442948070973, 0.2574807150377806, 0.08491964882774683], "rgb": [125, 54, 39], "semantic_id": 0, "pcd_info": {"point_index": 1259}, "mesh_info": {"face_index": 25797, "face_uv": [0.29914397474586873, 0.6022270959373726, 0.09862892931675867]}}, {"xyz": [-0.21064316324956855, 0.2677955458516522, 0.09607062619652096], "rgb": [93, 31, 16], "semantic_id": 1, "pcd_info": {"point_index": 799}, "mesh_info": {"face_index": 26323, "face_uv": [0.9789262856992721, 0.006497004161969253, 0.014576710138758735]}}, {"xyz": [0.11867123249870998, -0.03910970276449666, 0.07374984869490508], "rgb": [115, 45, 28], "semantic_id": 2, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 17930, "face_uv": [0.1359138344573376, 0.33516933066426213, 0.5289168348783992]}}, {"xyz": [-0.12818550600684975, -0.03791688402601112, 0.075070968882615], "rgb": [118, 56, 38], "semantic_id": 3, "pcd_info": {"point_index": 136}, "mesh_info": {"face_index": 18605, "face_uv": [0.6744304403909184, 0.2554555996347406, 0.07011395997434774]}}, {"xyz": [0.14830941927520658, -0.007120446066234631, -0.28480407459887713], "rgb": [130, 60, 40], "semantic_id": 4, "pcd_info": {"point_index": 23}, "mesh_info": {"face_index": 18814, "face_uv": [0.36932155434014685, 0.36765599462871884, 0.2630224510311343]}}, {"xyz": [-0.15080106725281128, -0.009441936507513127, -0.2849288638056551], "rgb": [129, 62, 45], "semantic_id": 5, "pcd_info": {"point_index": 1082}, "mesh_info": {"face_index": 20257, "face_uv": [0.09233730384829988, 0.2469715200914277, 0.6606911760602739]}}, {"xyz": [0.2533856972279609, 0.10516627584480642, -0.20484244713644317], "rgb": [134, 69, 49], "semantic_id": 6, "pcd_info": {"point_index": 334}, "mesh_info": {"face_index": 19354, "face_uv": [0.5456720594355831, 0.15988571035736168, 0.29444223020705534]}}, {"xyz": [0.22190621679196806, 0.08771667106640457, 0.000256801994527045], "rgb": [125, 59, 42], "semantic_id": 7, "pcd_info": {"point_index": 281}, "mesh_info": {"face_index": 19322, "face_uv": [0.21917327396730715, 0.37825925712397873, 0.40256746890871337]}}, {"xyz": [-0.21722098783801969, 0.07386879168024785, -0.2314093422478804], "rgb": [128, 60, 42], "semantic_id": 8, "pcd_info": {"point_index": 1504}, "mesh_info": {"face_index": 18684, "face_uv": [0.38888684521394373, 0.007245178173169157, 0.6038679766128804]}}, {"xyz": [-0.19694126618238217, 0.031150774745451137, 0.03204495627411763], "rgb": [127, 58, 41], "semantic_id": 9, "pcd_info": {"point_index": 593}, "mesh_info": {"face_index": 18911, "face_uv": [0.01177960581052032, 0.7768836995581997, 0.2113366946312781]}}, {"xyz": [0.1965258339436209, -0.3083808039106896, -0.18295233638895914], "rgb": [254, 190, 0], "semantic_id": 17, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 4956, "face_uv": [0.040760514776762624, 0.5585631000158598, 0.40067638520737703]}}, {"xyz": [0.19377673249971372, -0.30828046382540786, 0.2011281215991183], "rgb": [255, 191, 0], "semantic_id": 18, "pcd_info": {"point_index": 1790}, "mesh_info": {"face_index": 5185, "face_uv": [0.251940157787927, 0.28804483538548686, 0.4600150068266124]}}, {"xyz": [-0.19027747495221536, -0.3035248934469734, 0.21561082100339224], "rgb": [204, 182, 163], "semantic_id": 19, "pcd_info": {"point_index": 0}, "mesh_info": {"face_index": 10104, "face_uv": [0.29085622037671677, 0.3461587115894827, 0.3629850680338008]}}, {"xyz": [-0.18925138803710317, -0.30437301011219653, -0.16561887171348832], "rgb": [203, 181, 162], "semantic_id": 20, "pcd_info": {"point_index": 517}, "mesh_info": {"face_index": 14432, "face_uv": [0.36994589637484265, 0.11477770933362672, 0.5152763942915279]}}, {"xyz": [0.0036153904097642187, -0.13062229266713832, 0.005268839207499987], "rgb": [204, 182, 163], "semantic_id": 15, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 726, "face_uv": [0.1802453721344809, 0.8137980767013407, 0.005956551164265886]}}, {"xyz": [0.002113769131043164, -0.3053640127182007, 0.017855762312916967], "rgb": [204, 182, 163], "semantic_id": 16, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 9220, "face_uv": [0.8712252727731223, 0.06478323114701327, 0.06399149607986442]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "51f1ea91a1cd7370b3fdb1a7c9a60207", "keypoints": [{"xyz": [0.15081806398161934, 0.2676591714394988, 0.1164918759551481], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 619}, "mesh_info": {"face_index": 9293, "face_uv": [0.23956162866417957, 0.7367464980086421, 0.02369187332717724]}}, {"xyz": [-0.1528234726415309, 0.27254301160400335, 0.1183248427177448], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 812}, "mesh_info": {"face_index": 26477, "face_uv": [0.011346817626160086, 0.4509309928099598, 0.5377221895638793]}}, {"xyz": [0.1303276581949776, -0.15484865737091613, 0.037591971028600346], "rgb": [182, 138, 74], "semantic_id": 2, "pcd_info": {"point_index": 326}, "mesh_info": {"face_index": 24693, "face_uv": [0.20893199556866085, 0.17971973664089488, 0.6113482677904468]}}, {"xyz": [-0.12158339317355635, -0.15355233306695104, 0.03523741325933072], "rgb": [172, 127, 62], "semantic_id": 3, "pcd_info": {"point_index": 31}, "mesh_info": {"face_index": 24742, "face_uv": [0.05926112818296165, 0.8010557816177828, 0.13968309019925385]}}, {"xyz": [0.13794389330213466, -0.1615106741708463, -0.2679903284786693], "rgb": [189, 147, 83], "semantic_id": 4, "pcd_info": {"point_index": 594}, "mesh_info": {"face_index": 23150, "face_uv": [0.07756496364757423, 0.3701164229654631, 0.5523186133869639]}}, {"xyz": [-0.13425961645630144, -0.16495598607707573, -0.27338795350258394], "rgb": [174, 133, 63], "semantic_id": 5, "pcd_info": {"point_index": 630}, "mesh_info": {"face_index": 23141, "face_uv": [0.696939454894126, 0.02197140622824858, 0.28108913887762554]}}, {"xyz": [0.1283657123640667, -0.5465485276408699, -0.24847508565668086], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 3900, "face_uv": [0.19637556621682944, 0.5245393721574554, 0.2790850616257149]}}, {"xyz": [0.12961036382561583, -0.5437920792797974, 0.1066882969740699], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 994}, "mesh_info": {"face_index": 9343, "face_uv": [0.5168269359429702, 0.23616394060401416, 0.24700912345301532]}}, {"xyz": [-0.14066690867232187, -0.5436559791870508, 0.10619506631725226], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1429}, "mesh_info": {"face_index": 26529, "face_uv": [0.20493776969915697, 0.4976704617427, 0.29739176855814337]}}, {"xyz": [-0.1311888962262911, -0.5438979512439606, -0.2550561298618013], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 485}, "mesh_info": {"face_index": 3492, "face_uv": [0.3612011379362663, 0.5392696596214338, 0.09952920244230076]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e491dc151c8e801186abe5555a3b447d", "keypoints": [{"xyz": [0.3266298888229148, 0.16086331397996645, 0.17460099385948924], "rgb": [113, 44, 1], "semantic_id": 0, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 1164, "face_uv": [0.9669837378639029, 0.03294423659297777, 7.202554311751409e-05]}}, {"xyz": [-0.3182791524484401, 0.16109171356678464, 0.17478329583801733], "rgb": [188, 103, 1], "semantic_id": 1, "pcd_info": {"point_index": 176}, "mesh_info": {"face_index": 2145, "face_uv": [0.24065154809314376, 0.026108623451879642, 0.733239828454983]}}, {"xyz": [0.3227092397244121, -0.06925256659148227, 0.05556394936030107], "rgb": [189, 116, 14], "semantic_id": 2, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 241, "face_uv": [0.012288701830586444, 0.007376949855410776, 0.9803343483140003]}}, {"xyz": [-0.3267139784691858, -0.07141639285455037, 0.05445853249232435], "rgb": [210, 171, 10], "semantic_id": 3, "pcd_info": {"point_index": 348}, "mesh_info": {"face_index": 2995, "face_uv": [0.015862424691696252, 0.9736780585662371, 0.010459516742080241]}}, {"xyz": [0.3288124497743404, -0.0038896916921455915, -0.2476393000724304], "rgb": [196, 141, 22], "semantic_id": 4, "pcd_info": {"point_index": 1708}, "mesh_info": {"face_index": 72, "face_uv": [0.4617771742775833, 0.384693441694393, 0.1535293840280245]}}, {"xyz": [-0.3277748085056338, -0.0018907215367525154, -0.23821999827538964], "rgb": [188, 139, 25], "semantic_id": 5, "pcd_info": {"point_index": 2029}, "mesh_info": {"face_index": 2141, "face_uv": [0.8136999284740913, 0.012022706400319888, 0.1742773651256135]}}, {"xyz": [0.34187556704536726, 0.10246707640833308, -0.09271250794038433], "rgb": [110, 82, 68], "semantic_id": 6, "pcd_info": {"point_index": 666}, "mesh_info": {"face_index": 1705, "face_uv": [0.6659359701611137, 0.3240580725361785, 0.01000595730270781]}}, {"xyz": [0.34640908462139874, -0.03971561805884338, 0.20857521799266507], "rgb": [101, 70, 50], "semantic_id": 7, "pcd_info": {"point_index": 3}, "mesh_info": {"face_index": 1766, "face_uv": [0.48227405811839, 0.4738923684383673, 0.04383357344324257]}}, {"xyz": [-0.349283314049069, 0.09881972005917472, -0.0943711277430547], "rgb": [88, 57, 45], "semantic_id": 8, "pcd_info": {"point_index": 509}, "mesh_info": {"face_index": 1779, "face_uv": [0.5666437213446064, 0.4132153409878871, 0.020140937667507013]}}, {"xyz": [-0.346957445147266, -0.04195376867708411, 0.21307341955060183], "rgb": [88, 58, 43], "semantic_id": 9, "pcd_info": {"point_index": 925}, "mesh_info": {"face_index": 1795, "face_uv": [0.029291534637137594, 0.47632519259877143, 0.4943832727641052]}}, {"xyz": [0.36124399304389954, -0.2508334436458225, -0.23710745270053368], "rgb": [98, 69, 55], "semantic_id": 17, "pcd_info": {"point_index": 2042}, "mesh_info": {"face_index": 1711, "face_uv": [0.010450067491448526, 0.24793631865986748, 0.741613613848684]}}, {"xyz": [0.3164875527709148, -0.25380998849868763, 0.11470405611190809], "rgb": [206, 134, 25], "semantic_id": 18, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 568, "face_uv": [0.03168751357368681, 0.03632566420919619, 0.9319868222171166]}}, {"xyz": [-0.31335022243888666, -0.2512611425473217, 0.11636436544549644], "rgb": [191, 99, 2], "semantic_id": 19, "pcd_info": {"point_index": 773}, "mesh_info": {"face_index": 2401, "face_uv": [0.9585327707437883, 0.03420299336045598, 0.007264235895755447]}}, {"xyz": [-0.3611240088939671, -0.2470322530305285, -0.21767827862057038], "rgb": [97, 64, 48], "semantic_id": 20, "pcd_info": {"point_index": 1919}, "mesh_info": {"face_index": 1774, "face_uv": [0.023795305154992917, 0.46045521455167265, 0.5157494802933357]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5cf26a5558580c8c75a82b88fe6e733f", "keypoints": [{"xyz": [0.2773778340415382, 0.26448020747777834, 0.18420062909051482], "rgb": [101, 18, 18], "semantic_id": 0, "pcd_info": {"point_index": 351}, "mesh_info": {"face_index": 443, "face_uv": [0.057406804482184416, 0.00420919970739064, 0.9383839958104248]}}, {"xyz": [-0.2757787601725926, 0.2637893824473021, 0.1808933517603296], "rgb": [102, 19, 19], "semantic_id": 1, "pcd_info": {"point_index": 726}, "mesh_info": {"face_index": 328, "face_uv": [0.8251351782474068, 0.0067536690464684735, 0.16811115270612487]}}, {"xyz": [0.16599770542484663, -0.15769720771781714, 0.1251010000705718], "rgb": [101, 18, 18], "semantic_id": 2, "pcd_info": {"point_index": 931}, "mesh_info": {"face_index": 99, "face_uv": [0.5084826975216206, 0.0839354474093008, 0.4075818550690777]}}, {"xyz": [-0.17812299728393555, -0.13271760424986523, 0.10308622369225784], "rgb": [102, 19, 19], "semantic_id": 3, "pcd_info": {"point_index": 1749}, "mesh_info": {"face_index": 204, "face_uv": [0.21501259682523274, 0.055397999038070356, 0.7295894041366969]}}, {"xyz": [0.1732570455957937, -0.17156567736525818, -0.26943939088134217], "rgb": [101, 18, 18], "semantic_id": 4, "pcd_info": {"point_index": 1084}, "mesh_info": {"face_index": 37, "face_uv": [0.007178277769638639, 0.8402363949547368, 0.15258532727562424]}}, {"xyz": [-0.17812299728393555, -0.1710434459902912, -0.2592561428092468], "rgb": [102, 19, 19], "semantic_id": 5, "pcd_info": {"point_index": 1216}, "mesh_info": {"face_index": 254, "face_uv": [0.9570474549362663, 0.032803410508124256, 0.010149134555609556]}}, {"xyz": [0.22687159366416365, -0.015898282197206126, -0.27229198813438427], "rgb": [102, 19, 19], "semantic_id": 6, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 215, "face_uv": [0.04017223335573187, 0.04572082267461749, 0.9141069439696511]}}, {"xyz": [0.22813573413716956, -0.008410390550230074, 0.11788898564100014], "rgb": [102, 19, 19], "semantic_id": 7, "pcd_info": {"point_index": 1171}, "mesh_info": {"face_index": 314, "face_uv": [0.017866570673064647, 0.07693577895937007, 0.905197650367568]}}, {"xyz": [-0.22744568749936014, -0.013319255813513897, -0.27229198813438416], "rgb": [102, 19, 19], "semantic_id": 8, "pcd_info": {"point_index": 1555}, "mesh_info": {"face_index": 259, "face_uv": [0.2309992260234421, 0.013696235422120891, 0.755304538554437]}}, {"xyz": [-0.22559684850827708, -0.008547297092797335, 0.12288732917007716], "rgb": [102, 19, 19], "semantic_id": 9, "pcd_info": {"point_index": 495}, "mesh_info": {"face_index": 336, "face_uv": [0.0260089760353374, 0.6413637717953156, 0.33262725216934746]}}, {"xyz": [0.2748879293520708, -0.3613159954547882, -0.26706341522284593], "rgb": [102, 19, 19], "semantic_id": 17, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 3, "face_uv": [0.9816988978726718, 0.008661118417038904, 0.009639983710289322]}}, {"xyz": [0.276438134989631, -0.3581561919640065, 0.2700920104980469], "rgb": [101, 18, 18], "semantic_id": 18, "pcd_info": {"point_index": 2039}, "mesh_info": {"face_index": 4, "face_uv": [0.9941106300401811, 0.005378709461976663, 0.0005106604978420307]}}, {"xyz": [-0.27766095399601937, -0.3613159954547881, 0.26606480073928973], "rgb": [101, 18, 18], "semantic_id": 19, "pcd_info": {"point_index": 1134}, "mesh_info": {"face_index": 2, "face_uv": [0.9891866543717808, 0.0033883298296125304, 0.0074250157986063565]}}, {"xyz": [-0.275586631624044, -0.3613159954547882, -0.2641479655155399], "rgb": [102, 19, 19], "semantic_id": 20, "pcd_info": {"point_index": 361}, "mesh_info": {"face_index": 0, "face_uv": [0.9849847660709412, 0.007097192508856069, 0.00791804142020277]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "49a60133d6b05b8d19fb4103277a6b93", "keypoints": [{"xyz": [0.20818266534336835, 0.306790039321664, 0.09284393840429717], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 653}, "mesh_info": {"face_index": 28435, "face_uv": [0.09158733859801922, 0.40813532191740876, 0.5002773394845795]}}, {"xyz": [-0.21249790424445603, 0.3039390355431226, 0.0925439242787005], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 34386, "face_uv": [0.059570222532761855, 0.18949141957545593, 0.750938357891783]}}, {"xyz": [0.20887838006784992, 0.07290150938061646, 0.06496268516707349], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 517}, "mesh_info": {"face_index": 29906, "face_uv": [0.12523903097502068, 0.7309981329970321, 0.14376283602793613]}}, {"xyz": [-0.21024229382483894, 0.07305278089877532, 0.06524538028252591], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 44}, "mesh_info": {"face_index": 31960, "face_uv": [0.47086570842390363, 0.032768955128062244, 0.49636533644804054]}}, {"xyz": [0.2168314086762188, -0.040198867371465635, -0.31801284738733226], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 1233}, "mesh_info": {"face_index": 24363, "face_uv": [0.6745258028170447, 0.2813199467376996, 0.04415425044525627]}}, {"xyz": [-0.21369977758951428, -0.04025275214674834, -0.3182705168837632], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 195}, "mesh_info": {"face_index": 25958, "face_uv": [0.05513269289109678, 0.7225087889594962, 0.2223585181494076]}}, {"xyz": [0.2966295055369938, 0.2269457390879306, -0.3144938938747035], "rgb": [222, 199, 164], "semantic_id": 6, "pcd_info": {"point_index": 2011}, "mesh_info": {"face_index": 42709, "face_uv": [0.009134451378128277, 0.16634509983307696, 0.8245204487887943]}}, {"xyz": [0.2982391076214248, 0.23222747028675972, 0.22595894470428646], "rgb": [223, 200, 165], "semantic_id": 7, "pcd_info": {"point_index": 1396}, "mesh_info": {"face_index": 40877, "face_uv": [0.377366501590995, 0.6200823261713567, 0.002551172237648468]}}, {"xyz": [-0.2952259023353271, 0.2253853180126406, -0.3160529268122265], "rgb": [223, 200, 165], "semantic_id": 8, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 36480, "face_uv": [0.02923530786802771, 0.36592554717030573, 0.6048391449616666]}}, {"xyz": [-0.2973441270601363, 0.2323070378200096, 0.22323150884264487], "rgb": [222, 200, 164], "semantic_id": 9, "pcd_info": {"point_index": 837}, "mesh_info": {"face_index": 37690, "face_uv": [0.918642403029045, 0.07363327249486999, 0.00772432447608495]}}, {"xyz": [0.2869177555000457, -0.2335139960050584, -0.308017823005154], "rgb": [158, 71, 18], "semantic_id": 17, "pcd_info": {"point_index": 853}, "mesh_info": {"face_index": 18885, "face_uv": [0.345167430065907, 0.15401278307657948, 0.500819786857514]}}, {"xyz": [0.2827958612279985, -0.23351399600505818, 0.21876685397263862], "rgb": [155, 68, 18], "semantic_id": 18, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 18864, "face_uv": [0.5142629816158486, 0.34479345161888947, 0.14094356676526143]}}, {"xyz": [-0.28374454950659933, -0.23309309527378452, 0.20788699388504028], "rgb": [160, 72, 19], "semantic_id": 19, "pcd_info": {"point_index": 1887}, "mesh_info": {"face_index": 10905, "face_uv": [0.014645125095427985, 0.22317979079561145, 0.7621750841089606]}}, {"xyz": [-0.28914362353124384, -0.2335139960050583, -0.3104335085580061], "rgb": [158, 72, 18], "semantic_id": 20, "pcd_info": {"point_index": 818}, "mesh_info": {"face_index": 11173, "face_uv": [0.3791552340337176, 0.5949922037133165, 0.025852562252965977]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c7bbb1dfcac15f43e33c1bced7bc2a7", "keypoints": [{"xyz": [0.140856996178627, 0.2715750822543095, 0.11062641846719656], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1547}, "mesh_info": {"face_index": 40, "face_uv": [0.5368077856185395, 0.0009619775980438098, 0.46223023678341657]}}, {"xyz": [-0.1395499179067609, 0.27386445776209833, 0.1063295105971096], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 354}, "mesh_info": {"face_index": 128, "face_uv": [0.09261062554159137, 0.5180627032644242, 0.3893266711939844]}}, {"xyz": [0.13713522343578016, 0.015576085002874995, 0.06858900189399719], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1094}, "mesh_info": {"face_index": 45, "face_uv": [0.9860441153767658, 0.012533878760116005, 0.001422005863118256]}}, {"xyz": [-0.13601235950403834, 0.012044000439345837, 0.06492401325989094], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1724}, "mesh_info": {"face_index": 30, "face_uv": [0.009758963460006603, 0.9818584531188291, 0.008382583421164163]}}, {"xyz": [0.1396674755564491, 0.012044000439345948, -0.3057990458341484], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1089}, "mesh_info": {"face_index": 42, "face_uv": [0.0030966962239579367, 0.9957816173799244, 0.0011216863961269472]}}, {"xyz": [-0.13905726300647075, 0.012044000439345837, -0.30302545488393795], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1752}, "mesh_info": {"face_index": 42, "face_uv": [0.010482086859059549, 0.0073434423548578535, 0.982174470786083]}}, {"xyz": [0.12016447144583231, -0.48134198784828186, -0.28279820391458466], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1871}, "mesh_info": {"face_index": 5, "face_uv": [0.1484947339797954, 0.40321375094851025, 0.44829151507169435]}}, {"xyz": [0.11130540298914904, -0.4968700110912323, 0.12036513499252344], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 602}, "mesh_info": {"face_index": 117, "face_uv": [0.12583345583432543, 0.46984096667722514, 0.40432557748844944]}}, {"xyz": [-0.1186319215372752, -0.4943999946117401, 0.12807310095641866], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1857}, "mesh_info": {"face_index": 198, "face_uv": [0.31940784845651515, 0.39839340532459855, 0.28219874621888635]}}, {"xyz": [-0.11268218828475762, -0.4806370139122009, -0.2895099530136433], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1490}, "mesh_info": {"face_index": 109, "face_uv": [0.1903230330123984, 0.45878320435594855, 0.350893762631653]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a996cc501faa4ec841c6494d29fffa82", "keypoints": [{"xyz": [0.179623632966467, 0.3887063578344763, 0.2363289503123609], "rgb": [23, 16, 12], "semantic_id": 0, "pcd_info": {"point_index": 1109}, "mesh_info": {"face_index": 1078, "face_uv": [0.05481652997703914, 0.4052191972565672, 0.5399642727663915]}}, {"xyz": [-0.18243479479933494, 0.3969791776853438, 0.2376189198637284], "rgb": [38, 25, 17], "semantic_id": 1, "pcd_info": {"point_index": 1292}, "mesh_info": {"face_index": 7, "face_uv": [0.34058162297913325, 0.026591501584385103, 0.63282687543648]}}, {"xyz": [0.17956127664143157, 0.005272335589916466, 0.16913269276303056], "rgb": [163, 152, 139], "semantic_id": 2, "pcd_info": {"point_index": 663}, "mesh_info": {"face_index": 17781, "face_uv": [0.440903359723265, 0.5576999460527029, 0.0013966942240293489]}}, {"xyz": [-0.18028605413217155, 0.005107905306971583, 0.17556475309122432], "rgb": [178, 174, 166], "semantic_id": 3, "pcd_info": {"point_index": 1257}, "mesh_info": {"face_index": 17230, "face_uv": [0.4132270286756175, 0.3503834937739043, 0.2363894775504817]}}, {"xyz": [0.18037499591812517, 0.004978771990079789, -0.21075467991074426], "rgb": [191, 189, 178], "semantic_id": 4, "pcd_info": {"point_index": 2032}, "mesh_info": {"face_index": 17767, "face_uv": [0.16734627875553634, 0.3004137226074029, 0.5322399986370628]}}, {"xyz": [-0.18333678600105371, 0.0037666647116538776, -0.217703344021289], "rgb": [172, 168, 156], "semantic_id": 5, "pcd_info": {"point_index": 147}, "mesh_info": {"face_index": 16678, "face_uv": [0.34886349019521984, 0.3574757492227227, 0.29366076058205776]}}, {"xyz": [0.20236925355135443, -0.34671122398487597, -0.2114564789635014], "rgb": [38, 23, 13], "semantic_id": 17, "pcd_info": {"point_index": 507}, "mesh_info": {"face_index": 30397, "face_uv": [0.7431543487957025, 0.02377406041565871, 0.23307159078863943]}}, {"xyz": [0.1942669450585514, -0.3536689877510071, 0.211571268452722], "rgb": [31, 20, 15], "semantic_id": 18, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 31250, "face_uv": [0.2552238522663659, 0.0193605257046872, 0.7254156220289469]}}, {"xyz": [-0.20201012012240235, -0.3536689877510073, 0.20925327242593372], "rgb": [37, 24, 15], "semantic_id": 19, "pcd_info": {"point_index": 482}, "mesh_info": {"face_index": 29662, "face_uv": [0.3408914421238661, 0.08184609357173138, 0.5772624643044032]}}, {"xyz": [-0.2000063801761371, -0.3511420156813736, -0.22945100069046018], "rgb": [38, 26, 18], "semantic_id": 20, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 30185, "face_uv": [0.542291547123016, 0.007187249268613919, 0.45052120360836995]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "63ac45ba2c2231d155f9a00acc25f137", "keypoints": [{"xyz": [0.1341031258448654, 0.43156037324477636, 0.15445314519055908], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 1079}, "mesh_info": {"face_index": 421, "face_uv": [0.27187647796058667, 0.01853514108918893, 0.7095883809502245]}}, {"xyz": [-0.1248759999871254, 0.42662948009576107, 0.17397186645834606], "rgb": [226, 225, 221], "semantic_id": 1, "pcd_info": {"point_index": 86}, "mesh_info": {"face_index": 420, "face_uv": [0.15049020002263871, 0.6985377057711422, 0.15097209420621902]}}, {"xyz": [0.1307440873117487, 0.02499628838173007, 0.05106767126304401], "rgb": [226, 225, 221], "semantic_id": 2, "pcd_info": {"point_index": 418}, "mesh_info": {"face_index": 485, "face_uv": [0.7276123329337334, 0.03126504072642985, 0.24112262633983877]}}, {"xyz": [-0.12398964421815095, 0.010562741905680184, 0.04266576338879058], "rgb": [226, 225, 221], "semantic_id": 3, "pcd_info": {"point_index": 879}, "mesh_info": {"face_index": 254, "face_uv": [0.3101070524458684, 0.007909539657454718, 0.6819834078966803]}}, {"xyz": [0.18077267503783156, -0.0005877222208805488, -0.22798745277883992], "rgb": [225, 224, 220], "semantic_id": 4, "pcd_info": {"point_index": 1187}, "mesh_info": {"face_index": 558, "face_uv": [0.9120980420847816, 0.07355623588793345, 0.01434572202728467]}}, {"xyz": [-0.16393574900011054, -0.004476531679888263, -0.23044295189992103], "rgb": [225, 224, 220], "semantic_id": 5, "pcd_info": {"point_index": 782}, "mesh_info": {"face_index": 578, "face_uv": [0.7531804175970696, 0.2248725149742081, 0.021947067428722242]}}, {"xyz": [0.1696722655842975, -0.39282000064849876, -0.19899693778065353], "rgb": [94, 52, 27], "semantic_id": 17, "pcd_info": {"point_index": 167}, "mesh_info": {"face_index": 0, "face_uv": [0.28629289338774006, 0.4961954536504465, 0.21751165296181402]}}, {"xyz": [0.12455391370247189, -0.39282000064849854, 0.11232080832867677], "rgb": [226, 225, 221], "semantic_id": 18, "pcd_info": {"point_index": 1740}, "mesh_info": {"face_index": 65, "face_uv": [0.38434946000472814, 0.4678600958549085, 0.1477904441403633]}}, {"xyz": [-0.10476472899132941, -0.39282000064849876, 0.11066356500587353], "rgb": [226, 225, 221], "semantic_id": 19, "pcd_info": {"point_index": 188}, "mesh_info": {"face_index": 212, "face_uv": [0.13181454198478004, 0.4756153589509481, 0.3925700990642724]}}, {"xyz": [-0.15171546534702562, -0.39282000064849854, -0.20575061192593047], "rgb": [92, 50, 25], "semantic_id": 20, "pcd_info": {"point_index": 1737}, "mesh_info": {"face_index": 109, "face_uv": [0.4640888332453712, 0.20607401129848466, 0.32983715545614417]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2b9ca6deb278a10cffc21cb5f21201cc", "keypoints": [{"xyz": [0.17445109054949126, 0.24087237498756142, 0.08634479402598627], "rgb": [87, 30, 12], "semantic_id": 0, "pcd_info": {"point_index": 496}, "mesh_info": {"face_index": 3240, "face_uv": [0.2019635111093324, 0.5985378983577638, 0.19949859053289712]}}, {"xyz": [-0.18227099201978936, 0.23404574069530204, 0.08469772447643376], "rgb": [97, 28, 9], "semantic_id": 1, "pcd_info": {"point_index": 110}, "mesh_info": {"face_index": 6738, "face_uv": [0.45958098327842206, 0.25282735002672035, 0.28759166669484676]}}, {"xyz": [0.14464294520175155, -0.15469890825601484, 0.03603008929509821], "rgb": [93, 31, 11], "semantic_id": 2, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 2201, "face_uv": [0.06826614230118935, 0.5274940964465711, 0.4042397612522344]}}, {"xyz": [-0.14617628724319165, -0.16553676626286395, 0.03583283763235623], "rgb": [95, 31, 10], "semantic_id": 3, "pcd_info": {"point_index": 1423}, "mesh_info": {"face_index": 5751, "face_uv": [0.2179774710066723, 0.5858546703508469, 0.19616785864248337]}}, {"xyz": [0.2031230740015349, -0.17835831053617124, -0.3007509682092355], "rgb": [105, 31, 8], "semantic_id": 4, "pcd_info": {"point_index": 1853}, "mesh_info": {"face_index": 236, "face_uv": [0.02655312270693316, 0.6975539955389037, 0.2758928817541638]}}, {"xyz": [-0.1980159289574509, -0.17822000384330727, -0.3066661722592159], "rgb": [98, 30, 11], "semantic_id": 5, "pcd_info": {"point_index": 940}, "mesh_info": {"face_index": 9228, "face_uv": [0.10599899359558564, 0.8839338672964615, 0.010067139107951482]}}, {"xyz": [0.20816947173875316, 0.005180203630993585, -0.233503893628753], "rgb": [95, 29, 11], "semantic_id": 6, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 323, "face_uv": [0.036273538038238316, 0.46599679215637246, 0.49772966980536343]}}, {"xyz": [0.1592229108994851, 0.005764996198752481, 0.03831603724650656], "rgb": [90, 30, 11], "semantic_id": 7, "pcd_info": {"point_index": 145}, "mesh_info": {"face_index": 1060, "face_uv": [0.4573012221265146, 0.5134496429172309, 0.02924913495626071]}}, {"xyz": [-0.21275233452867476, 0.005004938325851249, -0.23534956421106457], "rgb": [96, 27, 13], "semantic_id": 8, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 4684, "face_uv": [0.14061502311828702, 0.3019869830860433, 0.5573979937956728]}}, {"xyz": [-0.16368512913673533, 0.005563109425598789, 0.03673423624949124], "rgb": [90, 30, 12], "semantic_id": 9, "pcd_info": {"point_index": 192}, "mesh_info": {"face_index": 5438, "face_uv": [0.2007635490924043, 0.4553547907702881, 0.3438816601373083]}}, {"xyz": [0.2026080778468301, -0.507781982421875, -0.2955871661303514], "rgb": [97, 29, 11], "semantic_id": 17, "pcd_info": {"point_index": 442}, "mesh_info": {"face_index": 32, "face_uv": [0.06926239408548684, 0.33078218909131024, 0.599955416823203]}}, {"xyz": [0.13795239468753367, -0.507781982421875, 0.10860935878460197], "rgb": [94, 29, 10], "semantic_id": 18, "pcd_info": {"point_index": 976}, "mesh_info": {"face_index": 2573, "face_uv": [0.102718642602158, 0.7062090111829181, 0.19107234621492386]}}, {"xyz": [-0.13083250519759665, -0.5077819824218748, 0.10719328651729618], "rgb": [94, 28, 9], "semantic_id": 19, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 6196, "face_uv": [0.3336553749799167, 0.3075813708222246, 0.35876325419785826]}}, {"xyz": [-0.19219252658090524, -0.507781982421875, -0.294942092072615], "rgb": [97, 29, 11], "semantic_id": 20, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 9044, "face_uv": [0.48309096976380816, 0.37956171365491537, 0.13734731658127644]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "20310d1bd22d8e28890eb7072fc1df21", "keypoints": [{"xyz": [0.138063668630928, 0.4623258355911739, 0.20000423661344324], "rgb": [76, 27, 25], "semantic_id": 0, "pcd_info": {"point_index": 1831}, "mesh_info": {"face_index": 14946, "face_uv": [0.23867628766088905, 0.0351470346858965, 0.7261766776532146]}}, {"xyz": [-0.13627733118795837, 0.4644162636840503, 0.1974860689933695], "rgb": [83, 32, 31], "semantic_id": 1, "pcd_info": {"point_index": 558}, "mesh_info": {"face_index": 10003, "face_uv": [0.3589202912780192, 0.2711057886934016, 0.3699739200285795]}}, {"xyz": [0.16246964348999435, 0.03154973358482094, 0.06480998710082786], "rgb": [83, 31, 30], "semantic_id": 2, "pcd_info": {"point_index": 1025}, "mesh_info": {"face_index": 29060, "face_uv": [0.5199933814649803, 0.21116462292088178, 0.268841995614137]}}, {"xyz": [-0.16508919673512268, 0.03156056122093687, 0.06714440617352069], "rgb": [81, 30, 29], "semantic_id": 3, "pcd_info": {"point_index": 1788}, "mesh_info": {"face_index": 46382, "face_uv": [0.12123596325131263, 0.32782574692820854, 0.55093828982048]}}, {"xyz": [0.16436751350302883, 0.0460175381166259, -0.204683946488866], "rgb": [80, 30, 29], "semantic_id": 4, "pcd_info": {"point_index": 1828}, "mesh_info": {"face_index": 28956, "face_uv": [0.40978673285530576, 0.42432747634376017, 0.16588579080093413]}}, {"xyz": [-0.1593399156085022, 0.045787615250494795, -0.20798601820392304], "rgb": [80, 29, 28], "semantic_id": 5, "pcd_info": {"point_index": 58}, "mesh_info": {"face_index": 34223, "face_uv": [0.020517480753686326, 0.7772102568254351, 0.20227226242087842]}}, {"xyz": [0.19899496736160427, 0.16428618864522182, -0.16918454347837314], "rgb": [82, 31, 30], "semantic_id": 6, "pcd_info": {"point_index": 1889}, "mesh_info": {"face_index": 2037, "face_uv": [0.32312843903895266, 0.5560177373500299, 0.12085382361101726]}}, {"xyz": [0.1978046329876637, 0.158586017479591, 0.1410962399162755], "rgb": [80, 30, 29], "semantic_id": 7, "pcd_info": {"point_index": 42}, "mesh_info": {"face_index": 2660, "face_uv": [0.6303043611277523, 0.016888553593658633, 0.3528070852785895]}}, {"xyz": [-0.19215968878898607, 0.16722549601032366, -0.16722648187301975], "rgb": [82, 31, 30], "semantic_id": 8, "pcd_info": {"point_index": 1016}, "mesh_info": {"face_index": 1063, "face_uv": [0.04867283643823623, 0.5811128246846363, 0.3702143388771274]}}, {"xyz": [-0.19244783861225304, 0.16006200812090388, 0.13275150478803066], "rgb": [80, 30, 29], "semantic_id": 9, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 672, "face_uv": [0.5178820343755384, 0.05214534628984825, 0.4299726193346138]}}, {"xyz": [0.1904280249599571, -0.24974599480628967, -0.09166387890148034], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 65824, "face_uv": [0.40034926780998265, 0.36934357595415795, 0.23030715623585943]}}, {"xyz": [0.19238896273711292, -0.24974599480628967, 0.06885522748319649], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 310}, "mesh_info": {"face_index": 65617, "face_uv": [0.42914268027507135, 0.18421419511495357, 0.3866431246099751]}}, {"xyz": [-0.1962625343409458, -0.24974599480628967, 0.07428241092766764], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 80381, "face_uv": [0.41788097062291063, 0.1038329141210559, 0.47828611525603343]}}, {"xyz": [-0.1944969811757027, -0.24974599480628967, -0.09136377988991926], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 80588, "face_uv": [0.4115824654296137, 0.5381132086963424, 0.050304325874043876]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1886b3e3f3d4af3ace522e6dda26fb51", "keypoints": [{"xyz": [0.198075823476594, 0.35840393891685607, 0.24986585029762848], "rgb": [255, 246, 240], "semantic_id": 0, "pcd_info": {"point_index": 766}, "mesh_info": {"face_index": 5010, "face_uv": [0.32023439108380225, 0.6723663584273996, 0.007399250488798473]}}, {"xyz": [-0.16742458521915438, 0.35820347181497647, 0.2504947915361857], "rgb": [254, 245, 239], "semantic_id": 1, "pcd_info": {"point_index": 1227}, "mesh_info": {"face_index": 4890, "face_uv": [0.07992213309937778, 0.08610546425655777, 0.8339724026440644]}}, {"xyz": [0.14904099702835083, 0.007196483736486181, 0.0913848077282603], "rgb": [255, 246, 240], "semantic_id": 2, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 4542, "face_uv": [0.8657162897401428, 0.0890641601158566, 0.04521955014400065]}}, {"xyz": [-0.15043899416923523, 0.0065291570709909985, 0.09247679961055866], "rgb": [254, 245, 239], "semantic_id": 3, "pcd_info": {"point_index": 1585}, "mesh_info": {"face_index": 4841, "face_uv": [0.024568086454536165, 0.8524124349312385, 0.12301947861422523]}}, {"xyz": [0.20074138839900738, 0.009960000403225422, -0.24786415842551746], "rgb": [254, 245, 239], "semantic_id": 4, "pcd_info": {"point_index": 1206}, "mesh_info": {"face_index": 3303, "face_uv": [0.16344452099572596, 0.004116987734836677, 0.8324384912694373]}}, {"xyz": [-0.196309855650063, 0.009960000403225477, -0.25344617392399327], "rgb": [255, 246, 240], "semantic_id": 5, "pcd_info": {"point_index": 727}, "mesh_info": {"face_index": 1979, "face_uv": [0.02185011652769345, 0.04695642399931595, 0.9311934594729963]}}, {"xyz": [0.17783300578594208, -0.404097753501259, -0.2372964896551893], "rgb": [255, 246, 240], "semantic_id": 17, "pcd_info": {"point_index": 9}, "mesh_info": {"face_index": 4468, "face_uv": [0.2761015617483826, 0.6041017646580866, 0.11979667359353083]}}, {"xyz": [0.17175230114993423, -0.40349662685708987, 0.17296534814431025], "rgb": [255, 246, 240], "semantic_id": 18, "pcd_info": {"point_index": 1575}, "mesh_info": {"face_index": 962, "face_uv": [0.0990486168261122, 0.4040796954823966, 0.49687168769149126]}}, {"xyz": [-0.16947429416899584, -0.40167058799808397, 0.17328464836844082], "rgb": [254, 245, 239], "semantic_id": 19, "pcd_info": {"point_index": 546}, "mesh_info": {"face_index": 191, "face_uv": [0.4433207426948771, 0.23997922698070562, 0.3167000303244166]}}, {"xyz": [-0.17672200523390988, -0.4035379629716417, -0.23974165430147598], "rgb": [255, 246, 240], "semantic_id": 20, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 4782, "face_uv": [0.09585836497770218, 0.48015138825591225, 0.4239902467663855]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2ab4b8a3fe51d2ba1b17743c18fb63dc", "keypoints": [{"xyz": [0.14516179978762794, 0.2823767480859579, 0.0686660036444664], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 2026}, "mesh_info": {"face_index": 1499, "face_uv": [0.10878850502370578, 0.0014356984953561066, 0.8897757964809381]}}, {"xyz": [-0.16186875732070466, 0.28948202829244724, 0.0686660036444664], "rgb": [109, 167, 133], "semantic_id": 1, "pcd_info": {"point_index": 1075}, "mesh_info": {"face_index": 2060, "face_uv": [0.01169092777171823, 0.7723221852775103, 0.21598688695077142]}}, {"xyz": [0.15642429098440377, -0.05796684064826585, 0.06393231324093551], "rgb": [95, 95, 95], "semantic_id": 2, "pcd_info": {"point_index": 481}, "mesh_info": {"face_index": 490, "face_uv": [0.41183064704360084, 0.05838172585347845, 0.5297876271029209]}}, {"xyz": [-0.16332243167086108, -0.0652542775397883, 0.06866600364446662], "rgb": [102, 174, 115], "semantic_id": 3, "pcd_info": {"point_index": 185}, "mesh_info": {"face_index": 1716, "face_uv": [0.30555553906201066, 0.6910084413307355, 0.0034360196072569806]}}, {"xyz": [0.15644205958814655, -0.058960178159979115, -0.30682799220085144], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1341}, "mesh_info": {"face_index": 812, "face_uv": [0.09954289170655377, 0.4695985619875228, 0.43085854630592335]}}, {"xyz": [-0.17513774744228205, -0.06511406818337562, -0.30197208749333204], "rgb": [252, 252, 252], "semantic_id": 5, "pcd_info": {"point_index": 1268}, "mesh_info": {"face_index": 581, "face_uv": [0.11684267360617806, 0.012332519266500806, 0.8708248071273218]}}, {"xyz": [0.16939589261960858, -0.45969000458717324, -0.3013550508047227], "rgb": [85, 85, 85], "semantic_id": 17, "pcd_info": {"point_index": 1995}, "mesh_info": {"face_index": 1004, "face_uv": [0.12532746750443857, 0.2635967092178637, 0.6110758232776973]}}, {"xyz": [0.17373964271867243, -0.45969000458717346, 0.07581171296789802], "rgb": [86, 86, 86], "semantic_id": 18, "pcd_info": {"point_index": 1929}, "mesh_info": {"face_index": 0, "face_uv": [0.38773165150078903, 0.4978615744328724, 0.11440677406633863]}}, {"xyz": [-0.17971573590369935, -0.45969000458717346, 0.07880261829023938], "rgb": [86, 86, 86], "semantic_id": 19, "pcd_info": {"point_index": 1220}, "mesh_info": {"face_index": 325, "face_uv": [0.3097940623900349, 0.6361876040156643, 0.054018333594300784]}}, {"xyz": [-0.17887778339575539, -0.45969000458717346, -0.3009892199807712], "rgb": [86, 86, 86], "semantic_id": 20, "pcd_info": {"point_index": 650}, "mesh_info": {"face_index": 1045, "face_uv": [0.18198177244954175, 0.41492124881331033, 0.4030969787371479]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c4c598c29a542a5f150539b40d03634f", "keypoints": [{"xyz": [0.1861250191264887, 0.3665586775734142, 0.3669080425740451], "rgb": [50, 0, 101], "semantic_id": 0, "pcd_info": {"point_index": 786}, "mesh_info": {"face_index": 7, "face_uv": [0.5066001089088975, 0.016645252668989547, 0.4767546384221126]}}, {"xyz": [-0.18995102271033282, 0.3656719923019409, 0.3804551137770359], "rgb": [153, 87, 46], "semantic_id": 1, "pcd_info": {"point_index": 1912}, "mesh_info": {"face_index": 777, "face_uv": [0.1025087800062493, 0.21493857799557672, 0.682552641998174]}}, {"xyz": [0.19197612669488207, -0.030920313047426706, 0.09450487335849078], "rgb": [51, 0, 102], "semantic_id": 2, "pcd_info": {"point_index": 853}, "mesh_info": {"face_index": 2034, "face_uv": [0.8243519757682509, 0.03842525604377066, 0.13722276818799933]}}, {"xyz": [-0.1966454533441867, -0.0324663619115837, 0.09690241240887665], "rgb": [51, 0, 102], "semantic_id": 3, "pcd_info": {"point_index": 862}, "mesh_info": {"face_index": 2038, "face_uv": [0.6190485164204756, 0.027269197463278844, 0.353682286116247]}}, {"xyz": [0.18403930422224435, 0.021086446118161906, -0.23392433742117397], "rgb": [51, 0, 102], "semantic_id": 4, "pcd_info": {"point_index": 1557}, "mesh_info": {"face_index": 1824, "face_uv": [0.05750658770056098, 0.22657864784776102, 0.715914764451678]}}, {"xyz": [0.19720466180033266, 0.011810575102475518, -0.25001619044812773], "rgb": [50, 0, 101], "semantic_id": 5, "pcd_info": {"point_index": 1557}, "mesh_info": {"face_index": 1939, "face_uv": [0.435718984561305, 0.5384259551842795, 0.025855060254415058]}}, {"xyz": [0.2104850081903249, 0.09550544534600491, -0.14686928575094388], "rgb": [154, 90, 45], "semantic_id": 6, "pcd_info": {"point_index": 1590}, "mesh_info": {"face_index": 1312, "face_uv": [0.09597578512351848, 0.06486719212260468, 0.8391570227538768]}}, {"xyz": [0.21299703543063422, 0.1112000935094355, 0.21153638860626783], "rgb": [153, 88, 45], "semantic_id": 7, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 1663, "face_uv": [0.06165245111578848, 0.11137466373338528, 0.8269728851508305]}}, {"xyz": [-0.22841064036597514, 0.09471784632741187, -0.11508747022065607], "rgb": [151, 83, 37], "semantic_id": 8, "pcd_info": {"point_index": 462}, "mesh_info": {"face_index": 298, "face_uv": [0.37359630061499216, 0.3784672802140284, 0.24793641917098]}}, {"xyz": [-0.22735475240349706, 0.10340207648196298, 0.214108819946573], "rgb": [149, 83, 40], "semantic_id": 9, "pcd_info": {"point_index": 1150}, "mesh_info": {"face_index": 644, "face_uv": [0.062478485329110184, 0.4059825111257304, 0.53153900354516]}}, {"xyz": [0.23086679244517294, -0.21044930519020943, -0.12678687582611392], "rgb": [153, 86, 41], "semantic_id": 17, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 1140, "face_uv": [0.7211455897410123, 0.03289481046200473, 0.2459595997969832]}}, {"xyz": [0.23563022708806647, -0.2126699984073639, 0.2549302630313761], "rgb": [149, 81, 36], "semantic_id": 18, "pcd_info": {"point_index": 427}, "mesh_info": {"face_index": 1436, "face_uv": [0.13274573460181832, 0.05920940860550686, 0.8080448567926747]}}, {"xyz": [-0.22637698768251435, -0.22241799533367157, 0.23591062279184713], "rgb": [150, 82, 38], "semantic_id": 19, "pcd_info": {"point_index": 1900}, "mesh_info": {"face_index": 409, "face_uv": [0.32704324496188003, 0.10892927950711788, 0.564027475531002]}}, {"xyz": [-0.21795724564859842, -0.21702959668440158, -0.13848065922924518], "rgb": [150, 82, 37], "semantic_id": 20, "pcd_info": {"point_index": 736}, "mesh_info": {"face_index": 140, "face_uv": [0.30577702884862107, 0.19989229233516886, 0.494330678816211]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "432ec0e5f2a07ab8795bf1abcc63e867", "keypoints": [{"xyz": [0.31091705456079527, 0.2879649996757505, 0.2260212335660201], "rgb": [101, 69, 39], "semantic_id": 0, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 76, "face_uv": [0.4845181135981218, 0.0005444664639364536, 0.514937419937941]}}, {"xyz": [-0.30874714324929864, 0.28796499967575073, 0.23357776985350487], "rgb": [102, 70, 40], "semantic_id": 1, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 73, "face_uv": [0.46842135040454613, 0.004030200668322775, 0.5275484489271312]}}, {"xyz": [0.19263843118968155, 0.023490835441354108, 0.1397480070590973], "rgb": [101, 70, 40], "semantic_id": 2, "pcd_info": {"point_index": 348}, "mesh_info": {"face_index": 50, "face_uv": [0.9686244163625941, 0.03126252993955792, 0.00011305369784793806]}}, {"xyz": [-0.19268199801445007, 0.022575012065866984, 0.13780030806668264], "rgb": [102, 70, 40], "semantic_id": 3, "pcd_info": {"point_index": 316}, "mesh_info": {"face_index": 62, "face_uv": [0.9837234015517107, 0.004380276937312782, 0.011896321510976655]}}, {"xyz": [0.18529196422729766, 0.021174000576138496, -0.27235068551041786], "rgb": [101, 70, 40], "semantic_id": 4, "pcd_info": {"point_index": 1027}, "mesh_info": {"face_index": 2, "face_uv": [0.9267892040756912, 0.019176762394269468, 0.05403403353003925]}}, {"xyz": [-0.19993000884420517, 0.051929432433840406, -0.3049040138721466], "rgb": [102, 70, 40], "semantic_id": 5, "pcd_info": {"point_index": 2020}, "mesh_info": {"face_index": 20, "face_uv": [0.5725249196596566, 0.06112647992370367, 0.3663486004166398]}}, {"xyz": [0.2570671869239012, 0.1327739060865087, -0.3049040138721466], "rgb": [102, 70, 40], "semantic_id": 6, "pcd_info": {"point_index": 338}, "mesh_info": {"face_index": 9, "face_uv": [0.5429958715156074, 0.0213878296095078, 0.4356162988748848]}}, {"xyz": [0.2571135580800139, 0.0955348838213923, 0.13722917431592652], "rgb": [102, 70, 40], "semantic_id": 7, "pcd_info": {"point_index": 1045}, "mesh_info": {"face_index": 54, "face_uv": [0.5377222171182315, 0.45661305490438225, 0.005664727977387031]}}, {"xyz": [-0.26068986565382246, 0.13963950902586286, -0.30381902874028616], "rgb": [101, 69, 39], "semantic_id": 8, "pcd_info": {"point_index": 2025}, "mesh_info": {"face_index": 33, "face_uv": [0.002440076915849415, 0.4264520771897807, 0.5711078458943689]}}, {"xyz": [-0.2544467148249183, 0.10610151521342992, 0.13974800705909723], "rgb": [101, 69, 39], "semantic_id": 9, "pcd_info": {"point_index": 2046}, "mesh_info": {"face_index": 22, "face_uv": [0.05614698655614935, 0.4791040175313994, 0.4647489959124507]}}, {"xyz": [0.25984907325632683, -0.18633000552654266, -0.27740718884519067], "rgb": [101, 70, 40], "semantic_id": 17, "pcd_info": {"point_index": 1147}, "mesh_info": {"face_index": 27, "face_uv": [0.044170754082008254, 0.43354294402382937, 0.5222863018941623]}}, {"xyz": [0.24749867084683982, -0.18633000552654266, 0.2802895913837158], "rgb": [102, 70, 40], "semantic_id": 18, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 92, "face_uv": [0.4777526191726149, 0.4622992887396833, 0.059948092087701806]}}, {"xyz": [-0.2818871749955408, -0.18633000552654266, 0.3042623357987118], "rgb": [102, 70, 40], "semantic_id": 19, "pcd_info": {"point_index": 77}, "mesh_info": {"face_index": 45, "face_uv": [0.021438402434894192, 0.24768345579178508, 0.7308781417733208]}}, {"xyz": [-0.2383213806072565, -0.18633000552654244, -0.2736667507142464], "rgb": [101, 69, 39], "semantic_id": 20, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 40, "face_uv": [0.05017937408373296, 0.3849021296072882, 0.5649184963089776]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "182c47283b90d8b2d85934de5898f0b", "keypoints": [{"xyz": [0.21955400695772634, 0.3692309543181904, 0.2617032212934865], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1246}, "mesh_info": {"face_index": 449, "face_uv": [0.5393906103721426, 0.018123448309885316, 0.44248594131797186]}}, {"xyz": [-0.20417016696121298, 0.36972830374337207, 0.2581648120234836], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1587}, "mesh_info": {"face_index": 448, "face_uv": [0.5421919218021855, 0.01798202924419038, 0.4398260489536238]}}, {"xyz": [0.21967807962574537, 0.031130999326705933, 0.17660156035134866], "rgb": [140, 121, 88], "semantic_id": 2, "pcd_info": {"point_index": 793}, "mesh_info": {"face_index": 131, "face_uv": [0.13072222942647027, 0.8507503793830993, 0.018527391190430464]}}, {"xyz": [-0.2113950307057898, 0.031130999326706155, 0.17569715422716464], "rgb": [149, 130, 100], "semantic_id": 3, "pcd_info": {"point_index": 472}, "mesh_info": {"face_index": 129, "face_uv": [0.1094833267150706, 0.04176430153187999, 0.8487523717530566]}}, {"xyz": [0.21306858862967604, 0.02288057380077846, -0.22322219376851876], "rgb": [154, 135, 103], "semantic_id": 4, "pcd_info": {"point_index": 58}, "mesh_info": {"face_index": 111, "face_uv": [0.8410630134200454, 0.12606040501273896, 0.03287658156721484]}}, {"xyz": [-0.20479159295326307, 0.02177661262739239, -0.22383994302695803], "rgb": [146, 127, 97], "semantic_id": 5, "pcd_info": {"point_index": 1582}, "mesh_info": {"face_index": 108, "face_uv": [0.016568399466350327, 0.1546528282623171, 0.8287787722713329]}}, {"xyz": [0.2527789796289309, 0.1769115476572649, -0.21634989394021176], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 515, "face_uv": [0.49196022173212367, 0.48851960672124567, 0.01952017154662972]}}, {"xyz": [0.2532628880699416, 0.17560861408835282, 0.2541582527030246], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1817}, "mesh_info": {"face_index": 458, "face_uv": [0.005631539799019052, 0.5662233548985551, 0.42814510530242633]}}, {"xyz": [-0.23721917634082024, 0.17689818461674034, -0.21152739205440274], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1331}, "mesh_info": {"face_index": 301, "face_uv": [0.033768363750231206, 0.6081110340383122, 0.35812060221145664]}}, {"xyz": [-0.2476104961215524, 0.17561980832103763, 0.25024994404639733], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1553}, "mesh_info": {"face_index": 526, "face_uv": [0.027161310897849962, 0.29004253968628796, 0.6827961494158636]}}, {"xyz": [0.2498292606824912, -0.29312598705291726, -0.2185529049296446], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1770}, "mesh_info": {"face_index": 689, "face_uv": [0.2502074782056827, 0.5000858409039229, 0.24970668089039366]}}, {"xyz": [0.25667335892823645, -0.29312598705291726, 0.2278158555681164], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 846}, "mesh_info": {"face_index": 497, "face_uv": [0.32019407406984346, 0.42228483141024953, 0.25752109451990624]}}, {"xyz": [-0.2354640324865393, -0.2931259870529175, 0.23286623708096654], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 372, "face_uv": [0.0723748081073736, 0.5284254936229965, 0.39919969826962987]}}, {"xyz": [-0.24045647221352823, -0.2931259870529175, -0.2073212099393499], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1732}, "mesh_info": {"face_index": 675, "face_uv": [0.027021273508834626, 0.34048085649198256, 0.6324978699991828]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2f4fe1db48f0cac1db573653825dd010", "keypoints": [{"xyz": [0.24225203074405424, 0.14119667113788992, 0.08240078915216076], "rgb": [101, 50, 0], "semantic_id": 0, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 439, "face_uv": [0.30105356377822307, 0.10734820173858146, 0.5915982344831922]}}, {"xyz": [-0.1812653696092645, 0.1469481927435966, 0.07421667959790712], "rgb": [102, 51, 0], "semantic_id": 1, "pcd_info": {"point_index": 1328}, "mesh_info": {"face_index": 1778, "face_uv": [0.3306229695566891, 0.19403847034113558, 0.47533856010217673]}}, {"xyz": [0.16257988941852625, -0.08375543025305054, 0.010678987917088767], "rgb": [102, 51, 0], "semantic_id": 2, "pcd_info": {"point_index": 124}, "mesh_info": {"face_index": 498, "face_uv": [0.8172945075266017, 0.06525628903181252, 0.11744920344158685]}}, {"xyz": [-0.1213834717046836, -0.07525556505017827, 0.007193486359026391], "rgb": [101, 50, 0], "semantic_id": 3, "pcd_info": {"point_index": 760}, "mesh_info": {"face_index": 832, "face_uv": [0.8019202241558195, 0.14297519087477728, 0.05510458496940068]}}, {"xyz": [0.1648478044239821, -0.061342121908975145, -0.2794064617707188], "rgb": [101, 50, 0], "semantic_id": 4, "pcd_info": {"point_index": 1366}, "mesh_info": {"face_index": 709, "face_uv": [0.032020647769726455, 0.8979226059165706, 0.07005674631370055]}}, {"xyz": [-0.10718799479942252, -0.05409690980168946, -0.2757847329342171], "rgb": [101, 50, 0], "semantic_id": 5, "pcd_info": {"point_index": 719}, "mesh_info": {"face_index": 827, "face_uv": [0.7731252638927504, 0.07633510022584968, 0.15053963588139951]}}, {"xyz": [0.2743160747357367, 0.04632311488993879, -0.2905995810969981], "rgb": [101, 50, 0], "semantic_id": 6, "pcd_info": {"point_index": 714}, "mesh_info": {"face_index": 642, "face_uv": [0.1991396531968805, 0.49047504633301126, 0.3103853004701074]}}, {"xyz": [0.26419497383799884, 0.048209719050378075, 0.04325141613305927], "rgb": [102, 51, 0], "semantic_id": 7, "pcd_info": {"point_index": 1301}, "mesh_info": {"face_index": 760, "face_uv": [0.04381391765233346, 0.2661380867380657, 0.6900479956096058]}}, {"xyz": [-0.20821563510876873, 0.06783630559932474, -0.29482268704962844], "rgb": [101, 50, 0], "semantic_id": 8, "pcd_info": {"point_index": 947}, "mesh_info": {"face_index": 685, "face_uv": [0.8985949026959269, 0.07148641769249851, 0.029918679611574146]}}, {"xyz": [-0.2217606111160853, 0.06202240721331709, 0.03991919445531256], "rgb": [101, 50, 0], "semantic_id": 9, "pcd_info": {"point_index": 1795}, "mesh_info": {"face_index": 927, "face_uv": [0.2992830645779891, 0.0668364796808414, 0.6338804557411672]}}, {"xyz": [0.22103406135511514, -0.33396958346634587, -0.2841018890020407], "rgb": [101, 50, 0], "semantic_id": 17, "pcd_info": {"point_index": 642}, "mesh_info": {"face_index": 52, "face_uv": [0.05667537892032712, 0.4625227197594163, 0.48080190132025596]}}, {"xyz": [0.2126381056368298, -0.3685664894386971, 0.16555894732387572], "rgb": [101, 50, 0], "semantic_id": 18, "pcd_info": {"point_index": 375}, "mesh_info": {"face_index": 30, "face_uv": [0.002268810658315985, 0.5423393287502015, 0.4553918605914816]}}, {"xyz": [-0.19660699661764924, -0.3562249680305778, 0.16357261257328082], "rgb": [101, 50, 0], "semantic_id": 19, "pcd_info": {"point_index": 1068}, "mesh_info": {"face_index": 14, "face_uv": [0.3473743825888872, 0.5023879771350045, 0.15023764027610728]}}, {"xyz": [-0.18007108673219852, -0.32181259297367837, -0.28683482992959763], "rgb": [101, 50, 0], "semantic_id": 20, "pcd_info": {"point_index": 2031}, "mesh_info": {"face_index": 68, "face_uv": [0.41084100615190755, 0.5108946357821251, 0.0782643580659671]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bbd6bde216a2c18479368d1198f406e7", "keypoints": [{"xyz": [0.20766515016370013, 0.3168592848321936, 0.20104072423042063], "rgb": [170, 143, 95], "semantic_id": 0, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 6852, "face_uv": [0.01695018525526096, 0.36586538920056905, 0.6171844255441687]}}, {"xyz": [-0.20993065552782297, 0.31383442027383146, 0.19788652376475824], "rgb": [153, 129, 80], "semantic_id": 1, "pcd_info": {"point_index": 442}, "mesh_info": {"face_index": 6794, "face_uv": [0.00743392149784847, 0.5157972439522007, 0.4767688345499542]}}, {"xyz": [0.2181243386012089, -0.05305653022621515, 0.10884099619657306], "rgb": [159, 134, 84], "semantic_id": 2, "pcd_info": {"point_index": 645}, "mesh_info": {"face_index": 5843, "face_uv": [0.5290234224710044, 0.19181618915722848, 0.27916038837176976]}}, {"xyz": [-0.21357662532664026, -0.06098645550217352, 0.10660354915642567], "rgb": [124, 101, 61], "semantic_id": 3, "pcd_info": {"point_index": 2019}, "mesh_info": {"face_index": 5581, "face_uv": [0.42489902965477244, 0.3035824736043553, 0.2715184967408735]}}, {"xyz": [0.18469744767062468, -0.08253933988382944, -0.23474225703662932], "rgb": [135, 110, 67], "semantic_id": 4, "pcd_info": {"point_index": 1562}, "mesh_info": {"face_index": 3143, "face_uv": [0.12560874460134014, 0.6542444908783598, 0.220146764520301]}}, {"xyz": [-0.18565221955271238, -0.08343810364912652, -0.23506925505020493], "rgb": [162, 138, 86], "semantic_id": 5, "pcd_info": {"point_index": 1586}, "mesh_info": {"face_index": 3279, "face_uv": [0.12229346447442126, 0.6180261017087783, 0.25968043381679995]}}, {"xyz": [0.22275599837303184, 0.015562742697507015, -0.20943082535168678], "rgb": [66, 59, 61], "semantic_id": 6, "pcd_info": {"point_index": 1137}, "mesh_info": {"face_index": 400, "face_uv": [0.59342017202178, 0.291594508601128, 0.11498531937709304]}}, {"xyz": [0.2227559983730314, 0.06783857114735875, 0.018859459129519918], "rgb": [65, 58, 60], "semantic_id": 7, "pcd_info": {"point_index": 298}, "mesh_info": {"face_index": 358, "face_uv": [0.17106509068403444, 0.8026162755762772, 0.026318633739687354]}}, {"xyz": [-0.24854500591754936, 0.02334485748074866, -0.23180411414589142], "rgb": [66, 59, 61], "semantic_id": 8, "pcd_info": {"point_index": 1603}, "mesh_info": {"face_index": 684, "face_uv": [0.042352778920906956, 0.9496241291134834, 0.008023091965610652]}}, {"xyz": [-0.24854500591754913, 0.05943476196846714, -0.0070207348171285044], "rgb": [66, 59, 60], "semantic_id": 9, "pcd_info": {"point_index": 1709}, "mesh_info": {"face_index": 647, "face_uv": [0.46096016088319314, 0.43452478414923085, 0.104515054967576]}}, {"xyz": [0.23124606528132519, -0.36968600749969505, -0.23074388866547005], "rgb": [66, 59, 61], "semantic_id": 17, "pcd_info": {"point_index": 1855}, "mesh_info": {"face_index": 459, "face_uv": [0.5178554493393839, 0.2536699882220756, 0.22847456243854108]}}, {"xyz": [0.22603564582656865, -0.36968600749969505, 0.2683533614557274], "rgb": [66, 59, 61], "semantic_id": 18, "pcd_info": {"point_index": 173}, "mesh_info": {"face_index": 59, "face_uv": [0.30865305406823224, 0.26770813685888817, 0.4236388090728802]}}, {"xyz": [-0.23501547790947336, -0.36968600749969505, 0.26431209610499284], "rgb": [66, 59, 61], "semantic_id": 19, "pcd_info": {"point_index": 1541}, "mesh_info": {"face_index": 529, "face_uv": [0.07243009166995687, 0.44521119985866203, 0.48235870847138174]}}, {"xyz": [-0.24854500591754913, -0.3681539303989658, -0.22622661220298157], "rgb": [65, 59, 61], "semantic_id": 20, "pcd_info": {"point_index": 414}, "mesh_info": {"face_index": 599, "face_uv": [0.2126902220514788, 0.7793384305121493, 0.007971347436371795]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "325bf2aee84a1fcdfebad4f49b26ec52", "keypoints": [{"xyz": [0.274707153440829, 0.2266689794814818, 0.20512632580645185], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 4493, "face_uv": [0.44138538472486216, 0.5472862104822729, 0.01132840479286455]}}, {"xyz": [-0.2822640075824331, 0.22672900557517983, 0.199678740431528], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 3783, "face_uv": [0.5024353261369326, 0.004974988518027795, 0.4925896853450386]}}, {"xyz": [0.2652447689705491, -0.02812219354291423, 0.12557395039613706], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 4603, "face_uv": [0.002508401870655452, 0.39179328215089887, 0.6056983159784419]}}, {"xyz": [-0.273706898517177, -0.030326288179069905, 0.1418885290498073], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 704}, "mesh_info": {"face_index": 6353, "face_uv": [0.09641794414879522, 0.6728758444813284, 0.23070621136987593]}}, {"xyz": [0.261849628701373, -0.029195631827166557, -0.31065377788652127], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1890}, "mesh_info": {"face_index": 5494, "face_uv": [0.11103543220775497, 0.4179820150526706, 0.47098255273957507]}}, {"xyz": [-0.2714831383933418, -0.038942806211932135, -0.31483035789953284], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 930}, "mesh_info": {"face_index": 4758, "face_uv": [0.14348689830044725, 0.48873514050862765, 0.36777796119092515]}}, {"xyz": [0.2923466938401736, 0.06220275954180554, -0.3402387771122939], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1426}, "mesh_info": {"face_index": 21534, "face_uv": [0.42478138965956985, 0.24057248633307615, 0.33464612400735416]}}, {"xyz": [0.29216091761073637, 0.038700402852237525, 0.20783543948293792], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 967}, "mesh_info": {"face_index": 19114, "face_uv": [0.6703696682823006, 0.07509747775073947, 0.2545328539669566]}}, {"xyz": [-0.30827570462405, 0.06599981534991173, -0.340039656313414], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1655}, "mesh_info": {"face_index": 11989, "face_uv": [0.5886082939282989, 0.012219319587897402, 0.39917238648380354]}}, {"xyz": [-0.304952396985216, 0.03837714111168711, 0.21080316767448976], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1166}, "mesh_info": {"face_index": 11659, "face_uv": [0.04282834116823755, 0.5021631049593026, 0.45500855387246175]}}, {"xyz": [0.30168495478282203, -0.2606812527059288, -0.29257454086801615], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 222}, "mesh_info": {"face_index": 18007, "face_uv": [0.1295776158359139, 0.4695655282632911, 0.4008568559007947]}}, {"xyz": [0.30610170200710735, -0.21461665008783015, 0.19302517346061265], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 936}, "mesh_info": {"face_index": 20683, "face_uv": [0.10956851228055062, 0.7108281634313782, 0.17960332428807094]}}, {"xyz": [-0.3233490141333535, -0.22490022821417943, 0.19039252610753354], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1539}, "mesh_info": {"face_index": 9655, "face_uv": [0.037406780437508086, 0.07116610767190494, 0.8914271118905869]}}, {"xyz": [-0.3119102523096106, -0.24193736951060707, -0.296481246468589], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1995}, "mesh_info": {"face_index": 14118, "face_uv": [0.1663156285504364, 0.30501203517722614, 0.5286723362723375]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "77e84b5e6526be75490ad276cd2af3a4", "keypoints": [{"xyz": [0.22801644132573123, 0.5153752773013658, 0.2653389989364315], "rgb": [183, 187, 185], "semantic_id": 0, "pcd_info": {"point_index": 1081}, "mesh_info": {"face_index": 28844, "face_uv": [0.011090294857958257, 0.5669699025084829, 0.42193980263355846]}}, {"xyz": [-0.2348101513386095, 0.5192880676805867, 0.2673418110810959], "rgb": [183, 187, 185], "semantic_id": 1, "pcd_info": {"point_index": 435}, "mesh_info": {"face_index": 28671, "face_uv": [0.2346497625403334, 0.21067870019872306, 0.5546715372609413]}}, {"xyz": [0.19919248676659543, 0.14547083973337438, 0.11636202675617557], "rgb": [212, 203, 198], "semantic_id": 2, "pcd_info": {"point_index": 948}, "mesh_info": {"face_index": 55708, "face_uv": [0.43155618737577756, 0.4731643372571686, 0.09527947536705421]}}, {"xyz": [-0.20818349906646613, 0.1443640752558213, 0.11614164923590653], "rgb": [205, 211, 207], "semantic_id": 3, "pcd_info": {"point_index": 1758}, "mesh_info": {"face_index": 55706, "face_uv": [0.18883309723022842, 0.7003642520707447, 0.11080265069902666]}}, {"xyz": [0.2005822220153411, 0.1449144225221386, -0.24498325750585992], "rgb": [197, 188, 182], "semantic_id": 4, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 55385, "face_uv": [0.012036240046134222, 0.6140758079605125, 0.3738879519933526]}}, {"xyz": [-0.20417257908907346, 0.1459698523628976, -0.24277017178124385], "rgb": [200, 206, 202], "semantic_id": 5, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 55371, "face_uv": [0.43848132307904375, 0.010114606265885633, 0.5514040706550698]}}, {"xyz": [0.23378787103926477, 0.28654223702263515, -0.12392709646049718], "rgb": [183, 187, 185], "semantic_id": 6, "pcd_info": {"point_index": 1402}, "mesh_info": {"face_index": 27458, "face_uv": [0.7263133216752418, 0.014828261780386978, 0.2588584165443707]}}, {"xyz": [0.23484865943566677, 0.2994103839312017, 0.12628246689579697], "rgb": [183, 187, 185], "semantic_id": 7, "pcd_info": {"point_index": 1529}, "mesh_info": {"face_index": 27358, "face_uv": [0.17857213795666121, 0.28919983476787486, 0.5322280272754629]}}, {"xyz": [-0.2293655236085424, 0.2855119921820277, -0.12442183960685985], "rgb": [183, 187, 185], "semantic_id": 8, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 29674, "face_uv": [0.4243343299276219, 0.012408388145382655, 0.5632572819269946]}}, {"xyz": [-0.23260947185985031, 0.3184127500100198, 0.1528006578939234], "rgb": [183, 187, 185], "semantic_id": 9, "pcd_info": {"point_index": 1166}, "mesh_info": {"face_index": 29416, "face_uv": [0.8358361115704974, 0.10527779518219825, 0.058886093247303324]}}, {"xyz": [0.23210638090232483, -0.14727699756622314, -0.1940618499880591], "rgb": [184, 188, 186], "semantic_id": 17, "pcd_info": {"point_index": 1106}, "mesh_info": {"face_index": 11718, "face_uv": [0.4146965284736754, 0.16815697627903595, 0.4171464952472887]}}, {"xyz": [0.23328381392012315, -0.14727699756622314, 0.19944991774775178], "rgb": [184, 187, 185], "semantic_id": 18, "pcd_info": {"point_index": 1190}, "mesh_info": {"face_index": 31824, "face_uv": [0.054209290449968174, 0.35922595178369426, 0.5865647577663374]}}, {"xyz": [-0.22749241943327747, -0.14727699756622314, 0.2000977774382386], "rgb": [184, 187, 185], "semantic_id": 19, "pcd_info": {"point_index": 934}, "mesh_info": {"face_index": 100, "face_uv": [0.07522583812686902, 0.21530559313374673, 0.7094685687393841]}}, {"xyz": [-0.23123716076771644, -0.14727699756622292, -0.19363264166339592], "rgb": [183, 187, 185], "semantic_id": 20, "pcd_info": {"point_index": 411}, "mesh_info": {"face_index": 43912, "face_uv": [0.17231060023776293, 0.6092132517347866, 0.21847614802744897]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7c7b4bdc2fc34ffdb398ef956214258e", "keypoints": [{"xyz": [0.22702749320428522, 0.26748763167554723, 0.21023034051947348], "rgb": [39, 108, 120], "semantic_id": 0, "pcd_info": {"point_index": 620}, "mesh_info": {"face_index": 18827, "face_uv": [0.030896131388301683, 0.40695140049999184, 0.5621524681117069]}}, {"xyz": [-0.23770635917510982, 0.2579274274004224, 0.21738950185783767], "rgb": [47, 112, 125], "semantic_id": 1, "pcd_info": {"point_index": 176}, "mesh_info": {"face_index": 13198, "face_uv": [0.5831666887724347, 0.3710203360886135, 0.045812975138951544]}}, {"xyz": [0.18981849351091235, -0.015493569856418032, 0.08764121885902532], "rgb": [51, 115, 126], "semantic_id": 2, "pcd_info": {"point_index": 1041}, "mesh_info": {"face_index": 15367, "face_uv": [0.09032010440206867, 0.44150143217543975, 0.46817846342249075]}}, {"xyz": [-0.18461108579649618, -0.013505319739447241, 0.0778805336018003], "rgb": [44, 108, 120], "semantic_id": 3, "pcd_info": {"point_index": 1323}, "mesh_info": {"face_index": 1556, "face_uv": [0.3027957250041364, 0.26894708859376554, 0.42825718640209803]}}, {"xyz": [0.19324435154004332, 0.026478026436112412, -0.2811545210863563], "rgb": [49, 112, 123], "semantic_id": 4, "pcd_info": {"point_index": 44}, "mesh_info": {"face_index": 344, "face_uv": [0.15995284364802964, 0.14063732106614435, 0.6994098352858322]}}, {"xyz": [-0.197253397378701, 0.024903727097786987, -0.2714938057559567], "rgb": [41, 105, 117], "semantic_id": 5, "pcd_info": {"point_index": 1254}, "mesh_info": {"face_index": 1213, "face_uv": [0.22359442203484858, 0.5334196155940024, 0.24298596237114894]}}, {"xyz": [0.305281893954039, 0.09815387701459222, -0.2765197833673765], "rgb": [42, 107, 119], "semantic_id": 6, "pcd_info": {"point_index": 1362}, "mesh_info": {"face_index": 9288, "face_uv": [0.36050850397164763, 0.00898053074512991, 0.6305109652832247]}}, {"xyz": [0.28396889777321793, 0.06496353409019062, 0.10395005017517547], "rgb": [40, 107, 120], "semantic_id": 7, "pcd_info": {"point_index": 341}, "mesh_info": {"face_index": 10943, "face_uv": [0.2847386135020396, 0.23405166510342068, 0.4812097213945375]}}, {"xyz": [-0.311474091681218, 0.09021675264625105, -0.28357526918254616], "rgb": [49, 113, 125], "semantic_id": 8, "pcd_info": {"point_index": 297}, "mesh_info": {"face_index": 9628, "face_uv": [0.8467383758725567, 0.1040973451132606, 0.04916427901418252]}}, {"xyz": [-0.288693827260654, 0.0626027875200641, 0.09774543830550042], "rgb": [49, 113, 125], "semantic_id": 9, "pcd_info": {"point_index": 1000}, "mesh_info": {"face_index": 11073, "face_uv": [0.20310979342208654, 0.1725471518064976, 0.624343054771413]}}, {"xyz": [0.211966271712982, -0.26720631896790115, -0.23330773673608152], "rgb": [113, 113, 113], "semantic_id": 17, "pcd_info": {"point_index": 1422}, "mesh_info": {"face_index": 3978, "face_uv": [0.07905392132233191, 0.04743173906366533, 0.8735143396140026]}}, {"xyz": [0.20938367612165407, -0.26721056212092553, 0.19220574879765187], "rgb": [113, 113, 113], "semantic_id": 18, "pcd_info": {"point_index": 260}, "mesh_info": {"face_index": 4155, "face_uv": [0.13208058412489032, 0.16807220250974755, 0.6998472133653617]}}, {"xyz": [-0.2113139543980213, -0.2672173671988416, 0.18796795067875607], "rgb": [114, 114, 114], "semantic_id": 19, "pcd_info": {"point_index": 252}, "mesh_info": {"face_index": 3595, "face_uv": [0.43452031239799355, 0.21712360988772855, 0.3483560777142793]}}, {"xyz": [-0.207148164367071, -0.2672417761693393, -0.22470228794582744], "rgb": [114, 114, 114], "semantic_id": 20, "pcd_info": {"point_index": 1942}, "mesh_info": {"face_index": 4370, "face_uv": [0.5221623960180768, 0.32966776981247076, 0.1481698341694533]}}, {"xyz": [0.00509142314964528, -0.11584612678817247, -0.03813747945439694], "rgb": [114, 114, 114], "semantic_id": 15, "pcd_info": {"point_index": 1682}, "mesh_info": {"face_index": 4091, "face_uv": [0.14333675868667747, 0.324377304726113, 0.5322859365872137]}}, {"xyz": [-0.009743643757146925, -0.20797059664560225, -0.0052213420498841145], "rgb": [114, 114, 114], "semantic_id": 16, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 3743, "face_uv": [0.16924678727213308, 0.7192013203223, 0.1115518924055683]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "8d3817ad88a809524b9112ce9ce98204", "keypoints": [{"xyz": [0.22389354436539408, 0.48934298753738403, 0.17972404723993385], "rgb": [58, 58, 58], "semantic_id": 0, "pcd_info": {"point_index": 550}, "mesh_info": {"face_index": 341, "face_uv": [0.4227406778826727, 0.5606845048441297, 0.016574817273197685]}}, {"xyz": [-0.22384181137149295, 0.48934298753738403, 0.18031342210369283], "rgb": [58, 58, 58], "semantic_id": 1, "pcd_info": {"point_index": 46}, "mesh_info": {"face_index": 330, "face_uv": [0.016686517823119883, 0.4339424489095768, 0.5493710332673033]}}, {"xyz": [0.13276294143536693, 0.026203999295830727, 0.10295636202352054], "rgb": [58, 58, 58], "semantic_id": 2, "pcd_info": {"point_index": 591}, "mesh_info": {"face_index": 289, "face_uv": [0.0029314114243266546, 0.04319061372172598, 0.9538779748539474]}}, {"xyz": [-0.14625400304794295, 0.029320389456455542, 0.10611245387203794], "rgb": [57, 57, 57], "semantic_id": 3, "pcd_info": {"point_index": 351}, "mesh_info": {"face_index": 273, "face_uv": [0.9401692825907827, 0.025569541163419186, 0.03426117624579695]}}, {"xyz": [0.14191353765980363, 0.024934481368229067, -0.23522600531578064], "rgb": [58, 58, 58], "semantic_id": 4, "pcd_info": {"point_index": 407}, "mesh_info": {"face_index": 251, "face_uv": [0.01700884764087437, 0.026040325763924507, 0.9569508265952011]}}, {"xyz": [-0.14834944290013813, 0.022802309534940557, -0.23522600531578042], "rgb": [57, 57, 57], "semantic_id": 5, "pcd_info": {"point_index": 160}, "mesh_info": {"face_index": 228, "face_uv": [0.9140367283812671, 0.07948806624825343, 0.0064752053704785215]}}, {"xyz": [0.19814919677134396, 0.1380676413914974, -0.23522600531578064], "rgb": [58, 58, 58], "semantic_id": 6, "pcd_info": {"point_index": 460}, "mesh_info": {"face_index": 332, "face_uv": [0.20543484343105994, 0.39172966052730074, 0.4028354960416393]}}, {"xyz": [0.20211687922675375, 0.1480830013751986, 0.11481871836410162], "rgb": [58, 58, 58], "semantic_id": 7, "pcd_info": {"point_index": 418}, "mesh_info": {"face_index": 334, "face_uv": [0.6547760634311702, 0.00962879919146732, 0.33559513737736396]}}, {"xyz": [-0.1946362117930507, 0.14808300137519836, -0.23257411210192203], "rgb": [58, 58, 58], "semantic_id": 8, "pcd_info": {"point_index": 959}, "mesh_info": {"face_index": 270, "face_uv": [0.5670941839948294, 0.0075029231665464675, 0.42540289283862415]}}, {"xyz": [-0.19583841098095972, 0.1480830013751986, 0.1180248231572052], "rgb": [58, 58, 58], "semantic_id": 9, "pcd_info": {"point_index": 348}, "mesh_info": {"face_index": 292, "face_uv": [0.4188146824015348, 0.0005578615681716527, 0.5806274560302951]}}, {"xyz": [0.2064920948919944, -0.26630499958992004, -0.21016991891416945], "rgb": [175, 175, 175], "semantic_id": 17, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 64, "face_uv": [0.4424100503250291, 0.5557993240161959, 0.0017906256587750314]}}, {"xyz": [0.20385323901674418, -0.26630499958992004, 0.20254360752271927], "rgb": [173, 173, 173], "semantic_id": 18, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 7, "face_uv": [0.22589720429842866, 0.41844631543677646, 0.35565648026479485]}}, {"xyz": [-0.20581996224558893, -0.2663049995899198, 0.20352960940020765], "rgb": [176, 176, 176], "semantic_id": 19, "pcd_info": {"point_index": 557}, "mesh_info": {"face_index": 46, "face_uv": [0.38726291116313477, 0.5006475754116948, 0.1120895134251696]}}, {"xyz": [-0.20298249570897872, -0.26630499958992027, -0.21378144153906972], "rgb": [169, 169, 169], "semantic_id": 20, "pcd_info": {"point_index": 2038}, "mesh_info": {"face_index": 150, "face_uv": [0.10502665916335031, 0.740518883181244, 0.15445445765540655]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a65cd22689f14147f155d75bbf62b80", "keypoints": [{"xyz": [0.23113551510331992, 0.35652518966963664, 0.2922304731814629], "rgb": [114, 114, 114], "semantic_id": 0, "pcd_info": {"point_index": 1164}, "mesh_info": {"face_index": 2458, "face_uv": [0.032424492395242865, 0.5983624331717238, 0.36921307443303447]}}, {"xyz": [-0.2313013800332181, 0.35597938539470797, 0.29656194063080077], "rgb": [114, 114, 114], "semantic_id": 1, "pcd_info": {"point_index": 424}, "mesh_info": {"face_index": 10221, "face_uv": [0.5586017413149348, 0.41493523096671747, 0.026463027718348332]}}, {"xyz": [0.2245892469096767, 0.012389999814331532, 0.19000397103021494], "rgb": [114, 114, 114], "semantic_id": 2, "pcd_info": {"point_index": 315}, "mesh_info": {"face_index": 396, "face_uv": [0.026410686152247592, 0.6287517280948648, 0.34483758575288764]}}, {"xyz": [-0.22441103299797674, 0.012389999814331532, 0.1842436525322123], "rgb": [114, 114, 114], "semantic_id": 3, "pcd_info": {"point_index": 1477}, "mesh_info": {"face_index": 8160, "face_uv": [0.31619882414476147, 0.6404924114599356, 0.04330876439530297]}}, {"xyz": [0.19282773180078033, 0.021468757037864217, -0.18589977925970202], "rgb": [113, 113, 113], "semantic_id": 4, "pcd_info": {"point_index": 137}, "mesh_info": {"face_index": 3291, "face_uv": [0.2903345617192912, 0.2654904946337786, 0.44417494364692994]}}, {"xyz": [-0.19655776919724793, 0.029556932416900494, -0.1718248502738874], "rgb": [113, 113, 113], "semantic_id": 5, "pcd_info": {"point_index": 1504}, "mesh_info": {"face_index": 14544, "face_uv": [0.28178819951543543, 0.15437099177609956, 0.5638408087084613]}}, {"xyz": [0.2303662530182882, 0.18149348971173684, -0.1952923408923287], "rgb": [113, 113, 113], "semantic_id": 6, "pcd_info": {"point_index": 681}, "mesh_info": {"face_index": 1551, "face_uv": [0.49134277695181244, 0.36534646883310656, 0.14331075421508002]}}, {"xyz": [0.23427258718608604, 0.15048293447762595, 0.20839230427499567], "rgb": [114, 114, 114], "semantic_id": 7, "pcd_info": {"point_index": 1112}, "mesh_info": {"face_index": 1694, "face_uv": [0.019518519146139345, 0.4503663306874105, 0.5301151501664512]}}, {"xyz": [-0.2296967854434736, 0.15038560040169502, 0.20944334685137234], "rgb": [113, 113, 113], "semantic_id": 8, "pcd_info": {"point_index": 275}, "mesh_info": {"face_index": 9454, "face_uv": [0.32256615287085416, 0.6607639366278538, 0.016669910501291532]}}, {"xyz": [-0.23358107338840683, 0.17689199830459823, -0.2043412166887764], "rgb": [114, 114, 114], "semantic_id": 9, "pcd_info": {"point_index": 597}, "mesh_info": {"face_index": 9256, "face_uv": [0.027192408382963957, 0.4775167999315279, 0.4952907916855088]}}, {"xyz": [0.23513799034452132, -0.3294749855995178, -0.17668947290613773], "rgb": [114, 114, 114], "semantic_id": 17, "pcd_info": {"point_index": 1790}, "mesh_info": {"face_index": 19628, "face_uv": [0.24680390962006604, 0.4516717583243667, 0.30152433205556733]}}, {"xyz": [0.23434306336579408, -0.3294749855995178, 0.2595687785520062], "rgb": [114, 114, 114], "semantic_id": 18, "pcd_info": {"point_index": 337}, "mesh_info": {"face_index": 19997, "face_uv": [0.01909553262211894, 0.4828620993640776, 0.4980423680138034]}}, {"xyz": [-0.23507895602495188, -0.3294749855995176, 0.257531171481319], "rgb": [113, 113, 113], "semantic_id": 19, "pcd_info": {"point_index": 188}, "mesh_info": {"face_index": 20715, "face_uv": [0.12557095807350663, 0.46671000442056815, 0.40771903750592453]}}, {"xyz": [-0.23418389995305888, -0.3294749855995178, -0.1757703864308523], "rgb": [114, 114, 114], "semantic_id": 20, "pcd_info": {"point_index": 1043}, "mesh_info": {"face_index": 20382, "face_uv": [0.4356906938414599, 0.27473114258565207, 0.28957816357288807]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a6420c4ed13cf628945a77b945b7b70f", "keypoints": [{"xyz": [0.12829026416652672, 0.3163573865384328, 0.13599945697495353], "rgb": [183, 16, 3], "semantic_id": 0, "pcd_info": {"point_index": 1603}, "mesh_info": {"face_index": 593, "face_uv": [0.09414930192057532, 0.5468804780779521, 0.35897022000147266]}}, {"xyz": [-0.12888750523606463, 0.3159781709599423, 0.13827404858198405], "rgb": [182, 16, 3], "semantic_id": 1, "pcd_info": {"point_index": 1316}, "mesh_info": {"face_index": 1190, "face_uv": [0.19357208043184418, 0.4466649677857613, 0.35976295178239454]}}, {"xyz": [0.12874400194652713, -0.0865074430322621, 0.05690591926289304], "rgb": [185, 9, 3], "semantic_id": 2, "pcd_info": {"point_index": 1200}, "mesh_info": {"face_index": 519, "face_uv": [0.5917479222977725, 0.3921424500477782, 0.01610962765444935]}}, {"xyz": [-0.11453075787417122, -0.09308899939060189, 0.059103509389047876], "rgb": [178, 10, 5], "semantic_id": 3, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 33, "face_uv": [0.8225555058339107, 0.01952028908781102, 0.15792420507827584]}}, {"xyz": [0.1621085559008857, -0.12076738395311037, -0.2789759933948517], "rgb": [178, 7, 1], "semantic_id": 4, "pcd_info": {"point_index": 720}, "mesh_info": {"face_index": 238, "face_uv": [0.041343306855030515, 0.6343895453102055, 0.32426714783476396]}}, {"xyz": [-0.16260998778930913, -0.1221025574884661, -0.2789759933948517], "rgb": [178, 7, 1], "semantic_id": 5, "pcd_info": {"point_index": 1978}, "mesh_info": {"face_index": 840, "face_uv": [0.31785750032088855, 0.6373859370715022, 0.044756562607609345]}}, {"xyz": [0.16579739077521566, -0.49864500761032093, -0.2646596331357657], "rgb": [177, 15, 1], "semantic_id": 17, "pcd_info": {"point_index": 1741}, "mesh_info": {"face_index": 202, "face_uv": [0.06880484749172622, 0.440338578019505, 0.49085657448876857]}}, {"xyz": [0.13188741765642248, -0.49864500761032093, 0.0740648229066635], "rgb": [175, 19, 4], "semantic_id": 18, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 484, "face_uv": [0.5152934415823791, 0.23371679222067848, 0.25098976619694213]}}, {"xyz": [-0.12835086841779264, -0.49864500761032093, 0.07881804572989148], "rgb": [175, 16, 3], "semantic_id": 19, "pcd_info": {"point_index": 1839}, "mesh_info": {"face_index": 1092, "face_uv": [0.22326909647804485, 0.4402888349008819, 0.33644206862107306]}}, {"xyz": [-0.1721237972059974, -0.49864500761032093, -0.2707733539221172], "rgb": [178, 19, 1], "semantic_id": 20, "pcd_info": {"point_index": 323}, "mesh_info": {"face_index": 805, "face_uv": [0.24107792325295885, 0.7060254695722783, 0.05289660717476263]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a248417b6ba82801610c2a68437007d6", "keypoints": [{"xyz": [0.1790814753505705, 0.4346084368613342, 0.3158148998916408], "rgb": [126, 7, 8], "semantic_id": 0, "pcd_info": {"point_index": 1639}, "mesh_info": {"face_index": 76672, "face_uv": [0.24310887330132658, 0.13554551698821693, 0.621345609710456]}}, {"xyz": [-0.1810131105179171, 0.4341080323213271, 0.31736739619194515], "rgb": [155, 11, 6], "semantic_id": 1, "pcd_info": {"point_index": 506}, "mesh_info": {"face_index": 76656, "face_uv": [0.4906178348172104, 0.04638500416937493, 0.46299716101341476]}}, {"xyz": [0.1675914830131854, 0.10715635971125614, 0.26501582737412854], "rgb": [235, 216, 215], "semantic_id": 2, "pcd_info": {"point_index": 1274}, "mesh_info": {"face_index": 76849, "face_uv": [0.184745102981398, 0.15665262300351984, 0.6586022740150819]}}, {"xyz": [-0.16006599366664875, 0.10567121043465932, 0.27034379381358975], "rgb": [246, 222, 221], "semantic_id": 3, "pcd_info": {"point_index": 308}, "mesh_info": {"face_index": 77070, "face_uv": [0.10140342518436067, 0.7630625762562019, 0.13553399855943674]}}, {"xyz": [0.18805644996923152, 0.09276436310182568, -0.061284457698026595], "rgb": [119, 7, 7], "semantic_id": 4, "pcd_info": {"point_index": 1118}, "mesh_info": {"face_index": 34044, "face_uv": [0.17455824698155742, 0.006542063366596293, 0.8188996896518475]}}, {"xyz": [-0.18188680463374304, 0.09655835458806061, -0.055962693283870046], "rgb": [211, 16, 2], "semantic_id": 5, "pcd_info": {"point_index": 888}, "mesh_info": {"face_index": 34143, "face_uv": [0.30292418030571666, 0.008426289456865034, 0.6886495302374178]}}, {"xyz": [0.2102209767947028, 0.2235815017249252, 0.011783882957561664], "rgb": [76, 51, 34], "semantic_id": 6, "pcd_info": {"point_index": 1460}, "mesh_info": {"face_index": 16806, "face_uv": [0.19646661241625218, 0.44281121883953434, 0.36072216874421353]}}, {"xyz": [0.17238988154723414, 0.2581147594969968, 0.27428017307677355], "rgb": [76, 48, 34], "semantic_id": 7, "pcd_info": {"point_index": 1573}, "mesh_info": {"face_index": 16912, "face_uv": [0.03656309185634269, 0.46566553513635245, 0.4977713730073053]}}, {"xyz": [-0.2075960257271327, 0.22232263708747702, 0.01100372234680902], "rgb": [77, 52, 35], "semantic_id": 8, "pcd_info": {"point_index": 1559}, "mesh_info": {"face_index": 33722, "face_uv": [0.23555843361877998, 0.5252765033825052, 0.23916506299871443]}}, {"xyz": [-0.17389661749103733, 0.2644379041231839, 0.278180141001802], "rgb": [163, 11, 8], "semantic_id": 9, "pcd_info": {"point_index": 1606}, "mesh_info": {"face_index": 76476, "face_uv": [0.09057298350941495, 0.6296374997225755, 0.27978951676800945]}}, {"xyz": [0.18329518809013823, -0.24852600693702698, -0.12809809987330195], "rgb": [67, 42, 27], "semantic_id": 17, "pcd_info": {"point_index": 33}, "mesh_info": {"face_index": 55827, "face_uv": [0.0351201093078033, 0.6289247087245977, 0.33595518196759905]}}, {"xyz": [0.17006100657979017, -0.2544170022010803, 0.31584096076029944], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1610}, "mesh_info": {"face_index": 77228, "face_uv": [0.4228102233081271, 0.5461826178289882, 0.03100715886288461]}}, {"xyz": [-0.17081268962372, -0.2544170022010803, 0.3190519410959936], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1570}, "mesh_info": {"face_index": 77016, "face_uv": [0.07446911439682123, 0.5107579485491366, 0.41477293705404217]}}, {"xyz": [-0.17767116816129608, -0.24852600693702698, -0.12304343083982006], "rgb": [65, 44, 31], "semantic_id": 20, "pcd_info": {"point_index": 958}, "mesh_info": {"face_index": 34539, "face_uv": [0.15017677023020784, 0.4696741725871992, 0.38014905718259295]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4019d848076af6157fee47aa19e2e28c", "keypoints": [{"xyz": [0.12054483751832593, 0.33337351862179243, 0.021634036949910174], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 176, "face_uv": [0.01181842087480324, 0.6440341435889009, 0.3441474355362959]}}, {"xyz": [-0.12423000881657957, 0.3339819367391449, 0.020346999168395774], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 970}, "mesh_info": {"face_index": 175, "face_uv": [0.3781571255574231, 0.6095739782757973, 0.012268896166768649]}}, {"xyz": [0.15731078811382254, 0.1199050024151802, 0.017305854693664635], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1230}, "mesh_info": {"face_index": 38, "face_uv": [0.9842393909775733, 0.013248172373358012, 0.0025124366490686238]}}, {"xyz": [-0.1693964045031464, 0.11990500241517998, 0.017988514878492845], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1257}, "mesh_info": {"face_index": 39, "face_uv": [0.9875386385940699, 0.010274292021346134, 0.00218706938458203]}}, {"xyz": [0.1586974447836355, 0.1199050024151802, -0.2050462384416647], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 534}, "mesh_info": {"face_index": 29, "face_uv": [0.9702906883572789, 0.01811686736418716, 0.011592444278533884]}}, {"xyz": [-0.16544151312714733, 0.1199050024151802, -0.20533000832048098], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 303}, "mesh_info": {"face_index": 39, "face_uv": [0.0028055616420815392, 0.9831193225965864, 0.014075115761331984]}}, {"xyz": [0.12564043424775265, -0.49135899543762207, -0.17281462928824914], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1039}, "mesh_info": {"face_index": 1, "face_uv": [0.28684596604246443, 0.5077773442068055, 0.20537668975073006]}}, {"xyz": [0.10226940270907148, -0.49135899543762185, 0.08871550989836194], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1105}, "mesh_info": {"face_index": 131, "face_uv": [0.018072848067796733, 0.5190506668351985, 0.4628764850970043]}}, {"xyz": [-0.1294400250854298, -0.49135899543762207, 0.09765160897641109], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1236}, "mesh_info": {"face_index": 157, "face_uv": [0.025636987179737468, 0.6250844091408596, 0.34927860367940294]}}, {"xyz": [-0.14097212957240174, -0.49135899543762185, -0.17679080420333015], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 475}, "mesh_info": {"face_index": 114, "face_uv": [0.45726983948277605, 0.4522953194120715, 0.09043484110515199]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6f8ce08e77bc27cedb4331c656714a1b", "keypoints": [{"xyz": [0.19444758722839067, 0.435589998960495, 0.06384444494280805], "rgb": [153, 147, 146], "semantic_id": 0, "pcd_info": {"point_index": 1221}, "mesh_info": {"face_index": 278, "face_uv": [0.004857850346535417, 0.6309317905580346, 0.36421035909543004]}}, {"xyz": [-0.19869068599660683, 0.4355899989604949, 0.04556159368085988], "rgb": [148, 132, 127], "semantic_id": 1, "pcd_info": {"point_index": 1510}, "mesh_info": {"face_index": 277, "face_uv": [0.01495275762128601, 0.7919690857607484, 0.1930781566179653]}}, {"xyz": [0.19088478949118137, -0.08258099853992451, 0.03083375732504745], "rgb": [131, 126, 122], "semantic_id": 2, "pcd_info": {"point_index": 538}, "mesh_info": {"face_index": 486, "face_uv": [0.15459883999506382, 0.20653599889188487, 0.6388651611130499]}}, {"xyz": [-0.19990673317890684, -0.08258099853992451, 0.026420328626182377], "rgb": [108, 103, 99], "semantic_id": 3, "pcd_info": {"point_index": 1138}, "mesh_info": {"face_index": 490, "face_uv": [0.9513006696134649, 0.010013373331795479, 0.03868595705473817]}}, {"xyz": [0.19164165604211775, -0.08265682458083207, -0.23693099617958047], "rgb": [145, 140, 136], "semantic_id": 4, "pcd_info": {"point_index": 1356}, "mesh_info": {"face_index": 388, "face_uv": [0.9873014833288823, 0.0014903794182355157, 0.011208137252881275]}}, {"xyz": [-0.20205362858708661, -0.08512553685671703, -0.2369309961795809], "rgb": [146, 141, 137], "semantic_id": 5, "pcd_info": {"point_index": 247}, "mesh_info": {"face_index": 293, "face_uv": [0.05001352425722796, 0.9012716394667106, 0.048714836276062407]}}, {"xyz": [0.18325367409702847, -0.42298999428749096, -0.21758196818467418], "rgb": [146, 141, 137], "semantic_id": 17, "pcd_info": {"point_index": 1792}, "mesh_info": {"face_index": 309, "face_uv": [0.5071833112350111, 0.42820034835818865, 0.06461634040680048]}}, {"xyz": [0.1882951164861687, -0.42298999428749073, 0.05787078526621621], "rgb": [148, 144, 140], "semantic_id": 18, "pcd_info": {"point_index": 1227}, "mesh_info": {"face_index": 19, "face_uv": [0.30358570454179773, 0.538483843139815, 0.15793045231838698]}}, {"xyz": [-0.1928913755167924, -0.42298999428749096, 0.057898370706227054], "rgb": [170, 163, 157], "semantic_id": 19, "pcd_info": {"point_index": 557}, "mesh_info": {"face_index": 1, "face_uv": [0.48114449390860603, 0.5023973672521809, 0.016458138839213345]}}, {"xyz": [-0.1899010503098804, -0.42298999428749084, -0.2157504245856177], "rgb": [146, 141, 137], "semantic_id": 20, "pcd_info": {"point_index": 281}, "mesh_info": {"face_index": 299, "face_uv": [0.44582895900347785, 0.4798994568336725, 0.07427158416284961]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4b904e1d68d09dd3e15e36ac023c5182", "keypoints": [{"xyz": [0.15330548658266613, 0.15396539226866035, 0.12263830862065372], "rgb": [153, 75, 0], "semantic_id": 0, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 2564, "face_uv": [0.41358135947942387, 0.0643890933332222, 0.5220295471873538]}}, {"xyz": [-0.14128206586407366, 0.15514930924477754, 0.1307527790140126], "rgb": [153, 75, 0], "semantic_id": 1, "pcd_info": {"point_index": 1105}, "mesh_info": {"face_index": 1894, "face_uv": [0.2727098805261984, 0.004827620826089556, 0.7224624986477128]}}, {"xyz": [0.14303135705412007, -0.1763508999611494, 0.09236196600048263], "rgb": [152, 74, 0], "semantic_id": 2, "pcd_info": {"point_index": 264}, "mesh_info": {"face_index": 3326, "face_uv": [0.06132777422678213, 0.05827771946896049, 0.8803945063042563]}}, {"xyz": [-0.14866159881721008, -0.17647679437000252, 0.09371402121214456], "rgb": [152, 74, 0], "semantic_id": 3, "pcd_info": {"point_index": 1062}, "mesh_info": {"face_index": 3338, "face_uv": [0.060046626239546395, 0.3598400560845258, 0.5801133176759253]}}, {"xyz": [0.18028045730994394, -0.17709793437314691, -0.3489350886219287], "rgb": [152, 74, 0], "semantic_id": 4, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 3509, "face_uv": [0.8529308032216738, 0.1074746695762999, 0.03959452720202556]}}, {"xyz": [-0.18361566886087483, -0.1794210374250651, -0.3531761915090763], "rgb": [153, 75, 0], "semantic_id": 5, "pcd_info": {"point_index": 1749}, "mesh_info": {"face_index": 3675, "face_uv": [0.3950220238454953, 0.13266743672374431, 0.4723105394307664]}}, {"xyz": [0.2232924687982138, -0.06422500312328339, -0.3351892643994986], "rgb": [153, 75, 0], "semantic_id": 6, "pcd_info": {"point_index": 1482}, "mesh_info": {"face_index": 5052, "face_uv": [0.0020142220996352237, 0.42847947513451773, 0.5695063027658471]}}, {"xyz": [0.18154321296566847, -0.06422500312328339, 0.1056414350715924], "rgb": [153, 75, 0], "semantic_id": 7, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 5245, "face_uv": [0.2708621371152268, 0.036575890586285784, 0.6925619722984875]}}, {"xyz": [-0.21491905241936715, -0.06422500312328316, -0.33357978600817695], "rgb": [152, 74, 0], "semantic_id": 8, "pcd_info": {"point_index": 1896}, "mesh_info": {"face_index": 4446, "face_uv": [0.9936136934902619, 0.00018818364112542323, 0.006198122868609354]}}, {"xyz": [-0.1859068497426663, -0.06422500312328339, 0.1219002181405413], "rgb": [153, 75, 0], "semantic_id": 9, "pcd_info": {"point_index": 1932}, "mesh_info": {"face_index": 4570, "face_uv": [0.21767690655404695, 0.004469655724986242, 0.7778534377209668]}}, {"xyz": [0.215023334480377, -0.5239869952201843, -0.31729194313803044], "rgb": [184, 113, 44], "semantic_id": 17, "pcd_info": {"point_index": 374}, "mesh_info": {"face_index": 6516, "face_uv": [0.05462081986764585, 0.5750553553180965, 0.37032382481425774]}}, {"xyz": [0.17671078307952628, -0.5239869952201843, 0.11912716068932641], "rgb": [178, 101, 40], "semantic_id": 18, "pcd_info": {"point_index": 1682}, "mesh_info": {"face_index": 6531, "face_uv": [0.4403393274757202, 0.37322120002547193, 0.1864394724988079]}}, {"xyz": [-0.17967525539663678, -0.5239869952201843, 0.1241544585172854], "rgb": [185, 111, 45], "semantic_id": 19, "pcd_info": {"point_index": 622}, "mesh_info": {"face_index": 6479, "face_uv": [0.5565558164445994, 0.1980112364388909, 0.24543294711650973]}}, {"xyz": [-0.22165419431816502, -0.5239869952201843, -0.3195192040394893], "rgb": [180, 107, 44], "semantic_id": 20, "pcd_info": {"point_index": 1495}, "mesh_info": {"face_index": 6465, "face_uv": [0.043125246449410036, 0.49743148762676187, 0.4594432659238281]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f2934658407472a92ce025aebfea84a4", "keypoints": [{"xyz": [0.20388588648394626, 0.26180439617839535, 0.2238533216765108], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 779}, "mesh_info": {"face_index": 36050, "face_uv": [0.23232627460249855, 0.5229306026582571, 0.24474312273924365]}}, {"xyz": [-0.20945758899537265, 0.26430077227950166, 0.21580651065876535], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 316}, "mesh_info": {"face_index": 38895, "face_uv": [0.10903067393225213, 0.621934659520689, 0.26903466654705893]}}, {"xyz": [0.19832164451803608, 0.0014057698678893171, 0.08458505872404518], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1544}, "mesh_info": {"face_index": 5777, "face_uv": [0.1994997220139197, 0.15651877889354926, 0.6439814990924932]}}, {"xyz": [-0.21102902982989313, -0.0023379294761609604, 0.08723891574227213], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 583}, "mesh_info": {"face_index": 2888, "face_uv": [0.7977909971660021, 0.02617218374636176, 0.17603681908763602]}}, {"xyz": [0.20667932838908198, 0.00019136599100177953, -0.2906614033810459], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1326}, "mesh_info": {"face_index": 4936, "face_uv": [0.2852488123759382, 0.6040786156342418, 0.11067257198982025]}}, {"xyz": [-0.2025644061594812, -0.008445280807231725, -0.2961152838489788], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 961}, "mesh_info": {"face_index": 1396, "face_uv": [0.0369924188060697, 0.006997799913329451, 0.9560097812806012]}}, {"xyz": [0.24431490461358107, 0.15627361233421921, -0.28868293323428723], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1914}, "mesh_info": {"face_index": 9008, "face_uv": [0.466375604189065, 0.011767546335194482, 0.5218568494757412]}}, {"xyz": [0.2652950737207804, 0.15565872717015217, 0.25589701049124647], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 110}, "mesh_info": {"face_index": 10326, "face_uv": [0.8216082909654999, 0.009761693027065897, 0.16863001600743363]}}, {"xyz": [-0.26464654371750074, 0.15554256803117394, -0.29564929852438315], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1123}, "mesh_info": {"face_index": 23644, "face_uv": [0.004676762782545616, 0.32462373916776927, 0.670699498049685]}}, {"xyz": [-0.24925726381305086, 0.1562008270499533, 0.25427050651757366], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 23303, "face_uv": [0.08704838395776311, 0.012715272857029784, 0.9002363431852082]}}, {"xyz": [0.2806431127193753, -0.29434254500866164, -0.2928206988955874], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1063}, "mesh_info": {"face_index": 348, "face_uv": [0.16903212997841094, 0.5230145057654407, 0.30795336425614833]}}, {"xyz": [0.2798722354767998, -0.30888257144753256, 0.24498357678629534], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1209}, "mesh_info": {"face_index": 469, "face_uv": [0.04394620347574467, 0.5683625408345309, 0.3876912556897248]}}, {"xyz": [-0.28655157304508344, -0.2943038447947446, 0.25166955397631474], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1838}, "mesh_info": {"face_index": 210, "face_uv": [0.1693621515408382, 0.4995132099613662, 0.3311246384977957]}}, {"xyz": [-0.28669920494439943, -0.2864820392953289, -0.2919519416072123], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 96, "face_uv": [0.7462898975510251, 0.017059553529317584, 0.23665054891965706]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8f3c91049838cdf2b04cb542e2c50eb4", "keypoints": [{"xyz": [0.15660669029708812, 0.33356926324032177, 0.23584618173373006], "rgb": [218, 165, 31], "semantic_id": 0, "pcd_info": {"point_index": 428}, "mesh_info": {"face_index": 9314, "face_uv": [0.26741171043177364, 0.058572497268934466, 0.6740157922992919]}}, {"xyz": [-0.17179309568408985, 0.32352761399109364, 0.2467274497663413], "rgb": [218, 165, 31], "semantic_id": 1, "pcd_info": {"point_index": 611}, "mesh_info": {"face_index": 8319, "face_uv": [0.11020909551088988, 0.2296254895194048, 0.6601654149697053]}}, {"xyz": [0.19152895133264913, 0.0499133419938913, 0.03240577806305678], "rgb": [218, 165, 31], "semantic_id": 2, "pcd_info": {"point_index": 965}, "mesh_info": {"face_index": 9056, "face_uv": [0.003826916089483457, 0.7490151468639187, 0.24715793704659983]}}, {"xyz": [-0.1973712809089652, 0.04309856279951796, 0.03078794327825185], "rgb": [218, 165, 30], "semantic_id": 3, "pcd_info": {"point_index": 945}, "mesh_info": {"face_index": 7590, "face_uv": [0.13288051577539453, 0.40691255842696034, 0.46020692579764505]}}, {"xyz": [0.20644220904255928, 0.057152365442744824, -0.2438950097902381], "rgb": [217, 164, 30], "semantic_id": 4, "pcd_info": {"point_index": 1010}, "mesh_info": {"face_index": 8584, "face_uv": [0.7920843603197021, 0.08473636235556865, 0.12317927732472903]}}, {"xyz": [-0.21190917637963624, 0.05515714112735681, -0.24199678454317247], "rgb": [217, 164, 30], "semantic_id": 5, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 7439, "face_uv": [0.2967674745169174, 0.0608897187685899, 0.6423428067144922]}}, {"xyz": [0.27762425625998416, 0.08295857990711508, -0.21415353098426942], "rgb": [217, 164, 30], "semantic_id": 6, "pcd_info": {"point_index": 1632}, "mesh_info": {"face_index": 6102, "face_uv": [0.5048247190754138, 0.11819793605698233, 0.3769773448675937]}}, {"xyz": [0.200630560574661, 0.14475482793409555, 0.16225566074371645], "rgb": [218, 165, 31], "semantic_id": 7, "pcd_info": {"point_index": 131}, "mesh_info": {"face_index": 6759, "face_uv": [0.6735060892691489, 0.22841562794349024, 0.09807828278736158]}}, {"xyz": [-0.28444331100285547, 0.08132235101258622, -0.21963432061932658], "rgb": [218, 165, 31], "semantic_id": 8, "pcd_info": {"point_index": 1927}, "mesh_info": {"face_index": 5514, "face_uv": [0.037750680982274284, 0.04912727946738513, 0.9131220395503408]}}, {"xyz": [-0.1907482725060098, 0.16465098723126181, 0.16263043076813954], "rgb": [218, 165, 31], "semantic_id": 9, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 8042, "face_uv": [0.04378348341975144, 0.08731468876992801, 0.8689018278103205]}}, {"xyz": [0.20395204955765492, -0.2163109928369522, -0.21206221526606658], "rgb": [149, 149, 149], "semantic_id": 17, "pcd_info": {"point_index": 1568}, "mesh_info": {"face_index": 1248, "face_uv": [0.20126877564147547, 0.655525976036506, 0.14320524832201859]}}, {"xyz": [0.20684169738318406, -0.2163109928369522, 0.11829191795127288], "rgb": [149, 149, 149], "semantic_id": 18, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 311, "face_uv": [0.1652597088707969, 0.4916311870504842, 0.34310910407871886]}}, {"xyz": [-0.20372088807815658, -0.2163109928369522, 0.11698612379405912], "rgb": [149, 149, 149], "semantic_id": 19, "pcd_info": {"point_index": 1379}, "mesh_info": {"face_index": 44, "face_uv": [0.06805654411369745, 0.3262743737964536, 0.6056690820898489]}}, {"xyz": [-0.20705837570698338, -0.2163109928369522, -0.2075774956546784], "rgb": [149, 149, 149], "semantic_id": 20, "pcd_info": {"point_index": 1116}, "mesh_info": {"face_index": 1069, "face_uv": [0.20449651565827648, 0.28912513092020026, 0.5063783534215233]}}, {"xyz": [0.0002254058676169346, -0.05882382329692404, -0.061567551143898225], "rgb": [148, 148, 148], "semantic_id": 15, "pcd_info": {"point_index": 985}, "mesh_info": {"face_index": 3402, "face_uv": [0.6076792825946589, 0.026929112455323825, 0.365391604950017]}}, {"xyz": [0.00026341599805834726, -0.18037236286224956, -0.04766991692178335], "rgb": [149, 149, 149], "semantic_id": 16, "pcd_info": {"point_index": 24}, "mesh_info": {"face_index": 3536, "face_uv": [0.6025613822380281, 0.2811217355975422, 0.11631688216443123]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "9f1a83a9fe6ce47afe74f7508ff628ce", "keypoints": [{"xyz": [0.16905765977822396, 0.543269340476128, 0.11651254494947827], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 302, "face_uv": [0.006399772981578561, 0.3697121550644318, 0.6238880719539898]}}, {"xyz": [-0.16875877088980473, 0.5445842995665597, 0.1309292773674012], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 704}, "mesh_info": {"face_index": 356, "face_uv": [0.1295924951802392, 0.3595561612230076, 0.5108513435967534]}}, {"xyz": [0.16397354178024265, 0.1534955401618754, 0.0939361222492241], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 58, "face_uv": [0.9846028377802066, 0.010021443120614284, 0.005375719099177607]}}, {"xyz": [-0.16905040173406188, 0.15324339574845913, 0.0904250772465287], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1805}, "mesh_info": {"face_index": 59, "face_uv": [0.9683159825010537, 0.022201153265901698, 0.009482864233044765]}}, {"xyz": [0.16419579653705518, 0.13345257299940427, -0.18515695279245936], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1338}, "mesh_info": {"face_index": 82, "face_uv": [0.014746383028673074, 0.021813023553854494, 0.963440593417473]}}, {"xyz": [-0.1663189137800452, 0.13316081630313947, -0.1892195884723188], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 809}, "mesh_info": {"face_index": 82, "face_uv": [0.9825191268749888, 0.007719861840289381, 0.009761011284721625]}}, {"xyz": [0.14437800524712396, -0.29098600149154663, -0.14833725505576578], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1272}, "mesh_info": {"face_index": 278, "face_uv": [0.4701051827905584, 0.39508095105697283, 0.13481386615246868]}}, {"xyz": [0.14918766509302883, -0.29098600149154663, 0.13931059638087362], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 332}, "mesh_info": {"face_index": 586, "face_uv": [0.37913202484016767, 0.38128972564896596, 0.23957824951086637]}}, {"xyz": [-0.14653051856792332, -0.29098600149154663, 0.12720883738375122], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 870}, "mesh_info": {"face_index": 209, "face_uv": [0.1179610263305392, 0.4424744696141049, 0.43956450405535585]}}, {"xyz": [-0.144338512559691, -0.2909860014915465, -0.1554612359852552], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 678}, "mesh_info": {"face_index": 3, "face_uv": [0.018079069843179894, 0.5049501808892203, 0.47697074926759947]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "47a707b2804cc98f1a3c0af5880f464", "keypoints": [{"xyz": [0.2289755388308904, 0.4682495853144937, 0.2196616208732124], "rgb": [188, 183, 179], "semantic_id": 0, "pcd_info": {"point_index": 1015}, "mesh_info": {"face_index": 54, "face_uv": [0.5003941417405254, 0.004288948302738462, 0.49531690995673583]}}, {"xyz": [-0.1797272287244601, 0.4686921506078918, 0.22603523957121707], "rgb": [225, 225, 225], "semantic_id": 1, "pcd_info": {"point_index": 1417}, "mesh_info": {"face_index": 52, "face_uv": [0.26185166594539666, 0.003949960437544477, 0.7341983736170593]}}, {"xyz": [0.23062955125867746, 0.05047399923205376, 0.11448319820425934], "rgb": [225, 225, 225], "semantic_id": 2, "pcd_info": {"point_index": 36}, "mesh_info": {"face_index": 235, "face_uv": [0.994675787661987, 0.0002753097845774268, 0.005048902553435677]}}, {"xyz": [-0.17949610167941304, 0.054095546856469, 0.1168901483990974], "rgb": [226, 226, 226], "semantic_id": 3, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 0, "face_uv": [0.004510814996437223, 0.9906079467996445, 0.0048812382039188605]}}, {"xyz": [0.22943595255643276, 0.05047399923205376, -0.2101622498158343], "rgb": [224, 224, 200], "semantic_id": 4, "pcd_info": {"point_index": 709}, "mesh_info": {"face_index": 398, "face_uv": [0.9887255024403093, 0.0031717050268828284, 0.008102792532807818]}}, {"xyz": [-0.1794011778280718, 0.05047399923205398, -0.201609833763982], "rgb": [162, 158, 155], "semantic_id": 5, "pcd_info": {"point_index": 160}, "mesh_info": {"face_index": 193, "face_uv": [0.002798249274796043, 0.91262731380542, 0.08457443691978832]}}, {"xyz": [0.21636350273634877, -0.30275300145149253, -0.2052755190406369], "rgb": [225, 225, 200], "semantic_id": 17, "pcd_info": {"point_index": 1181}, "mesh_info": {"face_index": 301, "face_uv": [0.5073657737903424, 0.42834885954451546, 0.06428536666514292]}}, {"xyz": [0.20746432119560518, -0.3027530014514923, 0.1939674797718577], "rgb": [225, 225, 199], "semantic_id": 18, "pcd_info": {"point_index": 1724}, "mesh_info": {"face_index": 481, "face_uv": [0.6845103287891668, 0.20248448749448605, 0.11300518371634709]}}, {"xyz": [-0.18135499954223636, 0.0014892925265723722, 0.09615450248045454], "rgb": [2, 2, 2], "semantic_id": 19, "pcd_info": {"point_index": 911}, "mesh_info": {"face_index": 156, "face_uv": [0.19919623043846593, 0.7561674503294323, 0.04463631923210186]}}, {"xyz": [-0.16383829587102455, -0.3027530014514921, -0.20195289603227518], "rgb": [197, 196, 180], "semantic_id": 20, "pcd_info": {"point_index": 1915}, "mesh_info": {"face_index": 483, "face_uv": [0.38419715279557853, 0.6000925436006399, 0.015710303603780822]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5ce636f716f8f11e601104cd2d998272", "keypoints": [{"xyz": [0.24411095895678447, 0.18741702443265074, 0.14166787485450494], "rgb": [109, 109, 109], "semantic_id": 0, "pcd_info": {"point_index": 1720}, "mesh_info": {"face_index": 2072, "face_uv": [0.18850158683234247, 0.7906169084143478, 0.02088150475330931]}}, {"xyz": [-0.2396464776040445, 0.18706658651988395, 0.14359875174427325], "rgb": [99, 99, 99], "semantic_id": 1, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 1814, "face_uv": [0.863379638677713, 0.018497156225128184, 0.11812320509715868]}}, {"xyz": [0.22862157140893014, -0.06984725921484403, 0.023507109352155497], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 859}, "mesh_info": {"face_index": 2446, "face_uv": [0.2553638907254333, 0.734856685328536, 0.009779423946027248]}}, {"xyz": [-0.21358716046305948, -0.07412347295049049, 0.03756733380559385], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 1344, "face_uv": [0.09453383233048687, 0.8778747338149404, 0.027591433854570028]}}, {"xyz": [0.2271762212308988, -0.04342800006270431, -0.26061258627991046], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1329}, "mesh_info": {"face_index": 2906, "face_uv": [0.6858915585244539, 0.30118268390520114, 0.012925757570349939]}}, {"xyz": [-0.22421484299521155, -0.043428000062703864, -0.25947726968984197], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1781}, "mesh_info": {"face_index": 2894, "face_uv": [0.0044563933586824174, 0.6531856330248756, 0.34235797361643683]}}, {"xyz": [0.24230153290534054, 0.03384522635789633, -0.24767228055170798], "rgb": [85, 85, 85], "semantic_id": 6, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 1045, "face_uv": [0.3805638855597569, 0.4272477311026434, 0.1921883833375965]}}, {"xyz": [0.24624108099839798, -0.0035263364587252433, 0.09173588406882982], "rgb": [85, 85, 85], "semantic_id": 7, "pcd_info": {"point_index": 1627}, "mesh_info": {"face_index": 12, "face_uv": [0.3585409479752375, 0.610448570678347, 0.031010481346414563]}}, {"xyz": [-0.234772383129802, 0.033958585264904695, -0.24648966308557885], "rgb": [85, 85, 85], "semantic_id": 8, "pcd_info": {"point_index": 1244}, "mesh_info": {"face_index": 1466, "face_uv": [0.12825818041195794, 0.6410091110211494, 0.23073270856689015]}}, {"xyz": [-0.2359702137245985, -0.0034292600032617138, 0.09145441068189053], "rgb": [86, 86, 86], "semantic_id": 9, "pcd_info": {"point_index": 2040}, "mesh_info": {"face_index": 145, "face_uv": [0.34888159898132914, 0.5853038366901273, 0.06581456432854411]}}, {"xyz": [0.2453288147536306, -0.42947399616241433, -0.2857086867896732], "rgb": [85, 85, 85], "semantic_id": 17, "pcd_info": {"point_index": 1556}, "mesh_info": {"face_index": 1247, "face_uv": [0.016578504771136447, 0.4319745545152563, 0.5514469407136068]}}, {"xyz": [0.24249408385280974, -0.4266349971294401, 0.2954775096014065], "rgb": [85, 85, 85], "semantic_id": 18, "pcd_info": {"point_index": 857}, "mesh_info": {"face_index": 70, "face_uv": [0.563798070495893, 0.4204298926160882, 0.015772036888018304]}}, {"xyz": [-0.23538379148012045, -0.4266349971294403, 0.29372804461825686], "rgb": [86, 86, 86], "semantic_id": 19, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 884, "face_uv": [0.11436448175708404, 0.3874245172654449, 0.498211000977471]}}, {"xyz": [-0.23585773446016695, -0.42947399616241455, -0.28937137543034913], "rgb": [86, 86, 86], "semantic_id": 20, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 672, "face_uv": [0.3811211347380015, 0.40946529985645386, 0.20941356540554465]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ba5911cd07d1eebb31475fd256bf1b7a", "keypoints": [{"xyz": [0.20398831722475874, 0.32075300812721275, 0.13729838499209313], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 2042}, "mesh_info": {"face_index": 341, "face_uv": [0.1313356370067846, 0.3915574161831374, 0.4771069468100787]}}, {"xyz": [-0.20638743376073693, 0.3207530081272125, 0.13422159330960148], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1023}, "mesh_info": {"face_index": 250, "face_uv": [0.6270485375122045, 0.31585551417479796, 0.05709594831299757]}}, {"xyz": [0.19194400310516357, -0.0389424410619823, 0.10439382194952707], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 926}, "mesh_info": {"face_index": 280, "face_uv": [0.0078905241920261, 0.5715126622612121, 0.4205968135467617]}}, {"xyz": [-0.1909868638301921, -0.04777999967336677, 0.11577240461927185], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 552}, "mesh_info": {"face_index": 655, "face_uv": [0.1535983391386554, 0.8439083835005349, 0.0024932773608144]}}, {"xyz": [0.18280847727889693, -0.04873214956813188, -0.2341727425207376], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 21}, "mesh_info": {"face_index": 545, "face_uv": [0.01600593664432453, 0.960196691001038, 0.023797372354638094]}}, {"xyz": [-0.1848300195094448, -0.049227170723173064, -0.23513340275616065], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 39}, "mesh_info": {"face_index": 546, "face_uv": [0.018531403640207632, 0.7932605701049806, 0.18820802625480834]}}, {"xyz": [0.1808255151667335, -0.4777350127696991, -0.18414688753970254], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1300}, "mesh_info": {"face_index": 2, "face_uv": [0.06703558142645503, 0.450244664888856, 0.48271975368468895]}}, {"xyz": [0.19710466377395064, -0.4777350127696991, 0.13064520729722245], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1195}, "mesh_info": {"face_index": 286, "face_uv": [0.22404543644283018, 0.3498034052626091, 0.42615115829456074]}}, {"xyz": [-0.2047424046946763, -0.4777350127696991, 0.14341157919015743], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 946}, "mesh_info": {"face_index": 214, "face_uv": [0.44436891825965846, 0.5160798488452376, 0.0395512328951039]}}, {"xyz": [-0.18001401137756445, -0.4777350127696991, -0.18466816800054062], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 843}, "mesh_info": {"face_index": 48, "face_uv": [0.4820480356594086, 0.4570341162587661, 0.06091784808182525]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4179c276ee8dacfc8cbd400aa99bee96", "keypoints": [{"xyz": [0.21525600552558888, 0.3237903324116356, 0.04866972112998069], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1553}, "mesh_info": {"face_index": 3853, "face_uv": [0.5565528887732288, 0.011056646539452559, 0.4323904646873181]}}, {"xyz": [-0.21310096313103455, 0.328233003616333, 0.04741177697982174], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 416}, "mesh_info": {"face_index": 1966, "face_uv": [0.5343374792180929, 0.40545030872935517, 0.06021221205255187]}}, {"xyz": [0.19612200558185577, -0.006803267563378235, -0.002086263079591477], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 328}, "mesh_info": {"face_index": 8152, "face_uv": [0.8712196941788531, 0.04720386999980955, 0.08157643582133729]}}, {"xyz": [-0.1917652968721117, -0.023277738430202755, 0.0038420146271542777], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 903}, "mesh_info": {"face_index": 449, "face_uv": [0.33449377660429885, 0.5911576187563947, 0.07434860463931212]}}, {"xyz": [0.21208758507976344, -0.07357700169086456, -0.36004352254709554], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 433}, "mesh_info": {"face_index": 7110, "face_uv": [0.3806911185445182, 0.09462487519045912, 0.5246840062650227]}}, {"xyz": [-0.19879816499916173, -0.05079671392900709, -0.3659735147419854], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1471}, "mesh_info": {"face_index": 295, "face_uv": [0.432605047635218, 0.36923387216796466, 0.19816108019681733]}}, {"xyz": [0.2017836496661508, 0.11735136480961028, -0.2752206319641746], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 24}, "mesh_info": {"face_index": 8176, "face_uv": [0.5557583292288351, 0.37077807513948446, 0.07346359563168024]}}, {"xyz": [0.20563180234315592, 0.13952376367856822, 0.015614650646084138], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 866}, "mesh_info": {"face_index": 6315, "face_uv": [0.31584376905286254, 0.10914287474380022, 0.5750133562033372]}}, {"xyz": [-0.20791661353853907, 0.10715580152725646, -0.28029000759124756], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 221}, "mesh_info": {"face_index": 7974, "face_uv": [0.05177385685953694, 0.6395107732384804, 0.30871536990198273]}}, {"xyz": [-0.20504655613723666, 0.14587955056336943, 0.016343794649389065], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 1301, "face_uv": [0.378738970073256, 0.44108986160234587, 0.18017116832439758]}}, {"xyz": [0.20154840206629757, -0.4419029951095581, -0.3611191645408056], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 487}, "mesh_info": {"face_index": 7591, "face_uv": [0.2493052411446203, 0.34901639035315296, 0.4016783685022267]}}, {"xyz": [0.1967531417885373, -0.43403658692877095, 0.04050271699275254], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1491}, "mesh_info": {"face_index": 3441, "face_uv": [0.16223269407820903, 0.3896418571948141, 0.44812544872697624]}}, {"xyz": [-0.20858729618317862, -0.4391206735716899, 0.041487819038810825], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 2005}, "mesh_info": {"face_index": 7221, "face_uv": [0.3642020222764149, 0.4184095908115813, 0.21738838691200557]}}, {"xyz": [-0.2086944567409964, -0.4419029951095581, -0.3675189528791867], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 615}, "mesh_info": {"face_index": 7374, "face_uv": [0.2843055627468681, 0.08046152834771655, 0.6352329089054154]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5a2c6a6f832b14ed31251f4428012eaf", "keypoints": [{"xyz": [0.14496239886621667, 0.4408798896418281, 0.12256392962823481], "rgb": [152, 84, 39], "semantic_id": 0, "pcd_info": {"point_index": 602}, "mesh_info": {"face_index": 505, "face_uv": [0.018124628325674443, 0.4002456317074431, 0.5816297399668812]}}, {"xyz": [-0.13929608423504988, 0.4403484777795763, 0.12284565167488837], "rgb": [153, 85, 40], "semantic_id": 1, "pcd_info": {"point_index": 1001}, "mesh_info": {"face_index": 643, "face_uv": [0.10989436906680534, 0.13894406988521601, 0.7511615610479775]}}, {"xyz": [0.12586866251216924, -0.03427631239193918, 0.07498127482875128], "rgb": [151, 84, 40], "semantic_id": 2, "pcd_info": {"point_index": 1877}, "mesh_info": {"face_index": 3562, "face_uv": [0.16287488176299256, 0.3781748343245036, 0.45895028391249965]}}, {"xyz": [-0.11584168824930205, -0.03492252305650134, 0.07418470155428314], "rgb": [151, 84, 39], "semantic_id": 3, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 7558, "face_uv": [0.505288607127773, 0.3691654891202849, 0.12554590375194083]}}, {"xyz": [0.1577638832573147, -0.0333399916700694, -0.22860870715691406], "rgb": [156, 93, 51], "semantic_id": 4, "pcd_info": {"point_index": 807}, "mesh_info": {"face_index": 6110, "face_uv": [0.04544528430818763, 0.46553800008628315, 0.4890167156055278]}}, {"xyz": [-0.16876104084843788, -0.03330654336446637, -0.22131853492181208], "rgb": [149, 85, 41], "semantic_id": 5, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 9879, "face_uv": [0.19159730888305695, 0.8026037174268894, 0.0057989736900610255]}}, {"xyz": [0.14404345098977234, -0.3877590000629425, -0.18951906241978192], "rgb": [150, 82, 36], "semantic_id": 17, "pcd_info": {"point_index": 192}, "mesh_info": {"face_index": 1048, "face_uv": [0.2802063075658248, 0.1878622855541044, 0.5319314068800708]}}, {"xyz": [0.12672126768032976, -0.38855001330375716, 0.11316130918397821], "rgb": [153, 85, 40], "semantic_id": 18, "pcd_info": {"point_index": 253}, "mesh_info": {"face_index": 1391, "face_uv": [0.07886872249199205, 0.4441241764964045, 0.4770071010116046]}}, {"xyz": [-0.12794022191973614, -0.38855001330375716, 0.11009342652726517], "rgb": [148, 82, 36], "semantic_id": 19, "pcd_info": {"point_index": 1975}, "mesh_info": {"face_index": 273, "face_uv": [0.09072890099110584, 0.41409996934548177, 0.49517112966341353]}}, {"xyz": [-0.16080213045137404, -0.3877590000629425, -0.19347907747867343], "rgb": [144, 76, 31], "semantic_id": 20, "pcd_info": {"point_index": 922}, "mesh_info": {"face_index": 1053, "face_uv": [0.10778151751827504, 0.543207688151383, 0.34901079433034193]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2fd314d0a19433c62c37553db37ec752", "keypoints": [{"xyz": [0.1497834489173194, 0.489295951087646, 0.17497416505918156], "rgb": [170, 175, 187], "semantic_id": 0, "pcd_info": {"point_index": 1504}, "mesh_info": {"face_index": 238, "face_uv": [0.15672576338076938, 0.3341479344950945, 0.509126302124136]}}, {"xyz": [-0.15138861095180195, 0.48869729129857076, 0.1793404222231913], "rgb": [177, 181, 188], "semantic_id": 1, "pcd_info": {"point_index": 1558}, "mesh_info": {"face_index": 235, "face_uv": [0.0912406893793156, 0.4316843262232658, 0.47707498439741836]}}, {"xyz": [0.18572392708836072, 0.02240600064396836, 0.08671659398919213], "rgb": [159, 167, 185], "semantic_id": 2, "pcd_info": {"point_index": 1753}, "mesh_info": {"face_index": 4, "face_uv": [0.7186430959722725, 0.02919366827779233, 0.25216323574992544]}}, {"xyz": [-0.18468193309742736, 0.022406000643968582, 0.07866909643068348], "rgb": [160, 168, 186], "semantic_id": 3, "pcd_info": {"point_index": 739}, "mesh_info": {"face_index": 22, "face_uv": [0.33129190866329994, 0.055441798783939886, 0.6132662925527601]}}, {"xyz": [0.1925159331601709, 0.022406000643968582, -0.21245888350930509], "rgb": [160, 168, 186], "semantic_id": 4, "pcd_info": {"point_index": 1211}, "mesh_info": {"face_index": 83, "face_uv": [0.03249875821137669, 0.9233657813678395, 0.04413546042078376]}}, {"xyz": [-0.18947587824507492, 0.022406000643968582, -0.2241931300447271], "rgb": [160, 168, 186], "semantic_id": 5, "pcd_info": {"point_index": 116}, "mesh_info": {"face_index": 87, "face_uv": [0.8984461466930961, 0.06823845259707946, 0.03331540070982442]}}, {"xyz": [0.17663760101802348, -0.30008000135421753, -0.19213406908031738], "rgb": [96, 96, 96], "semantic_id": 17, "pcd_info": {"point_index": 421}, "mesh_info": {"face_index": 548, "face_uv": [0.48336537295173204, 0.07507723646486063, 0.4415573905834073]}}, {"xyz": [0.17639228189998268, -0.3000800013542173, 0.04995650348401798], "rgb": [95, 95, 95], "semantic_id": 18, "pcd_info": {"point_index": 1390}, "mesh_info": {"face_index": 490, "face_uv": [0.5433525513782523, 0.38687277792574276, 0.06977467069600425]}}, {"xyz": [-0.17663101570462109, -0.30008000135421753, 0.052261303485639496], "rgb": [96, 96, 96], "semantic_id": 19, "pcd_info": {"point_index": 92}, "mesh_info": {"face_index": 507, "face_uv": [0.07319021275323606, 0.4848201776351516, 0.4419896096116123]}}, {"xyz": [-0.17286701250848255, -0.30008000135421775, -0.18956153373867576], "rgb": [96, 96, 96], "semantic_id": 20, "pcd_info": {"point_index": 614}, "mesh_info": {"face_index": 578, "face_uv": [0.3740400226327094, 0.299494994061386, 0.32646498330590534]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "321f8b85785f082685e443e0ea51d93", "keypoints": [{"xyz": [0.13376235826471983, 0.10113540592822884, 0.008162612887490095], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 137, "face_uv": [0.39308930148698595, 0.044405655792158424, 0.5625050427208507]}}, {"xyz": [-0.1443185838921074, 0.10519076350560913, 0.009326506621683883], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1767}, "mesh_info": {"face_index": 913, "face_uv": [0.7900069989170012, 0.17307062712477753, 0.03692237395822435]}}, {"xyz": [0.09021585344865857, -0.3931629955768584, -0.005217798299864018], "rgb": [188, 190, 188], "semantic_id": 2, "pcd_info": {"point_index": 582}, "mesh_info": {"face_index": 1053, "face_uv": [0.2541372964925671, 0.6752966458782086, 0.07056605762922405]}}, {"xyz": [-0.08790147241234103, -0.3931629955768585, -0.0018960347357568352], "rgb": [162, 162, 152], "semantic_id": 3, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 1063, "face_uv": [0.43526301106334486, 0.5097164743480046, 0.05502051458865058]}}, {"xyz": [0.12233651902494821, -0.4182945307786916, -0.3309787733547298], "rgb": [221, 223, 225], "semantic_id": 4, "pcd_info": {"point_index": 1387}, "mesh_info": {"face_index": 7429, "face_uv": [0.1572540127484889, 0.5661479615981948, 0.27659802565331604]}}, {"xyz": [-0.13030431111552926, -0.41952071919774125, -0.3287442474484039], "rgb": [232, 234, 234], "semantic_id": 5, "pcd_info": {"point_index": 503}, "mesh_info": {"face_index": 7445, "face_uv": [0.11613573798057641, 0.0640802903730191, 0.819783971646404]}}, {"xyz": [0.10507663217263041, -0.7145918510345137, -0.312597208279247], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1529}, "mesh_info": {"face_index": 7546, "face_uv": [0.14816458779579553, 0.843192066605512, 0.008643345598692826]}}, {"xyz": [0.09333146910789375, -0.7149307343734288, 0.04687560380505573], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 564, "face_uv": [0.7816500056089718, 0.20932587213688414, 0.00902412225414298]}}, {"xyz": [-0.08337415051815, -0.7141683974297502, 0.04694111812836921], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 599}, "mesh_info": {"face_index": 928, "face_uv": [0.13573126788443884, 0.8523743976991803, 0.011894334416376847]}}, {"xyz": [-0.10085033297679685, -0.7131688894163832, -0.3162542346021955], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 664}, "mesh_info": {"face_index": 7595, "face_uv": [0.0071418890916626, 0.6691586007228645, 0.32369951018547216]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "735b16d075ad6ce3d197f67767b32741", "keypoints": [{"xyz": [0.2388776968327631, 0.31486010899912276, 0.35869442216568204], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 1294, "face_uv": [0.9806782004646956, 0.0034498289607283812, 0.015871970574576132]}}, {"xyz": [-0.23680754295595774, 0.31401688389064675, 0.3582647007445893], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 1294, "face_uv": [0.025690231824526157, 0.005663849215884059, 0.96864591895959]}}, {"xyz": [0.24604666175175804, 0.005282000172883272, 0.15165224944184796], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 1288, "face_uv": [0.01585700982361866, 0.004929351183775776, 0.9792136389926052]}}, {"xyz": [-0.24313896738996588, 0.00887620458931393, 0.16075074397362932], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1430}, "mesh_info": {"face_index": 1321, "face_uv": [0.0013749561266318557, 0.011604277640611891, 0.9870207662327555]}}, {"xyz": [0.2418077874641692, 0.005282000172883272, -0.20582172656956899], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 1288, "face_uv": [0.979294322884893, 0.01343933553187879, 0.007266341583228237]}}, {"xyz": [-0.24620664244845697, 0.005282000172883272, -0.2085453235634569], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1029}, "mesh_info": {"face_index": 1284, "face_uv": [0.01290442136151505, 0.006820554608189911, 0.9802750240302951]}}, {"xyz": [0.25428343742572795, 0.06662615463219823, -0.15887059867023617], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 885}, "mesh_info": {"face_index": 591, "face_uv": [0.027946525285747512, 0.08690274806514309, 0.885150726649112]}}, {"xyz": [0.2376213989584829, 0.09410994301373488, 0.1334413626444732], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1520}, "mesh_info": {"face_index": 601, "face_uv": [0.021649465808319134, 0.6231865574009765, 0.35516397679070355]}}, {"xyz": [-0.23764938437915326, 0.06630775966702673, -0.16225698250677079], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1808}, "mesh_info": {"face_index": 1193, "face_uv": [0.608396762650666, 0.3746669791750041, 0.016936258174331004]}}, {"xyz": [-0.2345272044215946, 0.09459629232022926, 0.13861407456074304], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 654}, "mesh_info": {"face_index": 1205, "face_uv": [0.42415908829829707, 0.5710096633896062, 0.004831248312096148]}}, {"xyz": [0.25648809496577984, -0.27514773551362365, -0.20444070498469302], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 789}, "mesh_info": {"face_index": 82, "face_uv": [0.2555110322913409, 0.03577139937907954, 0.7087175683295777]}}, {"xyz": [0.2543597345871129, -0.27324912171130117, 0.22640352870056635], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 142}, "mesh_info": {"face_index": 550, "face_uv": [0.4046837809634548, 0.10881199203944396, 0.48650422699709883]}}, {"xyz": [-0.25408373647983007, -0.2713577982824511, 0.22541530799024323], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1531}, "mesh_info": {"face_index": 1161, "face_uv": [0.38478222757086306, 0.14755512799199538, 0.46766264443714184]}}, {"xyz": [-0.2531154697477364, -0.2756059856609399, -0.20453089506838218], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 923}, "mesh_info": {"face_index": 682, "face_uv": [0.36658028202717335, 0.027811105064007496, 0.6056086129088202]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5f06664b4eb0af4c352fc7e973ba7787", "keypoints": [{"xyz": [0.17255280274668933, 0.230929637657602, 0.18003308262156503], "rgb": [90, 104, 121], "semantic_id": 0, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 4321, "face_uv": [0.4879507942006216, 0.506874314201081, 0.005174891598295873]}}, {"xyz": [-0.16282647391966582, 0.22921916938331632, 0.1880149146443293], "rgb": [132, 125, 118], "semantic_id": 1, "pcd_info": {"point_index": 1746}, "mesh_info": {"face_index": 4179, "face_uv": [0.6112662173846131, 0.382278599656522, 0.006455182958864611]}}, {"xyz": [0.27628554739784744, -0.05584271293439036, 0.049588057453848755], "rgb": [213, 199, 195], "semantic_id": 2, "pcd_info": {"point_index": 506}, "mesh_info": {"face_index": 2583, "face_uv": [0.010984028321218841, 0.3323633559500604, 0.6566526157287194]}}, {"xyz": [-0.27810687056206884, -0.05549161310591444, 0.047791605098642664], "rgb": [108, 61, 42], "semantic_id": 3, "pcd_info": {"point_index": 459}, "mesh_info": {"face_index": 7899, "face_uv": [0.21542174706672, 0.528866404329197, 0.25571184860408414]}}, {"xyz": [0.24959756700085406, -0.056559713449220395, -0.27578347644551326], "rgb": [229, 118, 167], "semantic_id": 4, "pcd_info": {"point_index": 1553}, "mesh_info": {"face_index": 29935, "face_uv": [0.28941286101202135, 0.2876221751046513, 0.4229649638833414]}}, {"xyz": [-0.2581568147410499, -0.05696545271475717, -0.2731058802286679], "rgb": [191, 193, 113], "semantic_id": 5, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 28760, "face_uv": [0.2105525352738452, 0.5950028583021364, 0.19444460642402456]}}, {"xyz": [0.20937207579218864, -0.3630349934101105, -0.2587734104238566], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 251}, "mesh_info": {"face_index": 14112, "face_uv": [0.17763402037345263, 0.27610881918953695, 0.5462571604370104]}}, {"xyz": [0.21011381798677292, -0.3630349934101105, 0.15721148647495475], "rgb": [29, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 1971}, "mesh_info": {"face_index": 14174, "face_uv": [0.27156517487351045, 0.24229017488909532, 0.4861446502373942]}}, {"xyz": [-0.2174812508026308, -0.3630349934101105, 0.15361736172604745], "rgb": [29, 29, 29], "semantic_id": 19, "pcd_info": {"point_index": 1170}, "mesh_info": {"face_index": 14148, "face_uv": [0.24374213499335903, 0.6007062860044967, 0.15555157900214428]}}, {"xyz": [-0.21165304931102433, -0.3630349934101105, -0.2667074892529323], "rgb": [29, 29, 29], "semantic_id": 20, "pcd_info": {"point_index": 1172}, "mesh_info": {"face_index": 14126, "face_uv": [0.12104884966621442, 0.3772888613670863, 0.5016622889666993]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "862f70e73fa70c9b1a719e2a845bdada", "keypoints": [{"xyz": [0.17468793698612317, 0.281581034409976, 0.21353520914701662], "rgb": [187, 107, 254], "semantic_id": 0, "pcd_info": {"point_index": 1929}, "mesh_info": {"face_index": 1353, "face_uv": [0.6458288130240433, 0.33202284644511604, 0.022148340530839777]}}, {"xyz": [-0.17370021807660715, 0.2785208546086612, 0.21271539562562114], "rgb": [195, 120, 250], "semantic_id": 1, "pcd_info": {"point_index": 1827}, "mesh_info": {"face_index": 1316, "face_uv": [0.033130579203813806, 0.940713775266216, 0.026155645529968154]}}, {"xyz": [0.17301436382925828, -0.0906256032687146, 0.07800780695071596], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 709, "face_uv": [0.9021669399897826, 0.08691409284804696, 0.010918967162169162]}}, {"xyz": [-0.16809159331489032, -0.08985619409551338, 0.07821396920146872], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1500}, "mesh_info": {"face_index": 711, "face_uv": [0.08333814646365849, 0.9111790454176931, 0.0054828081186493165]}}, {"xyz": [0.17598501933859031, -0.13368600606918335, -0.22087501860338676], "rgb": [181, 101, 250], "semantic_id": 4, "pcd_info": {"point_index": 1831}, "mesh_info": {"face_index": 40, "face_uv": [0.8759782148102351, 0.12399591060577081, 2.5874583994099153e-05]}}, {"xyz": [-0.1764233697738658, -0.13368600606918346, -0.22346110155680665], "rgb": [205, 131, 251], "semantic_id": 5, "pcd_info": {"point_index": 1888}, "mesh_info": {"face_index": 29, "face_uv": [0.06954747176029293, 0.9211465190018916, 0.009306009237816257]}}, {"xyz": [0.20878215558514118, 0.017310190593044728, -0.19354599362904135], "rgb": [190, 121, 251], "semantic_id": 6, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 383, "face_uv": [0.010961658827801717, 0.43665605065025354, 0.5523822905219465]}}, {"xyz": [0.19927669155252398, 0.0351251710738385, 0.158113672522169], "rgb": [186, 112, 253], "semantic_id": 7, "pcd_info": {"point_index": 1077}, "mesh_info": {"face_index": 401, "face_uv": [0.6239654554143392, 0.3580138063777075, 0.018020738207954298]}}, {"xyz": [-0.20664020588277898, 0.016463049905362404, -0.19294241937096393], "rgb": [191, 112, 254], "semantic_id": 8, "pcd_info": {"point_index": 1032}, "mesh_info": {"face_index": 882, "face_uv": [0.4470216818705365, 0.5427995852294892, 0.010178732899974573]}}, {"xyz": [-0.19840158145342562, 0.0365550805914554, 0.15567481771100633], "rgb": [183, 104, 251], "semantic_id": 9, "pcd_info": {"point_index": 20}, "mesh_info": {"face_index": 821, "face_uv": [0.33813128981464413, 0.6352131226901637, 0.02665558749519935]}}, {"xyz": [0.19007799620078975, -0.4501990079879761, -0.21459135871970958], "rgb": [188, 110, 250], "semantic_id": 17, "pcd_info": {"point_index": 1398}, "mesh_info": {"face_index": 1273, "face_uv": [0.07913142048702704, 0.3951378307653737, 0.5257307487475993]}}, {"xyz": [0.19142730590707513, -0.4501990079879762, 0.23956701244508133], "rgb": [190, 109, 255], "semantic_id": 18, "pcd_info": {"point_index": 213}, "mesh_info": {"face_index": 1213, "face_uv": [0.06362718847330807, 0.4791210398238486, 0.4572517717028436]}}, {"xyz": [-0.19655121531942132, -0.4501990079879761, 0.242356326643401], "rgb": [190, 109, 255], "semantic_id": 19, "pcd_info": {"point_index": 81}, "mesh_info": {"face_index": 1140, "face_uv": [0.5448239394952339, 0.4004756993250111, 0.054700361179755026]}}, {"xyz": [-0.19482463160212715, -0.4501990079879761, -0.21756118532456034], "rgb": [189, 111, 250], "semantic_id": 20, "pcd_info": {"point_index": 1615}, "mesh_info": {"face_index": 1200, "face_uv": [0.45719788434149267, 0.4788727591222045, 0.06392935653630281]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6e7455e21a6668a7f51f77a6d7299806", "keypoints": [{"xyz": [0.15320912847528026, 0.47709599137306213, 0.08966143621265843], "rgb": [185, 178, 160], "semantic_id": 0, "pcd_info": {"point_index": 1748}, "mesh_info": {"face_index": 162, "face_uv": [0.4441757713502787, 0.5468078325445727, 0.009016396105148665]}}, {"xyz": [-0.1399511653707069, 0.47709599137306224, 0.085450076605628], "rgb": [203, 197, 175], "semantic_id": 1, "pcd_info": {"point_index": 694}, "mesh_info": {"face_index": 186, "face_uv": [0.6143710838894924, 0.37804166169420766, 0.007587254416300161]}}, {"xyz": [0.16510304945733728, 0.06583116941608091, 0.062266905196486866], "rgb": [165, 162, 145], "semantic_id": 2, "pcd_info": {"point_index": 375}, "mesh_info": {"face_index": 130, "face_uv": [0.8693906002938057, 0.022761676180192276, 0.10784772352600443]}}, {"xyz": [-0.15519456380612512, 0.06425623132751257, 0.05846902606322211], "rgb": [175, 168, 152], "semantic_id": 3, "pcd_info": {"point_index": 1327}, "mesh_info": {"face_index": 114, "face_uv": [0.03283040940782117, 0.942629078510493, 0.024540512081686214]}}, {"xyz": [0.18891033771592944, 0.053334543140749174, -0.3221001418416757], "rgb": [162, 159, 142], "semantic_id": 4, "pcd_info": {"point_index": 746}, "mesh_info": {"face_index": 427, "face_uv": [0.006672048599731375, 0.015828516254327962, 0.97749943514594]}}, {"xyz": [-0.171166564819796, 0.05330203104961517, -0.3221109836554956], "rgb": [174, 167, 151], "semantic_id": 5, "pcd_info": {"point_index": 1834}, "mesh_info": {"face_index": 69, "face_uv": [0.009563017125666642, 0.02976316572263334, 0.9606738171516996]}}, {"xyz": [0.1726956327490464, -0.3262380063533784, -0.302265902367978], "rgb": [56, 43, 34], "semantic_id": 17, "pcd_info": {"point_index": 7}, "mesh_info": {"face_index": 778, "face_uv": [0.08372995858378075, 0.4423280621842695, 0.4739419792319501]}}, {"xyz": [0.15319845124010312, -0.3262380063533782, 0.12355763244545645], "rgb": [54, 43, 34], "semantic_id": 18, "pcd_info": {"point_index": 1334}, "mesh_info": {"face_index": 758, "face_uv": [0.44892012765624206, 0.5415635851377913, 0.009516287205966195]}}, {"xyz": [-0.1434238461529088, -0.3262380063533784, 0.12351908240244752], "rgb": [52, 44, 35], "semantic_id": 19, "pcd_info": {"point_index": 645}, "mesh_info": {"face_index": 979, "face_uv": [0.03346633210389866, 0.42391810445415845, 0.5426155634419433]}}, {"xyz": [-0.16050505043265031, -0.3262380063533784, -0.3017473329448511], "rgb": [45, 35, 29], "semantic_id": 20, "pcd_info": {"point_index": 92}, "mesh_info": {"face_index": 22, "face_uv": [0.023133386809865254, 0.46071638775087953, 0.5161502254392556]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "95e2f1fb6be241b4742728b30848ed03", "keypoints": [{"xyz": [0.10920708027281195, 0.46710998854458285, 0.1348530187749184], "rgb": [209, 73, 75], "semantic_id": 0, "pcd_info": {"point_index": 631}, "mesh_info": {"face_index": 3296, "face_uv": [0.6428727592151151, 0.3531253205076851, 0.004001920277198336]}}, {"xyz": [-0.11229279388054914, 0.4654151651330024, 0.1382505272734531], "rgb": [208, 72, 74], "semantic_id": 1, "pcd_info": {"point_index": 965}, "mesh_info": {"face_index": 22817, "face_uv": [0.2677446294987219, 0.2733317215521953, 0.4589236489490825]}}, {"xyz": [0.09537043677839557, -0.16523097839753742, 0.0752848219500386], "rgb": [210, 74, 76], "semantic_id": 2, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 2205, "face_uv": [0.027202386385070696, 0.9489761464504198, 0.023821467164509412]}}, {"xyz": [-0.0925444579111645, -0.18800599873065948, 0.08040942469288881], "rgb": [207, 71, 73], "semantic_id": 3, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 25130, "face_uv": [0.11903528089890997, 0.3340818102929238, 0.5468829088081663]}}, {"xyz": [0.09772482495394905, -0.1880059987306597, -0.1592033498691774], "rgb": [208, 72, 74], "semantic_id": 4, "pcd_info": {"point_index": 1637}, "mesh_info": {"face_index": 5280, "face_uv": [0.14238794171176114, 0.7360588915580437, 0.12155316673019627]}}, {"xyz": [-0.0968196810539195, -0.18844739720198755, -0.16731920748483287], "rgb": [208, 72, 74], "semantic_id": 5, "pcd_info": {"point_index": 1259}, "mesh_info": {"face_index": 25260, "face_uv": [0.28341470502712174, 0.032667666443554004, 0.6839176285293247]}}, {"xyz": [0.1452777561223509, -0.07847246696479226, -0.11440907897731545], "rgb": [208, 71, 74], "semantic_id": 6, "pcd_info": {"point_index": 1801}, "mesh_info": {"face_index": 2115, "face_uv": [0.3982297191386328, 0.2970320489022392, 0.30473823195913097]}}, {"xyz": [0.139513455276181, -0.07600067962521928, 0.07895131393366894], "rgb": [204, 68, 70], "semantic_id": 7, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 2113, "face_uv": [0.01469078785197129, 0.014875186508471796, 0.9704340256395563]}}, {"xyz": [-0.15108007105711674, -0.07740521186190996, -0.11262129404289911], "rgb": [205, 67, 70], "semantic_id": 8, "pcd_info": {"point_index": 321}, "mesh_info": {"face_index": 22331, "face_uv": [0.1167068950476398, 0.5009566643844623, 0.38233644056789645]}}, {"xyz": [-0.13866212363761665, -0.07623392338966894, 0.08151591585619616], "rgb": [204, 68, 70], "semantic_id": 9, "pcd_info": {"point_index": 268}, "mesh_info": {"face_index": 21666, "face_uv": [0.8427892536458375, 0.1560362093306406, 0.001174537023522254]}}, {"xyz": [0.13555433828489044, -0.3632804454959415, -0.16940984904693893], "rgb": [191, 191, 191], "semantic_id": 17, "pcd_info": {"point_index": 1815}, "mesh_info": {"face_index": 5972, "face_uv": [0.01984682297757184, 0.6220842173547176, 0.35806895966771385]}}, {"xyz": [0.12772861248870981, -0.36622358566014146, 0.1593181646039688], "rgb": [191, 191, 191], "semantic_id": 18, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 6257, "face_uv": [0.3867226017723513, 0.4508839530211872, 0.16239344520646232]}}, {"xyz": [-0.13781764713674732, -0.36777002464271136, 0.15977513792321785], "rgb": [191, 191, 191], "semantic_id": 19, "pcd_info": {"point_index": 1844}, "mesh_info": {"face_index": 25821, "face_uv": [0.020799236885468305, 0.5254033463933867, 0.4537974167211451]}}, {"xyz": [-0.14129639173999653, -0.365470011821057, -0.16258813737632052], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 1947}, "mesh_info": {"face_index": 25527, "face_uv": [0.08971741654470641, 0.26326868938330206, 0.6470138940719915]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8af939d95f201d17283b00891f680579", "keypoints": [{"xyz": [0.24589865275389855, 0.2814475176749127, 0.33319344229671044], "rgb": [118, 63, 54], "semantic_id": 0, "pcd_info": {"point_index": 2042}, "mesh_info": {"face_index": 3063, "face_uv": [0.048893870284512926, 0.29119881480107906, 0.6599073149144072]}}, {"xyz": [-0.2509483645758499, 0.2768428765397348, 0.3266476038915923], "rgb": [120, 72, 59], "semantic_id": 1, "pcd_info": {"point_index": 1180}, "mesh_info": {"face_index": 5440, "face_uv": [0.25558661208108263, 0.16924856619571252, 0.575164821723206]}}, {"xyz": [0.2290905821606385, -0.032120123092763686, 0.16752821122099537], "rgb": [116, 70, 56], "semantic_id": 2, "pcd_info": {"point_index": 1947}, "mesh_info": {"face_index": 9402, "face_uv": [0.22127238699993562, 0.4327208537848215, 0.34600675921524193]}}, {"xyz": [-0.2367677286533311, -0.03757697489877265, 0.17458619173610418], "rgb": [118, 70, 58], "semantic_id": 3, "pcd_info": {"point_index": 1178}, "mesh_info": {"face_index": 9809, "face_uv": [0.29187278163709, 0.6603708761829141, 0.047756342179995304]}}, {"xyz": [0.2249759545200276, 0.04389676707240653, -0.2914315782703393], "rgb": [110, 62, 52], "semantic_id": 4, "pcd_info": {"point_index": 530}, "mesh_info": {"face_index": 10791, "face_uv": [0.3507079678723223, 0.0643341006711633, 0.5849579314565145]}}, {"xyz": [-0.2455622071283169, 0.0440389366653664, -0.28441343601629865], "rgb": [123, 74, 61], "semantic_id": 5, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 11846, "face_uv": [0.12543090415350747, 0.6951521615120018, 0.1794169343344916]}}, {"xyz": [0.2563331816614507, 0.11868900060653687, -0.27730620262654293], "rgb": [48, 41, 33], "semantic_id": 6, "pcd_info": {"point_index": 1342}, "mesh_info": {"face_index": 7372, "face_uv": [0.07856110159171872, 0.011243008835946316, 0.9101958895723349]}}, {"xyz": [0.2677188013065255, 0.11609710702581388, 0.3412355136132371], "rgb": [51, 44, 36], "semantic_id": 7, "pcd_info": {"point_index": 1387}, "mesh_info": {"face_index": 7357, "face_uv": [0.859049439355106, 0.09611208805333771, 0.04483847259155632]}}, {"xyz": [-0.2707154962048899, 0.10805204788738987, -0.27699311901643775], "rgb": [42, 34, 27], "semantic_id": 8, "pcd_info": {"point_index": 290}, "mesh_info": {"face_index": 12673, "face_uv": [0.5027367513210774, 0.49430508116443334, 0.0029581675144897675]}}, {"xyz": [-0.26497180725763825, 0.11868900060653642, 0.33772935898559014], "rgb": [53, 46, 40], "semantic_id": 9, "pcd_info": {"point_index": 1792}, "mesh_info": {"face_index": 12588, "face_uv": [0.611577698273141, 0.3880950214570654, 0.00032728026978988515]}}, {"xyz": [0.25500302013284837, -0.22036320574947937, -0.2819493836027752], "rgb": [40, 34, 27], "semantic_id": 17, "pcd_info": {"point_index": 1496}, "mesh_info": {"face_index": 7318, "face_uv": [0.6453319495151896, 0.029656473379758887, 0.32501157710505174]}}, {"xyz": [0.25500398874282815, -0.21769324914362548, 0.32776559651008197], "rgb": [52, 46, 39], "semantic_id": 18, "pcd_info": {"point_index": 1052}, "mesh_info": {"face_index": 7225, "face_uv": [0.22101259065704673, 0.027566546272710418, 0.7514208630702419]}}, {"xyz": [-0.27071601152420044, -0.21948868786537895, 0.33555324727381863], "rgb": [48, 43, 34], "semantic_id": 19, "pcd_info": {"point_index": 1697}, "mesh_info": {"face_index": 12523, "face_uv": [0.06815504196117145, 0.3202725505254714, 0.6115724075133572]}}, {"xyz": [-0.2707154523028563, -0.2167047010219404, -0.2779304236850627], "rgb": [47, 41, 34], "semantic_id": 20, "pcd_info": {"point_index": 1784}, "mesh_info": {"face_index": 12676, "face_uv": [0.4330018032634133, 0.015105415471814031, 0.5518927812647725]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e3fba8a576d4d875e1d0950dd1aa903d", "keypoints": [{"xyz": [0.18692000210285187, 0.4540790534615653, 0.11798977338990202], "rgb": [140, 75, 31], "semantic_id": 0, "pcd_info": {"point_index": 481}, "mesh_info": {"face_index": 184, "face_uv": [0.011931812385594048, 0.7917375785040187, 0.19633060911038733]}}, {"xyz": [-0.18198778494898735, 0.4571539418562789, 0.13051417462864057], "rgb": [158, 94, 54], "semantic_id": 1, "pcd_info": {"point_index": 63}, "mesh_info": {"face_index": 243, "face_uv": [0.312838366003629, 0.012535683883127303, 0.6746259501132439]}}, {"xyz": [0.18516651736969125, -0.03990500047802925, 0.08042946810850893], "rgb": [151, 84, 31], "semantic_id": 2, "pcd_info": {"point_index": 1609}, "mesh_info": {"face_index": 42, "face_uv": [0.07611931308460432, 0.8471453088399745, 0.07673537807542119]}}, {"xyz": [-0.1811615539718083, -0.03990500047802925, 0.08387409294818382], "rgb": [177, 116, 30], "semantic_id": 3, "pcd_info": {"point_index": 1421}, "mesh_info": {"face_index": 17, "face_uv": [0.5703947076815149, 0.38465722827718246, 0.04494806404130252]}}, {"xyz": [0.178358456474005, -0.03990500047802903, -0.2541532187173645], "rgb": [168, 108, 34], "semantic_id": 4, "pcd_info": {"point_index": 1508}, "mesh_info": {"face_index": 28, "face_uv": [0.2819123970863087, 0.7123330942956739, 0.005754508618011832]}}, {"xyz": [-0.18384881355426488, -0.03990500047802925, -0.2565555716402423], "rgb": [163, 103, 38], "semantic_id": 5, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 12, "face_uv": [0.8029611136219363, 0.0006293403743379152, 0.19640954600372582]}}, {"xyz": [0.12500310693045358, -0.37613698840141296, -0.2304240895973142], "rgb": [146, 78, 34], "semantic_id": 17, "pcd_info": {"point_index": 1823}, "mesh_info": {"face_index": 115, "face_uv": [0.11563209127897477, 0.7191222774582195, 0.1652456312628057]}}, {"xyz": [0.13351443643825567, -0.37613698840141296, 0.061806369298808006], "rgb": [158, 90, 43], "semantic_id": 18, "pcd_info": {"point_index": 1361}, "mesh_info": {"face_index": 150, "face_uv": [0.07906696310258984, 0.3365904357633997, 0.5843426011340105]}}, {"xyz": [-0.13208439835689423, -0.37613698840141296, 0.05445618898430776], "rgb": [151, 83, 37], "semantic_id": 19, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 103, "face_uv": [0.17358864001835062, 0.4190538313090737, 0.40735752867257563]}}, {"xyz": [-0.13935063063829256, -0.37613698840141274, -0.22110615304247871], "rgb": [149, 82, 42], "semantic_id": 20, "pcd_info": {"point_index": 851}, "mesh_info": {"face_index": 67, "face_uv": [0.20872691885346784, 0.5964352295965679, 0.19483785154996372]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "523a54d33ce5fa9aadcbe68a4d5871f9", "keypoints": [{"xyz": [0.21185599773238667, 0.35980539446079274, 0.07163723117592324], "rgb": [229, 222, 211], "semantic_id": 0, "pcd_info": {"point_index": 770}, "mesh_info": {"face_index": 22909, "face_uv": [0.4685693195394546, 0.03143569639639494, 0.4999949840641475]}}, {"xyz": [-0.20983077853591958, 0.35756462142271883, 0.07061030746073427], "rgb": [229, 222, 211], "semantic_id": 1, "pcd_info": {"point_index": 1075}, "mesh_info": {"face_index": 23564, "face_uv": [0.0021781319011502844, 0.2965455421886142, 0.7012138611987698]}}, {"xyz": [0.1948318349314509, 0.05683598384895605, -0.0029108953191288034], "rgb": [230, 223, 212], "semantic_id": 2, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 21445, "face_uv": [0.7170075705096977, 0.06154842844528045, 0.22144400104502193]}}, {"xyz": [-0.19804577680118063, 0.04843022064573721, -0.007357072997807634], "rgb": [229, 222, 211], "semantic_id": 3, "pcd_info": {"point_index": 2022}, "mesh_info": {"face_index": 22282, "face_uv": [0.02879192859910443, 0.26220137113049574, 0.7090067002703802]}}, {"xyz": [0.13198326344991015, -0.0013067876067662798, -0.24865852065865912], "rgb": [229, 222, 211], "semantic_id": 4, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 18234, "face_uv": [0.3456964949370103, 0.6082769080096925, 0.04602659705329643]}}, {"xyz": [-0.13145344678894233, -0.004035162359588895, -0.24890964130773652], "rgb": [230, 223, 212], "semantic_id": 5, "pcd_info": {"point_index": 1990}, "mesh_info": {"face_index": 18381, "face_uv": [0.37474642019051596, 0.5792660368985758, 0.045987542910908445]}}, {"xyz": [0.18973633558884392, -0.34086837650880253, -0.2672421121814897], "rgb": [230, 223, 212], "semantic_id": 17, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 93, "face_uv": [0.21536587439286883, 0.7203913850682551, 0.06424274053887685]}}, {"xyz": [0.18790980047678965, -0.3381394839633163, 0.12963636448519067], "rgb": [229, 222, 212], "semantic_id": 18, "pcd_info": {"point_index": 1618}, "mesh_info": {"face_index": 6404, "face_uv": [0.3886783668217414, 0.4842549624244015, 0.12706667075385705]}}, {"xyz": [-0.18874573850376436, -0.3428965641547226, 0.12363670414020089], "rgb": [230, 223, 212], "semantic_id": 19, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 6788, "face_uv": [0.45026930948563176, 0.2712087358589233, 0.2785219546554452]}}, {"xyz": [-0.19428349805549497, -0.34075767345517005, -0.2652231889644686], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 274}, "mesh_info": {"face_index": 6038, "face_uv": [0.3561118987517452, 0.11873929925311315, 0.5251488019951412]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9c825b20d4e35eb595a6db6161d501d6", "keypoints": [{"xyz": [0.13498337544326997, 0.3893354218526266, 0.29317098051336754], "rgb": [65, 31, 9], "semantic_id": 0, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 15728, "face_uv": [0.6705086770999242, 0.08281824876207304, 0.24667307413800219]}}, {"xyz": [-0.14145318557995998, 0.39800057073425077, 0.29504453458674984], "rgb": [69, 30, 13], "semantic_id": 1, "pcd_info": {"point_index": 1714}, "mesh_info": {"face_index": 15451, "face_uv": [0.0253099933738628, 0.5792727221987736, 0.3954172844273621]}}, {"xyz": [0.14153366831268888, 0.035936203323452265, 0.18793525758358576], "rgb": [70, 42, 17], "semantic_id": 2, "pcd_info": {"point_index": 787}, "mesh_info": {"face_index": 1108, "face_uv": [0.15429294124563073, 0.46860642250252493, 0.3771006362518443]}}, {"xyz": [-0.1465663662464645, 0.05047743002446681, 0.19577346805604035], "rgb": [59, 31, 12], "semantic_id": 3, "pcd_info": {"point_index": 95}, "mesh_info": {"face_index": 2700, "face_uv": [0.0030400437104202613, 0.5836321979465673, 0.4133277583430101]}}, {"xyz": [0.1601720305417219, 0.022840793602933007, -0.1934112349881174], "rgb": [45, 24, 7], "semantic_id": 4, "pcd_info": {"point_index": 1263}, "mesh_info": {"face_index": 1837, "face_uv": [0.034491933856256776, 0.09689822928162875, 0.8686098368621146]}}, {"xyz": [-0.17114185982859714, 0.026808419918154636, -0.19160870886597658], "rgb": [52, 27, 11], "semantic_id": 5, "pcd_info": {"point_index": 452}, "mesh_info": {"face_index": 3451, "face_uv": [0.5170251301623825, 0.008207987927285216, 0.47476688191033223]}}, {"xyz": [0.18469790477854506, 0.22833496681616738, -0.013053189906145235], "rgb": [77, 42, 16], "semantic_id": 6, "pcd_info": {"point_index": 1446}, "mesh_info": {"face_index": 21721, "face_uv": [0.36664860692759477, 0.3648544653484484, 0.26849692772395894]}}, {"xyz": [0.16974019913325877, 0.15944178305962997, 0.26520064117502506], "rgb": [50, 25, 12], "semantic_id": 7, "pcd_info": {"point_index": 757}, "mesh_info": {"face_index": 19282, "face_uv": [0.5801370747973003, 0.1879729837030326, 0.23188994149966724]}}, {"xyz": [-0.18480059573785693, 0.22581692819491206, -0.03181664620426816], "rgb": [62, 31, 12], "semantic_id": 8, "pcd_info": {"point_index": 275}, "mesh_info": {"face_index": 18959, "face_uv": [0.012589690520816745, 0.0631082997704928, 0.9243020097086919]}}, {"xyz": [-0.1757852118751317, 0.15281331387815067, 0.27404873409909025], "rgb": [48, 24, 11], "semantic_id": 9, "pcd_info": {"point_index": 296}, "mesh_info": {"face_index": 16636, "face_uv": [0.29778877699161066, 0.3481551944826965, 0.3540560285256925]}}, {"xyz": [0.13872336830840468, -0.3288077313212736, -0.13055899739265464], "rgb": [76, 45, 21], "semantic_id": 17, "pcd_info": {"point_index": 180}, "mesh_info": {"face_index": 1147, "face_uv": [0.39836689252129687, 0.36749934693079106, 0.23413376054791377]}}, {"xyz": [0.1624884436072108, -0.34333500266075156, 0.23555216131091417], "rgb": [39, 138, 250], "semantic_id": 18, "pcd_info": {"point_index": 307}, "mesh_info": {"face_index": 1417, "face_uv": [0.602473303208899, 0.26234969832738647, 0.13517699846371511]}}, {"xyz": [-0.16684690867984492, -0.3433350026607511, 0.24183497467550624], "rgb": [49, 25, 14], "semantic_id": 19, "pcd_info": {"point_index": 1283}, "mesh_info": {"face_index": 3677, "face_uv": [0.22970638866618756, 0.24015772531270504, 0.5301358860211067]}}, {"xyz": [-0.14830091052388794, -0.33663907756851463, -0.13055899739265464], "rgb": [86, 43, 15], "semantic_id": 20, "pcd_info": {"point_index": 2003}, "mesh_info": {"face_index": 3215, "face_uv": [0.20689436240536638, 0.2915328622129714, 0.5015727753816638]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "85d0d147adcb6318b8e1b99345a5afd4", "keypoints": [{"xyz": [0.18728623576225772, 0.3226226119217004, 0.19646465622384368], "rgb": [44, 44, 44], "semantic_id": 0, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 155, "face_uv": [0.15373505276071237, 0.3330651246455449, 0.5131998225937408]}}, {"xyz": [-0.20186473455484671, 0.31654751285700544, 0.19125697667542751], "rgb": [44, 44, 44], "semantic_id": 1, "pcd_info": {"point_index": 380}, "mesh_info": {"face_index": 12, "face_uv": [0.17033373015699685, 0.19501992914567357, 0.6346463406973285]}}, {"xyz": [0.16652254124043142, 0.003017019975816604, 0.1294990116085728], "rgb": [45, 45, 45], "semantic_id": 2, "pcd_info": {"point_index": 84}, "mesh_info": {"face_index": 408, "face_uv": [0.08964268825152075, 0.2582224255290331, 0.6521348862194645]}}, {"xyz": [-0.17428282888054758, 0.0030835023521511573, 0.1299262580113001], "rgb": [44, 44, 44], "semantic_id": 3, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 419, "face_uv": [0.05121543502127678, 0.3651108663195379, 0.5836736986591774]}}, {"xyz": [0.18329578876511682, 0.02561900982894527, -0.21519861115074745], "rgb": [45, 45, 45], "semantic_id": 4, "pcd_info": {"point_index": 1151}, "mesh_info": {"face_index": 484, "face_uv": [0.06781014177162518, 0.3724251084333775, 0.5597647497950017]}}, {"xyz": [-0.18632121317067143, 0.024963684868799296, -0.21771022588016342], "rgb": [44, 44, 44], "semantic_id": 5, "pcd_info": {"point_index": 1168}, "mesh_info": {"face_index": 462, "face_uv": [0.33675742709429896, 0.05838680188108443, 0.6048557710246151]}}, {"xyz": [0.23878692819161038, 0.18325518473764313, -0.106189744123794], "rgb": [159, 158, 161], "semantic_id": 6, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 1072, "face_uv": [0.07892292107800122, 0.6508335538031559, 0.27024352511884037]}}, {"xyz": [0.23458587886130153, 0.1846729414006414, 0.11753643326019492], "rgb": [45, 45, 45], "semantic_id": 7, "pcd_info": {"point_index": 1584}, "mesh_info": {"face_index": 1143, "face_uv": [0.09900828224934795, 0.10461920549463281, 0.7963725122560191]}}, {"xyz": [-0.23901016658386387, 0.1883781022280957, -0.09699851195171738], "rgb": [103, 103, 104], "semantic_id": 8, "pcd_info": {"point_index": 1331}, "mesh_info": {"face_index": 740, "face_uv": [0.3743457690152373, 0.47507254862810994, 0.15058168235665265]}}, {"xyz": [-0.23947208402417255, 0.185526602693042, 0.11831849215205281], "rgb": [45, 45, 45], "semantic_id": 9, "pcd_info": {"point_index": 1021}, "mesh_info": {"face_index": 820, "face_uv": [0.10052111362880735, 0.425900957179758, 0.47357792919143654]}}, {"xyz": [0.2404211002882296, -0.3664239943027494, -0.20168807411217277], "rgb": [201, 199, 204], "semantic_id": 17, "pcd_info": {"point_index": 562}, "mesh_info": {"face_index": 1048, "face_uv": [0.4057672757058034, 0.06498682849832534, 0.5292458957958707]}}, {"xyz": [0.20750819269846202, -0.36631810652181085, 0.25426784085989645], "rgb": [202, 200, 205], "semantic_id": 18, "pcd_info": {"point_index": 1736}, "mesh_info": {"face_index": 2108, "face_uv": [0.29860118536709224, 0.41334742212602216, 0.2880513925068862]}}, {"xyz": [-0.2141660125850588, -0.3662133039231168, 0.25267996606755067], "rgb": [202, 200, 205], "semantic_id": 19, "pcd_info": {"point_index": 1690}, "mesh_info": {"face_index": 1587, "face_uv": [0.4540062293220664, 0.3457900176803789, 0.20020375299755533]}}, {"xyz": [-0.2424027818162085, -0.36642399430274963, -0.20032246122742636], "rgb": [202, 200, 205], "semantic_id": 20, "pcd_info": {"point_index": 250}, "mesh_info": {"face_index": 720, "face_uv": [0.15908370334770416, 0.38713349899451915, 0.4537827976577767]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5bb5b15807158f71504721639e19f609", "keypoints": [{"xyz": [0.1510844156518635, 0.44344044515850645, 0.17217217831447437], "rgb": [255, 216, 100], "semantic_id": 0, "pcd_info": {"point_index": 10}, "mesh_info": {"face_index": 16363, "face_uv": [0.16300826983398445, 0.5501913066764749, 0.2868004234895407]}}, {"xyz": [-0.15585951585183158, 0.4412225683165054, 0.16804036399737649], "rgb": [254, 215, 99], "semantic_id": 1, "pcd_info": {"point_index": 645}, "mesh_info": {"face_index": 17899, "face_uv": [0.002722420805768159, 0.39558353887518316, 0.6016940403190483]}}, {"xyz": [0.1833785087932248, 0.08729343377265297, 0.11470326852686244], "rgb": [254, 215, 99], "semantic_id": 2, "pcd_info": {"point_index": 1870}, "mesh_info": {"face_index": 12150, "face_uv": [0.15198313968574914, 0.04887070726756245, 0.7991461530466835]}}, {"xyz": [-0.18090611050140865, 0.08703342822844329, 0.11023516714435455], "rgb": [255, 216, 100], "semantic_id": 3, "pcd_info": {"point_index": 1683}, "mesh_info": {"face_index": 7400, "face_uv": [0.23575263497111507, 0.717934107838595, 0.04631325719029709]}}, {"xyz": [0.18404254863280223, 0.09515192117595994, -0.21873320905573646], "rgb": [255, 216, 100], "semantic_id": 4, "pcd_info": {"point_index": 67}, "mesh_info": {"face_index": 2553, "face_uv": [0.27273854882727067, 0.24827249812237934, 0.4789889530503553]}}, {"xyz": [-0.1840313447143197, 0.0950957173841438, -0.21584254075719556], "rgb": [255, 216, 100], "semantic_id": 5, "pcd_info": {"point_index": 593}, "mesh_info": {"face_index": 17646, "face_uv": [0.2793740165561266, 0.35034249644745397, 0.37028348699641966]}}, {"xyz": [0.1808377880890174, -0.3286089897155764, -0.20853801167376673], "rgb": [255, 216, 100], "semantic_id": 17, "pcd_info": {"point_index": 1899}, "mesh_info": {"face_index": 13889, "face_uv": [0.13191763453038619, 0.5384540983443452, 0.3296282671252693]}}, {"xyz": [0.17969335531945127, -0.32860898971557617, 0.18545168429464695], "rgb": [254, 215, 100], "semantic_id": 18, "pcd_info": {"point_index": 1284}, "mesh_info": {"face_index": 12880, "face_uv": [0.4151481260109341, 0.41193323968748513, 0.1729186343015807]}}, {"xyz": [-0.17594188719471232, -0.32860898971557617, 0.18788606161612145], "rgb": [255, 216, 100], "semantic_id": 19, "pcd_info": {"point_index": 1360}, "mesh_info": {"face_index": 17750, "face_uv": [0.25073120307940655, 0.2732813343344423, 0.47598746258615116]}}, {"xyz": [-0.17480973165390754, -0.32860898971557617, -0.21083752359902413], "rgb": [255, 216, 100], "semantic_id": 20, "pcd_info": {"point_index": 1745}, "mesh_info": {"face_index": 19664, "face_uv": [0.28721805484597157, 0.47670242239200494, 0.23607952276202357]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "23af2a09ca2509f817dc12307fee9432", "keypoints": [{"xyz": [0.1655166221721281, 0.497295320967145, 0.16992583452260046], "rgb": [143, 115, 65], "semantic_id": 0, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 2195, "face_uv": [0.1829569617359249, 0.26202174179684573, 0.5550212964672283]}}, {"xyz": [-0.17162434274413618, 0.49903545348122424, 0.17106925957329988], "rgb": [162, 134, 86], "semantic_id": 1, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 1747, "face_uv": [0.13875762965614274, 0.35670599808533615, 0.5045363722585223]}}, {"xyz": [0.13547204754771927, 0.2785759866237638, 0.11407686819484097], "rgb": [151, 123, 73], "semantic_id": 2, "pcd_info": {"point_index": 1492}, "mesh_info": {"face_index": 216, "face_uv": [0.9370487873594812, 0.0624509136310199, 0.0005002990094980859]}}, {"xyz": [-0.13857413413155156, 0.27857598662376426, 0.11488051582444814], "rgb": [230, 201, 156], "semantic_id": 3, "pcd_info": {"point_index": 1325}, "mesh_info": {"face_index": 858, "face_uv": [0.9204657344315615, 0.060185811617544244, 0.019348453950894844]}}, {"xyz": [0.14984307166457345, 0.27857598662376404, -0.15741578457493532], "rgb": [159, 131, 81], "semantic_id": 4, "pcd_info": {"point_index": 1906}, "mesh_info": {"face_index": 217, "face_uv": [0.0009737049554561215, 0.3836411505508984, 0.6153851444936455]}}, {"xyz": [-0.1638961136362324, 0.27857598662376426, -0.15401889795528811], "rgb": [196, 167, 117], "semantic_id": 5, "pcd_info": {"point_index": 995}, "mesh_info": {"face_index": 221, "face_uv": [0.11796514274078249, 0.2677555067862655, 0.6142793504729528]}}, {"xyz": [0.16477712329845665, -0.3431960046291347, -0.1539132328674767], "rgb": [112, 76, 43], "semantic_id": 17, "pcd_info": {"point_index": 516}, "mesh_info": {"face_index": 7158, "face_uv": [0.29094555505007097, 0.5000727560841304, 0.20898168886579743]}}, {"xyz": [0.17330896512805252, -0.3408713231043379, 0.1967811109120089], "rgb": [123, 81, 48], "semantic_id": 18, "pcd_info": {"point_index": 1766}, "mesh_info": {"face_index": 5330, "face_uv": [0.053269491110850005, 0.6427218139344977, 0.3040086949546532]}}, {"xyz": [-0.18305927964875132, -0.33935709605750386, 0.19498827395140161], "rgb": [117, 82, 50], "semantic_id": 19, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 8225, "face_uv": [0.08796762216694336, 0.6776526615175678, 0.234379716315488]}}, {"xyz": [-0.17803069908906086, -0.33582796927793024, -0.1409969049652502], "rgb": [124, 88, 52], "semantic_id": 20, "pcd_info": {"point_index": 720}, "mesh_info": {"face_index": 9851, "face_uv": [0.28175938167257675, 0.1613238299393828, 0.5569167883880409]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "47aca56ff3a7b8a71a782a4379556c7", "keypoints": [{"xyz": [0.1929619192697735, 0.3301810392608262, 0.09916952721410044], "rgb": [255, 249, 249], "semantic_id": 0, "pcd_info": {"point_index": 1872}, "mesh_info": {"face_index": 3561, "face_uv": [0.07103359628218547, 0.9283968888535109, 0.0005695148643039298]}}, {"xyz": [-0.19242105248072636, 0.3317416831399187, 0.1004408798102383], "rgb": [255, 249, 249], "semantic_id": 1, "pcd_info": {"point_index": 1005}, "mesh_info": {"face_index": 5446, "face_uv": [0.009540897462723522, 0.9662876709364003, 0.024171431600877254]}}, {"xyz": [0.15013704026983, 0.1480602938175808, 0.12685195778562797], "rgb": [190, 190, 190], "semantic_id": 2, "pcd_info": {"point_index": 954}, "mesh_info": {"face_index": 3223, "face_uv": [0.21032996012692268, 0.15525516532532968, 0.6344148745477473]}}, {"xyz": [-0.14566069519354574, 0.1571346250662511, 0.13141530369163612], "rgb": [190, 190, 190], "semantic_id": 3, "pcd_info": {"point_index": 1670}, "mesh_info": {"face_index": 2933, "face_uv": [0.24834441272259508, 0.2248057231418326, 0.52684986413557]}}, {"xyz": [0.12749974338800818, 0.15064217399780921, -0.16871802865838093], "rgb": [191, 191, 191], "semantic_id": 4, "pcd_info": {"point_index": 852}, "mesh_info": {"face_index": 513, "face_uv": [0.0746130259686455, 0.37832534857826383, 0.5470616254530911]}}, {"xyz": [-0.11868897798513967, 0.14619667996351438, -0.1698796189396996], "rgb": [191, 191, 191], "semantic_id": 5, "pcd_info": {"point_index": 2039}, "mesh_info": {"face_index": 37512, "face_uv": [0.0011484580995750958, 0.015488568314619656, 0.9833629735858102]}}, {"xyz": [0.17682364275407064, -0.4708396505891259, -0.1949505591071128], "rgb": [191, 191, 191], "semantic_id": 17, "pcd_info": {"point_index": 1790}, "mesh_info": {"face_index": 1190, "face_uv": [0.1967649751270097, 0.35569278279648314, 0.447542242076508]}}, {"xyz": [0.1783636966251647, -0.47111760689106674, 0.1663851953462298], "rgb": [190, 190, 190], "semantic_id": 18, "pcd_info": {"point_index": 1046}, "mesh_info": {"face_index": 30126, "face_uv": [0.7761234525435682, 0.14567954770146432, 0.07819699975496712]}}, {"xyz": [-0.1754298448926218, -0.4700918410970272, 0.1629469271271824], "rgb": [190, 190, 190], "semantic_id": 19, "pcd_info": {"point_index": 829}, "mesh_info": {"face_index": 33035, "face_uv": [0.12196261213842516, 0.26518610190020914, 0.6128512859613637]}}, {"xyz": [-0.17599419779390954, -0.46812447685815783, -0.1867710126936144], "rgb": [190, 190, 190], "semantic_id": 20, "pcd_info": {"point_index": 1088}, "mesh_info": {"face_index": 35931, "face_uv": [0.3725649180799876, 0.6243698532154356, 0.003065228704572569]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "917e8fa5d1253398ca6a405498436716", "keypoints": [{"xyz": [0.16219225701675716, 0.35764043695598113, 0.10334293856077242], "rgb": [152, 89, 42], "semantic_id": 0, "pcd_info": {"point_index": 938}, "mesh_info": {"face_index": 184, "face_uv": [0.15117713317621093, 0.14704082249239492, 0.7017820443313944]}}, {"xyz": [-0.1688911959621342, 0.35384265721192043, 0.1055193358819248], "rgb": [154, 90, 46], "semantic_id": 1, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 64, "face_uv": [0.008664803718906256, 0.11517929503287525, 0.8761559012482187]}}, {"xyz": [0.1667283948194775, -0.013926999643445015, 0.03961886792406455], "rgb": [149, 85, 41], "semantic_id": 2, "pcd_info": {"point_index": 444}, "mesh_info": {"face_index": 126, "face_uv": [0.01031420903769847, 0.9798428352282061, 0.009842955734095398]}}, {"xyz": [-0.15859080934390712, -0.013926999643445015, 0.04113051570338161], "rgb": [151, 88, 44], "semantic_id": 3, "pcd_info": {"point_index": 1840}, "mesh_info": {"face_index": 132, "face_uv": [0.9543809511026371, 0.014576616298056615, 0.031042432599306145]}}, {"xyz": [0.1621627017299101, -0.013926999643445126, -0.2234898870973523], "rgb": [146, 82, 34], "semantic_id": 4, "pcd_info": {"point_index": 1481}, "mesh_info": {"face_index": 126, "face_uv": [0.9681718195540383, 0.008524528575438072, 0.023303651870531548]}}, {"xyz": [-0.16395419788267018, -0.013926999643445015, -0.21895303499958066], "rgb": [150, 87, 41], "semantic_id": 5, "pcd_info": {"point_index": 551}, "mesh_info": {"face_index": 20, "face_uv": [0.015229949813969995, 0.9747267794367899, 0.010043270749240352]}}, {"xyz": [0.14762899374819405, -0.4801349937915802, -0.19163838238353148], "rgb": [144, 80, 32], "semantic_id": 17, "pcd_info": {"point_index": 359}, "mesh_info": {"face_index": 0, "face_uv": [0.38061482361189014, 0.5031111132546867, 0.11627406313342313]}}, {"xyz": [0.15186896525376703, -0.4801349937915802, 0.06767041563839504], "rgb": [149, 83, 36], "semantic_id": 18, "pcd_info": {"point_index": 956}, "mesh_info": {"face_index": 39, "face_uv": [0.30869238206502453, 0.5419482376247144, 0.14935938031026114]}}, {"xyz": [-0.13758033296382477, -0.4801349937915801, 0.07240809215593991], "rgb": [145, 80, 37], "semantic_id": 19, "pcd_info": {"point_index": 1190}, "mesh_info": {"face_index": 180, "face_uv": [0.08230243687850797, 0.48578535327757455, 0.43191220984391726]}}, {"xyz": [-0.14301759646225132, -0.4801349937915801, -0.18906489040401842], "rgb": [152, 85, 37], "semantic_id": 20, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 47, "face_uv": [0.5298473947035258, 0.46567795579918964, 0.0044746494972842275]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3baff0f05a4ac225b872c385efc13c74", "keypoints": [{"xyz": [0.19812908716913433, 0.26953633560369683, 0.10776299254850796], "rgb": [10, 9, 60], "semantic_id": 0, "pcd_info": {"point_index": 192}, "mesh_info": {"face_index": 2635, "face_uv": [0.5051038958448765, 0.09872725676249296, 0.3961688473926306]}}, {"xyz": [-0.19475071349903988, 0.2696596896104695, 0.10889794929678676], "rgb": [2, 4, 41], "semantic_id": 1, "pcd_info": {"point_index": 1441}, "mesh_info": {"face_index": 4510, "face_uv": [0.03351124233906967, 0.13080531119357372, 0.8356834464673566]}}, {"xyz": [0.18730705949487222, -0.17116947210885347, -0.06578946047700596], "rgb": [17, 12, 98], "semantic_id": 2, "pcd_info": {"point_index": 782}, "mesh_info": {"face_index": 10092, "face_uv": [0.5080349672207818, 0.4066302371535251, 0.08533479562569347]}}, {"xyz": [-0.17679089362178985, -0.16198303267261793, -0.08227902681732813], "rgb": [11, 8, 77], "semantic_id": 3, "pcd_info": {"point_index": 1580}, "mesh_info": {"face_index": 9487, "face_uv": [0.5262124460126744, 0.4662276183287098, 0.007559935658612876]}}, {"xyz": [0.17486509078592816, -0.10836369689203884, -0.4381693593177709], "rgb": [10, 10, 74], "semantic_id": 4, "pcd_info": {"point_index": 1659}, "mesh_info": {"face_index": 6574, "face_uv": [0.26960265320697663, 0.5555282806387355, 0.17486906615428863]}}, {"xyz": [-0.17014508155295632, -0.0997084980400792, -0.43690498254417576], "rgb": [7, 6, 72], "semantic_id": 5, "pcd_info": {"point_index": 1753}, "mesh_info": {"face_index": 6729, "face_uv": [0.7998844924581692, 0.16459499241735226, 0.035520515124479304]}}, {"xyz": [0.22713523319804912, -0.017527503430138536, -0.3453880385542133], "rgb": [151, 81, 34], "semantic_id": 6, "pcd_info": {"point_index": 1509}, "mesh_info": {"face_index": 232, "face_uv": [0.012739900215245622, 0.49903595175812143, 0.4882241480266372]}}, {"xyz": [0.22783081135980662, -0.013111166771161864, 0.07625730539101028], "rgb": [145, 77, 33], "semantic_id": 7, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 167, "face_uv": [0.4400850962290893, 0.5141852068328537, 0.04572969693805821]}}, {"xyz": [-0.2172050362187359, -0.020394248450823715, -0.3545074656037208], "rgb": [154, 84, 38], "semantic_id": 8, "pcd_info": {"point_index": 1924}, "mesh_info": {"face_index": 987, "face_uv": [0.07680267211790501, 0.5217128233769261, 0.40148450450516915]}}, {"xyz": [-0.22018323762949765, -0.016791916793015282, 0.06981610044378717], "rgb": [145, 76, 32], "semantic_id": 9, "pcd_info": {"point_index": 1331}, "mesh_info": {"face_index": 798, "face_uv": [0.0007464994188237246, 0.4568508793138854, 0.5424026212672876]}}, {"xyz": [0.22595123898068137, -0.29645499587059043, -0.3370359129085887], "rgb": [161, 93, 47], "semantic_id": 17, "pcd_info": {"point_index": 825}, "mesh_info": {"face_index": 458, "face_uv": [0.4732493020442104, 0.007699340926105423, 0.519051357029685]}}, {"xyz": [0.2263893020564417, -0.2964549958705902, 0.07288574157572358], "rgb": [149, 81, 36], "semantic_id": 18, "pcd_info": {"point_index": 174}, "mesh_info": {"face_index": 490, "face_uv": [0.5172099595623586, 0.042543926719778205, 0.44024611371786315]}}, {"xyz": [-0.2204941710054154, -0.2964549958705902, 0.07314730679427184], "rgb": [149, 81, 36], "semantic_id": 19, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 1122, "face_uv": [0.5499209068934463, 0.03470942788008969, 0.41536966522646396]}}, {"xyz": [-0.2127779069799257, -0.2964549958705902, -0.33294018561740757], "rgb": [160, 93, 47], "semantic_id": 20, "pcd_info": {"point_index": 2002}, "mesh_info": {"face_index": 1090, "face_uv": [0.6181308184829137, 0.024408606985469077, 0.35746057453161706]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "76fa373d984bd515504d5af97121b5f", "keypoints": [{"xyz": [0.2395236659575869, 0.2595388327764374, 0.23427440317899734], "rgb": [104, 29, 20], "semantic_id": 0, "pcd_info": {"point_index": 1153}, "mesh_info": {"face_index": 496, "face_uv": [0.29316246466440543, 0.691996520642214, 0.014841014693380783]}}, {"xyz": [-0.23551874063630063, 0.2599590957796618, 0.23369803225638403], "rgb": [250, 247, 247], "semantic_id": 1, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 174, "face_uv": [0.31629597856327896, 0.6513352592074213, 0.03236876222929969]}}, {"xyz": [0.20283387835301342, -0.05136974770695013, 0.12307344934968334], "rgb": [99, 27, 15], "semantic_id": 2, "pcd_info": {"point_index": 1224}, "mesh_info": {"face_index": 324, "face_uv": [0.03719823375501397, 0.9257231520007636, 0.03707861424422178]}}, {"xyz": [-0.21639748080363108, -0.0772780030965805, 0.12934696174306753], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 944}, "mesh_info": {"face_index": 147, "face_uv": [0.36779145699673643, 0.6144746969690315, 0.017733846034232177]}}, {"xyz": [0.20824661075102854, -0.0494725469057018, -0.23862600326538108], "rgb": [221, 205, 202], "semantic_id": 4, "pcd_info": {"point_index": 391}, "mesh_info": {"face_index": 576, "face_uv": [0.04188200958690518, 0.7848521166296992, 0.17326587378339642]}}, {"xyz": [-0.2030634779287171, -0.06511415165910928, -0.23862600326538108], "rgb": [121, 57, 46], "semantic_id": 5, "pcd_info": {"point_index": 1452}, "mesh_info": {"face_index": 206, "face_uv": [0.06225546606968555, 0.9088959284685507, 0.028848605461764643]}}, {"xyz": [0.21930817267877178, 0.05696420948201997, -0.231375796476677], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 584, "face_uv": [0.07723173615043709, 0.5879742672035602, 0.3347939966460008]}}, {"xyz": [0.2233961403074977, 0.12206971742764394, 0.17700478146193985], "rgb": [253, 252, 251], "semantic_id": 7, "pcd_info": {"point_index": 1934}, "mesh_info": {"face_index": 495, "face_uv": [0.4786235487987558, 0.5088187835667731, 0.012557667634471146]}}, {"xyz": [-0.22844687271765962, 0.05669075947312985, -0.23410581775144695], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 2033}, "mesh_info": {"face_index": 437, "face_uv": [0.048150595581225586, 0.707839416499364, 0.24400998791940728]}}, {"xyz": [-0.22761093125219767, 0.12037338731910285, 0.16996406471343586], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 75}, "mesh_info": {"face_index": 129, "face_uv": [0.6318702904986115, 0.31452152372688125, 0.05360818577450945]}}, {"xyz": [0.22528327635030887, -0.4351010024547577, -0.22802116131428504], "rgb": [106, 29, 17], "semantic_id": 17, "pcd_info": {"point_index": 35}, "mesh_info": {"face_index": 371, "face_uv": [0.2507735544853749, 0.2456611727273257, 0.5035652727872993]}}, {"xyz": [0.23242097945076556, -0.4351010024547577, 0.15829848795430232], "rgb": [95, 18, 8], "semantic_id": 18, "pcd_info": {"point_index": 1060}, "mesh_info": {"face_index": 330, "face_uv": [0.5848886795063365, 0.33036028387127125, 0.08475103662239221]}}, {"xyz": [-0.23035025517191943, -0.4351010024547577, 0.16096483457432845], "rgb": [192, 160, 154], "semantic_id": 19, "pcd_info": {"point_index": 1916}, "mesh_info": {"face_index": 248, "face_uv": [0.4221864516123005, 0.45517177338834386, 0.12264177499935563]}}, {"xyz": [-0.23001397352596809, -0.4351010024547579, -0.2293714847125821], "rgb": [187, 153, 150], "semantic_id": 20, "pcd_info": {"point_index": 1154}, "mesh_info": {"face_index": 308, "face_uv": [0.004705217428367259, 0.43322327804884053, 0.5620715045227928]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b8f4ce34b44620cc9b9f2eb77f5e247e", "keypoints": [{"xyz": [0.17882454820243698, 0.3604394681871823, 0.08591872056759009], "rgb": [225, 224, 220], "semantic_id": 0, "pcd_info": {"point_index": 1277}, "mesh_info": {"face_index": 118, "face_uv": [0.28691270618290127, 0.5684743221869926, 0.144612971630106]}}, {"xyz": [-0.17713480691181677, 0.36124627080751925, 0.08456843481663318], "rgb": [225, 224, 220], "semantic_id": 1, "pcd_info": {"point_index": 1429}, "mesh_info": {"face_index": 115, "face_uv": [0.10948926735312331, 0.3422717772707404, 0.5482389553761361]}}, {"xyz": [0.17716049086544894, -0.09677100181579612, 0.04020702522211145], "rgb": [226, 225, 221], "semantic_id": 2, "pcd_info": {"point_index": 1792}, "mesh_info": {"face_index": 31, "face_uv": [0.00026145941274188393, 0.9729786984057248, 0.02675984218153553]}}, {"xyz": [-0.17874794567926375, -0.0967710018157959, 0.046341450787406646], "rgb": [225, 224, 221], "semantic_id": 3, "pcd_info": {"point_index": 1650}, "mesh_info": {"face_index": 37, "face_uv": [0.9719801890130841, 0.0057098167518759325, 0.022309994235039817]}}, {"xyz": [0.17778400990237975, -0.0967710018157959, -0.23220420015017965], "rgb": [226, 225, 221], "semantic_id": 4, "pcd_info": {"point_index": 638}, "mesh_info": {"face_index": 31, "face_uv": [0.9483057774950873, 0.026600323017915983, 0.02509389948699677]}}, {"xyz": [-0.17858557133345823, -0.09677100181579612, -0.233788351072928], "rgb": [226, 225, 221], "semantic_id": 5, "pcd_info": {"point_index": 1482}, "mesh_info": {"face_index": 30, "face_uv": [0.9772561675993995, 0.021096856064268022, 0.001646976336334993]}}, {"xyz": [0.17319467315036033, -0.45216798782348633, -0.22416179410305076], "rgb": [226, 225, 221], "semantic_id": 17, "pcd_info": {"point_index": 2035}, "mesh_info": {"face_index": 72, "face_uv": [0.42394652138030076, 0.5598147577971074, 0.016238720822591843]}}, {"xyz": [0.16983322891978536, -0.4521679878234861, 0.1015588768788853], "rgb": [225, 224, 220], "semantic_id": 18, "pcd_info": {"point_index": 884}, "mesh_info": {"face_index": 141, "face_uv": [0.10607919658362219, 0.3680474627386062, 0.5258733406777711]}}, {"xyz": [-0.17080302198229813, -0.45216798782348633, 0.10010475049491896], "rgb": [226, 225, 221], "semantic_id": 19, "pcd_info": {"point_index": 1211}, "mesh_info": {"face_index": 109, "face_uv": [0.017799649557088393, 0.4804567298215609, 0.5017436206213507]}}, {"xyz": [-0.17137279777557196, -0.4521679878234862, -0.2229968729270058], "rgb": [225, 224, 220], "semantic_id": 20, "pcd_info": {"point_index": 1183}, "mesh_info": {"face_index": 4, "face_uv": [0.481128365358234, 0.47284811854930076, 0.04602351609246501]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e78f25a1f66c19a38a63c123f2a561a6", "keypoints": [{"xyz": [0.24935816692049578, 0.25373101234436035, 0.03183296773400335], "rgb": [0, 0, 255], "semantic_id": 0, "pcd_info": {"point_index": 1005}, "mesh_info": {"face_index": 383, "face_uv": [0.19560669892166316, 0.46755653809676806, 0.3368367629815688]}}, {"xyz": [-0.24573322172252665, 0.25373101234436035, 0.03313727833257074], "rgb": [0, 0, 255], "semantic_id": 1, "pcd_info": {"point_index": 1760}, "mesh_info": {"face_index": 825, "face_uv": [0.23652257151367218, 0.25794981617717305, 0.5055276123091548]}}, {"xyz": [0.18889760785102178, -0.03137699887156464, 0.035553215172233976], "rgb": [0, 0, 254], "semantic_id": 2, "pcd_info": {"point_index": 901}, "mesh_info": {"face_index": 239, "face_uv": [0.008345235007520475, 0.9731348441378337, 0.018519920854638626]}}, {"xyz": [-0.18308511917306847, -0.03137699887156509, 0.043644672897942716], "rgb": [0, 0, 255], "semantic_id": 3, "pcd_info": {"point_index": 385}, "mesh_info": {"face_index": 238, "face_uv": [0.9822570529343629, 0.013129380483356833, 0.004613566582287385]}}, {"xyz": [0.1793418925441371, -0.03542015483890637, -0.25339002500666374], "rgb": [0, 0, 254], "semantic_id": 4, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 177, "face_uv": [0.014158194449393627, 0.9665177384059119, 0.019324067144690434]}}, {"xyz": [-0.1809178427735446, -0.03523110173656696, -0.2528581123219512], "rgb": [0, 0, 255], "semantic_id": 5, "pcd_info": {"point_index": 1786}, "mesh_info": {"face_index": 177, "face_uv": [0.10384182002374794, 0.018827455269935126, 0.8773307247063193]}}, {"xyz": [0.16921128460642082, -0.39251500368118286, -0.25816764237738876], "rgb": [0, 0, 255], "semantic_id": 17, "pcd_info": {"point_index": 661}, "mesh_info": {"face_index": 81, "face_uv": [0.5339099497450785, 0.46253044215392797, 0.003559608100993491]}}, {"xyz": [0.17029015324206803, -0.3944160044193268, 0.2534092857336585], "rgb": [0, 0, 255], "semantic_id": 18, "pcd_info": {"point_index": 1402}, "mesh_info": {"face_index": 102, "face_uv": [0.5469266914400146, 0.4002986491045303, 0.05277465945545516]}}, {"xyz": [-0.16478434483681084, -0.3944160044193268, 0.2543934504957302], "rgb": [0, 0, 255], "semantic_id": 19, "pcd_info": {"point_index": 1459}, "mesh_info": {"face_index": 126, "face_uv": [0.43498536810234034, 0.4280583834604973, 0.13695624843716242]}}, {"xyz": [-0.1621331765018302, -0.3925150036811831, -0.2609041258097501], "rgb": [0, 0, 255], "semantic_id": 20, "pcd_info": {"point_index": 800}, "mesh_info": {"face_index": 76, "face_uv": [0.4785390837009862, 0.4750636573921941, 0.046397258906820275]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "80bad2242183a77df69c1bc654d8fbbd", "keypoints": [{"xyz": [0.1614757070108876, 0.2903394533068792, 0.040293000638484955], "rgb": [164, 112, 66], "semantic_id": 0, "pcd_info": {"point_index": 751}, "mesh_info": {"face_index": 56, "face_uv": [0.6016933868983053, 0.023135186779617473, 0.3751714263220772]}}, {"xyz": [-0.1580157662301014, 0.29715581374191663, 0.040293000638484955], "rgb": [159, 113, 70], "semantic_id": 1, "pcd_info": {"point_index": 1600}, "mesh_info": {"face_index": 66, "face_uv": [0.15341760695435036, 0.06908366895922823, 0.7774987240864213]}}, {"xyz": [0.15647008145437277, -0.08874200284481049, 0.030020059874999783], "rgb": [157, 104, 52], "semantic_id": 2, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 53, "face_uv": [0.03726481449679593, 0.05463510605337384, 0.9081000794498301]}}, {"xyz": [-0.1655013469807799, -0.08739448914176351, 0.040293000638484955], "rgb": [148, 97, 50], "semantic_id": 3, "pcd_info": {"point_index": 1859}, "mesh_info": {"face_index": 55, "face_uv": [0.9683117444085377, 0.0035961891433208574, 0.028092066448141398]}}, {"xyz": [0.16661258894256503, -0.08874200284481049, -0.21450528741429764], "rgb": [169, 120, 78], "semantic_id": 4, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 53, "face_uv": [0.9242738916725607, 0.025853135580580826, 0.049872972746858486]}}, {"xyz": [-0.15646728826454043, -0.08874200284481049, -0.21560875185078587], "rgb": [154, 104, 56], "semantic_id": 5, "pcd_info": {"point_index": 1350}, "mesh_info": {"face_index": 54, "face_uv": [0.07172332095853853, 0.0573247179281175, 0.8709519611133442]}}, {"xyz": [0.15527578998095182, -0.4556489884853363, -0.1998711615154759], "rgb": [162, 113, 70], "semantic_id": 17, "pcd_info": {"point_index": 1125}, "mesh_info": {"face_index": 45, "face_uv": [0.4327319901858932, 0.4916537766268017, 0.07561423318730504]}}, {"xyz": [0.16024833006772976, -0.4556489884853365, 0.08989332663355648], "rgb": [152, 102, 61], "semantic_id": 18, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 1, "face_uv": [0.5646845273267602, 0.3847219341380864, 0.05059353853515377]}}, {"xyz": [-0.16079474958706758, -0.4556489884853365, 0.08696555801063559], "rgb": [144, 95, 57], "semantic_id": 19, "pcd_info": {"point_index": 1462}, "mesh_info": {"face_index": 98, "face_uv": [0.48231619021901356, 0.36366504688274365, 0.15401876289824323]}}, {"xyz": [-0.1546909291722504, -0.4556489884853363, -0.20071902896398686], "rgb": [158, 105, 59], "semantic_id": 20, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 110, "face_uv": [0.44627663029641984, 0.5035069590224307, 0.050216410681149494]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cb8e63317e0ac998e6543556f230fe9c", "keypoints": [{"xyz": [0.17559354073411246, 0.22696437719601414, 0.06633257715549225], "rgb": [164, 77, 24], "semantic_id": 0, "pcd_info": {"point_index": 639}, "mesh_info": {"face_index": 1027, "face_uv": [0.4955473265143293, 0.3500382005647128, 0.154414472920958]}}, {"xyz": [-0.17498290978897735, 0.2269617602691365, 0.06631266487205557], "rgb": [170, 84, 29], "semantic_id": 1, "pcd_info": {"point_index": 1947}, "mesh_info": {"face_index": 212, "face_uv": [0.48598344919793685, 0.3544290046236336, 0.15958754617843074]}}, {"xyz": [0.15924154001129728, -0.18257818210498677, 0.02184710204981305], "rgb": [86, 85, 89], "semantic_id": 2, "pcd_info": {"point_index": 763}, "mesh_info": {"face_index": 3719, "face_uv": [0.4898223692750824, 0.308396724640235, 0.20178090608468074]}}, {"xyz": [-0.17261755782324925, -0.18309122917368026, 0.01974916744192967], "rgb": [70, 69, 74], "semantic_id": 3, "pcd_info": {"point_index": 18}, "mesh_info": {"face_index": 3606, "face_uv": [0.006462007891259856, 0.0007386213212679596, 0.9927993707874716]}}, {"xyz": [0.16957609535797402, -0.18262944895808797, -0.3259747557076417], "rgb": [54, 53, 58], "semantic_id": 4, "pcd_info": {"point_index": 852}, "mesh_info": {"face_index": 3592, "face_uv": [0.010672682034833094, 0.7579290036784359, 0.23139831428673022]}}, {"xyz": [-0.16420680555185652, -0.18264399468898773, -0.32203710559842125], "rgb": [253, 252, 252], "semantic_id": 5, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 3574, "face_uv": [0.007768033593572149, 0.988196002756976, 0.004035963649451712]}}, {"xyz": [0.17345747336920578, -0.5852000117301941, -0.325693086840897], "rgb": [163, 72, 18], "semantic_id": 17, "pcd_info": {"point_index": 239}, "mesh_info": {"face_index": 703, "face_uv": [0.43456039346623027, 0.5066313226081262, 0.05880828392564344]}}, {"xyz": [0.1755094042305897, -0.5852000117301941, 0.05742648979448686], "rgb": [178, 87, 32], "semantic_id": 18, "pcd_info": {"point_index": 227}, "mesh_info": {"face_index": 881, "face_uv": [0.5068548577011802, 0.4292944016519914, 0.06385074064682843]}}, {"xyz": [-0.17543839576910214, -0.5852000117301941, 0.053182672808688575], "rgb": [167, 88, 34], "semantic_id": 19, "pcd_info": {"point_index": 1481}, "mesh_info": {"face_index": 369, "face_uv": [0.4729784825582945, 0.4737705265771683, 0.0532509908645372]}}, {"xyz": [-0.16901096227309678, -0.5852000117301941, -0.33005149546057255], "rgb": [165, 73, 24], "semantic_id": 20, "pcd_info": {"point_index": 1403}, "mesh_info": {"face_index": 491, "face_uv": [0.3435064108491129, 0.5763243744625899, 0.08016921468829726]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6534f04a1c349a3c8c6540fe6bc16d6f", "keypoints": [{"xyz": [0.1770655860315679, 0.39231706067785393, 0.007856686664544643], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 603}, "mesh_info": {"face_index": 997, "face_uv": [0.2047807994793448, 0.00018526650815846196, 0.7950339340124997]}}, {"xyz": [-0.17606882683329256, 0.39705224210537005, 0.00849560222440715], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 642}, "mesh_info": {"face_index": 1507, "face_uv": [0.2661240998608411, 0.09551433828703565, 0.6383615618521242]}}, {"xyz": [0.16774388916987204, 0.0009331277856587938, 0.02984616187289091], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1849}, "mesh_info": {"face_index": 3388, "face_uv": [0.1780353996404832, 0.008053989060096035, 0.813910611299424]}}, {"xyz": [-0.16526373732653954, 0.0011851341569621976, 0.03314315681094482], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 90}, "mesh_info": {"face_index": 4405, "face_uv": [0.5242842343181194, 0.4667003679540219, 0.00901539772785829]}}, {"xyz": [0.18447799629890715, -0.028900141733658513, -0.25802901387214683], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1614}, "mesh_info": {"face_index": 19, "face_uv": [0.22517734783952195, 0.00808719879877698, 0.7667354533617019]}}, {"xyz": [-0.1786713029464523, -0.04093831787381719, -0.2580290138721466], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 836}, "mesh_info": {"face_index": 1765, "face_uv": [0.6397451725065443, 0.28040103522694115, 0.07985379226651455]}}, {"xyz": [0.16100847700368176, -0.44994213187844895, -0.24806199967861176], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 2946, "face_uv": [0.4333040408464299, 0.048912458061125506, 0.5177835010924446]}}, {"xyz": [0.1623640347992068, -0.45111881853846797, 0.034240998327732086], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1348}, "mesh_info": {"face_index": 3346, "face_uv": [0.3976248938268266, 0.0301703366820832, 0.5722047694910902]}}, {"xyz": [-0.15565669282021644, -0.4489308553129858, 0.03424099832773231], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 2028}, "mesh_info": {"face_index": 2547, "face_uv": [0.40015263010706786, 0.06501994766030066, 0.5348274222326379]}}, {"xyz": [-0.15098333924961788, -0.4511158385339303, -0.24806199967861176], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 2146, "face_uv": [0.41182177122285707, 0.03021780183032858, 0.5579604269468145]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "116a9cd5ac9a008ee8cb931b01d0a372", "keypoints": [{"xyz": [0.11610794905759658, 0.34290599822998047, 0.10838668141671898], "rgb": [158, 107, 60], "semantic_id": 0, "pcd_info": {"point_index": 1142}, "mesh_info": {"face_index": 211, "face_uv": [0.052094679027140364, 0.0007013165658281694, 0.9472040044070315]}}, {"xyz": [-0.14893588213076758, 0.34290599822998047, 0.10751550723439257], "rgb": [167, 115, 68], "semantic_id": 1, "pcd_info": {"point_index": 895}, "mesh_info": {"face_index": 85, "face_uv": [0.03375601428592475, 0.010849184450994807, 0.9553948012630805]}}, {"xyz": [0.11312444405931521, -0.04168289888796117, 0.15172599256038666], "rgb": [157, 107, 62], "semantic_id": 2, "pcd_info": {"point_index": 1833}, "mesh_info": {"face_index": 40, "face_uv": [0.10186467608714583, 0.29706476077213445, 0.6010705631407197]}}, {"xyz": [-0.14373390019397436, -0.020048973946342474, 0.10597100108861923], "rgb": [155, 103, 63], "semantic_id": 3, "pcd_info": {"point_index": 1651}, "mesh_info": {"face_index": 259, "face_uv": [0.15475619064872473, 0.0213782794019361, 0.8238655299493391]}}, {"xyz": [0.08743956850200513, -0.020298710751213034, -0.13551500439643882], "rgb": [163, 116, 70], "semantic_id": 4, "pcd_info": {"point_index": 629}, "mesh_info": {"face_index": 152, "face_uv": [0.014661866677219682, 0.9268165090507826, 0.05852162427199941]}}, {"xyz": [-0.11525811578577172, -0.021902000531554222, -0.12936268090813097], "rgb": [165, 114, 70], "semantic_id": 5, "pcd_info": {"point_index": 1976}, "mesh_info": {"face_index": 53, "face_uv": [0.18138104768843358, 0.7951347052701143, 0.02348424704145202]}}, {"xyz": [0.11591770106975419, 0.08723573741560342, -0.1355150043964386], "rgb": [157, 115, 66], "semantic_id": 6, "pcd_info": {"point_index": 305}, "mesh_info": {"face_index": 0, "face_uv": [0.9878496963091152, 0.0019502507562887802, 0.010200052934595897]}}, {"xyz": [0.1132022911054722, 0.08744899928569794, 0.10514491427068484], "rgb": [164, 119, 73], "semantic_id": 7, "pcd_info": {"point_index": 800}, "mesh_info": {"face_index": 8, "face_uv": [0.16216723512035208, 0.0993643695049818, 0.7384683953746661]}}, {"xyz": [-0.15184499323368061, 0.08428580713854261, -0.13073379641743688], "rgb": [165, 115, 72], "semantic_id": 8, "pcd_info": {"point_index": 1476}, "mesh_info": {"face_index": 147, "face_uv": [0.9158249607907694, 0.0749701543029463, 0.009204884906283545]}}, {"xyz": [-0.146607235328068, 0.08586700260639168, 0.1028774433184233], "rgb": [144, 92, 50], "semantic_id": 9, "pcd_info": {"point_index": 1577}, "mesh_info": {"face_index": 295, "face_uv": [0.14067693822172253, 0.8465125564076559, 0.012810505370618975]}}, {"xyz": [0.11228759815512994, -0.28647899627685547, -0.12806961111598464], "rgb": [164, 119, 81], "semantic_id": 17, "pcd_info": {"point_index": 829}, "mesh_info": {"face_index": 34, "face_uv": [0.07683137751975257, 0.11974664154251845, 0.803421980937729]}}, {"xyz": [0.11133376090800856, -0.3017120063304901, 0.15143585396549802], "rgb": [168, 124, 77], "semantic_id": 18, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 227, "face_uv": [0.006341135372468724, 0.10845240930041464, 0.8852064553271166]}}, {"xyz": [-0.14741216335394386, -0.3030509948730469, 0.1472371133784306], "rgb": [171, 124, 77], "semantic_id": 19, "pcd_info": {"point_index": 1188}, "mesh_info": {"face_index": 268, "face_uv": [0.0016733136762416847, 0.13233911161299577, 0.8659875747107625]}}, {"xyz": [-0.14850445199200557, -0.2797279953956604, -0.13174592390599438], "rgb": [165, 114, 69], "semantic_id": 20, "pcd_info": {"point_index": 710}, "mesh_info": {"face_index": 129, "face_uv": [0.7735101813894233, 0.10641718315456418, 0.12007263545601252]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "672a6459e7606b23532a8e162f399205", "keypoints": [{"xyz": [0.18623145642945832, 0.3950182243918676, 0.23320340888634744], "rgb": [147, 108, 65], "semantic_id": 0, "pcd_info": {"point_index": 963}, "mesh_info": {"face_index": 1647, "face_uv": [0.008678201675588894, 0.5944291945225454, 0.3968926038018657]}}, {"xyz": [-0.18626650417585794, 0.3913738840083265, 0.2337345927620022], "rgb": [141, 102, 58], "semantic_id": 1, "pcd_info": {"point_index": 1489}, "mesh_info": {"face_index": 3211, "face_uv": [0.02066810273719612, 0.7027080063637315, 0.27662389089907163]}}, {"xyz": [0.17929295372985454, -0.009634543187187372, 0.15871483829277344], "rgb": [162, 127, 84], "semantic_id": 2, "pcd_info": {"point_index": 1987}, "mesh_info": {"face_index": 1221, "face_uv": [0.10827925958287346, 0.3291499612814956, 0.5625707791356248]}}, {"xyz": [-0.18244808756013475, -0.0091799725635906, 0.1651177042670986], "rgb": [160, 126, 82], "semantic_id": 3, "pcd_info": {"point_index": 2011}, "mesh_info": {"face_index": 2881, "face_uv": [0.8368027427340525, 0.15384522167264522, 0.009352035593297253]}}, {"xyz": [0.18316385153726886, 0.011933948193119992, -0.21080890704788957], "rgb": [148, 114, 71], "semantic_id": 4, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 258, "face_uv": [0.8256130746692194, 0.11916046188841974, 0.0552264634423632]}}, {"xyz": [-0.18253898636677957, 0.01296981003301867, -0.21630680041506822], "rgb": [145, 112, 70], "semantic_id": 5, "pcd_info": {"point_index": 1703}, "mesh_info": {"face_index": 1958, "face_uv": [0.14134226723709162, 0.8398862546460388, 0.01877147811687096]}}, {"xyz": [0.18031657934586753, -0.3957659900188446, -0.21509607783634865], "rgb": [184, 150, 105], "semantic_id": 17, "pcd_info": {"point_index": 1705}, "mesh_info": {"face_index": 1212, "face_uv": [0.08031883510689618, 0.2722755363839685, 0.6474056285091353]}}, {"xyz": [0.17879729252600068, -0.3957659900188446, 0.2548667935110115], "rgb": [198, 168, 128], "semantic_id": 18, "pcd_info": {"point_index": 1041}, "mesh_info": {"face_index": 1440, "face_uv": [0.1781627121202813, 0.6433102375721619, 0.17852705030755686]}}, {"xyz": [-0.1852169930934906, -0.38928613455686767, 0.25368654906015764], "rgb": [194, 163, 124], "semantic_id": 19, "pcd_info": {"point_index": 1160}, "mesh_info": {"face_index": 3072, "face_uv": [0.01834099637565936, 0.8310085383393243, 0.15065046528501633]}}, {"xyz": [-0.18168880699405043, -0.3957659900188446, -0.21239330172446563], "rgb": [186, 153, 109], "semantic_id": 20, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 3027, "face_uv": [0.19616367457329179, 0.19603217445740945, 0.6078041509692987]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9c1ee97e493fa79ce83221ad0d21775", "keypoints": [{"xyz": [0.22558635691595952, 0.3278371698519791, 0.21073952546609676], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 1219}, "mesh_info": {"face_index": 4954, "face_uv": [0.03292626536723192, 0.31347330858055356, 0.6536004260522146]}}, {"xyz": [-0.22980789686965064, 0.3267619613583148, 0.20587916254284222], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 644}, "mesh_info": {"face_index": 7689, "face_uv": [0.10424024222296949, 0.3501707602954325, 0.5455889974815984]}}, {"xyz": [0.21353692343230818, 0.07900119118474103, 0.06420315142736066], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 274}, "mesh_info": {"face_index": 13956, "face_uv": [0.7875883170094045, 0.1034628859941713, 0.10894879699642536]}}, {"xyz": [-0.22419966984072964, 0.0805396645248071, 0.059462722611593355], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 546}, "mesh_info": {"face_index": 19808, "face_uv": [0.00776466394010189, 0.3028912053640628, 0.6893441306958361]}}, {"xyz": [0.21558555512926714, 0.039799072775532185, -0.27919197853517175], "rgb": [223, 200, 164], "semantic_id": 4, "pcd_info": {"point_index": 604}, "mesh_info": {"face_index": 16022, "face_uv": [0.0078780657953954, 0.942184193780383, 0.04993774042422154]}}, {"xyz": [-0.2296632711071922, 0.022291330545375354, -0.2757287437549475], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 594}, "mesh_info": {"face_index": 18090, "face_uv": [0.8919912491535139, 0.05741429940231498, 0.05059445144417121]}}, {"xyz": [0.2670113851337773, 0.18409960041363738, -0.29654758579062923], "rgb": [160, 72, 19], "semantic_id": 6, "pcd_info": {"point_index": 1900}, "mesh_info": {"face_index": 42966, "face_uv": [0.1768161492953395, 0.7215809568345966, 0.10160289387006427]}}, {"xyz": [0.26548619362947556, 0.20041482181069536, 0.2478008848059267], "rgb": [176, 81, 19], "semantic_id": 7, "pcd_info": {"point_index": 1290}, "mesh_info": {"face_index": 40721, "face_uv": [0.5060009088305039, 0.36976820393754695, 0.12423088723194929]}}, {"xyz": [-0.2652352913426253, 0.18805450736869522, -0.29579655633703617], "rgb": [157, 70, 19], "semantic_id": 8, "pcd_info": {"point_index": 1763}, "mesh_info": {"face_index": 50197, "face_uv": [0.41552752940178317, 0.5733383197125326, 0.011134150885684922]}}, {"xyz": [-0.2676839756849866, 0.20046930530876295, 0.24775280090874285], "rgb": [174, 80, 19], "semantic_id": 9, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 48297, "face_uv": [0.2015754988229261, 0.7340000399798571, 0.06442446119721716]}}, {"xyz": [0.2628350312793361, -0.2533659934997561, -0.24676117223923127], "rgb": [168, 165, 147], "semantic_id": 17, "pcd_info": {"point_index": 1747}, "mesh_info": {"face_index": 34635, "face_uv": [0.5123543534033966, 0.38868517091976146, 0.09896047567684273]}}, {"xyz": [0.26870132858537693, -0.2533659934997561, 0.21253268649516543], "rgb": [168, 165, 147], "semantic_id": 18, "pcd_info": {"point_index": 234}, "mesh_info": {"face_index": 34995, "face_uv": [0.3340452765250439, 0.1419963690377512, 0.5239583544372057]}}, {"xyz": [-0.26521432873196515, -0.25336599349975586, 0.2072655295621888], "rgb": [168, 165, 147], "semantic_id": 19, "pcd_info": {"point_index": 489}, "mesh_info": {"face_index": 64835, "face_uv": [0.042542787909911464, 0.8853171463502127, 0.07214006573987591]}}, {"xyz": [-0.26568868674780605, -0.25336599349975586, -0.2452378637521584], "rgb": [168, 165, 147], "semantic_id": 20, "pcd_info": {"point_index": 892}, "mesh_info": {"face_index": 64446, "face_uv": [0.1180789682554429, 0.8729661415039804, 0.008954890240576678]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5c6c95a9a99d452e1d2651c636d3967d", "keypoints": [{"xyz": [0.13361008638447874, 0.5447455668163133, 0.14713543519149605], "rgb": [194, 153, 109], "semantic_id": 0, "pcd_info": {"point_index": 1401}, "mesh_info": {"face_index": 13508, "face_uv": [0.02061527410646084, 0.37106327853546056, 0.6083214473580784]}}, {"xyz": [-0.14392568007062997, 0.5444609173774119, 0.1364733566958492], "rgb": [193, 155, 109], "semantic_id": 1, "pcd_info": {"point_index": 268}, "mesh_info": {"face_index": 4826, "face_uv": [0.6735384090481389, 0.04808260450546093, 0.2783789864464005]}}, {"xyz": [0.12933810914929897, 0.01619499921798706, 0.10352598228488685], "rgb": [200, 153, 107], "semantic_id": 2, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 860, "face_uv": [0.7022956222788608, 0.0064870364670286075, 0.2912173412541106]}}, {"xyz": [-0.13433063215377014, 0.01619499921798706, 0.09607885971275532], "rgb": [198, 153, 106], "semantic_id": 3, "pcd_info": {"point_index": 359}, "mesh_info": {"face_index": 474, "face_uv": [0.5579893862582047, 0.001046854717077716, 0.4409637590247176]}}, {"xyz": [0.18844838470533537, 0.010629022234490082, -0.17194850031175557], "rgb": [182, 145, 92], "semantic_id": 4, "pcd_info": {"point_index": 2026}, "mesh_info": {"face_index": 9298, "face_uv": [0.9576684655456361, 0.03638712730185455, 0.005944407152509587]}}, {"xyz": [-0.174252925949679, 0.010955026236728005, -0.18401009793055945], "rgb": [189, 152, 99], "semantic_id": 5, "pcd_info": {"point_index": 35}, "mesh_info": {"face_index": 6656, "face_uv": [0.16452425284633418, 0.08444848215878892, 0.7510272649948766]}}, {"xyz": [0.17329638843497908, -0.30915799736976635, -0.1578170412053584], "rgb": [200, 162, 115], "semantic_id": 17, "pcd_info": {"point_index": 856}, "mesh_info": {"face_index": 8926, "face_uv": [0.5317631361217837, 0.39962622818327015, 0.06861063569494645]}}, {"xyz": [0.12215043447523025, -0.30915799736976624, 0.16000725155735054], "rgb": [180, 141, 95], "semantic_id": 18, "pcd_info": {"point_index": 1589}, "mesh_info": {"face_index": 13867, "face_uv": [0.3816283994710648, 0.18497482052357692, 0.43339678000535825]}}, {"xyz": [-0.13635427906043054, -0.30915799736976624, 0.1480269199798343], "rgb": [181, 142, 96], "semantic_id": 19, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 3991, "face_uv": [0.3057961062209549, 0.16782365883722083, 0.5263802349418243]}}, {"xyz": [-0.16741573638491639, -0.30915799736976624, -0.16216130405542148], "rgb": [200, 161, 114], "semantic_id": 20, "pcd_info": {"point_index": 1605}, "mesh_info": {"face_index": 7043, "face_uv": [0.5544962396361979, 0.03594797171242003, 0.40955578865138204]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "55eeb952519ceb87c3bd24f986301745", "keypoints": [{"xyz": [0.24867344048938944, 0.35567103256921284, 0.22011230557525197], "rgb": [166, 160, 152], "semantic_id": 0, "pcd_info": {"point_index": 1116}, "mesh_info": {"face_index": 1244, "face_uv": [0.22936696683178573, 0.2995547938280523, 0.4710782393401617]}}, {"xyz": [-0.26315170958280565, 0.36516249831252057, 0.2231677164007178], "rgb": [154, 147, 138], "semantic_id": 1, "pcd_info": {"point_index": 773}, "mesh_info": {"face_index": 8605, "face_uv": [0.25944388136018653, 0.33366060707061806, 0.40689551156919573]}}, {"xyz": [0.2270934219209555, 0.019845169035719756, 0.10036148961104498], "rgb": [176, 172, 163], "semantic_id": 2, "pcd_info": {"point_index": 1536}, "mesh_info": {"face_index": 1671, "face_uv": [0.9791877230249892, 0.009399882648749313, 0.01141239432626607]}}, {"xyz": [-0.2593744144464195, 0.0222991880107124, 0.10848998185276433], "rgb": [97, 91, 83], "semantic_id": 3, "pcd_info": {"point_index": 1951}, "mesh_info": {"face_index": 2751, "face_uv": [0.4759382644707652, 0.04779998398418128, 0.47626175154505457]}}, {"xyz": [0.2435611579083568, 0.043662913833212524, -0.3319737264467324], "rgb": [147, 137, 133], "semantic_id": 4, "pcd_info": {"point_index": 27}, "mesh_info": {"face_index": 2693, "face_uv": [0.4622006813426664, 0.049497343028328804, 0.48830197562900474]}}, {"xyz": [-0.2629688493084576, 0.05379949755952762, -0.3343889725560605], "rgb": [188, 182, 176], "semantic_id": 5, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 2204, "face_uv": [0.4363686475574268, 0.29716572228469923, 0.2664656301578744]}}, {"xyz": [0.2623969064229747, -0.1953150216970987, -0.23008276086928153], "rgb": [142, 142, 142], "semantic_id": 17, "pcd_info": {"point_index": 1147}, "mesh_info": {"face_index": 10207, "face_uv": [0.13986344483013563, 0.2715693270766358, 0.5885672280932287]}}, {"xyz": [0.26164895617331946, -0.198989897280325, 0.10797405774130672], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 692}, "mesh_info": {"face_index": 6449, "face_uv": [0.5415061855085892, 0.09517393302408719, 0.3633198814673242]}}, {"xyz": [-0.2805970703865668, -0.19794129805261051, 0.10761000208587643], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 140}, "mesh_info": {"face_index": 11705, "face_uv": [0.07269980818677639, 0.7528320052381028, 0.17446818657510396]}}, {"xyz": [-0.2817721549758694, -0.1984208323250325, -0.24373424842137198], "rgb": [205, 212, 222], "semantic_id": 20, "pcd_info": {"point_index": 563}, "mesh_info": {"face_index": 14310, "face_uv": [0.27271118151982915, 0.20013206073847192, 0.5271567577417031]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8654342caec219e07cbc6cda01aaca49", "keypoints": [{"xyz": [0.12978404458996648, 0.204834038601996, 0.0032913880933074235], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 42}, "mesh_info": {"face_index": 530, "face_uv": [0.04508339546322963, 0.9320447807944295, 0.02287182374234105]}}, {"xyz": [-0.12624913400126267, 0.20517628689540834, -0.000818000000436081], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 871}, "mesh_info": {"face_index": 465, "face_uv": [0.5973024565371564, 0.3746845715652118, 0.028012971897903274]}}, {"xyz": [0.08232780982801058, -0.16850200295448325, 0.0040936592829328156], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 422}, "mesh_info": {"face_index": 400, "face_uv": [0.059042924107636154, 0.284138284511292, 0.6568187913810731]}}, {"xyz": [-0.09773799761308977, -0.1559323274846065, -0.000818000000435859], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 764}, "mesh_info": {"face_index": 246, "face_uv": [0.10388096947339703, 0.8197172383692843, 0.0764017921573186]}}, {"xyz": [0.07442484397070323, -0.16850200295448314, -0.2096973876089061], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1588}, "mesh_info": {"face_index": 66, "face_uv": [0.00761959746189687, 0.9297576075366273, 0.06262279500147648]}}, {"xyz": [-0.07541924607116635, -0.16850200295448303, -0.21956342830335718], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1590}, "mesh_info": {"face_index": 66, "face_uv": [0.3339098821064097, 0.08988558616741539, 0.576204531726175]}}, {"xyz": [0.12304425268002775, -0.07065799832344066, -0.23701763835359513], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 830}, "mesh_info": {"face_index": 45, "face_uv": [0.011245362385697719, 0.40325019436570825, 0.5855044432485955]}}, {"xyz": [0.12107553251670411, -0.07065799832344033, -0.008332937103975091], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1143}, "mesh_info": {"face_index": 44, "face_uv": [0.0314582569402348, 0.5641944489933081, 0.40434729406645403]}}, {"xyz": [-0.12228561212185451, -0.07065799832344055, -0.23112683361661301], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 569}, "mesh_info": {"face_index": 143, "face_uv": [0.035904843422930655, 0.5098078045342389, 0.4542873520428304]}}, {"xyz": [-0.12109647742827755, -0.07065799832344055, -0.00884607067609866], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1605}, "mesh_info": {"face_index": 443, "face_uv": [0.456537626886336, 0.5098560891794413, 0.03360628393422272]}}, {"xyz": [0.12364162991299779, -0.6425189971923828, -0.19747569579263802], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1444}, "mesh_info": {"face_index": 156, "face_uv": [0.30169983895949776, 0.606628217625422, 0.09167194341508024]}}, {"xyz": [0.12961750200656977, -0.4348378914610409, 0.059654001146554975], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1166}, "mesh_info": {"face_index": 196, "face_uv": [0.2945529401279748, 0.25190077808988115, 0.45354628178214446]}}, {"xyz": [-0.12228193667139224, -0.6425189971923826, 0.04038968067994039], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 68}, "mesh_info": {"face_index": 525, "face_uv": [0.1911810766146291, 0.49025297383479643, 0.3185659495505741]}}, {"xyz": [-0.12419385193329353, -0.6425189971923828, -0.2027665421669042], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1963}, "mesh_info": {"face_index": 0, "face_uv": [0.38919089791104294, 0.45863696035654244, 0.15217214173241467]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9d7d7607e1ba099bd98e59dfd5823115", "keypoints": [{"xyz": [0.1538936640344682, 0.4698520004749298, 0.12712384206091865], "rgb": [154, 87, 44], "semantic_id": 0, "pcd_info": {"point_index": 299}, "mesh_info": {"face_index": 156, "face_uv": [0.40312216205544776, 0.5684972703041201, 0.028380567640432154]}}, {"xyz": [-0.15656253297632466, 0.4698520004749298, 0.13299840624724119], "rgb": [155, 86, 40], "semantic_id": 1, "pcd_info": {"point_index": 820}, "mesh_info": {"face_index": 447, "face_uv": [0.06055798637857546, 0.4131430222312187, 0.5262989913902059]}}, {"xyz": [0.16844878994274853, 0.07350999861955643, 0.10094174014379019], "rgb": [147, 78, 36], "semantic_id": 2, "pcd_info": {"point_index": 1945}, "mesh_info": {"face_index": 109, "face_uv": [0.7512083691529392, 0.21956313183139853, 0.02922849901566229]}}, {"xyz": [-0.16276211165169047, 0.07350999861955665, 0.10263301938522268], "rgb": [149, 81, 39], "semantic_id": 3, "pcd_info": {"point_index": 1777}, "mesh_info": {"face_index": 112, "face_uv": [0.1300240955372509, 0.8457582765638154, 0.02421762789893683]}}, {"xyz": [0.1712750474244394, 0.07350999861955643, -0.20820464455717258], "rgb": [164, 99, 57], "semantic_id": 4, "pcd_info": {"point_index": 1153}, "mesh_info": {"face_index": 104, "face_uv": [0.9451580817771708, 0.04474219952908649, 0.010099718693742692]}}, {"xyz": [-0.16743461688762173, 0.07350999861955643, -0.20295384776226183], "rgb": [152, 87, 45], "semantic_id": 5, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 102, "face_uv": [0.8808390145930387, 0.07039882056920524, 0.04876216483775609]}}, {"xyz": [0.15453522999421343, -0.3788529932498932, -0.19753796743356203], "rgb": [155, 91, 48], "semantic_id": 17, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 471, "face_uv": [0.17868364975425066, 0.40122783037587345, 0.4200885198698759]}}, {"xyz": [0.1549388568346047, -0.3788529932498932, 0.12439738591671315], "rgb": [152, 87, 45], "semantic_id": 18, "pcd_info": {"point_index": 387}, "mesh_info": {"face_index": 0, "face_uv": [0.4307625235222902, 0.3594009480568344, 0.2098365284208753]}}, {"xyz": [-0.1609427774525573, -0.3788529932498932, 0.13307965386652398], "rgb": [157, 94, 47], "semantic_id": 19, "pcd_info": {"point_index": 1954}, "mesh_info": {"face_index": 452, "face_uv": [0.4104624293507452, 0.5890055903979157, 0.0005319802513391615]}}, {"xyz": [-0.1571092453351342, -0.3788529932498932, -0.19526182172985118], "rgb": [153, 91, 46], "semantic_id": 20, "pcd_info": {"point_index": 656}, "mesh_info": {"face_index": 463, "face_uv": [0.02673789611981864, 0.461421045240672, 0.5118410586395093]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "50aa55467c87774b7215a1e3ffbff428", "keypoints": [{"xyz": [0.17964755337879001, 0.32967251843158696, 0.13447347163582446], "rgb": [228, 228, 228], "semantic_id": 0, "pcd_info": {"point_index": 1769}, "mesh_info": {"face_index": 2236, "face_uv": [0.23113897691655805, 0.4921668022801715, 0.27669422080326994]}}, {"xyz": [-0.1759536894594667, 0.32788525756960274, 0.1405360469835953], "rgb": [201, 201, 201], "semantic_id": 1, "pcd_info": {"point_index": 1912}, "mesh_info": {"face_index": 1694, "face_uv": [0.3360805655779293, 0.6522407432378978, 0.011678691184173499]}}, {"xyz": [0.17976682463329702, -0.09502905656780669, 0.0872990107988658], "rgb": [231, 231, 231], "semantic_id": 2, "pcd_info": {"point_index": 257}, "mesh_info": {"face_index": 1337, "face_uv": [0.10518613934034711, 0.30220553926884547, 0.5926083213908104]}}, {"xyz": [-0.1766275604216505, -0.0948263212091045, 0.08488384909841715], "rgb": [194, 194, 194], "semantic_id": 3, "pcd_info": {"point_index": 839}, "mesh_info": {"face_index": 1928, "face_uv": [0.4593928624109336, 0.17848168792593155, 0.3621254496631324]}}, {"xyz": [0.17117380349198377, -0.09746028986215172, -0.2619263370266126], "rgb": [213, 213, 213], "semantic_id": 4, "pcd_info": {"point_index": 199}, "mesh_info": {"face_index": 1315, "face_uv": [0.3755036255436243, 0.4405568182058975, 0.18393955625047922]}}, {"xyz": [-0.1730707004435173, -0.09702473226487296, -0.2576865635961457], "rgb": [216, 216, 216], "semantic_id": 5, "pcd_info": {"point_index": 750}, "mesh_info": {"face_index": 1996, "face_uv": [0.02778558683466065, 0.468605534696496, 0.5036088784688446]}}, {"xyz": [0.17590768448481126, -0.477322995662689, -0.25944100273062365], "rgb": [221, 221, 221], "semantic_id": 17, "pcd_info": {"point_index": 806}, "mesh_info": {"face_index": 1979, "face_uv": [0.13583826775772834, 0.4177313942208573, 0.44643033802141385]}}, {"xyz": [0.17325907612116165, -0.4773229956626892, 0.1290621470349388], "rgb": [209, 209, 209], "semantic_id": 18, "pcd_info": {"point_index": 1441}, "mesh_info": {"face_index": 1884, "face_uv": [0.09299564462738977, 0.49701919768759395, 0.40998515768501625]}}, {"xyz": [-0.1696653024921464, -0.4773229956626892, 0.13527039964131654], "rgb": [215, 215, 215], "semantic_id": 19, "pcd_info": {"point_index": 1641}, "mesh_info": {"face_index": 2190, "face_uv": [0.02528735519930883, 0.5705513705358451, 0.404161274264846]}}, {"xyz": [-0.17070547569721606, -0.4773229956626892, -0.2598985255596434], "rgb": [215, 215, 215], "semantic_id": 20, "pcd_info": {"point_index": 206}, "mesh_info": {"face_index": 1605, "face_uv": [0.43273410249453015, 0.46058781740130655, 0.10667808010416331]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "280d49c0833e2dcecbdbd70308cc5247", "keypoints": [{"xyz": [0.1972694147598751, 0.4311979776325996, 0.15038300781469716], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 530, "face_uv": [0.8653135122501934, 0.00974240165620775, 0.12494408609359905]}}, {"xyz": [-0.19624493464159287, 0.43153472946174565, 0.16206390579336474], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 969}, "mesh_info": {"face_index": 540, "face_uv": [0.08630525486018215, 0.004606372921282461, 0.9090883722185352]}}, {"xyz": [0.20091444283263168, 0.05669499933719635, 0.12286985260419503], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 783, "face_uv": [0.004675482031779915, 0.0006125531714536933, 0.9947119647967665]}}, {"xyz": [-0.19105360685137737, 0.05669499933719635, 0.11484663755579516], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1073}, "mesh_info": {"face_index": 827, "face_uv": [0.9723269283561233, 0.01760930052933168, 0.01006377111454505]}}, {"xyz": [0.19740428619404163, 0.049951718661741085, -0.2337314400778404], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 965, "face_uv": [0.00940458374800957, 0.17834765259086924, 0.8122477636611212]}}, {"xyz": [-0.19607775529796337, 0.04580122158066702, -0.23690296406085898], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 660}, "mesh_info": {"face_index": 419, "face_uv": [0.0031270883126150594, 0.9918477979370461, 0.005025113750337919]}}, {"xyz": [0.16297317362921698, -0.38690900802612316, -0.20617702098980456], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1292}, "mesh_info": {"face_index": 880, "face_uv": [0.12298487693917981, 0.46030917769341434, 0.4167059453674062]}}, {"xyz": [0.16104320482111878, -0.38690900802612316, 0.14877351652434878], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1796}, "mesh_info": {"face_index": 221, "face_uv": [0.36342228343593674, 0.5669676038048659, 0.06961011275919772]}}, {"xyz": [-0.16313523546576453, -0.38690900802612305, 0.13761338513183125], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1842}, "mesh_info": {"face_index": 555, "face_uv": [0.0659829691925265, 0.4940243416446933, 0.4399926891627802]}}, {"xyz": [-0.1578370186965157, -0.38690900802612305, -0.19782337944697137], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1947}, "mesh_info": {"face_index": 125, "face_uv": [0.43617367220517506, 0.43108178648595813, 0.13274454130886684]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6272c21e439e0205c8687ff9b0b4e4ac", "keypoints": [{"xyz": [0.18427795908140518, 0.2270793832127591, 0.10250156151168832], "rgb": [146, 81, 38], "semantic_id": 0, "pcd_info": {"point_index": 729}, "mesh_info": {"face_index": 132, "face_uv": [0.06321980485060068, 0.4478899017497846, 0.4888902933996146]}}, {"xyz": [-0.18864678034871238, 0.23629206708259698, 0.1015334287209872], "rgb": [157, 91, 45], "semantic_id": 1, "pcd_info": {"point_index": 815}, "mesh_info": {"face_index": 20, "face_uv": [0.5017549907920064, 0.22241451063426787, 0.2758304985737258]}}, {"xyz": [0.1842800155928086, -0.12197399884462357, 0.046746399940664346], "rgb": [163, 96, 53], "semantic_id": 2, "pcd_info": {"point_index": 1806}, "mesh_info": {"face_index": 302, "face_uv": [0.014806834747120579, 0.9789913617987468, 0.006201803454132592]}}, {"xyz": [-0.19701582020477232, -0.13474999368190788, 0.05623226612597816], "rgb": [150, 82, 43], "semantic_id": 3, "pcd_info": {"point_index": 428}, "mesh_info": {"face_index": 67, "face_uv": [0.1800700133125408, 0.011692158967105045, 0.8082378277203558]}}, {"xyz": [0.1848232943876515, -0.12197399884462357, -0.31304357549400896], "rgb": [136, 73, 32], "semantic_id": 4, "pcd_info": {"point_index": 1243}, "mesh_info": {"face_index": 302, "face_uv": [0.9888176162153989, 0.006386228518183777, 0.004796155266417167]}}, {"xyz": [-0.1979158857458296, -0.12197399884462357, -0.3131579359797919], "rgb": [155, 86, 44], "semantic_id": 5, "pcd_info": {"point_index": 1056}, "mesh_info": {"face_index": 303, "face_uv": [0.0011504952147875932, 0.9939229173811219, 0.004926587404090433]}}, {"xyz": [0.161951594480119, -0.4769879877567291, -0.29241031362364533], "rgb": [151, 84, 40], "semantic_id": 17, "pcd_info": {"point_index": 851}, "mesh_info": {"face_index": 293, "face_uv": [0.4612258798229358, 0.5188558615001795, 0.0199182586768848]}}, {"xyz": [0.16455943408753218, -0.4769879877567291, 0.1082299707936], "rgb": [152, 84, 39], "semantic_id": 18, "pcd_info": {"point_index": 1296}, "mesh_info": {"face_index": 173, "face_uv": [0.42610488004906216, 0.4098024887078147, 0.1640926312431231]}}, {"xyz": [-0.17047782983694185, -0.4769879877567291, 0.10873294293912086], "rgb": [158, 90, 43], "semantic_id": 19, "pcd_info": {"point_index": 1179}, "mesh_info": {"face_index": 187, "face_uv": [0.5113818972350717, 0.40316697241806465, 0.08545113034686369]}}, {"xyz": [-0.17023785011137646, -0.47698798775672935, -0.29877254313773693], "rgb": [146, 80, 38], "semantic_id": 20, "pcd_info": {"point_index": 1541}, "mesh_info": {"face_index": 322, "face_uv": [0.12136157439747476, 0.38700326581828487, 0.4916351597842408]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b5833d19f6fbd9a78c67f98c135b5710", "keypoints": [{"xyz": [0.11650800328032784, 0.2736731458830457, 0.15876284373759741], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1996}, "mesh_info": {"face_index": 524, "face_uv": [0.6822989746976852, 0.09819590551237749, 0.21950511978994028]}}, {"xyz": [-0.12273943852411529, 0.2751784097370762, 0.16052377159256337], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1940}, "mesh_info": {"face_index": 381, "face_uv": [0.7113838356049369, 0.0907911893861638, 0.19782497500889998]}}, {"xyz": [0.12436978639709301, -0.09673566633201691, 0.059512313089373325], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 492, "face_uv": [0.8483730136704587, 0.04751412020076433, 0.1041128661287786]}}, {"xyz": [-0.12927292892720338, -0.0961249522081411, 0.0541233903937659], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1173}, "mesh_info": {"face_index": 287, "face_uv": [0.7953371513061923, 0.1245218885552631, 0.08014096013854652]}}, {"xyz": [0.1525590152906443, -0.050250729236800296, -0.20508599281311057], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1877}, "mesh_info": {"face_index": 181, "face_uv": [0.045665588914275954, 0.19468411784937695, 0.7596502932363483]}}, {"xyz": [-0.15070159952147197, -0.04894600063562393, -0.20074934314582338], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 872}, "mesh_info": {"face_index": 142, "face_uv": [0.009495983292010162, 0.9454118039352655, 0.045092212772724405]}}, {"xyz": [0.16455018083341627, 0.0311497054740264, -0.2443809400222825], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 682}, "mesh_info": {"face_index": 715, "face_uv": [0.13441424830180235, 0.05126637735626585, 0.8143193743419324]}}, {"xyz": [0.1949686638024013, 0.0338560007512565, 0.11479941671975435], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 819}, "mesh_info": {"face_index": 665, "face_uv": [0.07176228607184168, 0.024855498504288375, 0.9033822154238567]}}, {"xyz": [-0.17231072979678685, 0.023162968401015505, -0.2438533797319089], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 71}, "mesh_info": {"face_index": 842, "face_uv": [0.26634430703858414, 0.5198233229432548, 0.21383237001816116]}}, {"xyz": [-0.201005583299809, 0.033856000751257165, 0.12173198699627857], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 777, "face_uv": [0.9593887540637371, 0.004522637883049839, 0.03608860805321962]}}, {"xyz": [0.15765529818845403, -0.2700130045413971, -0.20026652414334323], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1290}, "mesh_info": {"face_index": 186, "face_uv": [0.5475147165109642, 0.06066574910527241, 0.3918195343837634]}}, {"xyz": [0.13600116992578543, -0.26937499642372154, 0.35591422942101214], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 425}, "mesh_info": {"face_index": 46, "face_uv": [0.2800364968659334, 0.37686054578190004, 0.3431029573521673]}}, {"xyz": [-0.15127467268177422, -0.2693749964237213, 0.3569117248660061], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1325}, "mesh_info": {"face_index": 114, "face_uv": [0.10700922621689297, 0.762748760071882, 0.13024201371122493]}}, {"xyz": [-0.16334639437583634, -0.2700130045413973, -0.18621107879130516], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 162, "face_uv": [0.3239828281079957, 0.2375906716882467, 0.4384265002037584]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8ad35dbc44f40be1492d9da2668ec34c", "keypoints": [{"xyz": [0.18742394260697404, 0.2684735346507945, 0.15528138310839956], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1747}, "mesh_info": {"face_index": 1861, "face_uv": [0.41288934813763745, 0.07108528748944867, 0.5160253643729137]}}, {"xyz": [-0.17668508729964033, 0.2795355736446792, 0.16959134549036037], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1032}, "mesh_info": {"face_index": 2090, "face_uv": [0.09641159750055327, 0.0951537010590715, 0.8084347014403754]}}, {"xyz": [0.16708553563467182, -0.03599040618895244, 0.0754666236260888], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 945}, "mesh_info": {"face_index": 2523, "face_uv": [0.07876817161103834, 0.6346249677494953, 0.28660686063946117]}}, {"xyz": [-0.17223655896471995, -0.035467214928292856, 0.06761893942641972], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1487}, "mesh_info": {"face_index": 2737, "face_uv": [0.2901082966769119, 0.5783942472023056, 0.13149745612077957]}}, {"xyz": [0.1875011365332791, -0.04497974031185481, -0.2645690739261765], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 278}, "mesh_info": {"face_index": 2579, "face_uv": [0.19369862626961867, 0.4103646390906433, 0.3959367346397372]}}, {"xyz": [-0.19315676794360112, -0.046741244337925814, -0.26442207832298414], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 244}, "mesh_info": {"face_index": 2818, "face_uv": [0.19043055287180335, 0.4239826596321945, 0.38558678749600195]}}, {"xyz": [0.2251801671083113, 0.09467298263077861, -0.14796193149357603], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1282}, "mesh_info": {"face_index": 9, "face_uv": [0.23240868704213694, 0.05758748152748688, 0.7100038314303756]}}, {"xyz": [0.20714235196276592, 0.09506963899529386, 0.04954735749122538], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1914}, "mesh_info": {"face_index": 37, "face_uv": [0.8049548777924377, 0.11858940793657019, 0.07645571427098909]}}, {"xyz": [-0.2339952122256776, 0.09172173940535111, -0.14956992942717964], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1816}, "mesh_info": {"face_index": 119, "face_uv": [0.25687102892814434, 0.5470347330053696, 0.1960942380664858]}}, {"xyz": [-0.22111010993377309, 0.09590086573544632, 0.04284673682318427], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1393}, "mesh_info": {"face_index": 151, "face_uv": [0.22517071217168658, 0.05414034027062862, 0.7206889475576863]}}, {"xyz": [0.18320844669232084, -0.3725128869153256, -0.23407418467729946], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 2039}, "mesh_info": {"face_index": 1001, "face_uv": [0.11161115804427296, 0.760968053151575, 0.12742078880415]}}, {"xyz": [0.2020734865509477, -0.3732719157847184, 0.2343706349732918], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 1048, "face_uv": [0.1994082240836767, 0.7312767365528375, 0.06931503936348546]}}, {"xyz": [-0.21437099031982418, -0.3406751843937952, 0.21792394422752925], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1327}, "mesh_info": {"face_index": 744, "face_uv": [0.22962739798295526, 0.45012529705475096, 0.3202473049622932]}}, {"xyz": [-0.18615642142324276, -0.3787163426490494, -0.25158509955494524], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1168}, "mesh_info": {"face_index": 493, "face_uv": [0.6032292550917007, 0.045541003618882483, 0.35122974128941675]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f268849e43f64861cb3a30f2c37c38a6", "keypoints": [{"xyz": [0.25779938703928235, 0.3646070063114166, 0.23913286663903155], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 35, "face_uv": [0.040471508300580716, 0.46481219449139627, 0.494716297208023]}}, {"xyz": [-0.28222590582950474, 0.36460700631141685, 0.24327642028227148], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1997}, "mesh_info": {"face_index": 9, "face_uv": [0.04023934468722717, 0.5733522685091111, 0.3864083868036623]}}, {"xyz": [0.1693596806069712, 0.16800751618652798, 0.05280863575662387], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 53}, "mesh_info": {"face_index": 51, "face_uv": [0.01250628103464037, 0.0055554017011475495, 0.9819383172642138]}}, {"xyz": [-0.17032317508301814, 0.16701899468898795, 0.04588810676498889], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1020}, "mesh_info": {"face_index": 56, "face_uv": [0.9721341991838371, 0.020776148625896454, 0.007089652190267759]}}, {"xyz": [0.16638075949189046, 0.16701899468898773, -0.2453338800958354], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 674}, "mesh_info": {"face_index": 56, "face_uv": [0.014032020232163841, 0.9848575169541998, 0.0011104628136366064]}}, {"xyz": [-0.1683875814078326, 0.16701899468898773, -0.240785818385453], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1665}, "mesh_info": {"face_index": 50, "face_uv": [0.033373596619327005, 0.030198700484088896, 0.936427702896584]}}, {"xyz": [0.2237238033611194, 0.24606099724769614, -0.23661987175481408], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 58, "face_uv": [0.5805793970478769, 0.037577742490256076, 0.38184286046186783]}}, {"xyz": [0.2038987017478638, 0.24606099724769614, 0.10102435799670884], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1214}, "mesh_info": {"face_index": 91, "face_uv": [0.3533795480615118, 0.007591940970958705, 0.6390285109675304]}}, {"xyz": [-0.2417445549495224, 0.24434000253677368, -0.23579652649373084], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 20, "face_uv": [0.4207353082520713, 0.04003289070912594, 0.5392318010388029]}}, {"xyz": [-0.23478627579706518, 0.24434000253677368, 0.09835574011977577], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 181}, "mesh_info": {"face_index": 30, "face_uv": [0.5138618068808477, 0.012009339691270849, 0.47412885342788147]}}, {"xyz": [0.22585411920936369, -0.2384690046310427, -0.15639384559142733], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 896}, "mesh_info": {"face_index": 326, "face_uv": [0.863953965167468, 0.12472996190066767, 0.011316072931865253]}}, {"xyz": [0.22432623262426105, -0.23846900463104226, 0.13659619881446766], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1629}, "mesh_info": {"face_index": 163, "face_uv": [0.06742424174828225, 0.9077512035275103, 0.02482455472420654]}}, {"xyz": [-0.21307207018645388, -0.23846900463104248, 0.1136809623580699], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1891}, "mesh_info": {"face_index": 316, "face_uv": [0.8260895919720611, 0.16972494840317498, 0.004185459624763902]}}, {"xyz": [-0.20109025301910807, -0.23846900463104248, -0.15729000547803396], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 129}, "mesh_info": {"face_index": 179, "face_uv": [0.7742732259597959, 0.21666946291489445, 0.009057311125309669]}}, {"xyz": [0.005458914449162466, 0.00214382469615515, -0.0935352301677379], "rgb": [254, 254, 254], "semantic_id": 15, "pcd_info": {"point_index": 1109}, "mesh_info": {"face_index": 184, "face_uv": [0.013825281403335209, 0.23630156856748766, 0.7498731500291765]}}, {"xyz": [0.003765912016854757, -0.23710153723713467, -0.09375804675740795], "rgb": [254, 254, 254], "semantic_id": 16, "pcd_info": {"point_index": 1191}, "mesh_info": {"face_index": 282, "face_uv": [0.13055477120948555, 0.863840532747714, 0.005604696042796357]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cb78334a5ad9517d7a31dd5af93fdb5c", "keypoints": [{"xyz": [0.13604985271077807, 0.4215501253173053, 0.15719924345984915], "rgb": [58, 58, 58], "semantic_id": 0, "pcd_info": {"point_index": 312}, "mesh_info": {"face_index": 5372, "face_uv": [0.214011056759427, 0.7341543275873199, 0.051834615653253625]}}, {"xyz": [-0.13697110794399162, 0.42253117873884216, 0.15911233829828075], "rgb": [58, 58, 58], "semantic_id": 1, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 6488, "face_uv": [0.2780527908186876, 0.4722775973605205, 0.24966961182079203]}}, {"xyz": [0.1382837908079917, -0.014375137304207586, 0.06660676649137878], "rgb": [57, 57, 57], "semantic_id": 2, "pcd_info": {"point_index": 500}, "mesh_info": {"face_index": 211, "face_uv": [0.7216770561938224, 0.15467471685101503, 0.12364822695515633]}}, {"xyz": [-0.13564027806749124, -0.01392931503071293, 0.06883725385303643], "rgb": [57, 57, 57], "semantic_id": 3, "pcd_info": {"point_index": 1021}, "mesh_info": {"face_index": 156, "face_uv": [0.6447056061611596, 0.20864761810478524, 0.1466467757340203]}}, {"xyz": [0.12515652509876896, -0.01753540203305093, -0.2239921221573714], "rgb": [58, 58, 58], "semantic_id": 4, "pcd_info": {"point_index": 1269}, "mesh_info": {"face_index": 123, "face_uv": [0.09163647207351795, 0.004673932747818748, 0.9036895951786634]}}, {"xyz": [-0.13848198689758506, -0.03621385570647284, -0.23611557654808701], "rgb": [57, 57, 57], "semantic_id": 5, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 264, "face_uv": [0.1326428191234285, 0.32746091447211595, 0.539896266404455]}}, {"xyz": [0.14112176382558927, 0.12627789364251352, -0.17456013058443254], "rgb": [57, 57, 57], "semantic_id": 6, "pcd_info": {"point_index": 324}, "mesh_info": {"face_index": 1828, "face_uv": [0.15987758549933176, 0.34052959477369904, 0.499592819726967]}}, {"xyz": [0.15155893082172023, 0.12230136030905481, -0.009994082394285564], "rgb": [58, 58, 58], "semantic_id": 7, "pcd_info": {"point_index": 419}, "mesh_info": {"face_index": 2342, "face_uv": [0.1976435332664519, 0.49041749386988276, 0.31193897286366784]}}, {"xyz": [-0.15739188825394557, 0.1270749989426596, -0.17765349891048499], "rgb": [58, 58, 58], "semantic_id": 8, "pcd_info": {"point_index": 442}, "mesh_info": {"face_index": 11171, "face_uv": [0.19775427412971977, 0.389676440381387, 0.4125692854888948]}}, {"xyz": [-0.15522564434250666, 0.12207641990899187, -0.015744810040126622], "rgb": [58, 58, 58], "semantic_id": 9, "pcd_info": {"point_index": 1602}, "mesh_info": {"face_index": 11459, "face_uv": [0.3129795207360607, 0.11265481774527748, 0.574365661518664]}}, {"xyz": [0.1237432610728939, -0.3595491850011182, -0.19802025977050441], "rgb": [57, 57, 57], "semantic_id": 17, "pcd_info": {"point_index": 1878}, "mesh_info": {"face_index": 8760, "face_uv": [0.026802403053257692, 0.8233250985761719, 0.14987249837056754]}}, {"xyz": [0.1198321308918533, -0.3765860247631606, 0.11002313575943701], "rgb": [57, 57, 57], "semantic_id": 18, "pcd_info": {"point_index": 1950}, "mesh_info": {"face_index": 8915, "face_uv": [0.05747408580477354, 0.5584014616136246, 0.38412445258160155]}}, {"xyz": [-0.14392117585068132, -0.40167736989427083, 0.10677009026471462], "rgb": [58, 58, 58], "semantic_id": 19, "pcd_info": {"point_index": 1689}, "mesh_info": {"face_index": 8412, "face_uv": [0.21848566352287824, 0.5679358822384942, 0.21357845423862806]}}, {"xyz": [-0.1456242262543921, -0.40465841016941184, -0.1681227915856227], "rgb": [58, 58, 58], "semantic_id": 20, "pcd_info": {"point_index": 1519}, "mesh_info": {"face_index": 9438, "face_uv": [0.5583858116213238, 0.1969643989459901, 0.24464978943268623]}}, {"xyz": [-0.00018919982343910957, -0.08125193149394594, -0.08101227523117616], "rgb": [58, 58, 58], "semantic_id": 15, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 1572, "face_uv": [0.05626439352781677, 0.012589565665220862, 0.9311460408069627]}}, {"xyz": [-0.0021658036349116137, -0.3962950110435486, -0.06339953517797303], "rgb": [57, 57, 57], "semantic_id": 16, "pcd_info": {"point_index": 298}, "mesh_info": {"face_index": 8733, "face_uv": [0.4800118573406547, 0.34042664331600064, 0.17956149934334456]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "c5e3ef17d1fc834b3c84e7f4f4c3d556", "keypoints": [{"xyz": [0.22554179312245592, 0.35676319197935014, 0.07356392214537522], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1861}, "mesh_info": {"face_index": 44, "face_uv": [0.34996038918379296, 0.16898707869316498, 0.48105253212304205]}}, {"xyz": [-0.20446760051106638, 0.35392815019773793, 0.06937523221120023], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1790}, "mesh_info": {"face_index": 269, "face_uv": [0.2833576796578337, 0.07460713360303334, 0.6420351867391337]}}, {"xyz": [0.21589353783081125, -0.040926402279975016, 0.06552883576844115], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 553}, "mesh_info": {"face_index": 6, "face_uv": [0.5154894584501928, 0.48223926409230117, 0.0022712774575062732]}}, {"xyz": [-0.19628571656080754, -0.04023949214965683, 0.06484918532558459], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 718}, "mesh_info": {"face_index": 238, "face_uv": [0.4474503767400237, 0.5243228888092377, 0.028226734450741458]}}, {"xyz": [0.22122973670003285, -0.04375451908941608, -0.25987265077092214], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1871}, "mesh_info": {"face_index": 71, "face_uv": [0.3629069437467881, 0.0037601627786388843, 0.6333328934745738]}}, {"xyz": [-0.20209734107145777, -0.04561755118946864, -0.2627389830206772], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 658}, "mesh_info": {"face_index": 416, "face_uv": [0.25932456971350526, 0.1938704316831481, 0.5468049986033464]}}, {"xyz": [0.21803757157769854, -0.4534339904785156, -0.2478341044600859], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 716}, "mesh_info": {"face_index": 73, "face_uv": [0.33717453938034153, 0.5025925545188489, 0.1602329061008096]}}, {"xyz": [0.2089500632217321, -0.4534339904785156, 0.0776083166332251], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 23, "face_uv": [0.08770881577279141, 0.4559809248387905, 0.4563102593884181]}}, {"xyz": [-0.19680953791560757, -0.4534339904785156, 0.07810552277263716], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 982}, "mesh_info": {"face_index": 205, "face_uv": [0.4077358526037511, 0.3597404751823628, 0.2325236722138861]}}, {"xyz": [-0.1939948191757283, -0.4534339904785154, -0.24955363580232837], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1329}, "mesh_info": {"face_index": 171, "face_uv": [0.03408784435731834, 0.43583278690872207, 0.5300793687339591]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b1cbca9a2646b6f1bf899e941ea0fe55", "keypoints": [{"xyz": [0.22224193381138624, 0.2193666327767535, 0.10805100202560425], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1626}, "mesh_info": {"face_index": 457, "face_uv": [0.019506227341876077, 0.9799790688007258, 0.0005147038573980565]}}, {"xyz": [-0.2047256973329897, 0.22046476669047166, 0.10805100202560447], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 771}, "mesh_info": {"face_index": 471, "face_uv": [0.9686437542232208, 0.01708613326221756, 0.014270112514563747]}}, {"xyz": [0.21494718397764756, 0.05178889758160454, 0.10805100202560447], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1321}, "mesh_info": {"face_index": 456, "face_uv": [0.017347123396334197, 0.5321222223780867, 0.4505306542255811]}}, {"xyz": [-0.21740604823828594, 0.061527370615958366, 0.11028878759745875], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 64}, "mesh_info": {"face_index": 495, "face_uv": [0.10082844839941409, 0.33414793915237334, 0.5650236124482149]}}, {"xyz": [0.2172421836255674, 0.052228125574386164, -0.2727099955081942], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1518}, "mesh_info": {"face_index": 375, "face_uv": [0.9791762635243719, 0.012051479570848657, 0.008772256904780217]}}, {"xyz": [-0.20734524189735154, 0.034869036288203814, -0.27270999550819397], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 55}, "mesh_info": {"face_index": 391, "face_uv": [0.08717546829233638, 0.008225590891032648, 0.904598940816631]}}, {"xyz": [0.29832474535268233, 0.15779390580774466, -0.27127277049203125], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 34}, "mesh_info": {"face_index": 77, "face_uv": [0.2817612586930043, 0.40915787714460383, 0.30908086416239183]}}, {"xyz": [0.30954263511697905, 0.1691700071096418, 0.22331061475171693], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 207}, "mesh_info": {"face_index": 83, "face_uv": [0.492762307516974, 0.0006066904930881726, 0.5066310019899366]}}, {"xyz": [-0.2984752449728087, 0.16089377714846664, -0.27261172910136233], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 954}, "mesh_info": {"face_index": 224, "face_uv": [0.1418588516393185, 0.4856478054495076, 0.3724933429111737]}}, {"xyz": [-0.30276583038351623, 0.1676232776098976, 0.2240221395681783], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 512}, "mesh_info": {"face_index": 218, "face_uv": [0.21900426688869537, 0.3326291659636861, 0.44836656714761786]}}, {"xyz": [0.36436131873072697, -0.19047699868679047, -0.2498205755287579], "rgb": [191, 191, 191], "semantic_id": 17, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 530, "face_uv": [0.3031533910347666, 0.6059399061425887, 0.09090670282264475]}}, {"xyz": [0.3606775296293392, -0.19047699868679047, 0.21640204000966368], "rgb": [191, 191, 191], "semantic_id": 18, "pcd_info": {"point_index": 651}, "mesh_info": {"face_index": 508, "face_uv": [0.2616184850993242, 0.33370203175442825, 0.4046794831462475]}}, {"xyz": [-0.34330894982103777, -0.19047699868679047, 0.20833488405510592], "rgb": [191, 191, 191], "semantic_id": 19, "pcd_info": {"point_index": 525}, "mesh_info": {"face_index": 548, "face_uv": [0.11904359105164922, 0.5769086177254229, 0.30404779122292797]}}, {"xyz": [-0.3407315240735853, -0.19047699868679047, -0.2514574933790118], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 1226}, "mesh_info": {"face_index": 568, "face_uv": [0.02539691254576724, 0.5511138920348355, 0.4234891954193973]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d987dc40c90907276bc601efa799c927", "keypoints": [{"xyz": [0.24418600307062766, 0.37473300099372864, 0.3001978556821917], "rgb": [51, 35, 29], "semantic_id": 0, "pcd_info": {"point_index": 1442}, "mesh_info": {"face_index": 317, "face_uv": [0.14470926469141443, 0.44891173637630605, 0.4063789989322796]}}, {"xyz": [-0.24972663787528704, 0.37473300099372875, 0.30245432667943406], "rgb": [51, 35, 29], "semantic_id": 1, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 497, "face_uv": [0.398456478969675, 0.049816554912033864, 0.5517269661182914]}}, {"xyz": [0.23859063367751254, 0.030070934109365455, 0.23268680544435458], "rgb": [109, 31, 7], "semantic_id": 2, "pcd_info": {"point_index": 450}, "mesh_info": {"face_index": 5631, "face_uv": [0.16733561598294974, 0.6035415036597768, 0.22912288035727268]}}, {"xyz": [-0.23702991397200254, 0.031214194912542625, 0.2436803875813196], "rgb": [116, 40, 16], "semantic_id": 3, "pcd_info": {"point_index": 271}, "mesh_info": {"face_index": 2878, "face_uv": [0.1587947751913282, 0.04639855394414342, 0.7948066708645305]}}, {"xyz": [0.23226618996065967, 0.032263346187002995, -0.22887825750354734], "rgb": [110, 36, 8], "semantic_id": 4, "pcd_info": {"point_index": 1282}, "mesh_info": {"face_index": 5340, "face_uv": [0.20119203739601216, 0.4470939777967725, 0.35171398480721666]}}, {"xyz": [-0.2354130490637043, 0.03240127390116321, -0.22798550322417288], "rgb": [95, 20, 3], "semantic_id": 5, "pcd_info": {"point_index": 719}, "mesh_info": {"face_index": 4648, "face_uv": [0.10848147313775061, 0.158682221530998, 0.7328363053312508]}}, {"xyz": [0.2391895079602116, 0.24214699864387512, -0.2612698977577983], "rgb": [51, 35, 29], "semantic_id": 6, "pcd_info": {"point_index": 1422}, "mesh_info": {"face_index": 1030, "face_uv": [0.48017442915093317, 0.016888030299374513, 0.5029375405496923]}}, {"xyz": [0.23786266614814944, 0.24214699864387512, 0.26524230282441463], "rgb": [51, 35, 29], "semantic_id": 7, "pcd_info": {"point_index": 764}, "mesh_info": {"face_index": 1038, "face_uv": [0.46874801063368443, 0.015577061160576897, 0.5156749282057387]}}, {"xyz": [-0.25062135140406877, 0.21907199919223785, -0.25518716318354717], "rgb": [51, 35, 29], "semantic_id": 8, "pcd_info": {"point_index": 2032}, "mesh_info": {"face_index": 1054, "face_uv": [0.5963714221385924, 0.029010392533116644, 0.3746181853282909]}}, {"xyz": [-0.2455855004379724, 0.21907199919223785, 0.26435069625434654], "rgb": [50, 35, 29], "semantic_id": 9, "pcd_info": {"point_index": 927}, "mesh_info": {"face_index": 1062, "face_uv": [0.5974939785237611, 0.016270961330126087, 0.38623506014611275]}}, {"xyz": [0.24405042335854593, -0.25028499960899353, -0.2587878263814135], "rgb": [51, 35, 29], "semantic_id": 17, "pcd_info": {"point_index": 1770}, "mesh_info": {"face_index": 102, "face_uv": [0.3896066712334378, 0.35900548026721363, 0.25138784849934864]}}, {"xyz": [0.2401700218664844, -0.25028499960899353, 0.2792480715451462], "rgb": [51, 35, 29], "semantic_id": 18, "pcd_info": {"point_index": 392}, "mesh_info": {"face_index": 165, "face_uv": [0.059293726018585666, 0.45293663187709227, 0.4877696421043222]}}, {"xyz": [-0.2512596322625698, -0.25028499960899353, 0.280922508437822], "rgb": [51, 35, 29], "semantic_id": 19, "pcd_info": {"point_index": 2005}, "mesh_info": {"face_index": 602, "face_uv": [0.10352564146787169, 0.4674571729504711, 0.42901718558165725]}}, {"xyz": [-0.25229795557502166, -0.25028499960899353, -0.2583625308929231], "rgb": [51, 35, 29], "semantic_id": 20, "pcd_info": {"point_index": 1704}, "mesh_info": {"face_index": 135, "face_uv": [0.03348298700948826, 0.3360760421398395, 0.6304409708506723]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "96b2bf512fcb51b2af7a8f97983e7906", "keypoints": [{"xyz": [0.19179574654103848, 0.19928812109664396, 0.09031283575295324], "rgb": [59, 33, 16], "semantic_id": 0, "pcd_info": {"point_index": 363}, "mesh_info": {"face_index": 125, "face_uv": [0.01350664701394456, 0.9633996431587963, 0.023093709827258977]}}, {"xyz": [-0.19005918880815126, 0.19962758471133446, 0.08436613240213031], "rgb": [54, 28, 13], "semantic_id": 1, "pcd_info": {"point_index": 365}, "mesh_info": {"face_index": 3946, "face_uv": [0.1397290329843029, 0.6085002263806092, 0.25177074063508753]}}, {"xyz": [0.1684723941313021, -0.14862519402264884, 0.014123381403618573], "rgb": [55, 31, 15], "semantic_id": 2, "pcd_info": {"point_index": 1823}, "mesh_info": {"face_index": 57, "face_uv": [0.8562591935729437, 0.13035421052768567, 0.013386595899365701]}}, {"xyz": [-0.1751776016182892, -0.1530189961194992, 0.00595577940351566], "rgb": [55, 29, 12], "semantic_id": 3, "pcd_info": {"point_index": 1707}, "mesh_info": {"face_index": 2595, "face_uv": [0.5356318092084996, 0.4405414306726644, 0.023826760118835957]}}, {"xyz": [0.17977531509130878, -0.15301899611949898, -0.3003487167820844], "rgb": [48, 25, 9], "semantic_id": 4, "pcd_info": {"point_index": 1829}, "mesh_info": {"face_index": 2532, "face_uv": [0.04536162712882792, 0.02048917006741837, 0.9341492028037522]}}, {"xyz": [-0.18189826337610876, -0.15301899611949943, -0.3014952303361279], "rgb": [50, 27, 11], "semantic_id": 5, "pcd_info": {"point_index": 799}, "mesh_info": {"face_index": 2634, "face_uv": [0.7164928298389395, 0.011579800079681662, 0.27192737008138035]}}, {"xyz": [0.16961865724632116, -0.596365988254547, -0.27893236213210065], "rgb": [57, 31, 14], "semantic_id": 17, "pcd_info": {"point_index": 310}, "mesh_info": {"face_index": 3005, "face_uv": [0.1054077913401214, 0.4536300704412449, 0.4409621382186335]}}, {"xyz": [0.18214377294938422, -0.5963659882545471, 0.07182692678178398], "rgb": [54, 28, 11], "semantic_id": 18, "pcd_info": {"point_index": 175}, "mesh_info": {"face_index": 92, "face_uv": [0.3734249217881697, 0.5041027254718908, 0.12247235273993945]}}, {"xyz": [-0.18222582487504585, -0.5963659882545471, 0.06913081563991724], "rgb": [52, 26, 9], "semantic_id": 19, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 3883, "face_uv": [0.15303813856581958, 0.4229209280498291, 0.4240409333843513]}}, {"xyz": [-0.16860042545137183, -0.596365988254547, -0.2782164960431316], "rgb": [57, 31, 14], "semantic_id": 20, "pcd_info": {"point_index": 529}, "mesh_info": {"face_index": 307, "face_uv": [0.09162902259156355, 0.4303785867576927, 0.4779923906507435]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "11740d372308f12185047f9f654ddc2e", "keypoints": [{"xyz": [0.15037864677832602, 0.4860909879207611, 0.0853446995514939], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 304}, "mesh_info": {"face_index": 124, "face_uv": [0.041547434315350046, 0.5681301134937717, 0.3903224521908782]}}, {"xyz": [-0.15505430468778986, 0.4860909879207611, 0.09145474632948095], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1719}, "mesh_info": {"face_index": 93, "face_uv": [0.39186499556210963, 0.5800748486524587, 0.028060155785431713]}}, {"xyz": [0.15606131577991234, -0.06256999820470788, 0.057036077123993556], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 3, "face_uv": [0.938428258921126, 0.037334528472302037, 0.02423721260656831]}}, {"xyz": [-0.15571225999208366, -0.0625699982047081, 0.05628071182567057], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 0, "face_uv": [0.026055929921033495, 0.9599806446726489, 0.013963425406317644]}}, {"xyz": [0.15542228180726533, -0.0625699982047081, -0.20089372560946353], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1370}, "mesh_info": {"face_index": 1, "face_uv": [0.026183801391325045, 0.9541053447032269, 0.019710853905448012]}}, {"xyz": [-0.14838773912423114, -0.0625699982047081, -0.19909974395439592], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 477}, "mesh_info": {"face_index": 0, "face_uv": [0.04836746699942397, 0.05227108023406239, 0.899361452766514]}}, {"xyz": [0.14919632293244198, -0.40170198678970337, -0.19887690793959212], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 142}, "mesh_info": {"face_index": 80, "face_uv": [0.48675473033630146, 0.4902822570200084, 0.022963012643690214]}}, {"xyz": [0.1506155406201194, -0.40170198678970337, 0.08906865483825822], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1344}, "mesh_info": {"face_index": 137, "face_uv": [0.20678256383755517, 0.35307083798829847, 0.44014659817414636]}}, {"xyz": [-0.1522028879213662, -0.40170198678970337, 0.09571380687118665], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1039}, "mesh_info": {"face_index": 147, "face_uv": [0.17513512011019722, 0.42869042240389266, 0.3961744574859102]}}, {"xyz": [-0.15138567292686506, -0.40170198678970315, -0.1985379597533854], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1802}, "mesh_info": {"face_index": 62, "face_uv": [0.4230132671180672, 0.49858644015308334, 0.07840029272884891]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2fc2b897b6b131c4dc75a59e280f3bf8", "keypoints": [{"xyz": [0.2750280265321618, 0.3506348025225212, 0.4495499029499398], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1439}, "mesh_info": {"face_index": 10465, "face_uv": [0.33004758138468154, 0.007259776624507231, 0.6626926419908115]}}, {"xyz": [-0.27336400747299194, 0.3462778083404412, 0.44966594222426026], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 805}, "mesh_info": {"face_index": 2418, "face_uv": [0.22718139096646695, 0.5722932042394199, 0.2005254047941131]}}, {"xyz": [0.2231253503720299, 0.0007520000217480227, 0.32674252450703245], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1099}, "mesh_info": {"face_index": 2552, "face_uv": [0.008328978693584479, 0.9828765131416108, 0.008794508164509397]}}, {"xyz": [-0.20930243366325946, 0.0007520000217482448, 0.32475474416108685], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1721}, "mesh_info": {"face_index": 2365, "face_uv": [0.9493329551817234, 0.022792201887776673, 0.027874842930499855]}}, {"xyz": [0.20794389725691126, -0.016080492356869702, -0.08330155503718695], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1857}, "mesh_info": {"face_index": 3377, "face_uv": [0.9404020783311711, 0.02441054458329208, 0.0351873770855337]}}, {"xyz": [-0.20437048463127408, -0.014295565910025121, -0.08284690585955534], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1989}, "mesh_info": {"face_index": 16526, "face_uv": [0.6495522335322111, 0.020501395606951387, 0.3299463708608389]}}, {"xyz": [0.2435018221593063, 0.2081216077485898, -0.08445696380472201], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1799}, "mesh_info": {"face_index": 4216, "face_uv": [0.42738738752850974, 0.12425342862237748, 0.44835918384911444]}}, {"xyz": [0.25204666533601294, 0.23424489833591733, 0.2595802266689953], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 232}, "mesh_info": {"face_index": 3041, "face_uv": [0.4845420617443235, 0.30847843980165096, 0.20697949845402575]}}, {"xyz": [-0.240288350586163, 0.21952571884892447, -0.08501094788978403], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1059}, "mesh_info": {"face_index": 8720, "face_uv": [0.014726300736856254, 0.1279531169457186, 0.857320582317424]}}, {"xyz": [-0.2402835847197426, 0.23019993896801805, 0.24417348378773873], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 675}, "mesh_info": {"face_index": 754, "face_uv": [0.3582723014832646, 0.364159028385553, 0.27756867013118147]}}, {"xyz": [0.26077268738353265, -0.1935897231055359, -0.0740189916244452], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 2023}, "mesh_info": {"face_index": 15111, "face_uv": [0.012324694445317615, 0.5737698895719222, 0.4139054159827609]}}, {"xyz": [0.253278306597752, -0.26224100589752186, 0.4232967375024143], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 911}, "mesh_info": {"face_index": 2635, "face_uv": [0.4915653079168897, 0.356233520518214, 0.15220117156489596]}}, {"xyz": [-0.24458347556785284, -0.262241005897522, 0.4251812296558168], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1489}, "mesh_info": {"face_index": 2007, "face_uv": [0.4416859591143414, 0.3220266197383742, 0.23628742114728438]}}, {"xyz": [-0.25342105470222537, -0.25352862884591043, -0.029534095011393313], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1849}, "mesh_info": {"face_index": 8220, "face_uv": [0.250088407313647, 0.052368259507438064, 0.6975433331789149]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8e55684da4fb8219d3f6d823f04dd65", "keypoints": [{"xyz": [0.22217122705308878, 0.42892882095347784, -0.018081172408843438], "rgb": [151, 84, 39], "semantic_id": 0, "pcd_info": {"point_index": 97}, "mesh_info": {"face_index": 28101, "face_uv": [0.7911630361844346, 0.08538294469119435, 0.12345401912437086]}}, {"xyz": [-0.21856283866900517, 0.43548316803490306, -0.01631452101020603], "rgb": [145, 78, 35], "semantic_id": 1, "pcd_info": {"point_index": 369}, "mesh_info": {"face_index": 27344, "face_uv": [0.7902985544456371, 0.11867719590408979, 0.09102424965027253]}}, {"xyz": [0.1980784109776773, 0.07757301394871807, -0.0026616909812968714], "rgb": [153, 85, 38], "semantic_id": 2, "pcd_info": {"point_index": 788}, "mesh_info": {"face_index": 29760, "face_uv": [0.6174330177984116, 0.21615253688708477, 0.1664144453145094]}}, {"xyz": [-0.2021176997324453, 0.07045613239180037, -0.006161904287709019], "rgb": [143, 74, 32], "semantic_id": 3, "pcd_info": {"point_index": 1346}, "mesh_info": {"face_index": 37862, "face_uv": [0.1637019269306035, 0.24459414636843313, 0.5917039267009575]}}, {"xyz": [0.2039326327893778, 0.06740945685863942, -0.19916099309921287], "rgb": [167, 165, 104], "semantic_id": 4, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 40736, "face_uv": [0.015539620215959185, 0.9796204442476047, 0.004839935536437064]}}, {"xyz": [-0.20691882678751042, 0.06785132657931159, -0.19916099309921287], "rgb": [156, 156, 92], "semantic_id": 5, "pcd_info": {"point_index": 1132}, "mesh_info": {"face_index": 40736, "face_uv": [0.0036505365543797147, 0.018355273222557384, 0.977994190223064]}}, {"xyz": [0.2055341642201881, 0.23268674049615823, -0.20543959450962923], "rgb": [152, 84, 36], "semantic_id": 6, "pcd_info": {"point_index": 1068}, "mesh_info": {"face_index": 25107, "face_uv": [0.14131621679563394, 0.8104242522969503, 0.048259530907415187]}}, {"xyz": [0.2012687779166773, 0.24053359361521243, -0.0008774346726807547], "rgb": [153, 85, 40], "semantic_id": 7, "pcd_info": {"point_index": 91}, "mesh_info": {"face_index": 25557, "face_uv": [0.1446565527040656, 0.29774696630511827, 0.5575964809908165]}}, {"xyz": [-0.20889005239289388, 0.24307170562552072, -0.20830865533302956], "rgb": [150, 82, 36], "semantic_id": 8, "pcd_info": {"point_index": 84}, "mesh_info": {"face_index": 26145, "face_uv": [0.11451040128389715, 0.32770933067591806, 0.5577802680401855]}}, {"xyz": [-0.19604988631102377, 0.24555048502327814, -0.006074265234337628], "rgb": [150, 82, 37], "semantic_id": 9, "pcd_info": {"point_index": 1799}, "mesh_info": {"face_index": 27016, "face_uv": [0.29725060765203104, 0.4470963333648025, 0.25565305898316626]}}, {"xyz": [0.1850738486640262, -0.31559740076457965, -0.17675212960903108], "rgb": [151, 83, 38], "semantic_id": 17, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 18377, "face_uv": [0.1441360688311636, 0.6580594438871525, 0.19780448728168443]}}, {"xyz": [0.1339925027320309, -0.31275362792451067, 0.17585092005488245], "rgb": [150, 82, 37], "semantic_id": 18, "pcd_info": {"point_index": 617}, "mesh_info": {"face_index": 6390, "face_uv": [0.10718036081618539, 0.5785439224337323, 0.3142757167500823]}}, {"xyz": [-0.11509735643046859, -0.314972405710241, 0.17349591695650296], "rgb": [149, 81, 36], "semantic_id": 19, "pcd_info": {"point_index": 1267}, "mesh_info": {"face_index": 12333, "face_uv": [0.2731415700556814, 0.2023124256406926, 0.5245460043036269]}}, {"xyz": [-0.19709840563545578, -0.3165202691587554, -0.17550769786342657], "rgb": [153, 85, 40], "semantic_id": 20, "pcd_info": {"point_index": 1591}, "mesh_info": {"face_index": 56, "face_uv": [0.4088338577401374, 0.5262463121732479, 0.06491983008661506]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c48bc68a100e8c24696b74614952b2d0", "keypoints": [{"xyz": [0.2363455834471445, 0.292372272388399, 0.17490828122751045], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 305}, "mesh_info": {"face_index": 498, "face_uv": [0.32030136734786724, 0.6751066522343869, 0.00459198041774536]}}, {"xyz": [-0.22799472407590726, 0.29760050643149194, 0.15546878412296133], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1258}, "mesh_info": {"face_index": 414, "face_uv": [0.4816023200417422, 0.08414294465111362, 0.43425473530714415]}}, {"xyz": [0.23323612757604595, 0.00931703653183047, 0.014609833107931292], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1947}, "mesh_info": {"face_index": 1434, "face_uv": [0.050172141593227824, 0.7255793277007047, 0.22424853070606895]}}, {"xyz": [-0.23498213949991315, 0.00922929743562606, 0.00927506016562546], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 890}, "mesh_info": {"face_index": 1236, "face_uv": [0.7589393449633616, 0.23489175266952986, 0.0061689023671085965]}}, {"xyz": [0.22747576246228002, 0.003558035141254967, -0.34043002537840783], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 594}, "mesh_info": {"face_index": 1244, "face_uv": [0.02798233334627794, 0.6055346830641595, 0.36648298358956144]}}, {"xyz": [-0.2341890627186448, -0.0018112227655411317, -0.3478523158475084], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 538}, "mesh_info": {"face_index": 1085, "face_uv": [0.255497205275521, 0.08126416923278872, 0.6632386254916907]}}, {"xyz": [0.18590438222130873, -0.2775709927082062, -0.2754982509162371], "rgb": [51, 35, 29], "semantic_id": 17, "pcd_info": {"point_index": 1108}, "mesh_info": {"face_index": 1698, "face_uv": [0.47364700064932996, 0.445650756287427, 0.08070224306324299]}}, {"xyz": [0.17316914200712413, -0.2775709927082064, 0.17781364867233973], "rgb": [51, 35, 29], "semantic_id": 18, "pcd_info": {"point_index": 876}, "mesh_info": {"face_index": 1630, "face_uv": [0.5606447204905629, 0.43703323113975007, 0.002322048369687716]}}, {"xyz": [-0.193550512404256, -0.2775709927082062, 0.1955987308804631], "rgb": [51, 35, 29], "semantic_id": 19, "pcd_info": {"point_index": 1174}, "mesh_info": {"face_index": 1654, "face_uv": [0.3968114748067489, 0.39217435848781795, 0.21101416670543313]}}, {"xyz": [-0.19033909724921377, -0.2775709927082062, -0.2958714094648631], "rgb": [50, 35, 29], "semantic_id": 20, "pcd_info": {"point_index": 1540}, "mesh_info": {"face_index": 1674, "face_uv": [0.2642217285230927, 0.5782423383247199, 0.1575359331521873]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b2c62e5b20b34fad5844a4d0ab925627", "keypoints": [{"xyz": [0.15300121409037787, 0.11352612093749026, 0.0709046860199316], "rgb": [51, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 1697}, "mesh_info": {"face_index": 3372, "face_uv": [0.8411855228952089, 0.1156824953765289, 0.0431319817282622]}}, {"xyz": [-0.125039301321763, 0.11036550021496239, 0.06578419756426901], "rgb": [50, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 2036}, "mesh_info": {"face_index": 9744, "face_uv": [0.8784325430796566, 0.08288557704744845, 0.03868187987289199]}}, {"xyz": [0.17004600167274464, -0.12438461310207116, -0.13003082678222655], "rgb": [50, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 4072, "face_uv": [0.4629684470647244, 0.05318297558166143, 0.48384857735361353]}}, {"xyz": [-0.17041463699983445, -0.11119440724197815, -0.1297042989083559], "rgb": [51, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 500}, "mesh_info": {"face_index": 17171, "face_uv": [0.02786536186756091, 0.89839103070556, 0.07374360742687923]}}, {"xyz": [0.18922309852622626, -0.19688194690676686, -0.39667475494392257], "rgb": [50, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1079}, "mesh_info": {"face_index": 4791, "face_uv": [0.05918776694686103, 0.3506230810024095, 0.5901891520507291]}}, {"xyz": [-0.15946428954531422, -0.19891151457534273, -0.4018000066280367], "rgb": [51, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 16573, "face_uv": [0.19960835503862703, 0.025871089111095417, 0.7745205558502781]}}, {"xyz": [0.26949854725381506, 0.0029753702211432476, -0.3181705742965161], "rgb": [51, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 515}, "mesh_info": {"face_index": 16, "face_uv": [0.43623738176056803, 0.0032978594682037984, 0.5604647587712294]}}, {"xyz": [0.24354775990492633, 0.005991698979588733, -0.12732577420757574], "rgb": [51, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 1059}, "mesh_info": {"face_index": 180, "face_uv": [0.4924191389408616, 0.06209547746694535, 0.4454853835921943]}}, {"xyz": [-0.25655590124644634, 0.00021163164928839073, -0.3188439905643463], "rgb": [51, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 1614}, "mesh_info": {"face_index": 15099, "face_uv": [0.6677912825591535, 0.08542599116487193, 0.24678272627597458]}}, {"xyz": [-0.24244576256572714, 0.005815017451023197, -0.12520962081584686], "rgb": [50, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 1810}, "mesh_info": {"face_index": 15822, "face_uv": [0.34388588296691336, 0.05173223435497678, 0.6043818826781077]}}, {"xyz": [0.20369859793706635, -0.46950799226760875, -0.3928477566963232], "rgb": [158, 114, 66], "semantic_id": 17, "pcd_info": {"point_index": 1023}, "mesh_info": {"face_index": 19578, "face_uv": [0.48511664992128395, 0.43405445981699764, 0.08082889026171862]}}, {"xyz": [0.19919384441068314, -0.46950799226760875, 0.004036213891978058], "rgb": [142, 93, 52], "semantic_id": 18, "pcd_info": {"point_index": 2011}, "mesh_info": {"face_index": 19605, "face_uv": [0.308632697780379, 0.48298586394307663, 0.20838143827654462]}}, {"xyz": [-0.2006468018163151, -0.4695079922676084, 0.0030113377089044657], "rgb": [156, 106, 59], "semantic_id": 19, "pcd_info": {"point_index": 1507}, "mesh_info": {"face_index": 19395, "face_uv": [0.3561275736540842, 0.5571659959049875, 0.08670643044092781]}}, {"xyz": [-0.19880090265296257, -0.46950799226760864, -0.39101436389329636], "rgb": [149, 103, 57], "semantic_id": 20, "pcd_info": {"point_index": 818}, "mesh_info": {"face_index": 19590, "face_uv": [0.28380740995892556, 0.49411821249241644, 0.22207437754865805]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ec91b1b29b6bccd37eaeab1f0c9120b7", "keypoints": [{"xyz": [0.1223774949598627, 0.29684767288968306, 0.17116991044782082], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1279}, "mesh_info": {"face_index": 10666, "face_uv": [0.48909282184053965, 0.38040665913510413, 0.13050051902435642]}}, {"xyz": [-0.1210200377656861, 0.2990281024183916, 0.1809697800715842], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 10766, "face_uv": [0.4600344610437799, 0.5211877158890202, 0.018777823067200036]}}, {"xyz": [0.13963964012044794, 0.020280928405423726, 0.11439413280308552], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1480}, "mesh_info": {"face_index": 7814, "face_uv": [0.48274866885061823, 0.019056473966845712, 0.498194857182538]}}, {"xyz": [-0.1584151316080535, 0.013310065859791664, 0.09234651936826377], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 138}, "mesh_info": {"face_index": 8446, "face_uv": [0.6836287510488746, 0.18757455614838425, 0.12879669280274114]}}, {"xyz": [0.1918787208478856, 0.019615427076679515, -0.18127422112480693], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 517}, "mesh_info": {"face_index": 7080, "face_uv": [0.4318964292592226, 0.20148773213660104, 0.36661583860417596]}}, {"xyz": [-0.1820187288703683, 0.01749001546210005, -0.18771521713290343], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 449}, "mesh_info": {"face_index": 8219, "face_uv": [0.36544702708264465, 0.22456227082827154, 0.40999070208908484]}}, {"xyz": [0.2168806230507454, -0.4031951426053748, -0.2932366978051608], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 75, "face_uv": [0.07890359369187339, 0.7267346354753014, 0.19436177083282546]}}, {"xyz": [0.21686971688641912, -0.38388837092220895, 0.17969668655111604], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1664}, "mesh_info": {"face_index": 3857, "face_uv": [0.084438409254836, 0.8691562842781194, 0.046405306467043314]}}, {"xyz": [-0.22202208510210147, -0.39700670864182597, 0.18296024053084256], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1382}, "mesh_info": {"face_index": 5412, "face_uv": [0.005651551134970746, 0.2519482860845578, 0.7424001627804712]}}, {"xyz": [-0.20921038369917638, -0.40213678865670044, -0.29827643671339477], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 133}, "mesh_info": {"face_index": 3290, "face_uv": [0.07161743320208976, 0.27202677412690435, 0.656355792671006]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bfc6b2328c9c12bf283b00891f680579", "keypoints": [{"xyz": [0.2518879698748083, 0.1974382726473618, 0.08514002596912573], "rgb": [240, 240, 240], "semantic_id": 0, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 1167, "face_uv": [0.2389713889340857, 0.16626094719721302, 0.5947676638687049]}}, {"xyz": [-0.24252800136320646, 0.19776819949126834, 0.08514521991721047], "rgb": [240, 240, 240], "semantic_id": 1, "pcd_info": {"point_index": 1928}, "mesh_info": {"face_index": 2750, "face_uv": [0.4598561370935072, 0.0030135099410885653, 0.5371303529654065]}}, {"xyz": [0.19228338667393113, 0.004823302224853054, 0.02674256153900001], "rgb": [238, 238, 238], "semantic_id": 2, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 1879, "face_uv": [0.39751402251298945, 0.07378386746236279, 0.5287021100246463]}}, {"xyz": [-0.185817621925145, 0.005746043830244463, 0.027375291590516992], "rgb": [239, 239, 239], "semantic_id": 3, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 3489, "face_uv": [0.7505578761096604, 0.019539120588163674, 0.22990300330217747]}}, {"xyz": [0.22002537661693058, -0.09029508078292803, -0.2593675714991719], "rgb": [246, 244, 238], "semantic_id": 4, "pcd_info": {"point_index": 1676}, "mesh_info": {"face_index": 14394, "face_uv": [0.21744152097696332, 0.09635354595147104, 0.6862049330715657]}}, {"xyz": [-0.20804294278249202, -0.0988788656816244, -0.2593332849481298], "rgb": [243, 241, 236], "semantic_id": 5, "pcd_info": {"point_index": 529}, "mesh_info": {"face_index": 16321, "face_uv": [0.9076751341875818, 0.034142403759798566, 0.0581824620526187]}}, {"xyz": [0.38108193217152786, 0.15160380028956033, -0.25938799977302573], "rgb": [238, 238, 236], "semantic_id": 6, "pcd_info": {"point_index": 1899}, "mesh_info": {"face_index": 12527, "face_uv": [0.7705288668008391, 0.09669344979210955, 0.1327776834070522]}}, {"xyz": [0.3843832739697516, 0.15824399888515484, 0.2509165258646737], "rgb": [228, 225, 212], "semantic_id": 7, "pcd_info": {"point_index": 240}, "mesh_info": {"face_index": 19198, "face_uv": [0.14999232551101488, 0.8254013409391227, 0.02460633354986318]}}, {"xyz": [-0.37360923983518557, 0.15293319851640375, -0.2593879997730255], "rgb": [244, 241, 232], "semantic_id": 8, "pcd_info": {"point_index": 1342}, "mesh_info": {"face_index": 15899, "face_uv": [0.10088619632313062, 0.06336767898929423, 0.8357461246875753]}}, {"xyz": [-0.3781483172940977, 0.15798043263487105, 0.2438122219178136], "rgb": [178, 175, 157], "semantic_id": 9, "pcd_info": {"point_index": 1977}, "mesh_info": {"face_index": 16411, "face_uv": [0.0524074323387457, 0.9144826242301931, 0.03310994343106118]}}, {"xyz": [0.3793487865617391, -0.16864749777238974, -0.2564940794406836], "rgb": [165, 165, 165], "semantic_id": 17, "pcd_info": {"point_index": 1191}, "mesh_info": {"face_index": 450, "face_uv": [0.3626529407588652, 0.4178191245856722, 0.21952793465546275]}}, {"xyz": [0.3854388743604933, -0.16876760342744063, 0.2558960672960602], "rgb": [164, 164, 164], "semantic_id": 18, "pcd_info": {"point_index": 2013}, "mesh_info": {"face_index": 49, "face_uv": [0.46578066465754026, 0.4867475317108948, 0.047471803631564634]}}, {"xyz": [-0.3797920048236847, -0.15359002106693165, 0.25166127480643297], "rgb": [229, 223, 210], "semantic_id": 19, "pcd_info": {"point_index": 1310}, "mesh_info": {"face_index": 14987, "face_uv": [0.08321704704335653, 0.7210098886289172, 0.19577306432772623]}}, {"xyz": [-0.37241016558131435, -0.15907889700224098, -0.2593879997730253], "rgb": [203, 195, 175], "semantic_id": 20, "pcd_info": {"point_index": 1964}, "mesh_info": {"face_index": 13626, "face_uv": [0.30574219946632014, 0.28333264220907295, 0.4109251583246061]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "29f890e465741b7ef8cb9d3fa2bcdc0", "keypoints": [{"xyz": [0.12022142508784284, 0.11947448793406878, 0.11889000236988068], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 518}, "mesh_info": {"face_index": 513, "face_uv": [0.030054395958984334, 0.005596842272176522, 0.9643487617688392]}}, {"xyz": [-0.43556246862539894, 0.12578942963579076, 0.11889000236988045], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 887}, "mesh_info": {"face_index": 276, "face_uv": [0.8804400085858111, 0.09699674097909973, 0.02256325043508728]}}, {"xyz": [0.1496174259474498, -0.12583200633525848, 0.10388043209971554], "rgb": [192, 186, 164], "semantic_id": 2, "pcd_info": {"point_index": 1486}, "mesh_info": {"face_index": 154, "face_uv": [0.37540651124246155, 0.6168025747003961, 0.007790914057142237]}}, {"xyz": [-0.43778581429238783, -0.12583200633525848, 0.1092727708861867], "rgb": [197, 187, 160], "semantic_id": 3, "pcd_info": {"point_index": 1753}, "mesh_info": {"face_index": 389, "face_uv": [0.2735636193221381, 0.7056627888987678, 0.02077359177909425]}}, {"xyz": [0.14947639437074411, -0.12583200633525848, -0.25220292390922894], "rgb": [207, 199, 169], "semantic_id": 4, "pcd_info": {"point_index": 1029}, "mesh_info": {"face_index": 125, "face_uv": [0.30781726130212933, 0.011701939824646413, 0.6804807988732243]}}, {"xyz": [-0.4420401751407052, -0.1258320063352587, -0.25334125507808114], "rgb": [185, 178, 152], "semantic_id": 5, "pcd_info": {"point_index": 1289}, "mesh_info": {"face_index": 381, "face_uv": [0.6981376715234714, 0.2886408261447901, 0.01322150233174025]}}, {"xyz": [0.19746640155917433, 0.028175766851685546, -0.2296143289397643], "rgb": [173, 162, 122], "semantic_id": 6, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 251, "face_uv": [0.3914643970522822, 0.06445987328835161, 0.5440757296593653]}}, {"xyz": [0.19904823173254027, 0.05209600180387475, 0.1693923765615426], "rgb": [173, 160, 115], "semantic_id": 7, "pcd_info": {"point_index": 1207}, "mesh_info": {"face_index": 20, "face_uv": [0.4223621855120483, 0.5717601128239439, 0.005877701664003587]}}, {"xyz": [-0.4970170045993851, 0.05209600180387497, -0.24504342626577036], "rgb": [165, 156, 115], "semantic_id": 8, "pcd_info": {"point_index": 387}, "mesh_info": {"face_index": 70, "face_uv": [0.5410613275640513, 0.039837250996152755, 0.4191014214397959]}}, {"xyz": [-0.4944491150677176, 0.05209600180387519, 0.17881881141770073], "rgb": [160, 148, 101], "semantic_id": 9, "pcd_info": {"point_index": 727}, "mesh_info": {"face_index": 67, "face_uv": [0.49580609704290274, 0.05852387029812858, 0.445670032658973]}}, {"xyz": [0.1938537139065446, -0.3051150143146515, -0.24799242840825964], "rgb": [159, 150, 111], "semantic_id": 17, "pcd_info": {"point_index": 890}, "mesh_info": {"face_index": 0, "face_uv": [0.48084831693623314, 0.033997719894501795, 0.485153963169265]}}, {"xyz": [0.20438474745377844, -0.3051150143146517, 0.18251220383103745], "rgb": [160, 148, 103], "semantic_id": 18, "pcd_info": {"point_index": 672}, "mesh_info": {"face_index": 1, "face_uv": [0.3348429167060157, 0.05064456227560012, 0.6145125210183849]}}, {"xyz": [-0.5072328150816495, -0.30511501431465127, 0.18744917757352808], "rgb": [162, 149, 103], "semantic_id": 19, "pcd_info": {"point_index": 1412}, "mesh_info": {"face_index": 13, "face_uv": [0.6877306519679429, 0.0401473534664724, 0.272121994565584]}}, {"xyz": [-0.5050744650483139, -0.3051150143146517, -0.2384414314299702], "rgb": [163, 150, 107], "semantic_id": 20, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 127, "face_uv": [0.6024375572881174, 0.054305466065715666, 0.3432569766461676]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8b4b176d9393676d5e1f306d831137e1", "keypoints": [{"xyz": [0.15032695227247395, 0.18857400119304657, 0.04238712474227779], "rgb": [150, 85, 41], "semantic_id": 0, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 2520, "face_uv": [0.39059190430212304, 0.378779668201894, 0.230628427495983]}}, {"xyz": [-0.15017455151594367, 0.18857400119304657, 0.029839204643669293], "rgb": [155, 88, 41], "semantic_id": 1, "pcd_info": {"point_index": 1355}, "mesh_info": {"face_index": 3419, "face_uv": [0.3340182541269986, 0.3080731224535382, 0.35790862341946317]}}, {"xyz": [0.1581193164945795, 0.025658197151386286, -0.01736540333750014], "rgb": [152, 88, 42], "semantic_id": 2, "pcd_info": {"point_index": 214}, "mesh_info": {"face_index": 490, "face_uv": [0.12171296275585892, 0.09193731790235349, 0.7863497193417874]}}, {"xyz": [-0.16465040475089665, 0.011562000028789043, -0.020947150973222195], "rgb": [143, 74, 32], "semantic_id": 3, "pcd_info": {"point_index": 1258}, "mesh_info": {"face_index": 2554, "face_uv": [0.01527746650677487, 0.41166302513446756, 0.5730595083587575]}}, {"xyz": [0.16870819063951742, 0.011562000028789043, -0.17948959950013854], "rgb": [149, 82, 43], "semantic_id": 4, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 715, "face_uv": [0.4473191471542794, 0.011753808985159968, 0.5409270438605607]}}, {"xyz": [-0.15650076056025794, 0.011562000028789043, -0.1774318785561767], "rgb": [149, 80, 38], "semantic_id": 5, "pcd_info": {"point_index": 318}, "mesh_info": {"face_index": 2709, "face_uv": [0.03646791710551311, 0.714153189475332, 0.24937889341915498]}}, {"xyz": [0.18883324963863057, -0.634617945477103, -0.1934703331607323], "rgb": [148, 79, 36], "semantic_id": 17, "pcd_info": {"point_index": 671}, "mesh_info": {"face_index": 8825, "face_uv": [0.26945399096394407, 0.38479183778281023, 0.3457541712532463]}}, {"xyz": [0.14866823085976744, -0.6138749667925887, 0.11545589217644078], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1390}, "mesh_info": {"face_index": 9216, "face_uv": [0.6269425173785351, 0.14416440224372046, 0.22889308037774533]}}, {"xyz": [-0.1216731375860175, -0.6263390891311453, 0.12149874502014482], "rgb": [145, 78, 33], "semantic_id": 19, "pcd_info": {"point_index": 871}, "mesh_info": {"face_index": 9498, "face_uv": [0.32240088510601855, 0.619314487946864, 0.05828462694711083]}}, {"xyz": [-0.18822732858823799, -0.6346241781559814, -0.18892259176537035], "rgb": [152, 85, 42], "semantic_id": 20, "pcd_info": {"point_index": 1977}, "mesh_info": {"face_index": 9879, "face_uv": [0.023200217361934648, 0.5024545000722371, 0.4743452825658282]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8bd75ffee48bb4b845fa198471a5a8a5", "keypoints": [{"xyz": [0.1998639126445032, 0.38331755563814696, 0.16449384548569967], "rgb": [28, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 1599}, "mesh_info": {"face_index": 2478, "face_uv": [0.6189675984458932, 0.007517586526335572, 0.3735148150277707]}}, {"xyz": [-0.20384431300363626, 0.38704897820985285, 0.1676381754578551], "rgb": [29, 29, 29], "semantic_id": 1, "pcd_info": {"point_index": 1132}, "mesh_info": {"face_index": 2536, "face_uv": [0.19920095626434536, 0.0071480680998668306, 0.793650975635789]}}, {"xyz": [0.19975278646292896, 0.0768899992108345, 0.10412658962115162], "rgb": [0, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 674}, "mesh_info": {"face_index": 2338, "face_uv": [0.017163571581207737, 0.9649393587311165, 0.017897069687675838]}}, {"xyz": [-0.19529274564309385, 0.0768899992108345, 0.10416632007538507], "rgb": [0, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 37}, "mesh_info": {"face_index": 2391, "face_uv": [0.9464132752660341, 0.03494152661671422, 0.018645198117251505]}}, {"xyz": [0.20277481885351856, 0.06824417671626026, -0.236685922970299], "rgb": [0, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 2399, "face_uv": [0.27462083799190495, 0.7155914924226904, 0.00978766958540552]}}, {"xyz": [-0.1991160475423578, 0.06610185844332173, -0.23986023333154205], "rgb": [0, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1782}, "mesh_info": {"face_index": 2398, "face_uv": [0.2828114357083063, 0.7078749339621176, 0.009313630329576923]}}, {"xyz": [0.23387030756452526, 0.1910568786050979, -0.17223725247471844], "rgb": [201, 149, 57], "semantic_id": 6, "pcd_info": {"point_index": 1440}, "mesh_info": {"face_index": 164, "face_uv": [0.33893126999678463, 0.2627270814194191, 0.39834164858379667]}}, {"xyz": [0.227603785646161, 0.2089543172802919, 0.14769463136789157], "rgb": [202, 150, 54], "semantic_id": 7, "pcd_info": {"point_index": 1619}, "mesh_info": {"face_index": 215, "face_uv": [0.3368985262465698, 0.1712237892349919, 0.49187768451843833]}}, {"xyz": [-0.22790655131602464, 0.19307998827305672, -0.16920928787353107], "rgb": [199, 145, 45], "semantic_id": 8, "pcd_info": {"point_index": 926}, "mesh_info": {"face_index": 1465, "face_uv": [0.4841953396690352, 0.45686470158828796, 0.058939958742676955]}}, {"xyz": [-0.2270096519180007, 0.20349041881643593, 0.1552446847472474], "rgb": [204, 154, 59], "semantic_id": 9, "pcd_info": {"point_index": 6}, "mesh_info": {"face_index": 1544, "face_uv": [0.1613507039337141, 0.3325634166526453, 0.5060858794136408]}}, {"xyz": [0.23115731025543812, -0.2907603480229686, -0.1908333931408595], "rgb": [204, 152, 51], "semantic_id": 17, "pcd_info": {"point_index": 841}, "mesh_info": {"face_index": 629, "face_uv": [0.07640900889959952, 0.5184438494546616, 0.40514714164573884]}}, {"xyz": [0.230962169342614, -0.2941940128803253, 0.2108053218217053], "rgb": [199, 146, 51], "semantic_id": 18, "pcd_info": {"point_index": 1083}, "mesh_info": {"face_index": 856, "face_uv": [0.40990992765873735, 0.06817066716319187, 0.5219194051780708]}}, {"xyz": [-0.22272533421388196, -0.29419401288032554, 0.20572087548074647], "rgb": [201, 147, 48], "semantic_id": 19, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 2159, "face_uv": [0.6106528210206489, 0.08058032123131886, 0.30876685774803303]}}, {"xyz": [-0.23213144768533694, -0.29150101602124323, -0.18865152556942516], "rgb": [205, 154, 55], "semantic_id": 20, "pcd_info": {"point_index": 1682}, "mesh_info": {"face_index": 1943, "face_uv": [0.38711253426942077, 0.23180877670600852, 0.38107868902457187]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "74f246c1f7633eb31d1a08d58541ab5", "keypoints": [{"xyz": [0.2203399828130407, 0.386412279905088, 0.1375686992096974], "rgb": [92, 58, 25], "semantic_id": 0, "pcd_info": {"point_index": 1838}, "mesh_info": {"face_index": 395, "face_uv": [0.4952541558139971, 0.332233798852457, 0.17251204533356967]}}, {"xyz": [-0.22466115489261926, 0.39070253352359097, 0.13683929346101587], "rgb": [80, 44, 8], "semantic_id": 1, "pcd_info": {"point_index": 1230}, "mesh_info": {"face_index": 391, "face_uv": [0.06905777331078451, 0.15726003542614125, 0.7736821912630653]}}, {"xyz": [0.13562349736170903, 0.04335477500250784, 0.1184343014447311], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 959}, "mesh_info": {"face_index": 11842, "face_uv": [0.2405927411160379, 0.07377255923217545, 0.6856346996517872]}}, {"xyz": [-0.13883565547017246, 0.042147067806593164, 0.1195499167960361], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 593}, "mesh_info": {"face_index": 11556, "face_uv": [0.2398845377553287, 0.10824721972531981, 0.6518682425193489]}}, {"xyz": [0.19090114432338662, 0.025302387061215015, -0.15681571917042247], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1705}, "mesh_info": {"face_index": 13046, "face_uv": [0.13731143798692366, 0.5222396385290344, 0.3404489234840422]}}, {"xyz": [-0.20100592614333418, 0.012055999599397182, -0.15521663600503632], "rgb": [77, 43, 7], "semantic_id": 5, "pcd_info": {"point_index": 198}, "mesh_info": {"face_index": 13449, "face_uv": [0.8964745375817517, 0.0790661762454366, 0.024459286172811876]}}, {"xyz": [0.16589121838532803, -0.349986271232976, -0.16475585496031853], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1146}, "mesh_info": {"face_index": 4324, "face_uv": [0.006582562641787465, 0.982296893085582, 0.011120544272629027]}}, {"xyz": [0.19090067034801245, -0.3365571180510092, 0.1654672533309821], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1228}, "mesh_info": {"face_index": 11130, "face_uv": [0.13232286014066144, 0.7721086694994342, 0.09556847035990372]}}, {"xyz": [-0.1893275585563382, -0.3483335874119844, 0.16077171104693377], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1112}, "mesh_info": {"face_index": 5728, "face_uv": [0.12600223367713345, 0.7434653955364559, 0.13053237078641308]}}, {"xyz": [-0.1740542855906756, -0.3511270683026593, -0.16075459090902955], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1242}, "mesh_info": {"face_index": 9750, "face_uv": [0.03239366288101535, 0.9478021927928203, 0.01980414432616352]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e431c68fbfdf826d561dbc0c83a98a32", "keypoints": [{"xyz": [0.2227820582799202, 0.7157769799232483, 0.14513016301491827], "rgb": [153, 75, 0], "semantic_id": 0, "pcd_info": {"point_index": 1729}, "mesh_info": {"face_index": 3, "face_uv": [0.47474509370045465, 0.0044799893334298594, 0.5207749169661156]}}, {"xyz": [-0.2257945377062596, 0.7157769799232483, 0.14404383438285479], "rgb": [153, 75, 0], "semantic_id": 1, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 67, "face_uv": [0.4893169452157398, 0.006505131398423745, 0.5041779233858364]}}, {"xyz": [0.2188552408628426, 0.35499200224876415, 0.1679222665654756], "rgb": [153, 75, 0], "semantic_id": 2, "pcd_info": {"point_index": 152}, "mesh_info": {"face_index": 110, "face_uv": [0.017620794955955987, 0.010256640717198394, 0.972122564326846]}}, {"xyz": [-0.22723862273189233, 0.35499200224876415, 0.1632353667588693], "rgb": [153, 75, 0], "semantic_id": 3, "pcd_info": {"point_index": 1514}, "mesh_info": {"face_index": 36, "face_uv": [0.00709878250870045, 0.012477452152780306, 0.9804237653385196]}}, {"xyz": [0.21982509525404545, 0.35215944069534155, -0.2324189990758896], "rgb": [152, 75, 0], "semantic_id": 4, "pcd_info": {"point_index": 943}, "mesh_info": {"face_index": 31, "face_uv": [0.010999456590981489, 0.9450425579598065, 0.043957985449212034]}}, {"xyz": [-0.2258968101709171, 0.35499200224876404, -0.23028997268328077], "rgb": [152, 75, 0], "semantic_id": 5, "pcd_info": {"point_index": 1548}, "mesh_info": {"face_index": 42, "face_uv": [0.9883813597485998, 0.010033064877327736, 0.0015855753740725439]}}, {"xyz": [0.15795244511712372, -0.05982987676924001, -0.17345020540138978], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 616}, "mesh_info": {"face_index": 548, "face_uv": [0.1184994036488283, 0.4054916140992143, 0.47600898225197535]}}, {"xyz": [0.16247490232819609, -0.06166410517899856, 0.14657687531132102], "rgb": [226, 226, 226], "semantic_id": 18, "pcd_info": {"point_index": 1076}, "mesh_info": {"face_index": 1643, "face_uv": [0.005110716733793459, 0.051335947519353116, 0.9435533357468572]}}, {"xyz": [-0.16379920989422414, -0.062366322814036756, 0.15047720932319186], "rgb": [226, 226, 226], "semantic_id": 19, "pcd_info": {"point_index": 447}, "mesh_info": {"face_index": 642, "face_uv": [0.6296831897912184, 0.36383177917910575, 0.006485031029679196]}}, {"xyz": [-0.16425258371242035, -0.06897722410221063, -0.17878937784035598], "rgb": [226, 226, 226], "semantic_id": 20, "pcd_info": {"point_index": 1127}, "mesh_info": {"face_index": 1052, "face_uv": [0.13384498074958717, 0.31625038058553173, 0.5499046386648827]}}, {"xyz": [6.5661247337645e-06, 0.30096971057771804, -0.02599649093150247], "rgb": [169, 104, 41], "semantic_id": 15, "pcd_info": {"point_index": 1056}, "mesh_info": {"face_index": 182, "face_uv": [0.4680766791256286, 0.1622520034276456, 0.3696713174467296]}}, {"xyz": [-0.0025845487632804864, -0.03053300082683541, -0.0058676026286761385], "rgb": [254, 254, 254], "semantic_id": 16, "pcd_info": {"point_index": 1151}, "mesh_info": {"face_index": 241, "face_uv": [0.44305077184126956, 0.04266213854028259, 0.5142870896184406]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": [{"kp_indexes": [6, 7, 8, 9], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "1e40fef11894c4b9ce4f274577283b16", "keypoints": [{"xyz": [0.20750596672202848, 0.3870098705079559, 0.21908887662598808], "rgb": [230, 191, 123], "semantic_id": 0, "pcd_info": {"point_index": 1689}, "mesh_info": {"face_index": 3061, "face_uv": [0.16799649337512082, 0.27239919232696236, 0.5596043142979168]}}, {"xyz": [-0.20550786823638612, 0.38634597341200094, 0.21646235306546735], "rgb": [233, 196, 132], "semantic_id": 1, "pcd_info": {"point_index": 119}, "mesh_info": {"face_index": 2950, "face_uv": [0.5077969703727824, 0.460012773092989, 0.03219025653422938]}}, {"xyz": [0.13799099411526194, 0.027326560471122363, 0.1583846048137677], "rgb": [231, 192, 125], "semantic_id": 2, "pcd_info": {"point_index": 653}, "mesh_info": {"face_index": 3021, "face_uv": [0.7136000221014526, 0.05792456155617032, 0.22847541634237656]}}, {"xyz": [-0.13918772300096183, 0.02186560536770088, 0.1556479743541478], "rgb": [227, 187, 118], "semantic_id": 3, "pcd_info": {"point_index": 580}, "mesh_info": {"face_index": 3063, "face_uv": [0.35780754347965654, 0.6273909574416944, 0.014801499078647615]}}, {"xyz": [0.17950219180754357, 0.04995445742546156, -0.13771054395087146], "rgb": [28, 28, 28], "semantic_id": 4, "pcd_info": {"point_index": 306}, "mesh_info": {"face_index": 768, "face_uv": [0.014102214316885981, 0.9814811521038482, 0.004416633579266639]}}, {"xyz": [-0.1889341540444242, 0.024440993949783607, -0.1464605580412539], "rgb": [28, 28, 28], "semantic_id": 5, "pcd_info": {"point_index": 727}, "mesh_info": {"face_index": 465, "face_uv": [0.12045672884007841, 0.5441080343996225, 0.3354352367602993]}}, {"xyz": [0.20992601757529017, -0.33623398021688544, -0.16711935693897728], "rgb": [157, 157, 157], "semantic_id": 17, "pcd_info": {"point_index": 693}, "mesh_info": {"face_index": 3512, "face_uv": [0.06442230234205147, 0.8480179463859546, 0.0875597512719841]}}, {"xyz": [0.16061168933599923, -0.35788250037304997, 0.25304430672008027], "rgb": [157, 157, 157], "semantic_id": 18, "pcd_info": {"point_index": 1541}, "mesh_info": {"face_index": 3763, "face_uv": [0.22053241646398536, 0.7783614707428423, 0.001106112793170975]}}, {"xyz": [-0.17736262482758458, -0.35753750851778154, 0.2492289742224736], "rgb": [157, 157, 157], "semantic_id": 19, "pcd_info": {"point_index": 2035}, "mesh_info": {"face_index": 2092, "face_uv": [0.0021653652536671626, 0.6022936775319967, 0.3955409572143326]}}, {"xyz": [-0.20541439121341876, -0.352629623863845, -0.15100793913388177], "rgb": [158, 158, 158], "semantic_id": 20, "pcd_info": {"point_index": 806}, "mesh_info": {"face_index": 2461, "face_uv": [0.01695423812992995, 0.47254011343585, 0.5105056484342205]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "13d3462293023fe71f530727405d60cf", "keypoints": [{"xyz": [0.43033428739971696, 0.23089746161565927, 0.11283919341722992], "rgb": [59, 68, 86], "semantic_id": 0, "pcd_info": {"point_index": 48}, "mesh_info": {"face_index": 1664, "face_uv": [0.6935438268833315, 0.004233859424561496, 0.3022223136921078]}}, {"xyz": [-0.40520181989560966, 0.23090981737702276, 0.11285244878324541], "rgb": [58, 67, 85], "semantic_id": 1, "pcd_info": {"point_index": 1394}, "mesh_info": {"face_index": 808, "face_uv": [0.7000962763006637, 0.007819478964365833, 0.2920842447349695]}}, {"xyz": [0.36813791472212076, 0.042691998183727264, 0.07122483916430533], "rgb": [58, 67, 86], "semantic_id": 2, "pcd_info": {"point_index": 98}, "mesh_info": {"face_index": 1373, "face_uv": [0.9062861360018751, 0.031413460264632286, 0.06230040373349247]}}, {"xyz": [-0.3465013862687903, 0.042691998183727264, 0.07549226416697885], "rgb": [59, 68, 86], "semantic_id": 3, "pcd_info": {"point_index": 1568}, "mesh_info": {"face_index": 1574, "face_uv": [0.01448080154793989, 0.03024559801737957, 0.9552736004346808]}}, {"xyz": [0.3692377815253982, 0.042691998183727486, -0.14247212440455936], "rgb": [59, 68, 86], "semantic_id": 4, "pcd_info": {"point_index": 1538}, "mesh_info": {"face_index": 1373, "face_uv": [0.02922795189754545, 0.028430090942168258, 0.9423419571602915]}}, {"xyz": [-0.3432422202292172, 0.042691998183727264, -0.148707082890706], "rgb": [58, 67, 86], "semantic_id": 5, "pcd_info": {"point_index": 97}, "mesh_info": {"face_index": 717, "face_uv": [0.03198139091137407, 0.039111399172755835, 0.92890720991587]}}, {"xyz": [0.41571232293531635, 0.14761273648953566, -0.1509976429001878], "rgb": [59, 68, 86], "semantic_id": 6, "pcd_info": {"point_index": 1714}, "mesh_info": {"face_index": 502, "face_uv": [0.022548463296040724, 0.6282776379629547, 0.3491738987410047]}}, {"xyz": [0.4173504501300662, 0.14785446887802745, 0.07561173200923876], "rgb": [59, 68, 86], "semantic_id": 7, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 503, "face_uv": [0.044234410050208436, 0.0684208254912481, 0.8873447644585435]}}, {"xyz": [-0.4037632854503658, 0.14772878688820157, -0.14873083509954027], "rgb": [58, 67, 85], "semantic_id": 8, "pcd_info": {"point_index": 757}, "mesh_info": {"face_index": 76, "face_uv": [0.031883575152035444, 0.5064826537380929, 0.4616337711098715]}}, {"xyz": [-0.40338341475320744, 0.14776962015944828, 0.0732484346195299], "rgb": [59, 68, 86], "semantic_id": 9, "pcd_info": {"point_index": 886}, "mesh_info": {"face_index": 117, "face_uv": [0.05396688294694523, 0.42359811665479485, 0.5224350003982606]}}, {"xyz": [0.39001056127023465, -0.13636399805545785, -0.12554154395882117], "rgb": [58, 67, 85], "semantic_id": 17, "pcd_info": {"point_index": 1977}, "mesh_info": {"face_index": 1583, "face_uv": [0.0677646308400428, 0.4533446303474813, 0.47889073881247435]}}, {"xyz": [0.3870684334947665, -0.1363639980554583, 0.09473999656967715], "rgb": [59, 68, 86], "semantic_id": 18, "pcd_info": {"point_index": 216}, "mesh_info": {"face_index": 1155, "face_uv": [0.09883979035577799, 0.6031244355219172, 0.29803577412230636]}}, {"xyz": [-0.37091462530846636, -0.13636399805545807, 0.09293166786629664], "rgb": [59, 68, 86], "semantic_id": 19, "pcd_info": {"point_index": 1223}, "mesh_info": {"face_index": 52, "face_uv": [0.43612063323126216, 0.2726806854097899, 0.29119868135894794]}}, {"xyz": [-0.3685136489412941, -0.13636399805545785, -0.11988832664590077], "rgb": [58, 67, 85], "semantic_id": 20, "pcd_info": {"point_index": 167}, "mesh_info": {"face_index": 461, "face_uv": [0.5257389103499079, 0.3292127053488978, 0.14504838430119266]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fbd890f1f0280b884b47ef9f38e7ab27", "keypoints": [{"xyz": [0.15689041251826877, 0.3531117739362112, 0.06788127884699269], "rgb": [160, 108, 59], "semantic_id": 0, "pcd_info": {"point_index": 419}, "mesh_info": {"face_index": 219, "face_uv": [0.056998603144595233, 0.9245140941013529, 0.018487302754055496]}}, {"xyz": [-0.17084402811834543, 0.35630385384052865, 0.0693265287699667], "rgb": [148, 99, 64], "semantic_id": 1, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 912, "face_uv": [0.8309391500111322, 0.01773090471618594, 0.15132994527268476]}}, {"xyz": [0.11929974930648321, -0.027005000039935334, 0.04969402661223965], "rgb": [154, 105, 64], "semantic_id": 2, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 1292, "face_uv": [0.3682420699006953, 0.06734964096019183, 0.564408289139121]}}, {"xyz": [-0.14640853974677998, -0.027005000039935112, 0.05092387909001195], "rgb": [157, 111, 62], "semantic_id": 3, "pcd_info": {"point_index": 1366}, "mesh_info": {"face_index": 1305, "face_uv": [0.8108750251765497, 0.13046960153386103, 0.05865537328958917]}}, {"xyz": [0.14181853889162105, -0.0446734459170115, -0.22466135408434562], "rgb": [156, 111, 69], "semantic_id": 4, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 778, "face_uv": [0.03056881492777286, 0.4605391456303943, 0.5088920394418316]}}, {"xyz": [-0.16133225558811315, -0.043747416005808004, -0.22312245409802334], "rgb": [160, 113, 71], "semantic_id": 5, "pcd_info": {"point_index": 1722}, "mesh_info": {"face_index": 791, "face_uv": [0.8814337579307755, 0.09080312884695547, 0.027763113222267915]}}, {"xyz": [0.14416320275950453, -0.47440600395202615, -0.21383184130890903], "rgb": [163, 115, 71], "semantic_id": 17, "pcd_info": {"point_index": 939}, "mesh_info": {"face_index": 577, "face_uv": [0.4400257956698899, 0.486357941428939, 0.07361626290117065]}}, {"xyz": [0.14302751257218957, -0.47440600395202615, 0.09378007042906736], "rgb": [153, 101, 58], "semantic_id": 18, "pcd_info": {"point_index": 1901}, "mesh_info": {"face_index": 1004, "face_uv": [0.1520794523838939, 0.3816645194421324, 0.4662560281739732]}}, {"xyz": [-0.15949672416444804, -0.4744060039520266, 0.08972608456917086], "rgb": [147, 99, 58], "semantic_id": 19, "pcd_info": {"point_index": 509}, "mesh_info": {"face_index": 1205, "face_uv": [0.07123734678739674, 0.47529656175532653, 0.45346609145727723]}}, {"xyz": [-0.16088966354500334, -0.47440600395202637, -0.21375167493639152], "rgb": [155, 105, 63], "semantic_id": 20, "pcd_info": {"point_index": 1557}, "mesh_info": {"face_index": 727, "face_uv": [0.485637815444585, 0.48450639609559404, 0.029855788459821005]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "63da17eda9d415b5319c5e90e9cc9126", "keypoints": [{"xyz": [0.2121375908480958, 0.24446823428343628, 0.09315100312232971], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1674}, "mesh_info": {"face_index": 70, "face_uv": [0.004626638556815163, 0.015380561504109937, 0.979992799939075]}}, {"xyz": [-0.21414350638113064, 0.24715131918163685, 0.09315100312232993], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 71, "face_uv": [0.015094746442893303, 0.9539637674250594, 0.030941486132049695]}}, {"xyz": [0.20864386437287086, -0.07883500307798386, 0.07771026119024493], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1644}, "mesh_info": {"face_index": 40, "face_uv": [0.023312682327937675, 0.9622420372627625, 0.014445280409299705]}}, {"xyz": [-0.20750816580601672, -0.07883500307798386, 0.07570336066589456], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 302}, "mesh_info": {"face_index": 41, "face_uv": [0.031860008531429986, 0.04266552971485169, 0.9254744617537184]}}, {"xyz": [0.207333258137529, -0.07883500307798386, -0.3025178396024646], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1993}, "mesh_info": {"face_index": 153, "face_uv": [0.9412591118736507, 0.032452618818459324, 0.02628826930788993]}}, {"xyz": [-0.20544282343601272, -0.07883500307798375, -0.29627139674371183], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 663}, "mesh_info": {"face_index": 152, "face_uv": [0.01117819468698026, 0.9522726646077867, 0.03654914070523161]}}, {"xyz": [0.18983699641120144, -0.39458900690078713, -0.29976282428383094], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1985}, "mesh_info": {"face_index": 0, "face_uv": [0.4272531569348573, 0.4810678221914531, 0.09167902087368905]}}, {"xyz": [0.18401923510567525, -0.39458900690078735, 0.1199359531052413], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 948}, "mesh_info": {"face_index": 61, "face_uv": [0.4715302788445995, 0.46562290326826, 0.06284681788714049]}}, {"xyz": [-0.17370566385778938, -0.39458900690078735, 0.11975400613676912], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 272}, "mesh_info": {"face_index": 84, "face_uv": [0.44112373121331205, 0.470515397597998, 0.08836087118868999]}}, {"xyz": [-0.18744497781141517, -0.39458900690078735, -0.3007852855402846], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 144, "face_uv": [0.0627159320762819, 0.48582461745961625, 0.4514594504641019]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8bb74c3e07557ba9177f2a3a0c71fbcd", "keypoints": [{"xyz": [0.2774664817719254, 0.11679980583020533, 0.06467738916250299], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1272}, "mesh_info": {"face_index": 698, "face_uv": [0.10638273357362144, 0.3094195784411454, 0.5841976879852339]}}, {"xyz": [-0.2747878327437408, 0.11707070368172023, 0.06670377908473024], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1118}, "mesh_info": {"face_index": 1187, "face_uv": [0.28649108250224387, 0.5562819886786222, 0.15722692881913486]}}, {"xyz": [0.255128236478813, -0.20309653424558194, 0.0605290010571482], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1361}, "mesh_info": {"face_index": 313, "face_uv": [0.055003843907833944, 0.06230852881886986, 0.8826876272732999]}}, {"xyz": [-0.2544749975204468, -0.20155170189042204, 0.05722465831170598], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 606, "face_uv": [0.09759703011651431, 0.0712445205861235, 0.8311584492973622]}}, {"xyz": [0.2587749255847264, -0.19545827795805204, -0.24418100714683555], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 464}, "mesh_info": {"face_index": 181, "face_uv": [0.019632062123412612, 0.8896963873537831, 0.09067155052280519]}}, {"xyz": [-0.2523200269356767, -0.20442994268913828, -0.24482500553131092], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 746}, "mesh_info": {"face_index": 141, "face_uv": [0.17416988560746705, 0.003790454376315227, 0.8220396600162173]}}, {"xyz": [0.2679762259036836, -0.010339999571442826, -0.2500904416639863], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 949}, "mesh_info": {"face_index": 476, "face_uv": [0.9023860238317407, 0.012835800190789377, 0.08477817597749134]}}, {"xyz": [0.27412777683317263, -0.010339999571442604, 0.056110110559483506], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 582, "face_uv": [0.8412305060755947, 0.06525911441391088, 0.09351037951049439]}}, {"xyz": [-0.27106728309725114, -0.008901000022888184, -0.2518871499889318], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1898}, "mesh_info": {"face_index": 1132, "face_uv": [0.3559762139975515, 0.005351708600518366, 0.6386720774019301]}}, {"xyz": [-0.27079111085685226, -0.004144010129469189, 0.060529001057147924], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 872}, "mesh_info": {"face_index": 983, "face_uv": [0.7565112938159733, 0.20547353889822445, 0.03801516728580137]}}, {"xyz": [0.2756439478706312, -0.5688400268554688, -0.24100915081708207], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1964}, "mesh_info": {"face_index": 150, "face_uv": [0.09877763038488145, 0.7657765718324603, 0.1354457977826583]}}, {"xyz": [0.2738401085812471, -0.5676720142364502, 0.06622626234317472], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 75}, "mesh_info": {"face_index": 702, "face_uv": [0.12968410625310267, 0.4069887757790299, 0.4633271179678674]}}, {"xyz": [-0.277364968015742, -0.5676720142364502, 0.06889426051618136], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 218}, "mesh_info": {"face_index": 1181, "face_uv": [0.024220889808720357, 0.38779635991335665, 0.587982750277923]}}, {"xyz": [-0.27318721158212333, -0.5653868830949393, -0.24418100714683527], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 646}, "mesh_info": {"face_index": 817, "face_uv": [0.0059489226324496896, 0.10522753237892156, 0.8888235449886285]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9c499d86350d32a28639ef683ea7ed9b", "keypoints": [{"xyz": [0.19311320206705407, 0.3647022182184494, 0.23212517248397313], "rgb": [16, 16, 16], "semantic_id": 0, "pcd_info": {"point_index": 1382}, "mesh_info": {"face_index": 1532, "face_uv": [0.37285286577765264, 0.4320694620474327, 0.19507767217491442]}}, {"xyz": [-0.18842080923100435, 0.3659563926020848, 0.23381237407570343], "rgb": [17, 17, 17], "semantic_id": 1, "pcd_info": {"point_index": 1179}, "mesh_info": {"face_index": 4047, "face_uv": [0.4998645996025488, 0.1314541013601769, 0.36868129903727426]}}, {"xyz": [0.1894491319834274, -0.045606612308803696, 0.1056757824672302], "rgb": [80, 52, 41], "semantic_id": 2, "pcd_info": {"point_index": 375}, "mesh_info": {"face_index": 9825, "face_uv": [0.043234460495095356, 0.11860816762814144, 0.8381573718767636]}}, {"xyz": [-0.17435279314723695, -0.037299900476302716, 0.11143877299683624], "rgb": [75, 47, 36], "semantic_id": 3, "pcd_info": {"point_index": 1733}, "mesh_info": {"face_index": 20884, "face_uv": [0.0250603640433279, 0.6899098442173596, 0.2850297917393138]}}, {"xyz": [0.18826567854248666, -0.02420839383479978, -0.21687299255945147], "rgb": [17, 17, 17], "semantic_id": 4, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 7638, "face_uv": [0.14391579392894516, 0.33333215118036924, 0.5227520548906861]}}, {"xyz": [-0.18578742476312538, -0.02834347246490443, -0.2206018765596427], "rgb": [115, 87, 75], "semantic_id": 5, "pcd_info": {"point_index": 206}, "mesh_info": {"face_index": 17114, "face_uv": [0.04858765661781602, 0.5048764358699109, 0.4465359075122738]}}, {"xyz": [0.2280359296795212, 0.06876247407188285, -0.2607749495878442], "rgb": [16, 16, 16], "semantic_id": 6, "pcd_info": {"point_index": 247}, "mesh_info": {"face_index": 29916, "face_uv": [0.057866504078249566, 0.08383175686652673, 0.8583017390552236]}}, {"xyz": [0.2263758648557428, 0.07291758498050283, 0.1424654024904058], "rgb": [16, 16, 16], "semantic_id": 7, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 29194, "face_uv": [0.08988357404010389, 0.20929019890465742, 0.7008262270552382]}}, {"xyz": [-0.21881246550652422, 0.06372032632816949, -0.2618098000341871], "rgb": [17, 17, 17], "semantic_id": 8, "pcd_info": {"point_index": 27}, "mesh_info": {"face_index": 32932, "face_uv": [0.37359303737910043, 0.275127329018404, 0.3512796336024961]}}, {"xyz": [-0.22533827778072824, 0.07081390721273606, 0.14369132004698576], "rgb": [17, 17, 17], "semantic_id": 9, "pcd_info": {"point_index": 1139}, "mesh_info": {"face_index": 32016, "face_uv": [0.8545147975757343, 0.015534538921338449, 0.1299506635029272]}}, {"xyz": [0.22641473543794274, -0.2849470955786062, -0.28871516723367247], "rgb": [152, 152, 152], "semantic_id": 17, "pcd_info": {"point_index": 1085}, "mesh_info": {"face_index": 36876, "face_uv": [0.07122396079285678, 0.8661227510573918, 0.06265328814974941]}}, {"xyz": [0.22986612936641618, -0.2860464649846255, 0.17229135562901277], "rgb": [152, 152, 152], "semantic_id": 18, "pcd_info": {"point_index": 335}, "mesh_info": {"face_index": 45245, "face_uv": [0.021783529967223356, 0.3335252631468756, 0.6446912068859008]}}, {"xyz": [-0.22849600940771084, -0.28541911436245826, 0.17046383607958526], "rgb": [153, 153, 153], "semantic_id": 19, "pcd_info": {"point_index": 427}, "mesh_info": {"face_index": 66916, "face_uv": [0.8339851474245359, 0.06531971510462858, 0.10069513747083647]}}, {"xyz": [-0.22986335080800738, -0.28559201845221627, -0.285572217291762], "rgb": [152, 152, 152], "semantic_id": 20, "pcd_info": {"point_index": 389}, "mesh_info": {"face_index": 58581, "face_uv": [0.5762406740919503, 0.17614051489740273, 0.24761881101064673]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5cb06ff2b420c24721711c78ff413696", "keypoints": [{"xyz": [0.1679678927689129, 0.499448001384735, 0.11148262674826137], "rgb": [101, 60, 18], "semantic_id": 0, "pcd_info": {"point_index": 1321}, "mesh_info": {"face_index": 2455, "face_uv": [0.41493988996548636, 0.5051348118770274, 0.07992529815748606]}}, {"xyz": [-0.16725144612828385, 0.5000140070915221, 0.11165943684668256], "rgb": [135, 104, 71], "semantic_id": 1, "pcd_info": {"point_index": 1784}, "mesh_info": {"face_index": 3554, "face_uv": [0.22165537962533263, 0.5190073871212852, 0.2593372332533818]}}, {"xyz": [0.1713044760359571, -0.00618806248736492, 0.09555561980398664], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 256}, "mesh_info": {"face_index": 2919, "face_uv": [0.39810755295349504, 0.050581923453670026, 0.5513105235928327]}}, {"xyz": [-0.16708999337299602, 0.004275982751141827, 0.09473112050326682], "rgb": [101, 60, 18], "semantic_id": 3, "pcd_info": {"point_index": 1344}, "mesh_info": {"face_index": 2880, "face_uv": [0.9213503089042794, 0.016938967478522086, 0.061710723617197795]}}, {"xyz": [0.17063204908229376, 0.010824000462889671, -0.22185560384996195], "rgb": [102, 60, 19], "semantic_id": 4, "pcd_info": {"point_index": 830}, "mesh_info": {"face_index": 4775, "face_uv": [0.19542194367777613, 0.3544814098266481, 0.4500966464955757]}}, {"xyz": [-0.17326603353752246, 0.008484000340104325, -0.2151951194934112], "rgb": [102, 61, 19], "semantic_id": 5, "pcd_info": {"point_index": 1747}, "mesh_info": {"face_index": 4828, "face_uv": [0.5963265935245057, 0.1337028403514156, 0.2699705661241048]}}, {"xyz": [0.17655840290873476, -0.3304829895496366, -0.2069923755283581], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 1906, "face_uv": [0.14925856606790716, 0.19972017816451396, 0.6510212557675782]}}, {"xyz": [0.17341259222285277, -0.33048298954963684, 0.12720385683603913], "rgb": [218, 208, 197], "semantic_id": 18, "pcd_info": {"point_index": 1499}, "mesh_info": {"face_index": 3778, "face_uv": [0.05301708168088041, 0.7581962362319138, 0.18878668208720586]}}, {"xyz": [-0.16084146855034492, -0.33048298954963684, 0.1260636311187589], "rgb": [214, 203, 191], "semantic_id": 19, "pcd_info": {"point_index": 1939}, "mesh_info": {"face_index": 3250, "face_uv": [0.19674624257284618, 0.7330267892895389, 0.07022696813761489]}}, {"xyz": [-0.16257058258266066, -0.33048298954963684, -0.1966078810906065], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1366}, "mesh_info": {"face_index": 2027, "face_uv": [0.02649910580123245, 0.40944725971190443, 0.5640536344868631]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3374905da20ad76f3c9c1464e55d580", "keypoints": [{"xyz": [0.1894657802776173, 0.3226812019288423, 0.2679287690477194], "rgb": [86, 86, 86], "semantic_id": 0, "pcd_info": {"point_index": 1482}, "mesh_info": {"face_index": 517, "face_uv": [0.20749798512274936, 0.6889099470435661, 0.1035920678336849]}}, {"xyz": [-0.20835954790174283, 0.32545027631260925, 0.2653353237194097], "rgb": [85, 85, 85], "semantic_id": 1, "pcd_info": {"point_index": 1073}, "mesh_info": {"face_index": 417, "face_uv": [0.7179426903837858, 0.04368899111686607, 0.23836831849934756]}}, {"xyz": [0.07351585317509599, 0.023600362718796286, 0.17627172747546482], "rgb": [85, 85, 85], "semantic_id": 2, "pcd_info": {"point_index": 1036}, "mesh_info": {"face_index": 296, "face_uv": [0.7060946288738517, 0.21639210711558357, 0.07751326401056301]}}, {"xyz": [-0.10942181785663457, 0.023003005584942837, 0.1758459554287981], "rgb": [85, 85, 85], "semantic_id": 3, "pcd_info": {"point_index": 1619}, "mesh_info": {"face_index": 290, "face_uv": [0.6480875307743142, 0.019207203038997506, 0.3327052661866877]}}, {"xyz": [0.1004495639954741, 0.02820637569214146, -0.21010132076225418], "rgb": [85, 85, 85], "semantic_id": 4, "pcd_info": {"point_index": 304}, "mesh_info": {"face_index": 1021, "face_uv": [0.433608752480714, 0.42336762664920663, 0.14302362087007833]}}, {"xyz": [-0.14075975296968862, 0.02800504798978576, -0.21092486223498286], "rgb": [86, 86, 86], "semantic_id": 5, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 969, "face_uv": [0.010531579134049332, 0.2907146961994365, 0.6987537246665148]}}, {"xyz": [0.15197349837303586, -0.3829300105571747, -0.2400518485878], "rgb": [72, 72, 73], "semantic_id": 17, "pcd_info": {"point_index": 979}, "mesh_info": {"face_index": 1717, "face_uv": [0.07858522305748429, 0.7157023837184877, 0.205712393224028]}}, {"xyz": [0.21095473426079928, -0.3829300105571747, 0.1640401240160253], "rgb": [72, 72, 73], "semantic_id": 18, "pcd_info": {"point_index": 1674}, "mesh_info": {"face_index": 1078, "face_uv": [0.10881264612814256, 0.27516227564145934, 0.6160250782303981]}}, {"xyz": [-0.24385575154110806, -0.3829300105571749, 0.16743958132272935], "rgb": [72, 72, 73], "semantic_id": 19, "pcd_info": {"point_index": 1824}, "mesh_info": {"face_index": 2048, "face_uv": [0.37094075694531964, 0.2330663134918234, 0.39599292956285753]}}, {"xyz": [-0.1890638149686077, -0.3829300105571747, -0.23698059637408406], "rgb": [72, 72, 73], "semantic_id": 20, "pcd_info": {"point_index": 107}, "mesh_info": {"face_index": 1086, "face_uv": [0.05550782897466823, 0.42638647391392565, 0.5181056971114061]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bbef7baa438869dd52bee19dc0453f5e", "keypoints": [{"xyz": [0.20006059865323236, 0.31856082171024513, 0.24132975216248687], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 800, "face_uv": [0.019323875308109438, 0.009484528715906403, 0.9711915959759844]}}, {"xyz": [-0.1897247780967059, 0.32200167952900083, 0.2395143515961613], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1784}, "mesh_info": {"face_index": 834, "face_uv": [0.6742627842243413, 0.003368511886268659, 0.3223687038893908]}}, {"xyz": [0.18318383951434686, -0.02151225862283601, 0.18241463835027805], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 572}, "mesh_info": {"face_index": 801, "face_uv": [0.4674239932885996, 0.3111926820885509, 0.22138332462284968]}}, {"xyz": [-0.1906670227980155, -0.021005406034985463, 0.1709498274671728], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 205}, "mesh_info": {"face_index": 1090, "face_uv": [0.016324981349418007, 0.9390455964235861, 0.04462942222700555]}}, {"xyz": [0.19012636484963902, -0.0331166818008467, -0.28863200545310974], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1124}, "mesh_info": {"face_index": 985, "face_uv": [0.007132971548479924, 0.18046408259070842, 0.8124029458608116]}}, {"xyz": [-0.1866367984349119, -0.020421266293600526, -0.2877289094068103], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1119}, "mesh_info": {"face_index": 1085, "face_uv": [0.7757034935022791, 0.22236354710605236, 0.001932959391687815]}}, {"xyz": [0.23104670417745943, 0.1228580027818682, -0.2600596663871403], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 322}, "mesh_info": {"face_index": 364, "face_uv": [0.010997603001916115, 0.6080113244728735, 0.38099107252521197]}}, {"xyz": [0.22983553621403752, 0.12285800278186798, 0.14134758254028168], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 372, "face_uv": [0.03930596557193199, 0.4162518355841959, 0.5444421988438722]}}, {"xyz": [-0.23369483168358562, 0.12285800278186776, -0.24825520222069208], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 93, "face_uv": [0.6273565844395805, 0.3337174243100874, 0.038925991250330264]}}, {"xyz": [-0.22733586508442394, 0.12285800278186776, 0.14129210920903468], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 333}, "mesh_info": {"face_index": 101, "face_uv": [0.42167098234496503, 0.5388918067583965, 0.03943721089663678]}}, {"xyz": [0.22916973207974684, -0.30111798644065857, -0.2706430066945993], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 290}, "mesh_info": {"face_index": 663, "face_uv": [0.016539553489540577, 0.4741888156376987, 0.5092716308727607]}}, {"xyz": [0.23393203875004837, -0.30111798644065857, 0.1717209485090902], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 695}, "mesh_info": {"face_index": 727, "face_uv": [0.07964859426106166, 0.3862454906126901, 0.5341059151262483]}}, {"xyz": [-0.21901463289564094, -0.30111798644065857, 0.1683489773840373], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 157}, "mesh_info": {"face_index": 790, "face_uv": [0.4386232057333031, 0.4213636386907578, 0.14001315557593907]}}, {"xyz": [-0.23931859356840268, -0.30111798644065857, -0.2697772493226219], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 951}, "mesh_info": {"face_index": 62, "face_uv": [0.466218629886837, 0.20374105502656167, 0.3300403150866013]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d9159a24fb0259b7febad4f49b26ec52", "keypoints": [{"xyz": [0.17996479059729606, 0.23166314601466276, 0.17700281973954946], "rgb": [215, 197, 161], "semantic_id": 0, "pcd_info": {"point_index": 2039}, "mesh_info": {"face_index": 8092, "face_uv": [0.5500216019968626, 0.2527980373794398, 0.19718036062369826]}}, {"xyz": [-0.17588981239987045, 0.23457776750913828, 0.1787739821368245], "rgb": [202, 184, 146], "semantic_id": 1, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 8916, "face_uv": [0.4330774168053799, 0.3172608223512402, 0.2496617608433808]}}, {"xyz": [0.19228735779187509, 0.06173922130227427, 0.07930189986538605], "rgb": [205, 187, 149], "semantic_id": 2, "pcd_info": {"point_index": 1682}, "mesh_info": {"face_index": 3189, "face_uv": [0.021496190844089862, 0.05138563551307083, 0.927118173642828]}}, {"xyz": [-0.20079760185315687, 0.06095743771179052, 0.07857028536662991], "rgb": [208, 190, 153], "semantic_id": 3, "pcd_info": {"point_index": 29}, "mesh_info": {"face_index": 2769, "face_uv": [0.025697021507086516, 0.4120124160807938, 0.5622905624121164]}}, {"xyz": [0.19941777276190653, 0.06007317780130106, -0.2688873628488202], "rgb": [204, 186, 148], "semantic_id": 4, "pcd_info": {"point_index": 1498}, "mesh_info": {"face_index": 3268, "face_uv": [0.19261887535622385, 0.1542842083523948, 0.6530969162914001]}}, {"xyz": [-0.19329005160897236, 0.058815218326784935, -0.2773253066871173], "rgb": [212, 193, 153], "semantic_id": 5, "pcd_info": {"point_index": 1696}, "mesh_info": {"face_index": 3028, "face_uv": [0.08805678399696953, 0.005386717053217334, 0.9065564989498133]}}, {"xyz": [0.2791699826264662, 0.16944664595847736, -0.2667132430638277], "rgb": [191, 173, 137], "semantic_id": 6, "pcd_info": {"point_index": 684}, "mesh_info": {"face_index": 6754, "face_uv": [0.5594844556436184, 0.3115837371435394, 0.12893180721284314]}}, {"xyz": [0.27915578633361776, 0.16962512449316414, 0.20499715255735296], "rgb": [195, 177, 139], "semantic_id": 7, "pcd_info": {"point_index": 309}, "mesh_info": {"face_index": 7201, "face_uv": [0.2366095292097652, 0.07748743324171087, 0.685903037548525]}}, {"xyz": [-0.2870124619010096, 0.1675260858980423, -0.26903220307095005], "rgb": [201, 183, 147], "semantic_id": 8, "pcd_info": {"point_index": 431}, "mesh_info": {"face_index": 5300, "face_uv": [0.8573218306482252, 0.08008619132121311, 0.06259197803056209]}}, {"xyz": [-0.29162606596421303, 0.16787657785146592, 0.20999991579695187], "rgb": [209, 191, 153], "semantic_id": 9, "pcd_info": {"point_index": 79}, "mesh_info": {"face_index": 6027, "face_uv": [0.020246426796715455, 0.12633949732243002, 0.8534140758808547]}}, {"xyz": [0.28541757506750565, -0.18852832119877894, -0.21083767840989037], "rgb": [121, 94, 33], "semantic_id": 17, "pcd_info": {"point_index": 456}, "mesh_info": {"face_index": 9956, "face_uv": [0.572407430924936, 0.1348951965087867, 0.2926973725662773]}}, {"xyz": [0.15720789963645565, -0.20289063872493718, 0.20816545916615437], "rgb": [137, 102, 43], "semantic_id": 18, "pcd_info": {"point_index": 1878}, "mesh_info": {"face_index": 14960, "face_uv": [0.12573659444037444, 0.8283261695854066, 0.04593723597421876]}}, {"xyz": [-0.16072316498894212, -0.19232815363218547, 0.22526898193597789], "rgb": [104, 73, 24], "semantic_id": 19, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 18002, "face_uv": [0.3857516834091699, 0.3047566248397486, 0.30949169175108043]}}, {"xyz": [-0.31625143730512184, -0.1912653946689118, -0.1999591830302173], "rgb": [140, 111, 57], "semantic_id": 20, "pcd_info": {"point_index": 1582}, "mesh_info": {"face_index": 13741, "face_uv": [0.25470706192142295, 0.519819917698077, 0.22547302038050063]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a128eda00983dd01fb7d9615be5ab4b0", "keypoints": [{"xyz": [0.14202878699509028, 0.5342127634571803, 0.0732562033977715], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 205}, "mesh_info": {"face_index": 619, "face_uv": [0.19911867799586025, 0.48469631867062685, 0.31618500333351296]}}, {"xyz": [-0.14593387398512997, 0.5270319786343954, 0.05985703683446936], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1521}, "mesh_info": {"face_index": 344, "face_uv": [0.3916756375281368, 0.5883145573481839, 0.020009805123679558]}}, {"xyz": [0.14800446015151958, 0.019650999456643947, 0.06851698660101246], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1598}, "mesh_info": {"face_index": 62, "face_uv": [0.011832585603792172, 0.902479077815735, 0.08568833658046725]}}, {"xyz": [-0.1412988050924018, 0.019650999456644058, 0.08247040708019959], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1657}, "mesh_info": {"face_index": 86, "face_uv": [0.503187260692519, 0.07375095727121085, 0.42306178203627026]}}, {"xyz": [0.15850804016667353, 0.005863369198012114, -0.17520199716091156], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1496}, "mesh_info": {"face_index": 43, "face_uv": [0.03569304411677889, 0.022721848844020186, 0.941585107039201]}}, {"xyz": [-0.1557944814621619, 0.0008593579219240421, -0.17520199716091156], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 413}, "mesh_info": {"face_index": 11, "face_uv": [0.47101491437030024, 0.02678231130692827, 0.5022027743227715]}}, {"xyz": [0.13962530688189084, -0.3341979980468749, -0.1516040801382043], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 461}, "mesh_info": {"face_index": 681, "face_uv": [0.021843255100494313, 0.5014595256291037, 0.47669721927040165]}}, {"xyz": [0.1407187046947146, -0.3341979980468751, 0.07207738971874991], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1651}, "mesh_info": {"face_index": 3712, "face_uv": [0.5110732334536924, 0.34609955748401716, 0.14282720906229085]}}, {"xyz": [-0.14229097738389102, -0.3341979980468751, 0.0801823517591834], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 4778, "face_uv": [0.5012097972260019, 0.39908352761339955, 0.09970667516059888]}}, {"xyz": [-0.14248445990954978, -0.334197998046875, -0.14663576607551557], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1703}, "mesh_info": {"face_index": 1746, "face_uv": [0.5072928161659065, 0.3423385937046565, 0.1503685901294371]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bf1dce61ba47209189343fd44bd400d2", "keypoints": [{"xyz": [0.35471331512745047, 0.22585800290107727, 0.1172170040562143], "rgb": [162, 93, 50], "semantic_id": 0, "pcd_info": {"point_index": 1796}, "mesh_info": {"face_index": 0, "face_uv": [0.6475783231729912, 0.01095152492262225, 0.3414701519043864]}}, {"xyz": [-0.3439069986343384, 0.22192152155510558, 0.11418134905771339], "rgb": [144, 80, 43], "semantic_id": 1, "pcd_info": {"point_index": 878}, "mesh_info": {"face_index": 4, "face_uv": [0.2604524879475082, 0.2519964217354498, 0.487551090317042]}}, {"xyz": [0.35497788722039453, -0.02826649951837057, 0.07683715002205527], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1284}, "mesh_info": {"face_index": 251, "face_uv": [0.9530638804833148, 0.03635915373573046, 0.010576965780954023]}}, {"xyz": [-0.33731664379186255, -0.03954000025987625, 0.07158991313423013], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 927, "face_uv": [0.9872318821637047, 0.009330075691718388, 0.0034380421445769135]}}, {"xyz": [0.3595933269147044, -0.05265511143967114, -0.3231472188964537], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 26}, "mesh_info": {"face_index": 368, "face_uv": [0.8504151813274948, 0.14554200814233165, 0.004042810530173471]}}, {"xyz": [-0.3405774742157343, -0.05126316435383543, -0.32267125114822115], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1984}, "mesh_info": {"face_index": 920, "face_uv": [0.00471366346509646, 0.23471303872372135, 0.760573297811182]}}, {"xyz": [0.34565836461974614, -0.31158700585365307, -0.309660827073912], "rgb": [149, 83, 42], "semantic_id": 17, "pcd_info": {"point_index": 850}, "mesh_info": {"face_index": 552, "face_uv": [0.5495856154855276, 0.4075522861399659, 0.04286209837450681]}}, {"xyz": [0.34732502927312925, -0.31158700585365284, 0.12047518075177344], "rgb": [150, 82, 37], "semantic_id": 18, "pcd_info": {"point_index": 1485}, "mesh_info": {"face_index": 452, "face_uv": [0.46033965349989425, 0.5005495476191005, 0.03911079888100479]}}, {"xyz": [-0.32874274893900823, -0.31158700585365284, 0.11961244201437257], "rgb": [150, 82, 40], "semantic_id": 19, "pcd_info": {"point_index": 8}, "mesh_info": {"face_index": 706, "face_uv": [0.06336678649656845, 0.5238614440837012, 0.41277176941973]}}, {"xyz": [-0.3278301887807711, -0.31158700585365284, -0.3143429190127528], "rgb": [152, 85, 40], "semantic_id": 20, "pcd_info": {"point_index": 1205}, "mesh_info": {"face_index": 429, "face_uv": [0.19226309785791212, 0.47354382022560454, 0.33419308191648295]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "131edf0948b60ee6372c8cd7d07d8ddc", "keypoints": [{"xyz": [0.3675902420847911, 0.24499423869924764, 0.1489043373523089], "rgb": [177, 99, 35], "semantic_id": 0, "pcd_info": {"point_index": 1990}, "mesh_info": {"face_index": 621, "face_uv": [0.06757625901127999, 0.02546319825875573, 0.9069605427299642]}}, {"xyz": [-0.3723583596393436, 0.25094805813133125, 0.1535724015112805], "rgb": [176, 101, 44], "semantic_id": 1, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 455, "face_uv": [0.09240195355243883, 0.10191600509039067, 0.8056820413571706]}}, {"xyz": [0.31584700942039495, -0.01673487877759272, 0.06671241633585656], "rgb": [183, 109, 45], "semantic_id": 2, "pcd_info": {"point_index": 1492}, "mesh_info": {"face_index": 44, "face_uv": [0.08045940862437832, 0.7595131408883136, 0.1600274504873083]}}, {"xyz": [-0.3299590051174164, -0.003525487504040914, 0.09334830684903084], "rgb": [183, 113, 51], "semantic_id": 3, "pcd_info": {"point_index": 1383}, "mesh_info": {"face_index": 452, "face_uv": [0.020450424917312058, 0.025618801605930653, 0.9539307734767573]}}, {"xyz": [0.321577844252097, -0.020595530345538182, -0.23267899453639984], "rgb": [185, 115, 51], "semantic_id": 4, "pcd_info": {"point_index": 456}, "mesh_info": {"face_index": 37, "face_uv": [0.3833258348605738, 0.10438680905750833, 0.5122873560819179]}}, {"xyz": [-0.3162390396771123, -0.021164429988714553, -0.22936700284481049], "rgb": [179, 109, 48], "semantic_id": 5, "pcd_info": {"point_index": 984}, "mesh_info": {"face_index": 69, "face_uv": [0.37329953220714024, 0.008682181135455132, 0.6180182866574045]}}, {"xyz": [0.3482194384092103, 0.1391810029745102, -0.09419454177917641], "rgb": [174, 104, 38], "semantic_id": 6, "pcd_info": {"point_index": 758}, "mesh_info": {"face_index": 652, "face_uv": [0.4765213651164101, 0.005722882476172057, 0.5177557524074179]}}, {"xyz": [0.3396320328697754, 0.1391810029745102, 0.11183673799145732], "rgb": [167, 94, 35], "semantic_id": 7, "pcd_info": {"point_index": 922}, "mesh_info": {"face_index": 649, "face_uv": [0.666073594160086, 0.05956848197331204, 0.27435792386660185]}}, {"xyz": [-0.3521031908074327, 0.13696165342540478, -0.09749180173598782], "rgb": [174, 104, 38], "semantic_id": 8, "pcd_info": {"point_index": 438}, "mesh_info": {"face_index": 701, "face_uv": [0.4740171141529322, 0.014853492925498566, 0.5111293929215687]}}, {"xyz": [-0.3479617703038537, 0.1391810029745102, 0.11136437317023362], "rgb": [167, 93, 33], "semantic_id": 9, "pcd_info": {"point_index": 885}, "mesh_info": {"face_index": 688, "face_uv": [0.5529224109694282, 0.06171147442581535, 0.38536611460475645]}}, {"xyz": [0.3512424376506236, -0.26784399151802063, -0.20410717138260298], "rgb": [182, 107, 42], "semantic_id": 17, "pcd_info": {"point_index": 1684}, "mesh_info": {"face_index": 312, "face_uv": [0.05132858683800644, 0.5637914526236422, 0.38487996053835155]}}, {"xyz": [0.34713700208412257, -0.26784399151802063, 0.10175610893743892], "rgb": [183, 108, 43], "semantic_id": 18, "pcd_info": {"point_index": 1831}, "mesh_info": {"face_index": 242, "face_uv": [0.031870616164973914, 0.43402115341701, 0.534108230418016]}}, {"xyz": [-0.3527807413216222, -0.26784399151802063, 0.09814358442913007], "rgb": [183, 108, 43], "semantic_id": 19, "pcd_info": {"point_index": 1623}, "mesh_info": {"face_index": 266, "face_uv": [0.02319233371017687, 0.5053064387154933, 0.4715012275743298]}}, {"xyz": [-0.3470778525325575, -0.26784399151802063, -0.2041617966660555], "rgb": [183, 108, 43], "semantic_id": 20, "pcd_info": {"point_index": 239}, "mesh_info": {"face_index": 336, "face_uv": [0.021321725710447194, 0.5627135631329397, 0.41596471115661304]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fa4155f8091689a273801486f0f205ad", "keypoints": [{"xyz": [0.1572570115963766, 0.49396440079577086, 0.14791806520811623], "rgb": [254, 203, 152], "semantic_id": 0, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 34284, "face_uv": [0.5917633606405931, 0.09690207134444229, 0.311334568014963]}}, {"xyz": [-0.17083012007613957, 0.4921021436206554, 0.1470696407214951], "rgb": [254, 203, 152], "semantic_id": 1, "pcd_info": {"point_index": 1129}, "mesh_info": {"face_index": 32411, "face_uv": [0.4062528468986825, 0.0975937437233591, 0.49615340937795643]}}, {"xyz": [0.16841307759846097, 0.1190280020236969, 0.0943702478095163], "rgb": [255, 204, 153], "semantic_id": 2, "pcd_info": {"point_index": 1348}, "mesh_info": {"face_index": 23843, "face_uv": [0.75916641653369, 0.036615725953087895, 0.20421785751322213]}}, {"xyz": [-0.1758720351314858, 0.11902800202369712, 0.08943950818956115], "rgb": [255, 204, 153], "semantic_id": 3, "pcd_info": {"point_index": 980}, "mesh_info": {"face_index": 23955, "face_uv": [0.0323729097815704, 0.9626659926294657, 0.004961097588965733]}}, {"xyz": [0.17834368775576304, 0.12783082995112993, -0.19556773460143095], "rgb": [101, 85, 79], "semantic_id": 4, "pcd_info": {"point_index": 1431}, "mesh_info": {"face_index": 10837, "face_uv": [0.058338011580182016, 0.43057693719409335, 0.5110850512257227]}}, {"xyz": [-0.18758988697071743, 0.1278058005970948, -0.19396293221541638], "rgb": [198, 154, 105], "semantic_id": 5, "pcd_info": {"point_index": 128}, "mesh_info": {"face_index": 19358, "face_uv": [0.2996305331489081, 0.5073773079554444, 0.19299215889564764]}}, {"xyz": [0.18370479238711346, -0.2454946072426567, -0.22402253281347195], "rgb": [102, 86, 80], "semantic_id": 17, "pcd_info": {"point_index": 699}, "mesh_info": {"face_index": 11129, "face_uv": [0.32097426948433144, 0.12781629847956594, 0.5512094320361033]}}, {"xyz": [0.17377893120033933, -0.24422794814765636, 0.09515263556095066], "rgb": [68, 66, 54], "semantic_id": 18, "pcd_info": {"point_index": 1840}, "mesh_info": {"face_index": 6759, "face_uv": [0.37449083098544783, 0.2197048077193285, 0.40580436129522385]}}, {"xyz": [-0.19301944051067477, -0.24544465602464438, 0.09251486737222467], "rgb": [68, 66, 54], "semantic_id": 19, "pcd_info": {"point_index": 1251}, "mesh_info": {"face_index": 2236, "face_uv": [0.43776273669548177, 0.01675078325470065, 0.5454864800498196]}}, {"xyz": [-0.19143292768555215, -0.2452963981423033, -0.22654313850128097], "rgb": [186, 143, 99], "semantic_id": 20, "pcd_info": {"point_index": 1247}, "mesh_info": {"face_index": 20615, "face_uv": [0.4373615033716812, 0.04857350608640546, 0.5140649905419142]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "124ef426dfa0aa38ff6069724068a578", "keypoints": [{"xyz": [0.14685612864668102, 0.21211362828595592, 0.055370402793335716], "rgb": [0, 127, 254], "semantic_id": 0, "pcd_info": {"point_index": 466}, "mesh_info": {"face_index": 1282, "face_uv": [0.2098794672029449, 0.5194964387810957, 0.27062409401595877]}}, {"xyz": [-0.1497189346138797, 0.2119447893480566, 0.055215201934177394], "rgb": [0, 127, 254], "semantic_id": 1, "pcd_info": {"point_index": 791}, "mesh_info": {"face_index": 1656, "face_uv": [0.49586776596568427, 0.2555541359610255, 0.2485780980732876]}}, {"xyz": [0.13273175068647092, -0.15629574599543172, -0.04945714950699709], "rgb": [0, 127, 254], "semantic_id": 2, "pcd_info": {"point_index": 1342}, "mesh_info": {"face_index": 4358, "face_uv": [0.15129004077766195, 0.2934981364017543, 0.5552118228205791]}}, {"xyz": [-0.12474134607373541, -0.16628709553288235, -0.04522261765048041], "rgb": [0, 128, 255], "semantic_id": 3, "pcd_info": {"point_index": 1771}, "mesh_info": {"face_index": 5801, "face_uv": [0.4129979792516467, 0.28150159617048015, 0.3055004245778737]}}, {"xyz": [0.14186225813175185, -0.16528148913031404, -0.40393144346271437], "rgb": [0, 128, 255], "semantic_id": 4, "pcd_info": {"point_index": 1507}, "mesh_info": {"face_index": 129, "face_uv": [0.2018486328677338, 0.018740813972532938, 0.7794105531597345]}}, {"xyz": [-0.13587258469524371, -0.16490400971210395, -0.40373755576926085], "rgb": [0, 128, 255], "semantic_id": 5, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 121, "face_uv": [0.6866606574819171, 0.030725590202500135, 0.2826137523155831]}}, {"xyz": [0.119880983719404, -0.5598999857902527, -0.3840562779577778], "rgb": [128, 63, 0], "semantic_id": 17, "pcd_info": {"point_index": 73}, "mesh_info": {"face_index": 205, "face_uv": [0.27053369246816494, 0.44254667267069475, 0.2869196348611403]}}, {"xyz": [0.16077156223366784, -0.5421660983943921, 0.0043505103811543044], "rgb": [128, 63, 0], "semantic_id": 18, "pcd_info": {"point_index": 1531}, "mesh_info": {"face_index": 278, "face_uv": [0.35948265678541946, 0.43196277778773645, 0.2085545654268441]}}, {"xyz": [-0.15424510081441212, -0.5419913984865579, 0.005578034889306527], "rgb": [127, 62, 0], "semantic_id": 19, "pcd_info": {"point_index": 473}, "mesh_info": {"face_index": 495, "face_uv": [0.0067634012860734016, 0.6236039480717193, 0.3696326506422066]}}, {"xyz": [-0.1281851878403208, -0.5598999857902522, -0.3800685257073717], "rgb": [127, 62, 0], "semantic_id": 20, "pcd_info": {"point_index": 946}, "mesh_info": {"face_index": 228, "face_uv": [0.14578186803354923, 0.6570111743689933, 0.1972069575974567]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e00291d775c572f5e8f8c11a24c52ebb", "keypoints": [{"xyz": [0.2143511733686183, 0.4173311602183437, 0.2465422374229912], "rgb": [232, 232, 172], "semantic_id": 0, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 2416, "face_uv": [0.7310546093636944, 0.1315551276462544, 0.13739026299005133]}}, {"xyz": [-0.2361917216628801, 0.41610959268775927, 0.21798369441198895], "rgb": [232, 232, 172], "semantic_id": 1, "pcd_info": {"point_index": 1827}, "mesh_info": {"face_index": 698, "face_uv": [0.11390214208769976, 0.7193369347376278, 0.16676092317467295]}}, {"xyz": [0.18580770623067763, 0.2035605914035694, 0.07711011010356228], "rgb": [231, 231, 171], "semantic_id": 2, "pcd_info": {"point_index": 516}, "mesh_info": {"face_index": 1461, "face_uv": [0.021476974099594936, 0.5360364222043139, 0.4424866036960905]}}, {"xyz": [-0.2059214195407697, 0.20382143956121124, 0.03737990619467457], "rgb": [231, 231, 171], "semantic_id": 3, "pcd_info": {"point_index": 382}, "mesh_info": {"face_index": 90, "face_uv": [0.5195598541533472, 0.01951980065176218, 0.46092034519489017]}}, {"xyz": [0.21516651567766037, 0.20272164379452629, -0.23155957399411542], "rgb": [231, 231, 171], "semantic_id": 4, "pcd_info": {"point_index": 2017}, "mesh_info": {"face_index": 2549, "face_uv": [0.3266509988714596, 0.09703357970913681, 0.576315421419403]}}, {"xyz": [-0.2126992834713593, 0.20568609190156595, -0.22666754855417726], "rgb": [232, 232, 172], "semantic_id": 5, "pcd_info": {"point_index": 1483}, "mesh_info": {"face_index": 2634, "face_uv": [0.2757164042777478, 0.0060532549096267135, 0.7182303408126258]}}, {"xyz": [0.2560966009141402, 0.3476488302120573, -0.22028221355361632], "rgb": [231, 231, 171], "semantic_id": 6, "pcd_info": {"point_index": 966}, "mesh_info": {"face_index": 2085, "face_uv": [0.2336050182124349, 0.16330998155571197, 0.6030850002318527]}}, {"xyz": [-0.2687245886247437, 0.33047830219467444, -0.22417999804019928], "rgb": [232, 232, 172], "semantic_id": 7, "pcd_info": {"point_index": 172}, "mesh_info": {"face_index": 92, "face_uv": [0.25093390305927604, 0.15472049170941712, 0.5943456052313069]}}, {"xyz": [-0.2505757279057642, 0.4035500995315504, 0.12797225282082741], "rgb": [232, 232, 172], "semantic_id": 8, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 441, "face_uv": [0.42706873756030816, 0.15722140885503919, 0.41570985358465284]}}, {"xyz": [0.23644782216758609, 0.4051646504640114, 0.1381673480661374], "rgb": [231, 231, 171], "semantic_id": 9, "pcd_info": {"point_index": 1965}, "mesh_info": {"face_index": 2122, "face_uv": [0.12897098104676527, 0.3060500317766249, 0.5649789871766093]}}, {"xyz": [0.2646963974045481, -0.1182899996638298, -0.1877675480359176], "rgb": [205, 205, 205], "semantic_id": 17, "pcd_info": {"point_index": 517}, "mesh_info": {"face_index": 7138, "face_uv": [0.16972744983621382, 0.537375415638005, 0.29289713452578126]}}, {"xyz": [-0.2595482157269705, -0.1182899996638298, -0.19861207531899355], "rgb": [205, 205, 205], "semantic_id": 18, "pcd_info": {"point_index": 673}, "mesh_info": {"face_index": 10949, "face_uv": [0.5960405983778796, 0.33019260876879847, 0.07376679285332197]}}, {"xyz": [-0.21735178258708, -0.1182899996638298, 0.20709391968461016], "rgb": [205, 205, 205], "semantic_id": 19, "pcd_info": {"point_index": 789}, "mesh_info": {"face_index": 18721, "face_uv": [0.20749453684662506, 0.11556939884749651, 0.6769360643058784]}}, {"xyz": [-0.25489134163296534, -0.1182899996638298, -0.194646189592728], "rgb": [205, 205, 205], "semantic_id": 20, "pcd_info": {"point_index": 673}, "mesh_info": {"face_index": 9048, "face_uv": [0.2689220236604571, 0.5254361403293768, 0.20564183601016608]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9f5add46af4a41a1305e886266e302e1", "keypoints": [{"xyz": [0.17163492222255222, 0.5507954391691494, 0.28296716454759085], "rgb": [254, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 147}, "mesh_info": {"face_index": 1174, "face_uv": [0.0024229658556583953, 0.003157636299558246, 0.994419397844781]}}, {"xyz": [-0.17388282145841782, 0.5463394945287793, 0.281760877706035], "rgb": [254, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 907}, "mesh_info": {"face_index": 1220, "face_uv": [0.01276583645502185, 0.9861947580139636, 0.001039405531013741]}}, {"xyz": [0.16631139182864113, 0.11884160423468204, 0.24843415958823867], "rgb": [254, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 143}, "mesh_info": {"face_index": 943, "face_uv": [0.031126223180862698, 0.8017855794986903, 0.16708819732043534]}}, {"xyz": [-0.16147662865885493, 0.11540399696599724, 0.23743017854998127], "rgb": [254, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 1221}, "mesh_info": {"face_index": 981, "face_uv": [0.06795197335145974, 0.26594894011999515, 0.6660990865285429]}}, {"xyz": [0.16575447029173757, 0.10948493689693162, -0.15462735954857232], "rgb": [254, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1263}, "mesh_info": {"face_index": 301, "face_uv": [0.10095153229537393, 0.6817919942879129, 0.2172564734167125]}}, {"xyz": [-0.1718124863833044, 0.10653854455551581, -0.1610830311859388], "rgb": [254, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 403}, "mesh_info": {"face_index": 438, "face_uv": [0.03435710862553007, 0.43569995997939565, 0.5299429313950728]}}, {"xyz": [0.15793870298466273, -0.23894540434529948, -0.16259485988401878], "rgb": [254, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 12}, "mesh_info": {"face_index": 227, "face_uv": [0.38556825011741935, 0.5823860614060594, 0.032045688476521006]}}, {"xyz": [0.1618370580524629, -0.22257700562477123, 0.30335565142781973], "rgb": [255, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1888}, "mesh_info": {"face_index": 34, "face_uv": [0.019228158030645943, 0.8557000715217614, 0.12507177044759316]}}, {"xyz": [-0.1733542748900423, -0.222577005624771, 0.30730303360439537], "rgb": [254, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 351}, "mesh_info": {"face_index": 52, "face_uv": [0.015930607907517203, 0.9817240362352916, 0.00234535585719074]}}, {"xyz": [-0.1509720142049974, -0.2260949912474013, -0.17460409130108223], "rgb": [255, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 796}, "mesh_info": {"face_index": 639, "face_uv": [0.26960536915703925, 0.5655079478262298, 0.16488668301673096]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fb8b45151900e6e016a0c57b9ceb6d01", "keypoints": [{"xyz": [0.13517481173288415, 0.32445170472591933, 0.1794401019999743], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 338}, "mesh_info": {"face_index": 2284, "face_uv": [0.3593695062621727, 0.41537287738707057, 0.22525761635075767]}}, {"xyz": [-0.1419746548272277, 0.33088766839707906, 0.1855309034678101], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 900, "face_uv": [0.023005382357657093, 0.38263373567033576, 0.5943608819720072]}}, {"xyz": [0.15173275996394153, -0.02944171699372533, 0.12646796013248252], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1591}, "mesh_info": {"face_index": 3035, "face_uv": [0.14692912951349105, 0.4824652062872377, 0.37060566419927093]}}, {"xyz": [-0.16178346529569265, -0.034661736585111624, 0.12369592952661956], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 551}, "mesh_info": {"face_index": 2265, "face_uv": [0.12039122047764181, 0.8350326177458518, 0.04457616177650547]}}, {"xyz": [0.18188304821018075, -0.034945062688699347, -0.20174394072486723], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 187, "face_uv": [0.4348732850032014, 0.3709056536506549, 0.19422106134613745]}}, {"xyz": [-0.1953708216394363, -0.03637036945311167, -0.20779750652442663], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1125}, "mesh_info": {"face_index": 9274, "face_uv": [0.14880262130134939, 0.8224183435141141, 0.028779035184536318]}}, {"xyz": [0.178794117114496, -0.4126819968223572, -0.20228725881102694], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 109}, "mesh_info": {"face_index": 9014, "face_uv": [0.2033357170368548, 0.5641328288713694, 0.2325314540917758]}}, {"xyz": [0.1534939159277695, -0.41302676761788215, 0.16448687702079257], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1648}, "mesh_info": {"face_index": 3399, "face_uv": [0.7274585560402136, 0.1675271626099077, 0.10501428134987889]}}, {"xyz": [-0.167044997215271, -0.41018166397385336, 0.16110111816541806], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 934}, "mesh_info": {"face_index": 2655, "face_uv": [0.019583117205249165, 0.7196859660839667, 0.26073091671078397]}}, {"xyz": [-0.18964070740716155, -0.4126819968223572, -0.2023296369942441], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1404}, "mesh_info": {"face_index": 10388, "face_uv": [0.34898764582240926, 0.43393518201283765, 0.21707717216475308]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1c173d970e21e9a8be95ff480950e9ef", "keypoints": [{"xyz": [0.21435843184485487, 0.4563130140304563, 0.08902864292918816], "rgb": [254, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 1408}, "mesh_info": {"face_index": 926, "face_uv": [0.3323808665240302, 0.4015541930940695, 0.26606494038189976]}}, {"xyz": [-0.17711529644326002, 0.45631301403045654, 0.15732769216072695], "rgb": [255, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 918}, "mesh_info": {"face_index": 840, "face_uv": [0.4676407000956197, 0.23711890704097582, 0.2952403928634044]}}, {"xyz": [0.21749475900087734, 0.04585200175642967, 0.07995533012510775], "rgb": [255, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 893}, "mesh_info": {"face_index": 434, "face_uv": [0.19982591045539888, 0.7060926585556715, 0.09408143098892965]}}, {"xyz": [-0.1761612699676988, 0.045852001756429894, 0.13234223430662162], "rgb": [255, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 1008}, "mesh_info": {"face_index": 420, "face_uv": [0.3835175999942812, 0.11100078298168047, 0.5054816170240432]}}, {"xyz": [0.16776770910903588, 0.04585200175642967, -0.23709305574744577], "rgb": [255, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 949}, "mesh_info": {"face_index": 456, "face_uv": [0.9730250808258156, 0.007457271572183682, 0.01951764760200061]}}, {"xyz": [-0.23888072381889386, 0.04585200175642967, -0.17126621121653043], "rgb": [255, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 301}, "mesh_info": {"face_index": 437, "face_uv": [0.0023050742673826966, 0.019965463092241027, 0.9777294626403763]}}, {"xyz": [0.11297760344772548, -0.28490814898819306, -0.2444629819963433], "rgb": [255, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 85}, "mesh_info": {"face_index": 1200, "face_uv": [0.845093887410354, 0.00683363044231618, 0.1480724821473299]}}, {"xyz": [0.17320397487423844, -0.28018556385350346, 0.02812312943365991], "rgb": [254, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1362}, "mesh_info": {"face_index": 1818, "face_uv": [0.8428284329998057, 0.022600492610618274, 0.134571074389575]}}, {"xyz": [-0.14331020496332778, -0.2821181426481961, 0.07947857365331257], "rgb": [254, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1762}, "mesh_info": {"face_index": 1802, "face_uv": [0.01924700379359258, 0.01614836890797079, 0.9646046272984362]}}, {"xyz": [-0.19393733161434995, -0.28603636276345656, -0.19274954841672876], "rgb": [255, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1343}, "mesh_info": {"face_index": 975, "face_uv": [0.31975194106519134, 0.003066966510670701, 0.677181092424138]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1b7bef12c554c1244c686b8271245d1b", "keypoints": [{"xyz": [0.18494686609533997, 0.27150800675280995, 0.17877655831540062], "rgb": [226, 226, 226], "semantic_id": 0, "pcd_info": {"point_index": 44}, "mesh_info": {"face_index": 1365, "face_uv": [0.48863677958175006, 0.35284308113843776, 0.15852013927981418]}}, {"xyz": [-0.1635569975397999, 0.27159442254037636, 0.2151108868056553], "rgb": [226, 226, 226], "semantic_id": 1, "pcd_info": {"point_index": 1041}, "mesh_info": {"face_index": 1524, "face_uv": [0.6589752708795025, 0.03319981320729741, 0.3078249159132046]}}, {"xyz": [0.1225647501904907, 0.04787096595914431, 0.060195432268131066], "rgb": [225, 225, 225], "semantic_id": 2, "pcd_info": {"point_index": 1630}, "mesh_info": {"face_index": 926, "face_uv": [0.7162295609578816, 0.049847905128755185, 0.2339225339133629]}}, {"xyz": [-0.13151711936105037, 0.05098418428953644, 0.05567360419248679], "rgb": [225, 225, 225], "semantic_id": 3, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 1269, "face_uv": [0.03631959514580019, 0.15835375901564572, 0.8053266458385534]}}, {"xyz": [0.17221406244420503, 0.036142584943375855, -0.1445164244387006], "rgb": [126, 141, 98], "semantic_id": 4, "pcd_info": {"point_index": 534}, "mesh_info": {"face_index": 1316, "face_uv": [0.005656619084145746, 0.3906123581491986, 0.6037310227666566]}}, {"xyz": [-0.180369297408519, 0.03602255067763371, -0.14732822015795533], "rgb": [70, 93, 26], "semantic_id": 5, "pcd_info": {"point_index": 1466}, "mesh_info": {"face_index": 1471, "face_uv": [0.04395896008967778, 0.23891356494329993, 0.7171274749670223]}}, {"xyz": [0.2390901740471793, 0.21316431520345192, -0.046480716074089656], "rgb": [62, 86, 16], "semantic_id": 6, "pcd_info": {"point_index": 770}, "mesh_info": {"face_index": 1029, "face_uv": [0.11849091317383126, 0.4515620470406554, 0.4299470397855114]}}, {"xyz": [-0.25044323202311153, 0.2046986100655137, -0.0583412779806618], "rgb": [63, 87, 17], "semantic_id": 8, "pcd_info": {"point_index": 800}, "mesh_info": {"face_index": 1511, "face_uv": [0.7635633309371285, 0.02721723267315305, 0.2092194363897208]}}, {"xyz": [0.29727995173552774, -0.32424500584602334, -0.2262384294127487], "rgb": [141, 141, 141], "semantic_id": 17, "pcd_info": {"point_index": 196}, "mesh_info": {"face_index": 558, "face_uv": [0.3505998464184961, 0.21696293529060665, 0.43243721829089654]}}, {"xyz": [0.28361379681280835, -0.32424500584602356, 0.22111578512331853], "rgb": [142, 142, 142], "semantic_id": 18, "pcd_info": {"point_index": 1062}, "mesh_info": {"face_index": 242, "face_uv": [0.18045806646224047, 0.6436466200700659, 0.1758953134676937]}}, {"xyz": [-0.2953325248950838, -0.32424500584602356, 0.21728908199354646], "rgb": [142, 142, 142], "semantic_id": 19, "pcd_info": {"point_index": 2044}, "mesh_info": {"face_index": 392, "face_uv": [0.07939366383986136, 0.36799848955661557, 0.552607846603523]}}, {"xyz": [-0.28242159056224564, -0.32424500584602356, -0.2261542637403949], "rgb": [142, 142, 142], "semantic_id": 20, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 54, "face_uv": [0.540138318987591, 0.1907453239858289, 0.2691163570265801]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 7]}, {"kp_indexes": [8, 11]}, {"kp_indexes": [9, 10]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e39df7339552595febad4f49b26ec52", "keypoints": [{"xyz": [0.166676340418973, 0.2736160959421914, 0.1819082723861578], "rgb": [218, 215, 200], "semantic_id": 0, "pcd_info": {"point_index": 1554}, "mesh_info": {"face_index": 3611, "face_uv": [0.16474851716513098, 0.03789114942831368, 0.797360333406555]}}, {"xyz": [-0.16207462824558355, 0.2742723432209129, 0.1820225836045505], "rgb": [156, 149, 131], "semantic_id": 1, "pcd_info": {"point_index": 960}, "mesh_info": {"face_index": 6156, "face_uv": [0.9370231810163698, 0.008592159323003758, 0.05438465966062762]}}, {"xyz": [0.1911141851976259, -0.09452517980130226, 0.11536793179692251], "rgb": [37, 36, 34], "semantic_id": 2, "pcd_info": {"point_index": 684}, "mesh_info": {"face_index": 7408, "face_uv": [0.9570745999504813, 0.0023829549332582715, 0.04054244511625997]}}, {"xyz": [-0.19089684868125767, -0.09217317958150217, 0.11692979540080994], "rgb": [38, 37, 35], "semantic_id": 3, "pcd_info": {"point_index": 565}, "mesh_info": {"face_index": 7434, "face_uv": [0.9392110371541023, 0.0017562551866570828, 0.05903270765924118]}}, {"xyz": [0.201566431408927, -0.09818637505788785, -0.2705544155088635], "rgb": [200, 194, 173], "semantic_id": 4, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 2194, "face_uv": [0.37008858772001774, 0.30330837814808886, 0.326603034131893]}}, {"xyz": [-0.1951823198617667, -0.09788384761280366, -0.2719538367554226], "rgb": [213, 206, 189], "semantic_id": 5, "pcd_info": {"point_index": 900}, "mesh_info": {"face_index": 1996, "face_uv": [0.2822248282379295, 0.658948726100318, 0.058826445661754136]}}, {"xyz": [0.1982604722922766, -0.49865201115608193, -0.2653179647501187], "rgb": [121, 96, 52], "semantic_id": 17, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 7109, "face_uv": [0.29345259075574626, 0.16514563923589307, 0.5414017700083602]}}, {"xyz": [0.18574720543015327, -0.4967727236519821, 0.19274256836621056], "rgb": [140, 111, 48], "semantic_id": 18, "pcd_info": {"point_index": 756}, "mesh_info": {"face_index": 7212, "face_uv": [0.38146375530889737, 0.294829912161526, 0.323706332529577]}}, {"xyz": [-0.18953048776959341, -0.4966702497626143, 0.19356935375984485], "rgb": [108, 81, 43], "semantic_id": 19, "pcd_info": {"point_index": 787}, "mesh_info": {"face_index": 7302, "face_uv": [0.1881064968639106, 0.2563783599595813, 0.5555151431765076]}}, {"xyz": [-0.20459574628206748, -0.49865201115608215, -0.26223519994196226], "rgb": [119, 94, 56], "semantic_id": 20, "pcd_info": {"point_index": 784}, "mesh_info": {"face_index": 6864, "face_uv": [0.1474316980608609, 0.6925686624166963, 0.15999963952244284]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8a5d60067de905336c183a120a388982", "keypoints": [{"xyz": [0.2294469040209815, 0.2188467065208588, 0.05394021546955036], "rgb": [187, 179, 157], "semantic_id": 0, "pcd_info": {"point_index": 369}, "mesh_info": {"face_index": 11696, "face_uv": [0.23184032244906794, 0.4317342875955201, 0.33642538995541155]}}, {"xyz": [-0.22033835524530482, 0.22128635453105705, 0.05496212853203242], "rgb": [177, 173, 150], "semantic_id": 1, "pcd_info": {"point_index": 1471}, "mesh_info": {"face_index": 6468, "face_uv": [0.6477780962639608, 0.33672605681896406, 0.01549584691707626]}}, {"xyz": [0.14769892814846197, -0.10965800285339333, 0.008623251402034904], "rgb": [197, 190, 172], "semantic_id": 2, "pcd_info": {"point_index": 1754}, "mesh_info": {"face_index": 15758, "face_uv": [0.016965633300451997, 0.9606861284026892, 0.022348238296856827]}}, {"xyz": [-0.14487576991166834, -0.10965800285339378, 0.012072758294658259], "rgb": [172, 162, 145], "semantic_id": 3, "pcd_info": {"point_index": 192}, "mesh_info": {"face_index": 16070, "face_uv": [0.20402747017741754, 0.04273382647795398, 0.7532387033446305]}}, {"xyz": [0.20863775294093784, -0.12025791363594385, -0.3240618048438], "rgb": [175, 165, 154], "semantic_id": 4, "pcd_info": {"point_index": 1130}, "mesh_info": {"face_index": 15847, "face_uv": [0.07186586252309786, 0.20799886450213928, 0.7201352729747627]}}, {"xyz": [-0.20030492021373197, -0.11225300446120245, -0.31943527842538866], "rgb": [210, 203, 185], "semantic_id": 5, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 15851, "face_uv": [0.0948731685396296, 0.7103260901076918, 0.1948007413526796]}}, {"xyz": [0.2040073234430821, -0.06410703624778269, -0.2890546050076172], "rgb": [179, 172, 159], "semantic_id": 6, "pcd_info": {"point_index": 2007}, "mesh_info": {"face_index": 3069, "face_uv": [0.6016645873259856, 0.007170127710161267, 0.39116528496384345]}}, {"xyz": [0.18165596507192966, -0.0245376037003453, 0.010081026042470964], "rgb": [160, 147, 132], "semantic_id": 7, "pcd_info": {"point_index": 1461}, "mesh_info": {"face_index": 13509, "face_uv": [0.06875009034182684, 0.30232522993261507, 0.6289246797255582]}}, {"xyz": [-0.19813723643283793, -0.0649007794541574, -0.2932753472354415], "rgb": [184, 177, 154], "semantic_id": 8, "pcd_info": {"point_index": 552}, "mesh_info": {"face_index": 4450, "face_uv": [0.3567710435177606, 0.43987376460622246, 0.2033551918760034]}}, {"xyz": [-0.17602625460421142, -0.025649080817101932, 0.00574739860279827], "rgb": [215, 207, 188], "semantic_id": 9, "pcd_info": {"point_index": 1374}, "mesh_info": {"face_index": 4268, "face_uv": [0.0636083230246562, 0.1658349719682816, 0.770556705007046]}}, {"xyz": [0.2041005614236831, -0.40142500400543213, -0.30075565307344393], "rgb": [49, 28, 12], "semantic_id": 17, "pcd_info": {"point_index": 157}, "mesh_info": {"face_index": 18331, "face_uv": [0.013098874998898979, 0.22577610642902493, 0.761125018572076]}}, {"xyz": [0.18606144369973865, -0.3956811358487866, 0.019220000132918247], "rgb": [48, 27, 11], "semantic_id": 18, "pcd_info": {"point_index": 393}, "mesh_info": {"face_index": 18135, "face_uv": [0.20573814669718454, 0.0437278169445085, 0.7505340363583012]}}, {"xyz": [-0.1847483185747424, -0.4017300009727478, 0.013347025504306886], "rgb": [49, 28, 12], "semantic_id": 19, "pcd_info": {"point_index": 2002}, "mesh_info": {"face_index": 18215, "face_uv": [0.04179281950150119, 0.33965781961211244, 0.6185493608863863]}}, {"xyz": [-0.1960217242422162, -0.4045580029487611, -0.291117420784473], "rgb": [49, 28, 12], "semantic_id": 20, "pcd_info": {"point_index": 1641}, "mesh_info": {"face_index": 18239, "face_uv": [0.16389892005926665, 0.66835629531148, 0.16774478462925366]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "eaf231f17fccb96d81dff5c2e57ad46e", "keypoints": [{"xyz": [0.14742642344116996, 0.44135773849045923, 0.24924049356632533], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 929}, "mesh_info": {"face_index": 5627, "face_uv": [0.08606217078255698, 0.9083927628823959, 0.005545066335046399]}}, {"xyz": [-0.1507310544475724, 0.43072199399547006, 0.2460062903121993], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 5247, "face_uv": [0.11272679122073903, 0.1905386672330925, 0.6967345415461684]}}, {"xyz": [0.2150639679937525, 0.020402774383283973, 0.03123691014418939], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 336}, "mesh_info": {"face_index": 6150, "face_uv": [0.059910519601880236, 0.7168135457959539, 0.22327593460216638]}}, {"xyz": [-0.21128396548077055, 0.025596381746978647, 0.032901668656932004], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 580}, "mesh_info": {"face_index": 6146, "face_uv": [0.8788435874942272, 0.0068542814631813555, 0.11430213104271571]}}, {"xyz": [0.20146396050850868, 0.0835985083530173, -0.3032313689620332], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1547}, "mesh_info": {"face_index": 6430, "face_uv": [0.009000372690819275, 0.4522815993700604, 0.5387180279391209]}}, {"xyz": [-0.2055742137968964, 0.08083629685822946, -0.30165044468212154], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 54}, "mesh_info": {"face_index": 6585, "face_uv": [0.018257144532226054, 0.8032461973809153, 0.17849665808685897]}}, {"xyz": [0.18617964752443952, -0.24910290183443107, -0.226254243841006], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 114}, "mesh_info": {"face_index": 8374, "face_uv": [0.9041746661343716, 0.08849794804666483, 0.0073273858189638035]}}, {"xyz": [0.1830439506642389, -0.24969300627708435, 0.14566230733523566], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 112}, "mesh_info": {"face_index": 9988, "face_uv": [0.28857726816689155, 0.009389420859287782, 0.7020333109738207]}}, {"xyz": [-0.1801220267425341, -0.2496930062770839, 0.14756743901407005], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 205}, "mesh_info": {"face_index": 9728, "face_uv": [0.5297828594669037, 0.45351718537346564, 0.01669995515962887]}}, {"xyz": [-0.18500149837644794, -0.24969300627708435, -0.22267934811996665], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 181}, "mesh_info": {"face_index": 8105, "face_uv": [0.3509243514730967, 0.19465102179606003, 0.4544246267308432]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": [{"kp_indexes": [6, 7, 8, 9], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "1f83e49ecdf209ddd7f81f50826c13f0", "keypoints": [{"xyz": [0.20087298947150378, 0.14454731696508483, 0.167980214001076], "rgb": [234, 220, 183], "semantic_id": 0, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 4112, "face_uv": [0.3019903528809403, 0.6791636797068522, 0.018845967412202572]}}, {"xyz": [-0.2457810023392456, 0.14180249140990986, 0.1668302942208657], "rgb": [234, 221, 189], "semantic_id": 1, "pcd_info": {"point_index": 852}, "mesh_info": {"face_index": 4077, "face_uv": [0.012119224767454894, 0.17440361650093605, 0.8134771587316106]}}, {"xyz": [0.19522102673584327, -0.09671740990886901, 0.11444897786948771], "rgb": [239, 221, 179], "semantic_id": 2, "pcd_info": {"point_index": 117}, "mesh_info": {"face_index": 1054, "face_uv": [0.03145193439282868, 0.9327838466888325, 0.03576421891833927]}}, {"xyz": [-0.24843206601382878, -0.09696455034449036, 0.1201090032767449], "rgb": [238, 220, 181], "semantic_id": 3, "pcd_info": {"point_index": 730}, "mesh_info": {"face_index": 1078, "face_uv": [0.9479163820797781, 0.04203115851129342, 0.010052459408929137]}}, {"xyz": [0.21178825512914334, -0.0943874443751005, -0.33281901478767395], "rgb": [238, 215, 174], "semantic_id": 4, "pcd_info": {"point_index": 3}, "mesh_info": {"face_index": 6390, "face_uv": [0.28076628375750107, 0.06026837852417695, 0.658965337718322]}}, {"xyz": [-0.25395687439658843, -0.09765466094445228, -0.33281901478767373], "rgb": [238, 215, 174], "semantic_id": 5, "pcd_info": {"point_index": 1193}, "mesh_info": {"face_index": 594, "face_uv": [0.7423608435191066, 0.0015536485551762296, 0.2560855079257165]}}, {"xyz": [0.2586968723693898, 0.14297344973395676, -0.33281901478767395], "rgb": [235, 218, 183], "semantic_id": 6, "pcd_info": {"point_index": 1451}, "mesh_info": {"face_index": 1227, "face_uv": [0.8334831662758333, 0.1642871106432321, 0.0022297230809345983]}}, {"xyz": [0.22053180609057305, 0.145236998796463, 0.21273014706039284], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 5530, "face_uv": [0.3988161775031013, 0.016186945626976132, 0.5849968768699226]}}, {"xyz": [-0.3052645979025372, 0.13915953223342892, -0.33281901478767395], "rgb": [236, 219, 187], "semantic_id": 8, "pcd_info": {"point_index": 138}, "mesh_info": {"face_index": 2875, "face_uv": [0.008587619252456193, 0.06704385134500816, 0.9243685294025356]}}, {"xyz": [-0.2640252459670279, 0.145236998796463, 0.21406458682772045], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1047}, "mesh_info": {"face_index": 224, "face_uv": [0.6057883346340358, 0.01377640388802487, 0.3804352614779393]}}, {"xyz": [0.24345066578463714, -0.45213413006171466, -0.33281901478767395], "rgb": [226, 203, 147], "semantic_id": 17, "pcd_info": {"point_index": 646}, "mesh_info": {"face_index": 1143, "face_uv": [0.005711009065805996, 0.4022989139402384, 0.5919900769939556]}}, {"xyz": [0.18884745841527537, -0.4511445700944179, 0.1855880022048948], "rgb": [221, 195, 132], "semantic_id": 18, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 5302, "face_uv": [0.5636082319153705, 0.42903113772347623, 0.007360630361152062]}}, {"xyz": [-0.23233707119052394, -0.450690932814255, 0.1855880022048948], "rgb": [220, 195, 131], "semantic_id": 19, "pcd_info": {"point_index": 1062}, "mesh_info": {"face_index": 4013, "face_uv": [0.008116855089769786, 0.4387706105390887, 0.5531125343711403]}}, {"xyz": [-0.2920530183372235, -0.45469358894898687, -0.33281901478767417], "rgb": [227, 206, 154], "semantic_id": 20, "pcd_info": {"point_index": 509}, "mesh_info": {"face_index": 2791, "face_uv": [0.4411739740642925, 0.5573816990564731, 0.00144432687923515]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "54054535e70d9ca0f91663a74ccd2338", "keypoints": [{"xyz": [0.16203097421573756, 0.37456268029296097, 0.20188694642359528], "rgb": [166, 45, 52], "semantic_id": 0, "pcd_info": {"point_index": 1581}, "mesh_info": {"face_index": 2582, "face_uv": [0.06553574526706073, 0.7606729262247592, 0.17379132850817972]}}, {"xyz": [-0.16858498540988612, 0.3745547979586268, 0.2018387295041979], "rgb": [184, 58, 62], "semantic_id": 1, "pcd_info": {"point_index": 1204}, "mesh_info": {"face_index": 2412, "face_uv": [0.01703955894344902, 0.8242585040188246, 0.15870193703772636]}}, {"xyz": [0.1744239692615854, 0.029333643111875363, 0.10374060588626444], "rgb": [151, 5, 28], "semantic_id": 2, "pcd_info": {"point_index": 1510}, "mesh_info": {"face_index": 1560, "face_uv": [0.1408113436691302, 0.46712970729655545, 0.39205894903431526]}}, {"xyz": [-0.17956038449350434, 0.030073870052749863, 0.11166471691231172], "rgb": [157, 6, 26], "semantic_id": 3, "pcd_info": {"point_index": 396}, "mesh_info": {"face_index": 1613, "face_uv": [0.6871174734812098, 0.24061626344325465, 0.07226626307553495]}}, {"xyz": [0.1795909690427924, 0.013904328535816135, -0.25009210336025345], "rgb": [151, 5, 28], "semantic_id": 4, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 17000, "face_uv": [0.070772506109608, 0.46095310046308424, 0.4682743934273086]}}, {"xyz": [-0.18505866755290942, 0.013358641821878403, -0.25080175446588404], "rgb": [151, 5, 28], "semantic_id": 5, "pcd_info": {"point_index": 1636}, "mesh_info": {"face_index": 15623, "face_uv": [0.5288261249363523, 0.4433389174786683, 0.027834957584980093]}}, {"xyz": [0.18479415399285262, -0.3197843533621566, -0.27041584880888836], "rgb": [8, 8, 10], "semantic_id": 17, "pcd_info": {"point_index": 897}, "mesh_info": {"face_index": 10249, "face_uv": [0.37948357173075076, 0.21833424540504226, 0.4021821828642069]}}, {"xyz": [0.17260713062137858, -0.3420831708956372, 0.1703124861954335], "rgb": [7, 7, 9], "semantic_id": 18, "pcd_info": {"point_index": 1174}, "mesh_info": {"face_index": 9823, "face_uv": [0.8960881404687921, 0.07745913120260818, 0.026452728328598775]}}, {"xyz": [-0.17811906073398562, -0.3418565442089786, 0.1703800342651065], "rgb": [7, 7, 9], "semantic_id": 19, "pcd_info": {"point_index": 69}, "mesh_info": {"face_index": 9192, "face_uv": [0.09888364272939427, 0.29334920668345643, 0.6077671505871489]}}, {"xyz": [-0.18681430410562946, -0.3170041642919179, -0.2712350332799345], "rgb": [8, 8, 10], "semantic_id": 20, "pcd_info": {"point_index": 1865}, "mesh_info": {"face_index": 8684, "face_uv": [0.9580541781023594, 0.023289747481345626, 0.018656074416295302]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "19f597c6dbff03c114038d588fd1342f", "keypoints": [{"xyz": [0.23716645399285508, 0.4175119996070862, 0.1894038484405407], "rgb": [158, 96, 56], "semantic_id": 0, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 469, "face_uv": [0.48757155301797805, 0.43139858595840713, 0.08102986102361479]}}, {"xyz": [-0.1796935256578111, 0.4175119996070862, 0.18672020967342176], "rgb": [158, 95, 54], "semantic_id": 1, "pcd_info": {"point_index": 1384}, "mesh_info": {"face_index": 564, "face_uv": [0.06987304156995293, 0.4100782484998013, 0.5200487099302458]}}, {"xyz": [0.21508338270852825, 0.00916100014001131, 0.17867889143748683], "rgb": [51, 51, 53], "semantic_id": 2, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 1768, "face_uv": [0.0010216901776504957, 0.9808137997473066, 0.01816451007504309]}}, {"xyz": [-0.14757852845695138, 0.009161000140011533, 0.1818123871982631], "rgb": [49, 49, 51], "semantic_id": 3, "pcd_info": {"point_index": 743}, "mesh_info": {"face_index": 1781, "face_uv": [0.9750999903063535, 0.012362237001008792, 0.012537772692661884]}}, {"xyz": [0.20707440294395751, 0.00916100014001131, -0.26388378719346905], "rgb": [51, 51, 53], "semantic_id": 4, "pcd_info": {"point_index": 1218}, "mesh_info": {"face_index": 1768, "face_uv": [0.02280611820163183, 0.017023934973076603, 0.9601699468252911]}}, {"xyz": [-0.1476639844828041, 0.00916100014001131, -0.2663385626199113], "rgb": [51, 51, 53], "semantic_id": 5, "pcd_info": {"point_index": 1239}, "mesh_info": {"face_index": 1768, "face_uv": [0.9876946677303643, 0.011678053382653035, 0.0006272788869826914]}}, {"xyz": [0.2394770145483946, 0.12580600380897522, -0.2672773321960871], "rgb": [248, 251, 250], "semantic_id": 6, "pcd_info": {"point_index": 38}, "mesh_info": {"face_index": 600, "face_uv": [0.4726927377026571, 0.021495259031436426, 0.5058120032659064]}}, {"xyz": [0.2383514215308909, 0.12580600380897544, 0.17400366215908325], "rgb": [202, 175, 152], "semantic_id": 7, "pcd_info": {"point_index": 454}, "mesh_info": {"face_index": 596, "face_uv": [0.5034897184904173, 0.012638730549535286, 0.48387155096004925]}}, {"xyz": [-0.1743931534154784, 0.12580600380897544, -0.2656983538458278], "rgb": [100, 53, 33], "semantic_id": 8, "pcd_info": {"point_index": 596}, "mesh_info": {"face_index": 626, "face_uv": [0.5624979912254876, 0.024951291670984022, 0.41255071710353003]}}, {"xyz": [-0.1770745871563285, 0.12580600380897522, 0.16851717128996102], "rgb": [163, 99, 56], "semantic_id": 9, "pcd_info": {"point_index": 1811}, "mesh_info": {"face_index": 612, "face_uv": [0.5307113720418163, 0.024647439546175324, 0.44464118841200834]}}, {"xyz": [0.24020505753566737, -0.2878499925136566, -0.25910838600252467], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1878}, "mesh_info": {"face_index": 439, "face_uv": [0.5702114262996184, 0.36822085871762195, 0.06156771498275963]}}, {"xyz": [0.24000240811900914, -0.28784999251365684, 0.18896363958448065], "rgb": [148, 89, 49], "semantic_id": 18, "pcd_info": {"point_index": 1753}, "mesh_info": {"face_index": 502, "face_uv": [0.12580448389113744, 0.45740182537244795, 0.41679369073641537]}}, {"xyz": [-0.18156225853432886, -0.2878499925136566, 0.1867380430526852], "rgb": [149, 93, 51], "semantic_id": 19, "pcd_info": {"point_index": 1336}, "mesh_info": {"face_index": 527, "face_uv": [0.4169334113651009, 0.4111316703566426, 0.17193491827825644]}}, {"xyz": [-0.17827711577591412, -0.2878499925136566, -0.2569298212143314], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 452, "face_uv": [0.004796328868345835, 0.5030908130342949, 0.4921128580973592]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1c6eb96eab5e75b67b79156a61ad4c01", "keypoints": [{"xyz": [0.2527681813093692, 0.28469856848858455, 0.22603657567759228], "rgb": [97, 97, 97], "semantic_id": 0, "pcd_info": {"point_index": 1514}, "mesh_info": {"face_index": 388, "face_uv": [0.004752265486497224, 0.7672382452283504, 0.2280094892851526]}}, {"xyz": [-0.22185154932395806, 0.28505401606759806, 0.22044432012127418], "rgb": [99, 99, 99], "semantic_id": 1, "pcd_info": {"point_index": 156}, "mesh_info": {"face_index": 426, "face_uv": [0.008077249082475898, 0.981089124552993, 0.010833626364531208]}}, {"xyz": [0.20930031113544423, -0.02262600135182158, 0.1795579940080645], "rgb": [247, 247, 247], "semantic_id": 2, "pcd_info": {"point_index": 1884}, "mesh_info": {"face_index": 420, "face_uv": [0.4369061594586407, 0.05067742413646422, 0.5124164164048963]}}, {"xyz": [-0.15917304761926918, -0.030136122309986746, 0.17733728890196576], "rgb": [205, 205, 205], "semantic_id": 3, "pcd_info": {"point_index": 427}, "mesh_info": {"face_index": 329, "face_uv": [0.330803038565928, 0.0055615232753440155, 0.6636354381586842]}}, {"xyz": [0.2127284345435831, -0.01902010239369467, -0.21974000334739685], "rgb": [77, 77, 77], "semantic_id": 4, "pcd_info": {"point_index": 1035}, "mesh_info": {"face_index": 242, "face_uv": [0.8037511767048036, 0.18611434317808434, 0.010134480117112078]}}, {"xyz": [-0.17520603884304883, -0.03280318655279513, -0.21903993334055138], "rgb": [92, 93, 88], "semantic_id": 5, "pcd_info": {"point_index": 263}, "mesh_info": {"face_index": 311, "face_uv": [0.9180134913807186, 0.0017532519859537478, 0.08023325663335187]}}, {"xyz": [0.23653381517577815, 0.10146805953492999, -0.21974000334739674], "rgb": [86, 82, 79], "semantic_id": 6, "pcd_info": {"point_index": 1087}, "mesh_info": {"face_index": 199, "face_uv": [0.46477190818351916, 0.0254921533095486, 0.5097359385069318]}}, {"xyz": [0.23566910915184214, 0.10202131986630891, 0.17456855978701122], "rgb": [102, 102, 102], "semantic_id": 7, "pcd_info": {"point_index": 1085}, "mesh_info": {"face_index": 397, "face_uv": [0.26448412394791293, 0.012495515264534993, 0.7230203607875542]}}, {"xyz": [-0.20818600171651572, 0.09761186569138469, -0.2180608134557261], "rgb": [78, 78, 78], "semantic_id": 8, "pcd_info": {"point_index": 947}, "mesh_info": {"face_index": 510, "face_uv": [0.31343389630306956, 0.0042053551552776345, 0.6823607485416531]}}, {"xyz": [-0.19544921876006346, 0.13039161527059684, 0.1795579940080643], "rgb": [97, 97, 97], "semantic_id": 9, "pcd_info": {"point_index": 1365}, "mesh_info": {"face_index": 410, "face_uv": [0.7874431680108961, 0.18650599210400773, 0.026050839885096416]}}, {"xyz": [0.24823088026728482, -0.4482080042362213, -0.20541217372573561], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1209}, "mesh_info": {"face_index": 110, "face_uv": [0.49661462003371387, 0.016854955936450547, 0.4865304240298356]}}, {"xyz": [0.24600956738583796, -0.4482080042362211, 0.2382494604328274], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 99}, "mesh_info": {"face_index": 188, "face_uv": [0.3726496198789414, 0.6148613010381141, 0.012489079082944056]}}, {"xyz": [-0.21733033829970744, -0.44820800423622154, 0.2559735859730692], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 630}, "mesh_info": {"face_index": 244, "face_uv": [0.1023774814090596, 0.3844539957268768, 0.5131685228640641]}}, {"xyz": [-0.21569627804384356, -0.4482080042362213, -0.2087889790318263], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1401}, "mesh_info": {"face_index": 716, "face_uv": [0.01830385612923767, 0.5361703708931996, 0.4455257729775627]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5a30a8edad307d8b04cb542e2c50eb4", "keypoints": [{"xyz": [0.19653542864813456, 0.3457300602455037, 0.13590713040554347], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 448}, "mesh_info": {"face_index": 8384, "face_uv": [0.1022622709483171, 0.6833536520054365, 0.21438407704624546]}}, {"xyz": [-0.19602514763135892, 0.3451444909750222, 0.13487706234843544], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 8256, "face_uv": [0.17837528294931004, 0.02883930284155204, 0.7927854142091384]}}, {"xyz": [0.16490939447258707, -0.16631626449409231, 0.052362911947293034], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 109}, "mesh_info": {"face_index": 5920, "face_uv": [0.009867034560716395, 0.9900801935064307, 5.277193285350867e-05]}}, {"xyz": [-0.1651055477877078, -0.165267219096017, 0.0527125905024497], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 165}, "mesh_info": {"face_index": 5801, "face_uv": [0.9808130887694004, 0.006657895960548181, 0.01252901527005291]}}, {"xyz": [0.15963524684218894, -0.1386772880639418, -0.3108888393572371], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1094}, "mesh_info": {"face_index": 7001, "face_uv": [0.02268883690387098, 0.7881147875195189, 0.1891963755766089]}}, {"xyz": [-0.15790243853877725, -0.14509672369715937, -0.3116055760865408], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 34}, "mesh_info": {"face_index": 7436, "face_uv": [0.028188056758415573, 0.29664646406690104, 0.6751654791746846]}}, {"xyz": [0.20653110519534823, -0.022507731979561463, -0.19538736499222487], "rgb": [211, 174, 125], "semantic_id": 6, "pcd_info": {"point_index": 19}, "mesh_info": {"face_index": 3836, "face_uv": [0.5187477861799806, 0.3414220698332639, 0.13983014398675397]}}, {"xyz": [0.2072285032117899, -0.03141760836358398, 0.10197946365198529], "rgb": [214, 173, 126], "semantic_id": 7, "pcd_info": {"point_index": 436}, "mesh_info": {"face_index": 3090, "face_uv": [0.4620417341862541, 0.04950815503983867, 0.48845011077390965]}}, {"xyz": [-0.22298706945834534, -0.016454595809784145, -0.1818291828106986], "rgb": [221, 183, 135], "semantic_id": 8, "pcd_info": {"point_index": 679}, "mesh_info": {"face_index": 1258, "face_uv": [0.030904459414234416, 0.5102329722350445, 0.4588625683507183]}}, {"xyz": [-0.20948115872700107, -0.03326713040708107, 0.09903552851408404], "rgb": [217, 179, 137], "semantic_id": 9, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 561, "face_uv": [0.09429296008835794, 0.3086444230271479, 0.597062616884496]}}, {"xyz": [0.19154082234869155, -0.38115564481549424, -0.2111139502227164], "rgb": [217, 178, 133], "semantic_id": 17, "pcd_info": {"point_index": 1}, "mesh_info": {"face_index": 4682, "face_uv": [0.10582644636928219, 0.35578687423206884, 0.5383866793986489]}}, {"xyz": [0.20295051986364215, -0.38612100481987, 0.161029479858937], "rgb": [222, 184, 138], "semantic_id": 18, "pcd_info": {"point_index": 1561}, "mesh_info": {"face_index": 4818, "face_uv": [0.5798827805410768, 0.050420810478123405, 0.36969640898079975]}}, {"xyz": [-0.20945284404367862, -0.38612100481987, 0.17533578512169934], "rgb": [215, 181, 135], "semantic_id": 19, "pcd_info": {"point_index": 1303}, "mesh_info": {"face_index": 2262, "face_uv": [0.5962826624904878, 0.010935643749997918, 0.3927816937595143]}}, {"xyz": [-0.21275782661996098, -0.3837190459005324, -0.20261429942469644], "rgb": [219, 182, 135], "semantic_id": 20, "pcd_info": {"point_index": 1016}, "mesh_info": {"face_index": 2166, "face_uv": [0.31267850606051856, 0.1757847345636165, 0.5115367593758648]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5c1c5dd72247cb6526428c7519676cd8", "keypoints": [{"xyz": [0.1310471887936115, 0.3878055997405696, 0.08534398997884114], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 54}, "mesh_info": {"face_index": 643, "face_uv": [0.4747563859160755, 0.46328018135272453, 0.0619634327312003]}}, {"xyz": [-0.13290022631063478, 0.3831119216782235, 0.08265095146148788], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 119}, "mesh_info": {"face_index": 234, "face_uv": [0.22199344984532327, 0.4347725556513779, 0.34323399450329894]}}, {"xyz": [0.1382291785378466, -0.0764859989285469, 0.06283365135095684], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 646, "face_uv": [0.027248334824834432, 0.9564028185492263, 0.01634884662593924]}}, {"xyz": [-0.13549381675955297, -0.07648599892854668, 0.06669892860949639], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 997}, "mesh_info": {"face_index": 649, "face_uv": [0.09406489219952571, 0.8913269489257197, 0.014608158874751564]}}, {"xyz": [0.1331054203549443, -0.07648599892854713, -0.22718515000776957], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1884}, "mesh_info": {"face_index": 161, "face_uv": [0.02433621324162444, 0.9672922124613366, 0.008371574297042102]}}, {"xyz": [-0.1351999864649658, -0.0764859989285469, -0.2234920256597021], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1771}, "mesh_info": {"face_index": 161, "face_uv": [0.03641341713740254, 0.025046500645066073, 0.9385400822175316]}}, {"xyz": [0.1186605973894055, -0.42953162562955904, -0.2052068663746469], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1062}, "mesh_info": {"face_index": 1229, "face_uv": [0.011809222437653633, 0.008137578571644993, 0.9800531989907022]}}, {"xyz": [0.11907673000514911, -0.42664213897088, 0.0682138713540511], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 206}, "mesh_info": {"face_index": 1087, "face_uv": [0.32723400722727053, 0.016835376063315612, 0.6559306167094138]}}, {"xyz": [-0.11322549729229903, -0.42886355704794926, 0.07562522597242116], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1406}, "mesh_info": {"face_index": 1051, "face_uv": [0.7728028763820365, 0.2170485562722626, 0.010148567345701784]}}, {"xyz": [-0.11535102973098699, -0.42934433779384856, -0.20627608448719925], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 156}, "mesh_info": {"face_index": 1262, "face_uv": [0.3426367488386367, 0.008701343648312376, 0.6486619075130508]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8f521c85697cfb73f51f77a6d7299806", "keypoints": [{"xyz": [0.1676941332026305, 0.5902326681742391, 0.24092837682643375], "rgb": [208, 203, 199], "semantic_id": 0, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 19, "face_uv": [0.488022202185755, 0.03438991438766012, 0.4775878834265849]}}, {"xyz": [-0.18258263222066184, 0.5901178352810295, 0.24183107409060864], "rgb": [235, 230, 226], "semantic_id": 1, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 11, "face_uv": [0.4586726612834028, 0.0020751094435637364, 0.539252229273034]}}, {"xyz": [0.17422987498343998, 0.1931850016117096, 0.15507583554944515], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 596}, "mesh_info": {"face_index": 34, "face_uv": [0.0034735926067033488, 0.006951991818075862, 0.9895744155752207]}}, {"xyz": [-0.17711479213615205, 0.1931850016117096, 0.15431926943265228], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1625}, "mesh_info": {"face_index": 34, "face_uv": [0.9735880069240445, 0.00919188391277674, 0.017220109163178732]}}, {"xyz": [0.17706233762887433, 0.1696629129515841, -0.1803449988365174], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1478}, "mesh_info": {"face_index": 46, "face_uv": [0.3412516282193984, 0.002586680041745519, 0.6561616917388564]}}, {"xyz": [-0.17937360812891573, 0.17920664113980855, -0.1803449988365174], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1420}, "mesh_info": {"face_index": 216, "face_uv": [0.6100658922127705, 0.010968784855448561, 0.37896532293178126]}}, {"xyz": [0.17262285401163036, -0.22313399612903595, -0.16778701555209904], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 571}, "mesh_info": {"face_index": 112, "face_uv": [0.3035816104204434, 0.5475905233667132, 0.14882786621284338]}}, {"xyz": [0.16810110440625425, -0.22313399612903595, 0.2505979132767427], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1606}, "mesh_info": {"face_index": 136, "face_uv": [0.043593028108895364, 0.4874224337472773, 0.4689845381438273]}}, {"xyz": [-0.16785886956101378, -0.22313399612903573, 0.2509987946430992], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1593}, "mesh_info": {"face_index": 87, "face_uv": [0.08835771149675253, 0.5183421728757094, 0.39330011562753703]}}, {"xyz": [-0.1749180211761227, -0.22313399612903573, -0.16922573276452796], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 154, "face_uv": [0.2328366063091459, 0.4005787577704928, 0.36658463592036034]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "eb8073ac89cf7b4181f667e2a25e0619", "keypoints": [{"xyz": [0.14489962180555596, 0.22941481220378357, 0.12830988277744138], "rgb": [119, 87, 54], "semantic_id": 0, "pcd_info": {"point_index": 517}, "mesh_info": {"face_index": 27117, "face_uv": [0.19858128080566342, 0.34860782609331964, 0.45281089310101724]}}, {"xyz": [-0.13503422745572802, 0.23303010204676844, 0.1307854325076092], "rgb": [119, 87, 54], "semantic_id": 1, "pcd_info": {"point_index": 1570}, "mesh_info": {"face_index": 20744, "face_uv": [0.23380913714295756, 0.28894520475047775, 0.4772456581065653]}}, {"xyz": [0.17298360614880434, -0.04905872435838621, 0.0985626885333375], "rgb": [159, 116, 64], "semantic_id": 2, "pcd_info": {"point_index": 1287}, "mesh_info": {"face_index": 34073, "face_uv": [0.1842393431220848, 0.5600425388178866, 0.2557181180600332]}}, {"xyz": [-0.16937593012819907, -0.049391065763710884, 0.08543638896946959], "rgb": [168, 121, 65], "semantic_id": 3, "pcd_info": {"point_index": 1963}, "mesh_info": {"face_index": 27801, "face_uv": [0.5262188115600687, 0.03913407144907782, 0.4346471169908515]}}, {"xyz": [0.20128144257329664, -0.021638399750901094, -0.23663185701410416], "rgb": [164, 120, 65], "semantic_id": 4, "pcd_info": {"point_index": 79}, "mesh_info": {"face_index": 34913, "face_uv": [0.41973163566502103, 0.33343794325981385, 0.24683042107516495]}}, {"xyz": [-0.1977690354034553, -0.021461847932856548, -0.2532944908537409], "rgb": [154, 105, 56], "semantic_id": 5, "pcd_info": {"point_index": 463}, "mesh_info": {"face_index": 32480, "face_uv": [0.08782409092104636, 0.639468764962111, 0.272707144116842]}}, {"xyz": [0.24566169421980788, 0.16517541279471648, -0.17996377439559885], "rgb": [158, 109, 53], "semantic_id": 6, "pcd_info": {"point_index": 1698}, "mesh_info": {"face_index": 17710, "face_uv": [0.6818503034435154, 0.1763928442423521, 0.14175685231413218]}}, {"xyz": [0.23459122937145943, 0.18247158821818554, 0.04596031566828529], "rgb": [119, 87, 54], "semantic_id": 7, "pcd_info": {"point_index": 532}, "mesh_info": {"face_index": 23238, "face_uv": [0.8154160735674568, 0.039994041258911116, 0.14458988517363253]}}, {"xyz": [-0.24361148238641694, 0.15618828324856104, -0.19474281428144957], "rgb": [157, 112, 57], "semantic_id": 8, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 17995, "face_uv": [0.35505985118589944, 0.24482801436400467, 0.4001121344500961]}}, {"xyz": [-0.2429602751661995, 0.1772629693932366, 0.027145710617952568], "rgb": [152, 111, 56], "semantic_id": 9, "pcd_info": {"point_index": 1995}, "mesh_info": {"face_index": 15553, "face_uv": [0.12173414145000676, 0.42671557385923203, 0.45155028469076036]}}, {"xyz": [0.23894168524344767, -0.4160099369554271, -0.2476605789831388], "rgb": [151, 99, 46], "semantic_id": 17, "pcd_info": {"point_index": 595}, "mesh_info": {"face_index": 2423, "face_uv": [0.2322768858806542, 0.4174823872219952, 0.3502407268973514]}}, {"xyz": [0.22059912954209054, -0.41605808060189875, 0.1840776634190362], "rgb": [157, 111, 59], "semantic_id": 18, "pcd_info": {"point_index": 266}, "mesh_info": {"face_index": 4214, "face_uv": [0.14403239577351853, 0.6613647620680952, 0.19460284215838713]}}, {"xyz": [-0.2178869711875736, -0.4162809854728051, 0.17233327811505428], "rgb": [155, 109, 57], "semantic_id": 19, "pcd_info": {"point_index": 330}, "mesh_info": {"face_index": 10484, "face_uv": [0.02742124708474157, 0.4884084198355073, 0.4841703330797525]}}, {"xyz": [-0.24432974987132067, -0.41601257131596925, -0.2473671998789121], "rgb": [154, 98, 47], "semantic_id": 20, "pcd_info": {"point_index": 1516}, "mesh_info": {"face_index": 7370, "face_uv": [0.007885792475470603, 0.9256127223289868, 0.06650148519554284]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ba747d0535cb7fdfbfb5bf9fe49f43af", "keypoints": [{"xyz": [0.17090814506303562, 0.46621599793434143, 0.05153952604471268], "rgb": [116, 116, 112], "semantic_id": 0, "pcd_info": {"point_index": 494}, "mesh_info": {"face_index": 200, "face_uv": [0.47228503319706616, 0.2192266080163797, 0.3084883587865541]}}, {"xyz": [-0.16312460405986268, 0.46621599793434143, 0.04426233264302204], "rgb": [121, 121, 117], "semantic_id": 1, "pcd_info": {"point_index": 1524}, "mesh_info": {"face_index": 370, "face_uv": [0.04510738060772959, 0.5573937888935657, 0.3974988304987047]}}, {"xyz": [0.14658971128671502, 0.07130055428883275, 0.050460790981585735], "rgb": [124, 125, 120], "semantic_id": 2, "pcd_info": {"point_index": 1169}, "mesh_info": {"face_index": 2173, "face_uv": [0.5436742982725113, 0.45500349302503434, 0.0013222087024526723]}}, {"xyz": [-0.1573556451825438, 0.07693216946054116, 0.051916151163236446], "rgb": [119, 119, 118], "semantic_id": 3, "pcd_info": {"point_index": 112}, "mesh_info": {"face_index": 2036, "face_uv": [0.019240968325274034, 0.914883837739263, 0.0658751939354557]}}, {"xyz": [0.18386905771103695, 0.05914924935459864, -0.2470838550074923], "rgb": [117, 118, 116], "semantic_id": 4, "pcd_info": {"point_index": 1742}, "mesh_info": {"face_index": 43, "face_uv": [0.6869183822413762, 0.29990144472699226, 0.01318017303163062]}}, {"xyz": [-0.1842400651026716, 0.059967398461537424, -0.24577163357450105], "rgb": [118, 119, 114], "semantic_id": 5, "pcd_info": {"point_index": 278}, "mesh_info": {"face_index": 40, "face_uv": [0.3487082826990097, 0.11539726118762987, 0.5358944561133616]}}, {"xyz": [0.16473113072765752, -0.354434996843338, -0.18509355997157548], "rgb": [117, 117, 113], "semantic_id": 17, "pcd_info": {"point_index": 1067}, "mesh_info": {"face_index": 756, "face_uv": [0.4472920947994404, 0.4533893050936413, 0.09931860010691841]}}, {"xyz": [0.1725910412525425, -0.35443499684333823, 0.04025646586681958], "rgb": [116, 116, 110], "semantic_id": 18, "pcd_info": {"point_index": 461}, "mesh_info": {"face_index": 1524, "face_uv": [0.27194552307469, 0.5804369874918898, 0.14761748943342085]}}, {"xyz": [-0.16911504596904545, -0.354434996843338, 0.041901502630373705], "rgb": [118, 119, 115], "semantic_id": 19, "pcd_info": {"point_index": 12}, "mesh_info": {"face_index": 1910, "face_uv": [0.35331425799696703, 0.4638988466468888, 0.18278689535614423]}}, {"xyz": [-0.15704802828393352, -0.3544349968433378, -0.19493268507150222], "rgb": [116, 117, 112], "semantic_id": 20, "pcd_info": {"point_index": 1692}, "mesh_info": {"face_index": 1143, "face_uv": [0.09604318652483569, 0.2814337262432267, 0.622523087231937]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "90a15feb4f77c63e5e73882ba2654055", "keypoints": [{"xyz": [0.2105415863015091, 0.30114787825973777, 0.23850034763417982], "rgb": [108, 89, 71], "semantic_id": 0, "pcd_info": {"point_index": 1377}, "mesh_info": {"face_index": 4556, "face_uv": [0.46628684410924165, 0.3950687262086879, 0.13864442968207039]}}, {"xyz": [-0.207854793109845, 0.3034497830428128, 0.23199000764760758], "rgb": [110, 90, 71], "semantic_id": 1, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 3334, "face_uv": [0.220981597278564, 0.33673806580317445, 0.4422803369182613]}}, {"xyz": [0.19652387874603822, 0.0002422168433418026, 0.12464898602619015], "rgb": [251, 239, 225], "semantic_id": 2, "pcd_info": {"point_index": 807}, "mesh_info": {"face_index": 52, "face_uv": [0.9250572000847312, 0.025107559574360498, 0.049835240340908735]}}, {"xyz": [-0.18069619453908214, 0.009482917755533782, 0.1258868479456884], "rgb": [226, 221, 205], "semantic_id": 3, "pcd_info": {"point_index": 329}, "mesh_info": {"face_index": 48, "face_uv": [0.7270939772227712, 0.010066504919639745, 0.2628395178575902]}}, {"xyz": [0.23136730465885563, -0.0047044723938385324, -0.22930940999549465], "rgb": [251, 245, 235], "semantic_id": 4, "pcd_info": {"point_index": 321}, "mesh_info": {"face_index": 173, "face_uv": [0.13133186967614602, 0.8091727277507832, 0.059495402573071204]}}, {"xyz": [-0.22113068219985332, 0.006004755541702433, -0.222693536784216], "rgb": [223, 213, 201], "semantic_id": 5, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 212, "face_uv": [0.3890604329341488, 0.11259111086047045, 0.4983484562053803]}}, {"xyz": [0.26035489914385584, 0.140441842034978, -0.25223889320374393], "rgb": [111, 92, 74], "semantic_id": 6, "pcd_info": {"point_index": 1599}, "mesh_info": {"face_index": 3750, "face_uv": [0.5351029250743106, 0.2426897936470077, 0.22220728127868186]}}, {"xyz": [0.22174123121855072, 0.15481338992410332, 0.15450803626544019], "rgb": [113, 95, 73], "semantic_id": 7, "pcd_info": {"point_index": 359}, "mesh_info": {"face_index": 3935, "face_uv": [0.05479669020453217, 0.5366109249820961, 0.40859238481337096]}}, {"xyz": [-0.2553024761844064, 0.14025812689140893, -0.2587356566012496], "rgb": [111, 91, 73], "semantic_id": 8, "pcd_info": {"point_index": 1677}, "mesh_info": {"face_index": 2530, "face_uv": [0.3025729419431682, 0.13267630598228575, 0.5647507520745455]}}, {"xyz": [-0.21545783126816637, 0.15469234796207987, 0.1516418937608358], "rgb": [110, 90, 70], "semantic_id": 9, "pcd_info": {"point_index": 225}, "mesh_info": {"face_index": 2714, "face_uv": [0.023039200107504945, 0.5015986668308873, 0.4753621330616079]}}, {"xyz": [0.26407578462456827, -0.3140613332572696, -0.2927270620879363], "rgb": [111, 91, 74], "semantic_id": 17, "pcd_info": {"point_index": 1816}, "mesh_info": {"face_index": 3685, "face_uv": [0.19518157749877696, 0.4756900115019743, 0.32912841099924856]}}, {"xyz": [0.22093553383809095, -0.3085879981517792, 0.14359859282559972], "rgb": [110, 90, 71], "semantic_id": 18, "pcd_info": {"point_index": 450}, "mesh_info": {"face_index": 4295, "face_uv": [0.028078354178080717, 0.4707241544562226, 0.5011974913656967]}}, {"xyz": [-0.21735925700188394, -0.3085879981517792, 0.1413863957038778], "rgb": [110, 90, 71], "semantic_id": 19, "pcd_info": {"point_index": 434}, "mesh_info": {"face_index": 3066, "face_uv": [0.02475444723590662, 0.5489106257715548, 0.42633492699253855]}}, {"xyz": [-0.2618494308509015, -0.31397523887092926, -0.28762780998170234], "rgb": [112, 92, 74], "semantic_id": 20, "pcd_info": {"point_index": 1346}, "mesh_info": {"face_index": 2454, "face_uv": [0.19004299389996604, 0.37300593821557976, 0.4369510678844545]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f3718bcd0e497868af7c7ad2549a1b15", "keypoints": [{"xyz": [0.18354730744590858, 0.408047334667604, 0.16035649873838964], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 710}, "mesh_info": {"face_index": 4252, "face_uv": [0.8243802490326929, 0.10191755587416919, 0.07370219509313833]}}, {"xyz": [-0.18685968328450858, 0.406333834862452, 0.1589345369514381], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 227}, "mesh_info": {"face_index": 6592, "face_uv": [0.24067414043411334, 0.14465944122453234, 0.6146664183413566]}}, {"xyz": [0.11612312373363921, 0.0010650040255382187, 0.0959768546429931], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 813}, "mesh_info": {"face_index": 5937, "face_uv": [0.08212463822986815, 0.4852411875935687, 0.4326341741765622]}}, {"xyz": [-0.11981934552766095, -0.006513945248052044, 0.09712101601766454], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1292}, "mesh_info": {"face_index": 7559, "face_uv": [0.45395489917862625, 0.3493915395854102, 0.1966535612359647]}}, {"xyz": [0.17403558752682105, -0.02365278753522282, -0.2175370130122809], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1872}, "mesh_info": {"face_index": 1694, "face_uv": [0.4224116416146999, 0.02486499407217636, 0.5527233643131249]}}, {"xyz": [-0.17243645724562243, -0.025455278070084297, -0.22046044269963905], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1940}, "mesh_info": {"face_index": 1731, "face_uv": [0.5667019012956369, 0.025595728773903426, 0.40770236993046055]}}, {"xyz": [0.17256008541753168, -0.36465933853196364, -0.2026012358737076], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 466}, "mesh_info": {"face_index": 10081, "face_uv": [0.4318779961102139, 0.05461248653651696, 0.5135095173532697]}}, {"xyz": [0.11419205719105793, -0.3641574050429237, 0.10888011843011092], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1018}, "mesh_info": {"face_index": 7214, "face_uv": [0.05547055401329134, 0.2823626303905343, 0.6621668155961732]}}, {"xyz": [-0.11312746193742945, -0.3789135198533149, 0.1016812632387264], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 361}, "mesh_info": {"face_index": 7958, "face_uv": [0.14318976765937305, 0.3505333010521149, 0.5062769312885119]}}, {"xyz": [-0.16701074199686444, -0.37476465239645707, -0.21680016610089492], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 151}, "mesh_info": {"face_index": 8010, "face_uv": [0.01338666837361051, 0.897539504220361, 0.08907382740602783]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "96bccddaf0034be04e5cf15b26e670ad", "keypoints": [{"xyz": [0.17778326725835444, 0.28840715945483164, 0.058721482840293104], "rgb": [99, 148, 236], "semantic_id": 0, "pcd_info": {"point_index": 313}, "mesh_info": {"face_index": 119, "face_uv": [0.37269568438201905, 0.6233543838507483, 0.0039499317672314046]}}, {"xyz": [-0.18055173310932054, 0.2888434119812117, 0.05968179873310797], "rgb": [99, 148, 236], "semantic_id": 1, "pcd_info": {"point_index": 421}, "mesh_info": {"face_index": 3580, "face_uv": [0.0029198536172720534, 0.5589914204446431, 0.438088725938083]}}, {"xyz": [0.18050753561204377, -0.12953519666002855, 0.058477007155014915], "rgb": [100, 149, 237], "semantic_id": 2, "pcd_info": {"point_index": 1115}, "mesh_info": {"face_index": 105, "face_uv": [0.2605386536976598, 0.7302555092046491, 0.009205837097692638]}}, {"xyz": [-0.17448509140203855, -0.13075508569511074, 0.058728733508000674], "rgb": [99, 148, 236], "semantic_id": 3, "pcd_info": {"point_index": 1794}, "mesh_info": {"face_index": 502, "face_uv": [0.9694811159246254, 0.020584699105691318, 0.009934184969682467]}}, {"xyz": [0.17671474314043525, -0.1425715160991502, -0.2876275217453792], "rgb": [99, 148, 236], "semantic_id": 4, "pcd_info": {"point_index": 1412}, "mesh_info": {"face_index": 71, "face_uv": [0.02221483974858327, 0.4489385140688842, 0.5288466461825321]}}, {"xyz": [-0.1740641915672022, -0.1404354881178237, -0.2873063234500495], "rgb": [100, 149, 237], "semantic_id": 5, "pcd_info": {"point_index": 638}, "mesh_info": {"face_index": 855, "face_uv": [0.01702179751622698, 0.434347245832726, 0.5486309566510474]}}, {"xyz": [0.1772762930093687, -0.5430627833338467, -0.287394922459949], "rgb": [100, 149, 237], "semantic_id": 17, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 58, "face_uv": [0.0041237276198154895, 0.46654158267778495, 0.5293346897023995]}}, {"xyz": [0.17949117557187855, -0.5447589755058287, 0.05044007624147806], "rgb": [99, 148, 236], "semantic_id": 18, "pcd_info": {"point_index": 736}, "mesh_info": {"face_index": 88, "face_uv": [0.0015709771745324108, 0.2022878212070301, 0.7961412016184373]}}, {"xyz": [-0.1752677396312477, -0.5447589755058289, 0.0700616044101641], "rgb": [100, 149, 237], "semantic_id": 19, "pcd_info": {"point_index": 892}, "mesh_info": {"face_index": 724, "face_uv": [0.25087436196157975, 0.5879269367464183, 0.16119870129200203]}}, {"xyz": [-0.1688740184383144, -0.5375815264943482, -0.28996151288742844], "rgb": [100, 149, 237], "semantic_id": 20, "pcd_info": {"point_index": 702}, "mesh_info": {"face_index": 1074, "face_uv": [0.017449582197914107, 0.7490836223147612, 0.2334667954873249]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6c1352ffa574e154ca2ed12df13a916a", "keypoints": [{"xyz": [0.2109919943312733, 0.26493024320179637, 0.27771752099322056], "rgb": [207, 207, 207], "semantic_id": 0, "pcd_info": {"point_index": 350}, "mesh_info": {"face_index": 10124, "face_uv": [0.28458487991856335, 0.3763522380504857, 0.3390628820309513]}}, {"xyz": [-0.1947116165945157, 0.26245217407518284, 0.27419673554536583], "rgb": [172, 172, 172], "semantic_id": 1, "pcd_info": {"point_index": 990}, "mesh_info": {"face_index": 10860, "face_uv": [0.2870940941437616, 0.36460530374555045, 0.3483006021106789]}}, {"xyz": [0.19228460489372334, -0.034526591791191885, 0.07893226834884648], "rgb": [213, 213, 213], "semantic_id": 2, "pcd_info": {"point_index": 1704}, "mesh_info": {"face_index": 21490, "face_uv": [0.8269832294804733, 0.10350121836654212, 0.06951555215298681]}}, {"xyz": [-0.176871404787183, -0.03373099863529205, 0.07477989655108419], "rgb": [112, 112, 112], "semantic_id": 3, "pcd_info": {"point_index": 389}, "mesh_info": {"face_index": 24984, "face_uv": [0.015841243790872074, 0.6779147423004399, 0.3062440139086879]}}, {"xyz": [0.20070408657705907, -0.040600396647687886, -0.3247698055895347], "rgb": [155, 155, 155], "semantic_id": 4, "pcd_info": {"point_index": 985}, "mesh_info": {"face_index": 19496, "face_uv": [0.2756923266337877, 0.36906713771586697, 0.3552405356503464]}}, {"xyz": [-0.18058110079079046, -0.03684363309988814, -0.32396504260412673], "rgb": [163, 163, 163], "semantic_id": 5, "pcd_info": {"point_index": 1599}, "mesh_info": {"face_index": 20157, "face_uv": [0.5368582686386849, 0.10992441884334139, 0.35321731251797395]}}, {"xyz": [0.2171404148543722, 0.1091970577118202, -0.17774733663693287], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1671}, "mesh_info": {"face_index": 346, "face_uv": [0.35225531944349087, 0.4545409332710624, 0.19320374728544515]}}, {"xyz": [0.2355628078127181, 0.06851052529858292, 0.16846206474594816], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 570}, "mesh_info": {"face_index": 1136, "face_uv": [0.020116617512342998, 0.8864973634399111, 0.09338601904774631]}}, {"xyz": [-0.20629722830986702, 0.10212383190590724, -0.19069351274121837], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 7112, "face_uv": [0.01152978389884999, 0.5688720442749872, 0.4195981718261638]}}, {"xyz": [-0.22919129036390587, 0.06352960109238248, 0.15791012697537904], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1008}, "mesh_info": {"face_index": 8248, "face_uv": [0.3103829319921955, 0.49732428042273813, 0.19229278758506801]}}, {"xyz": [0.1993656057022506, -0.3160094306037593, -0.24802001536227192], "rgb": [169, 169, 169], "semantic_id": 17, "pcd_info": {"point_index": 1022}, "mesh_info": {"face_index": 2544, "face_uv": [0.3606188916237977, 0.01755549012718549, 0.6218256182490169]}}, {"xyz": [0.21796490632041482, -0.34152724917435684, 0.0982292926828785], "rgb": [166, 166, 166], "semantic_id": 18, "pcd_info": {"point_index": 772}, "mesh_info": {"face_index": 5286, "face_uv": [0.5064917798486809, 0.16339301750467572, 0.3301152026466431]}}, {"xyz": [-0.20089169465856738, -0.33927835446413646, 0.09427054070731822], "rgb": [177, 177, 177], "semantic_id": 19, "pcd_info": {"point_index": 468}, "mesh_info": {"face_index": 4882, "face_uv": [0.17406752501970993, 0.29257977026549487, 0.5333527047147967]}}, {"xyz": [-0.20479034361526807, -0.3154226234866979, -0.251278499390272], "rgb": [212, 212, 212], "semantic_id": 20, "pcd_info": {"point_index": 575}, "mesh_info": {"face_index": 2618, "face_uv": [0.8633087137140966, 0.011303861399233645, 0.1253874248866702]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a54ac4580f151f89278d386bfa54545", "keypoints": [{"xyz": [0.18112880249584512, 0.48862600326538086, 0.16294717143246906], "rgb": [81, 30, 23], "semantic_id": 0, "pcd_info": {"point_index": 1092}, "mesh_info": {"face_index": 11690, "face_uv": [0.11203209598104616, 0.4647565020798697, 0.42321140193908424]}}, {"xyz": [-0.21309559126040428, 0.48862600326538086, 0.16108250259538226], "rgb": [79, 30, 23], "semantic_id": 1, "pcd_info": {"point_index": 1737}, "mesh_info": {"face_index": 7745, "face_uv": [0.2682882860566436, 0.5450298584981341, 0.1866818554452222]}}, {"xyz": [0.19129437315552852, 0.07200474282018843, 0.10315163224556569], "rgb": [222, 206, 183], "semantic_id": 2, "pcd_info": {"point_index": 598}, "mesh_info": {"face_index": 32, "face_uv": [0.09883617153659438, 0.019681035005606997, 0.881482793457798]}}, {"xyz": [-0.21239204738717163, 0.07178203358815138, 0.10725423819605877], "rgb": [221, 205, 182], "semantic_id": 3, "pcd_info": {"point_index": 1159}, "mesh_info": {"face_index": 18, "face_uv": [0.9373825925913629, 0.028639308445577855, 0.03397809896305761]}}, {"xyz": [0.1882781588253346, 0.093093451561987, -0.2853907525504941], "rgb": [221, 205, 182], "semantic_id": 4, "pcd_info": {"point_index": 160}, "mesh_info": {"face_index": 283, "face_uv": [0.888023366772713, 0.089922835597411, 0.022053797629877497]}}, {"xyz": [-0.21528808322875537, 0.09313087952623289, -0.28607933010182907], "rgb": [223, 206, 183], "semantic_id": 5, "pcd_info": {"point_index": 1559}, "mesh_info": {"face_index": 1, "face_uv": [0.029644571619363916, 0.015637765874092605, 0.9547176625065421]}}, {"xyz": [0.18147238526493334, -0.2845120131969452, -0.27994004068592865], "rgb": [76, 25, 18], "semantic_id": 17, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 5757, "face_uv": [0.4541818841551285, 0.5227772795142251, 0.023040836330646425]}}, {"xyz": [0.1847617387128279, -0.2845120131969452, 0.13466027472549136], "rgb": [76, 26, 19], "semantic_id": 18, "pcd_info": {"point_index": 518}, "mesh_info": {"face_index": 6324, "face_uv": [0.40114504513637406, 0.41798976477650585, 0.1808651900871201]}}, {"xyz": [-0.20811219817998242, -0.2845120131969452, 0.13217570305573711], "rgb": [80, 30, 24], "semantic_id": 19, "pcd_info": {"point_index": 782}, "mesh_info": {"face_index": 15720, "face_uv": [0.05439316042870184, 0.47233060585242065, 0.4732762337188775]}}, {"xyz": [-0.21013488360239924, -0.2845120131969454, -0.281804645443306], "rgb": [75, 26, 19], "semantic_id": 20, "pcd_info": {"point_index": 20}, "mesh_info": {"face_index": 14685, "face_uv": [0.17168131027655675, 0.440462042809573, 0.38785664691387106]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f31f8722de9008c8c5aaa7f1cfa788b7", "keypoints": [{"xyz": [0.17525300576156297, 0.340103058905183, 0.19588475446618903], "rgb": [33, 31, 32], "semantic_id": 0, "pcd_info": {"point_index": 440}, "mesh_info": {"face_index": 8236, "face_uv": [0.8309121110938075, 0.0010640438584408694, 0.16802384504775242]}}, {"xyz": [-0.16301695993782808, 0.3391277904532418, 0.19511728865471634], "rgb": [38, 38, 38], "semantic_id": 1, "pcd_info": {"point_index": 7}, "mesh_info": {"face_index": 8242, "face_uv": [0.11211682248453908, 0.015921285354922567, 0.8719618921605365]}}, {"xyz": [0.15851523725203262, 0.010491202447013848, 0.10495435806600617], "rgb": [41, 40, 39], "semantic_id": 2, "pcd_info": {"point_index": 199}, "mesh_info": {"face_index": 3829, "face_uv": [0.2190029004322818, 0.7583900834314159, 0.022607016136298074]}}, {"xyz": [-0.1589545192588569, 0.010196564921246098, 0.10887830105182783], "rgb": [35, 35, 35], "semantic_id": 3, "pcd_info": {"point_index": 1124}, "mesh_info": {"face_index": 3758, "face_uv": [0.00499410947107523, 0.23230949003324552, 0.7626964004956772]}}, {"xyz": [0.16071861630890066, 0.010903686897907328, -0.25534924172266826], "rgb": [31, 31, 31], "semantic_id": 4, "pcd_info": {"point_index": 679}, "mesh_info": {"face_index": 3792, "face_uv": [0.011541967738044974, 0.01585814235913695, 0.9725998899028182]}}, {"xyz": [-0.1559974636639213, 0.009085092453138266, -0.25631623394721903], "rgb": [35, 35, 35], "semantic_id": 5, "pcd_info": {"point_index": 584}, "mesh_info": {"face_index": 3721, "face_uv": [0.2556302411250114, 0.014051468394439456, 0.7303182904805497]}}, {"xyz": [0.21894675088292673, 0.2093937934271045, -0.2222327947128906], "rgb": [37, 37, 37], "semantic_id": 6, "pcd_info": {"point_index": 374}, "mesh_info": {"face_index": 1009, "face_uv": [0.1682197392330525, 0.3254828466905197, 0.5062974140764283]}}, {"xyz": [0.22068301506574078, 0.21322039693599693, 0.2841514955111896], "rgb": [35, 34, 33], "semantic_id": 7, "pcd_info": {"point_index": 534}, "mesh_info": {"face_index": 1130, "face_uv": [0.5371341645597649, 0.07443006329299678, 0.3884357721472385]}}, {"xyz": [-0.2154026330294188, 0.2095804946698121, -0.22180114016733588], "rgb": [36, 36, 36], "semantic_id": 8, "pcd_info": {"point_index": 470}, "mesh_info": {"face_index": 5648, "face_uv": [0.5378999881889446, 0.41593867614693947, 0.04616133566411635]}}, {"xyz": [-0.2111005049991495, 0.21343169797462158, 0.28066507433886884], "rgb": [39, 39, 39], "semantic_id": 9, "pcd_info": {"point_index": 1228}, "mesh_info": {"face_index": 5660, "face_uv": [0.4302849065100891, 0.15440544551062102, 0.4153096479792903]}}, {"xyz": [0.20732422799942968, -0.27957800030708313, -0.155912266524579], "rgb": [153, 86, 41], "semantic_id": 17, "pcd_info": {"point_index": 1787}, "mesh_info": {"face_index": 2963, "face_uv": [0.0955559426311179, 0.4355596252834415, 0.46888443208544067]}}, {"xyz": [0.2030543373157868, -0.27957800030708313, 0.20368509909044008], "rgb": [153, 86, 41], "semantic_id": 18, "pcd_info": {"point_index": 1499}, "mesh_info": {"face_index": 7787, "face_uv": [0.047069580139449174, 0.5133648066685333, 0.4395656131920175]}}, {"xyz": [-0.20232041096172945, -0.27957800030708313, 0.20744420866492197], "rgb": [153, 86, 41], "semantic_id": 19, "pcd_info": {"point_index": 2004}, "mesh_info": {"face_index": 2915, "face_uv": [0.04636419702525996, 0.4159340371188368, 0.5377017658559032]}}, {"xyz": [-0.20512994281803734, -0.27957800030708335, -0.15799306195596569], "rgb": [153, 85, 40], "semantic_id": 20, "pcd_info": {"point_index": 657}, "mesh_info": {"face_index": 2946, "face_uv": [0.40205956920079, 0.5253048720327185, 0.0726355587664923]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9144c2c7b7d9f733ad484915511ccff6", "keypoints": [{"xyz": [0.18672257006966692, 0.42311407105657817, 0.20946893413600343], "rgb": [229, 224, 218], "semantic_id": 0, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 35227, "face_uv": [0.2889096290895991, 0.41795989271491735, 0.29313047819547094]}}, {"xyz": [-0.18914871461057836, 0.424103536891546, 0.20830723014356178], "rgb": [228, 223, 217], "semantic_id": 1, "pcd_info": {"point_index": 966}, "mesh_info": {"face_index": 36084, "face_uv": [0.24365627110891044, 0.19409223681766755, 0.5622514920734174]}}, {"xyz": [0.1808698593057056, 0.11837571223675758, 0.12840662769898858], "rgb": [48, 63, 106], "semantic_id": 2, "pcd_info": {"point_index": 990}, "mesh_info": {"face_index": 34347, "face_uv": [0.76899685451385, 0.1898590243880733, 0.04114412109807507]}}, {"xyz": [-0.1800182337212622, 0.11821248737970846, 0.14419471908822878], "rgb": [25, 40, 84], "semantic_id": 3, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 34280, "face_uv": [0.6252464830418227, 0.36602816671189653, 0.008725350246281287]}}, {"xyz": [0.1940009976201882, 0.10457389205781875, -0.19134222313768345], "rgb": [33, 47, 92], "semantic_id": 4, "pcd_info": {"point_index": 817}, "mesh_info": {"face_index": 34630, "face_uv": [0.06225509742282849, 0.4254630495901487, 0.5122818529870236]}}, {"xyz": [-0.20445716984571594, 0.10615226555449553, -0.18792949480052268], "rgb": [36, 50, 94], "semantic_id": 5, "pcd_info": {"point_index": 1301}, "mesh_info": {"face_index": 34553, "face_uv": [0.3598404338036964, 0.576106566306331, 0.06405299988997237]}}, {"xyz": [0.23405247896998904, 0.27309483792382316, -0.1219616892611658], "rgb": [0, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 20}, "mesh_info": {"face_index": 970, "face_uv": [0.5359389201958944, 0.21074861877692957, 0.2533124610271761]}}, {"xyz": [0.23004805670446365, 0.3150165705186142, 0.12943905217450324], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 1313}, "mesh_info": {"face_index": 1321, "face_uv": [0.03094757823111573, 0.4867334968305731, 0.48231892493831113]}}, {"xyz": [-0.23034301163138032, 0.2889977092641066, -0.10447748551777558], "rgb": [0, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 896}, "mesh_info": {"face_index": 295, "face_uv": [0.5061188106937203, 0.022637436853847944, 0.4712437524524321]}}, {"xyz": [-0.22151011098891504, 0.31540514118797547, 0.13464234837212974], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 103}, "mesh_info": {"face_index": 594, "face_uv": [0.061243156013152215, 0.8997523242565042, 0.039004519730344536]}}, {"xyz": [0.2266890196449855, -0.27349909491480984, -0.1327862248036098], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1319}, "mesh_info": {"face_index": 5475, "face_uv": [0.7079825887982315, 0.19080232374803333, 0.10121508745373595]}}, {"xyz": [0.2010480896344679, -0.2727059308547499, 0.24952339119997302], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 2009}, "mesh_info": {"face_index": 8766, "face_uv": [0.039958728784141674, 0.17165981442362604, 0.7883814567922309]}}, {"xyz": [-0.18909692456798402, -0.273485445105933, 0.26124501058672744], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 437}, "mesh_info": {"face_index": 9468, "face_uv": [0.20186778793458368, 0.28575882310495165, 0.5123733889604671]}}, {"xyz": [-0.22167237598265005, -0.27315496554912033, -0.12222495517358123], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1206}, "mesh_info": {"face_index": 12163, "face_uv": [0.06068941466413929, 0.22087246668030083, 0.7184381186555601]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f5f18fccf9e16800dbd185de408ea209", "keypoints": [{"xyz": [0.2401643147916877, 0.2924813005559763, 0.28676594835684766], "rgb": [75, 79, 93], "semantic_id": 0, "pcd_info": {"point_index": 1722}, "mesh_info": {"face_index": 328, "face_uv": [0.8128105197593198, 0.011858145988045627, 0.17533133425263783]}}, {"xyz": [-0.22844551530535728, 0.2885040291620563, 0.2841416503315468], "rgb": [74, 78, 92], "semantic_id": 1, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 330, "face_uv": [0.7969600414712363, 0.006311736375267998, 0.19672822215349503]}}, {"xyz": [0.2287677299375434, -0.0585617634656157, 0.15906366403517813], "rgb": [75, 79, 93], "semantic_id": 2, "pcd_info": {"point_index": 599}, "mesh_info": {"face_index": 128, "face_uv": [0.6385601171533283, 0.03573624142979743, 0.32570364141687486]}}, {"xyz": [-0.21234439248814557, -0.058649085772857656, 0.15895047073990365], "rgb": [74, 78, 92], "semantic_id": 3, "pcd_info": {"point_index": 1681}, "mesh_info": {"face_index": 119, "face_uv": [0.6036669326587566, 0.040046767726256836, 0.35628629961498437]}}, {"xyz": [0.24221604400448069, -0.054126821511616185, -0.23359214063065648], "rgb": [74, 78, 92], "semantic_id": 4, "pcd_info": {"point_index": 672}, "mesh_info": {"face_index": 196, "face_uv": [0.007559368188309436, 0.18274065248966254, 0.809699979322014]}}, {"xyz": [-0.22872100061522949, -0.055861315110863785, -0.2373927807119557], "rgb": [75, 79, 93], "semantic_id": 5, "pcd_info": {"point_index": 663}, "mesh_info": {"face_index": 261, "face_uv": [0.024996832538358757, 0.005734540258527211, 0.9692686272031154]}}, {"xyz": [0.23903063969860602, 0.05442538022443366, -0.17261886313834052], "rgb": [142, 144, 153], "semantic_id": 6, "pcd_info": {"point_index": 1261}, "mesh_info": {"face_index": 4625, "face_uv": [0.753329915323808, 0.0017837124307231392, 0.24488637224546986]}}, {"xyz": [0.23607957064778398, 0.05620321690784147, 0.14897663235882375], "rgb": [142, 144, 153], "semantic_id": 7, "pcd_info": {"point_index": 1485}, "mesh_info": {"face_index": 3776, "face_uv": [0.709739672227892, 0.2568134441814659, 0.033446883590643954]}}, {"xyz": [-0.22619393462276277, 0.04771507438214018, -0.18302303043431056], "rgb": [142, 144, 153], "semantic_id": 8, "pcd_info": {"point_index": 1857}, "mesh_info": {"face_index": 2266, "face_uv": [0.7856494174716693, 0.1144401489937817, 0.09991043353455038]}}, {"xyz": [-0.22394757152437353, 0.05657126069041141, 0.14833950875642077], "rgb": [142, 144, 153], "semantic_id": 9, "pcd_info": {"point_index": 1116}, "mesh_info": {"face_index": 1456, "face_uv": [0.18136988354400932, 0.12109124816106905, 0.697538868294922]}}, {"xyz": [0.23820497549972808, -0.37719899415969826, -0.18812446333810195], "rgb": [141, 143, 152], "semantic_id": 17, "pcd_info": {"point_index": 561}, "mesh_info": {"face_index": 5632, "face_uv": [0.07037125723513636, 0.4864687524695161, 0.4431599902953469]}}, {"xyz": [0.23606906083249996, -0.33616467239676595, 0.18276473343317073], "rgb": [142, 144, 153], "semantic_id": 18, "pcd_info": {"point_index": 539}, "mesh_info": {"face_index": 3624, "face_uv": [0.2869821567920514, 0.10384072087858653, 0.609177122329362]}}, {"xyz": [-0.2189937906845164, -0.3771989941596985, 0.17390861837404226], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1755}, "mesh_info": {"face_index": 5718, "face_uv": [0.07733713418219841, 0.17130657912708974, 0.7513562866907119]}}, {"xyz": [-0.21900450458842335, -0.3771989941596985, -0.18054230747748717], "rgb": [142, 144, 153], "semantic_id": 20, "pcd_info": {"point_index": 673}, "mesh_info": {"face_index": 2998, "face_uv": [0.7686881185911388, 0.1508996337477872, 0.08041224766107397]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e052eaa1d5bbe795ded10515704c9720", "keypoints": [{"xyz": [0.15673758403732185, 0.2988426010065577, 0.1093374637168042], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 90}, "mesh_info": {"face_index": 136, "face_uv": [0.0697240558989873, 0.42614068635798763, 0.5041352577430247]}}, {"xyz": [-0.1845887247324943, 0.2919362189637964, 0.12573347874811647], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1462}, "mesh_info": {"face_index": 13, "face_uv": [0.17093523213379194, 0.5659298908865722, 0.26313487697963545]}}, {"xyz": [0.16271752228600472, -0.03256199881434463, 0.056323504394692914], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 325}, "mesh_info": {"face_index": 2, "face_uv": [0.018152242786521833, 0.009181114774828077, 0.9726666424386567]}}, {"xyz": [-0.1878556704231346, -0.021924398940086354, 0.0593549981713295], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 237}, "mesh_info": {"face_index": 127, "face_uv": [0.030261800658435613, 0.002891083942778848, 0.9668471153987855]}}, {"xyz": [0.16508704649358752, -0.032561998814344406, -0.28089244582188355], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 711}, "mesh_info": {"face_index": 15, "face_uv": [0.13567696034392027, 0.7414099257009077, 0.12291311395517208]}}, {"xyz": [-0.18632961915183666, -0.032561998814344406, -0.282540837523235], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1545}, "mesh_info": {"face_index": 151, "face_uv": [0.9867715898982501, 0.00541128601440527, 0.007817124087344609]}}, {"xyz": [0.13425903093575609, -0.42474299669265747, -0.2647007139993445], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 573}, "mesh_info": {"face_index": 68, "face_uv": [0.032885314553812016, 0.6277275571615918, 0.3393871282845961]}}, {"xyz": [0.14590542982603916, -0.4428659975528717, 0.15291516634656355], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 782}, "mesh_info": {"face_index": 49, "face_uv": [0.009792094761378264, 0.4451395198309617, 0.54506838540766]}}, {"xyz": [-0.17566118867449665, -0.4515649974346162, 0.14683482818075988], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1247}, "mesh_info": {"face_index": 83, "face_uv": [0.06025313965757108, 0.26564429950988233, 0.6741025608325468]}}, {"xyz": [-0.16305481182212, -0.4269169867038727, -0.25194664593871907], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 920}, "mesh_info": {"face_index": 99, "face_uv": [0.15740688007287845, 0.22810427501837624, 0.6144888449087453]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b3ced617a2923f674c9740802f05a1f4", "keypoints": [{"xyz": [0.16677033257330642, 0.31794853898523606, 0.09071712668679122], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 81, "face_uv": [0.32566242152154445, 0.17257158461246372, 0.5017659938659921]}}, {"xyz": [-0.17433476205236953, 0.31485223178568267, 0.07687736286926594], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 495}, "mesh_info": {"face_index": 138, "face_uv": [0.4683613501782118, 0.0459385226231387, 0.48570012719864947]}}, {"xyz": [0.16388753741182338, -0.01626601260216931, 0.04124300181865692], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 744}, "mesh_info": {"face_index": 27, "face_uv": [0.018751021279131707, 0.9805042094097683, 0.0007447693110999118]}}, {"xyz": [-0.1727707839811508, -0.021885196943072782, 0.04124300181865703], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1103}, "mesh_info": {"face_index": 151, "face_uv": [0.9904657215264776, 0.007492052427179652, 0.0020422260463453757]}}, {"xyz": [0.16447325840905758, -0.022571999579668156, -0.22884937546799777], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1623}, "mesh_info": {"face_index": 153, "face_uv": [0.972896415754785, 0.009300648441853198, 0.017802935803366633]}}, {"xyz": [-0.1642946595767035, -0.022571999579668156, -0.23055074091117755], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1210}, "mesh_info": {"face_index": 40, "face_uv": [0.9680101955033094, 0.0030600367731545065, 0.028929767723540976]}}, {"xyz": [0.1417711547037751, -0.4742879867553711, -0.19457251941294817], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 852}, "mesh_info": {"face_index": 214, "face_uv": [0.03562448202530613, 0.5112914615736344, 0.4530840564010595]}}, {"xyz": [0.1492608138582263, -0.4742879867553711, 0.07745911747217216], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1216}, "mesh_info": {"face_index": 183, "face_uv": [0.08863842787143247, 0.5063704957534879, 0.4049910763750796]}}, {"xyz": [-0.1393377357494519, -0.4742879867553711, 0.07337053670050434], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 947}, "mesh_info": {"face_index": 176, "face_uv": [0.04685542128531294, 0.43790171392523525, 0.5152428647894518]}}, {"xyz": [-0.1301397421029759, -0.474287986755371, -0.1931208358912073], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 965}, "mesh_info": {"face_index": 48, "face_uv": [0.35320501083901973, 0.4685459868419576, 0.17824900231902246]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5e89f5cc834553622acd2bb6205825cb", "keypoints": [{"xyz": [0.11588223284517798, 0.4005546570540468, 0.18589257311851898], "rgb": [255, 204, 49], "semantic_id": 0, "pcd_info": {"point_index": 1158}, "mesh_info": {"face_index": 404, "face_uv": [0.03389746399599233, 0.4911054605045484, 0.4749970754994602]}}, {"xyz": [-0.10468327483741471, 0.4053497630409022, 0.18174009407269842], "rgb": [254, 213, 88], "semantic_id": 1, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 1118, "face_uv": [0.24402368846583672, 0.5644370820258385, 0.19153922950832472]}}, {"xyz": [0.11671835018939673, -0.20351974623802493, -0.01164678917735184], "rgb": [255, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 38}, "mesh_info": {"face_index": 120, "face_uv": [0.15372968226942227, 0.8081974320854118, 0.03807288564516647]}}, {"xyz": [-0.1226656217655157, -0.2037467826062418, -0.01075079543471641], "rgb": [254, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 781}, "mesh_info": {"face_index": 125, "face_uv": [0.05012715827948375, 0.8676599754468468, 0.08221286627366797]}}, {"xyz": [0.12266017469706533, -0.18977832646195658, -0.2451488542647163], "rgb": [255, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 575}, "mesh_info": {"face_index": 586, "face_uv": [0.09569488915880983, 0.01544081349407069, 0.8888642973471217]}}, {"xyz": [-0.1254917061107415, -0.2014577956549024, -0.25052004395333954], "rgb": [254, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 32}, "mesh_info": {"face_index": 87, "face_uv": [0.3576249933216485, 0.03936276348396547, 0.6030122431943858]}}, {"xyz": [0.1512410182532772, -0.020128366497446315, -0.20739661338215795], "rgb": [255, 204, 49], "semantic_id": 6, "pcd_info": {"point_index": 342}, "mesh_info": {"face_index": 678, "face_uv": [0.09544799669954748, 0.318100271433392, 0.5864517318670623]}}, {"xyz": [0.14996142065750656, -0.020387011026749446, 0.12778463055512454], "rgb": [255, 204, 49], "semantic_id": 7, "pcd_info": {"point_index": 1506}, "mesh_info": {"face_index": 1149, "face_uv": [0.37878968054785395, 0.4553242161317945, 0.16588610332035408]}}, {"xyz": [-0.1570126824491078, -0.02459936382234673, -0.2004231447454633], "rgb": [254, 203, 48], "semantic_id": 8, "pcd_info": {"point_index": 1666}, "mesh_info": {"face_index": 682, "face_uv": [0.5428546804916959, 0.07486603903026483, 0.3822792804779404]}}, {"xyz": [-0.1512426448922226, -0.024551000446081384, 0.1259906328005665], "rgb": [255, 204, 49], "semantic_id": 9, "pcd_info": {"point_index": 2040}, "mesh_info": {"face_index": 624, "face_uv": [0.36142578911647516, 0.012545451662282717, 0.6260287592212511]}}, {"xyz": [0.14626765871390787, -0.3894728502891336, -0.16568059189537881], "rgb": [255, 206, 58], "semantic_id": 17, "pcd_info": {"point_index": 1664}, "mesh_info": {"face_index": 514, "face_uv": [0.5058191734524108, 0.44686921841511623, 0.04731160813247309]}}, {"xyz": [0.11728808232355656, -0.2897419929504397, 0.13026522995318573], "rgb": [255, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 205}, "mesh_info": {"face_index": 432, "face_uv": [0.010173431222503084, 0.9640971917023665, 0.02572937707513121]}}, {"xyz": [-0.1281366202445666, -0.28974199295043945, 0.1266034293126393], "rgb": [255, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 350}, "mesh_info": {"face_index": 10, "face_uv": [0.03688741645746495, 0.029288435736162015, 0.9338241478063731]}}, {"xyz": [-0.1521289191513919, -0.38928245357762603, -0.164999883917532], "rgb": [255, 226, 140], "semantic_id": 20, "pcd_info": {"point_index": 1395}, "mesh_info": {"face_index": 542, "face_uv": [0.06530909187554494, 0.4916769432257009, 0.44301396489875433]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "11d4f2a09184ec972b9f810ad7f5cbd2", "keypoints": [{"xyz": [0.18579002593284039, 0.46055518502568793, 0.1832219958305359], "rgb": [131, 71, 28], "semantic_id": 0, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 62, "face_uv": [0.45532399797735096, 0.0038751134578520977, 0.5408008885647969]}}, {"xyz": [-0.18141130701430022, 0.4635080099105835, 0.17710363415896946], "rgb": [135, 76, 31], "semantic_id": 1, "pcd_info": {"point_index": 26}, "mesh_info": {"face_index": 0, "face_uv": [0.05299347782252204, 0.56524071742569, 0.38176580475178795]}}, {"xyz": [0.19049516106143966, 0.07268172710549536, 0.06776700168848038], "rgb": [131, 71, 31], "semantic_id": 2, "pcd_info": {"point_index": 1279}, "mesh_info": {"face_index": 86, "face_uv": [0.4145706676675826, 0.004375881297098482, 0.5810534510353189]}}, {"xyz": [-0.1648139923683577, 0.07096400111913681, 0.04467620563587338], "rgb": [127, 69, 32], "semantic_id": 3, "pcd_info": {"point_index": 848}, "mesh_info": {"face_index": 31, "face_uv": [0.14043826717526103, 0.10782282219085938, 0.7517389106338798]}}, {"xyz": [0.23313223769196495, 0.06293539482246335, -0.2618429958820345], "rgb": [130, 70, 19], "semantic_id": 4, "pcd_info": {"point_index": 1288}, "mesh_info": {"face_index": 160, "face_uv": [0.9623683099376623, 0.02173106234706873, 0.01590062771526993]}}, {"xyz": [-0.2240451099098563, 0.06646031016973719, -0.259907990694046], "rgb": [127, 69, 31], "semantic_id": 5, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 158, "face_uv": [0.06927277342083586, 0.012190159187888275, 0.9185370673912758]}}, {"xyz": [0.18139164232775357, -0.2984890043735502, -0.21172210569232985], "rgb": [126, 68, 31], "semantic_id": 17, "pcd_info": {"point_index": 185}, "mesh_info": {"face_index": 183, "face_uv": [0.4341162314175659, 0.4857768085109024, 0.08010696007153101]}}, {"xyz": [0.18892869824322409, -0.2984890043735504, 0.1320085421844302], "rgb": [129, 70, 24], "semantic_id": 18, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 149, "face_uv": [0.5564206292965309, 0.4281385195791418, 0.015440851124327287]}}, {"xyz": [-0.1797833744191788, -0.2984890043735504, 0.1325157730487389], "rgb": [141, 84, 29], "semantic_id": 19, "pcd_info": {"point_index": 344}, "mesh_info": {"face_index": 42, "face_uv": [0.4391860495823002, 0.4488595523769272, 0.11195439804077251]}}, {"xyz": [-0.17281133317842307, -0.2984890043735504, -0.19165812037055585], "rgb": [127, 69, 32], "semantic_id": 20, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 184, "face_uv": [0.408861650074317, 0.5130281415269587, 0.07811020839872419]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c69d5899d85eab9c173b9f28a2caa84d", "keypoints": [{"xyz": [0.19975308038948522, 0.24581118245680678, 0.10745878434497791], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1369}, "mesh_info": {"face_index": 526, "face_uv": [0.12258811193144613, 0.5527413770340481, 0.3246705110345061]}}, {"xyz": [-0.16390596506644414, 0.24308482571203327, 0.1035259324286362], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1638}, "mesh_info": {"face_index": 311, "face_uv": [0.052638432287885596, 0.33319020951574385, 0.6141713581963706]}}, {"xyz": [0.20305968536735297, -0.13666099309921265, 0.01030417049679555], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 844}, "mesh_info": {"face_index": 32, "face_uv": [0.032418065587007855, 0.016820779172446173, 0.9507611552405459]}}, {"xyz": [-0.1516534066645247, -0.13666099309921287, 0.012037160000385794], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1419}, "mesh_info": {"face_index": 11, "face_uv": [0.8165332471053458, 0.1423780461504479, 0.041088706744207865]}}, {"xyz": [0.19429866247583377, -0.13666099309921265, -0.3120241658946921], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 2041}, "mesh_info": {"face_index": 32, "face_uv": [0.9309673237140385, 0.04008937778122145, 0.028943298504740225]}}, {"xyz": [-0.1546801530043625, -0.13666099309921265, -0.31994633647662446], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1380}, "mesh_info": {"face_index": 54, "face_uv": [0.054582323397417885, 0.03304990276614178, 0.9123677738364402]}}, {"xyz": [0.21935530163576838, -0.4794290065765381, -0.2915222543886262], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 250}, "mesh_info": {"face_index": 569, "face_uv": [0.01651750377595809, 0.373120353387964, 0.6103621428360779]}}, {"xyz": [0.2093929946422577, -0.4791029063111891, 0.07412882898979584], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 549}, "mesh_info": {"face_index": 132, "face_uv": [0.004135388275083368, 0.3551087860465837, 0.640755825678333]}}, {"xyz": [-0.16993963327853628, -0.4794290065765383, 0.06719089052389687], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 494}, "mesh_info": {"face_index": 261, "face_uv": [0.09602327304321574, 0.5064626441817288, 0.39751408277505595]}}, {"xyz": [-0.18053599078775254, -0.4794290065765381, -0.29308865156860753], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1518}, "mesh_info": {"face_index": 283, "face_uv": [0.10504196748864143, 0.3245407504642243, 0.5704172820471343]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b526dccbbe8417bd6cf45f1c1a3d29af", "keypoints": [{"xyz": [0.17158051830586002, 0.27635418608474405, -0.04743905684751504], "rgb": [161, 164, 102], "semantic_id": 0, "pcd_info": {"point_index": 1619}, "mesh_info": {"face_index": 2434, "face_uv": [0.30180124131436276, 0.5949934973457314, 0.10320526133990576]}}, {"xyz": [-0.15262853219175354, 0.2932053537420525, -0.05229874296955095], "rgb": [163, 167, 108], "semantic_id": 1, "pcd_info": {"point_index": 406}, "mesh_info": {"face_index": 3879, "face_uv": [0.6598543866464753, 0.018080646344800267, 0.32206496700872445]}}, {"xyz": [0.12091278178807535, -0.12379318273186413, 0.020118102399810045], "rgb": [254, 254, 253], "semantic_id": 2, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 2207, "face_uv": [0.006622763156773567, 0.2808228702912289, 0.7125543665519956]}}, {"xyz": [-0.13073013244444373, -0.1260949969291686, 0.006346019226022959], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1406}, "mesh_info": {"face_index": 1498, "face_uv": [0.19839287764828767, 0.06514883200388456, 0.7364582903478268]}}, {"xyz": [0.17088434247580894, -0.1700615146338359, -0.2886340022087097], "rgb": [220, 220, 194], "semantic_id": 4, "pcd_info": {"point_index": 74}, "mesh_info": {"face_index": 1402, "face_uv": [0.5993165860015746, 0.007760180093110933, 0.39292323390531453]}}, {"xyz": [-0.1701643478852724, -0.15989741531273793, -0.2886340022087097], "rgb": [239, 239, 230], "semantic_id": 5, "pcd_info": {"point_index": 1065}, "mesh_info": {"face_index": 1409, "face_uv": [0.14336042799635734, 0.009707696637380794, 0.8469318753662619]}}, {"xyz": [0.12094314105404197, -0.4988360106945038, -0.2302931770783161], "rgb": [147, 153, 90], "semantic_id": 17, "pcd_info": {"point_index": 843}, "mesh_info": {"face_index": 469, "face_uv": [0.11096714439873633, 0.44568144241898855, 0.44335141318227506]}}, {"xyz": [0.12570467815867564, -0.4988360106945038, 0.013028899590373011], "rgb": [147, 152, 89], "semantic_id": 18, "pcd_info": {"point_index": 1515}, "mesh_info": {"face_index": 1094, "face_uv": [0.4376845214217125, 0.4710116139379842, 0.09130386464030334]}}, {"xyz": [-0.11894581323057946, -0.498836010694504, -0.00013033514712224026], "rgb": [152, 155, 92], "semantic_id": 19, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 781, "face_uv": [0.23586843356567577, 0.05711136984829088, 0.7070201965860338]}}, {"xyz": [-0.12187046470913288, -0.4988360106945038, -0.22729845094147816], "rgb": [147, 152, 89], "semantic_id": 20, "pcd_info": {"point_index": 1074}, "mesh_info": {"face_index": 158, "face_uv": [0.36604859268318135, 0.4469229824346038, 0.18702842488221483]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c42bedf7a36202309056fd4a77b3a4bd", "keypoints": [{"xyz": [0.20529278166451795, 0.37903483260973947, 0.1508764434409542], "rgb": [254, 39, 39], "semantic_id": 0, "pcd_info": {"point_index": 1946}, "mesh_info": {"face_index": 2984, "face_uv": [0.18515899123291293, 0.07931663768104782, 0.7355243710860391]}}, {"xyz": [-0.19688285010900533, 0.3835439059774539, 0.15112342733400053], "rgb": [254, 39, 39], "semantic_id": 1, "pcd_info": {"point_index": 799}, "mesh_info": {"face_index": 3525, "face_uv": [0.8167051577726874, 0.10405507316869, 0.0792397690586219]}}, {"xyz": [0.19436552188196937, 0.06929015257915405, 0.10765747720343978], "rgb": [255, 40, 40], "semantic_id": 2, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 3930, "face_uv": [0.1433332013329437, 0.814704785796815, 0.041962012870241414]}}, {"xyz": [-0.19585983456979472, 0.06969954649609322, 0.10363187313953566], "rgb": [254, 39, 39], "semantic_id": 3, "pcd_info": {"point_index": 925}, "mesh_info": {"face_index": 3640, "face_uv": [0.8280449728899986, 0.1078749667584513, 0.06408006035154167]}}, {"xyz": [0.1897119222913264, 0.08007756022711088, -0.25442997589613364], "rgb": [254, 39, 39], "semantic_id": 4, "pcd_info": {"point_index": 982}, "mesh_info": {"face_index": 3798, "face_uv": [0.0905302289347887, 0.685700743657127, 0.22376902740808405]}}, {"xyz": [-0.1976050954227298, 0.07924590991788216, -0.25638966775758715], "rgb": [254, 39, 39], "semantic_id": 5, "pcd_info": {"point_index": 541}, "mesh_info": {"face_index": 3736, "face_uv": [0.5871831876061352, 0.04680513883395461, 0.3660116735599094]}}, {"xyz": [0.22758002643410252, -0.337460994720459, -0.22672316534883338], "rgb": [137, 137, 137], "semantic_id": 17, "pcd_info": {"point_index": 1262}, "mesh_info": {"face_index": 4099, "face_uv": [0.06368286892531547, 0.3420831089957417, 0.5942340220789428]}}, {"xyz": [0.22603257105280627, -0.33746099472045876, 0.12211573286958277], "rgb": [136, 136, 136], "semantic_id": 18, "pcd_info": {"point_index": 1286}, "mesh_info": {"face_index": 4179, "face_uv": [0.15692904806816782, 0.32139066997399046, 0.5216802819578411]}}, {"xyz": [-0.22157433230602863, -0.337460994720459, 0.11704407297755376], "rgb": [137, 137, 137], "semantic_id": 19, "pcd_info": {"point_index": 542}, "mesh_info": {"face_index": 4354, "face_uv": [0.19337304957942322, 0.4277638349918716, 0.37886311542870516]}}, {"xyz": [-0.226076958412615, -0.33746099472045876, -0.22352507469639593], "rgb": [136, 136, 136], "semantic_id": 20, "pcd_info": {"point_index": 1648}, "mesh_info": {"face_index": 4274, "face_uv": [0.46932661226780525, 0.4091599593356683, 0.1215134283965258]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d081ce6cdafa416c8687ff9b0b4e4ac", "keypoints": [{"xyz": [0.18128800525905167, 0.38713634656834905, 0.13137151460126795], "rgb": [177, 103, 39], "semantic_id": 0, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 65, "face_uv": [0.49483661569816983, 0.45107947331037845, 0.05408391099145126]}}, {"xyz": [-0.16242587077855555, 0.3838434815043137, 0.13323786532263504], "rgb": [170, 98, 40], "semantic_id": 1, "pcd_info": {"point_index": 0}, "mesh_info": {"face_index": 201, "face_uv": [0.05201129763991856, 0.39679242101819273, 0.5511962813418885]}}, {"xyz": [0.1854814864741262, -0.006893000099807978, 0.10620636487500312], "rgb": [183, 112, 50], "semantic_id": 2, "pcd_info": {"point_index": 1837}, "mesh_info": {"face_index": 14, "face_uv": [0.024240358923634735, 0.969230927331721, 0.006528713744644008]}}, {"xyz": [-0.1611188320152335, -0.006893000099807756, 0.10367469240985505], "rgb": [186, 110, 52], "semantic_id": 3, "pcd_info": {"point_index": 1088}, "mesh_info": {"face_index": 144, "face_uv": [0.9308950861636951, 0.03964257554926482, 0.02946233828700802]}}, {"xyz": [0.18564516623061922, -0.006893000099807978, -0.1555234373843628], "rgb": [181, 106, 41], "semantic_id": 4, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 138, "face_uv": [0.9243376116946821, 0.05186891215653346, 0.023793476148784513]}}, {"xyz": [-0.16249684402864603, -0.0068930000998082, -0.15460581867116846], "rgb": [184, 105, 48], "semantic_id": 5, "pcd_info": {"point_index": 708}, "mesh_info": {"face_index": 144, "face_uv": [0.02938510878896486, 0.9449148375554658, 0.025700053655601487]}}, {"xyz": [0.17639666925069175, -0.4127509891986847, -0.14043142491521654], "rgb": [177, 101, 42], "semantic_id": 17, "pcd_info": {"point_index": 1717}, "mesh_info": {"face_index": 0, "face_uv": [0.4979579423237144, 0.4267906542015433, 0.07525140347474232]}}, {"xyz": [0.17689957643273235, -0.4127509891986847, 0.12732732043877437], "rgb": [173, 100, 40], "semantic_id": 18, "pcd_info": {"point_index": 1428}, "mesh_info": {"face_index": 40, "face_uv": [0.5101027860634739, 0.4323628328981666, 0.057534381038359436]}}, {"xyz": [-0.15732538116090708, -0.4127509891986847, 0.1324089517141579], "rgb": [180, 107, 44], "semantic_id": 19, "pcd_info": {"point_index": 1504}, "mesh_info": {"face_index": 217, "face_uv": [0.057844767527090564, 0.5261649229340316, 0.41599030953887783]}}, {"xyz": [-0.15877367400091022, -0.4127509891986849, -0.14984085459374016], "rgb": [183, 110, 48], "semantic_id": 20, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 59, "face_uv": [0.4790257952486633, 0.4860146594454884, 0.034959545305848924]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1cc6f2ed3d684fa245f213b8994b4a04", "keypoints": [{"xyz": [0.13367647748381453, 0.3231407563373519, 0.08207486162467492], "rgb": [185, 114, 54], "semantic_id": 0, "pcd_info": {"point_index": 801}, "mesh_info": {"face_index": 649, "face_uv": [0.43555597519736233, 0.27882025257675286, 0.2856237722258847]}}, {"xyz": [-0.09493848532079299, 0.31906298747426337, 0.10801878485200755], "rgb": [181, 110, 46], "semantic_id": 1, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 651, "face_uv": [0.004688936023826113, 0.2565773565122108, 0.7387337074639747]}}, {"xyz": [0.10168040367263512, -0.04035791214162343, 0.009667732957161057], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 83}, "mesh_info": {"face_index": 1776, "face_uv": [0.010953655163090492, 0.9704365752858926, 0.01860976955101354]}}, {"xyz": [-0.09917736010046543, -0.04883899912238121, 0.06791874580613921], "rgb": [177, 106, 43], "semantic_id": 3, "pcd_info": {"point_index": 1452}, "mesh_info": {"face_index": 297, "face_uv": [0.10930976916238, 0.04338197520728897, 0.847308255630331]}}, {"xyz": [0.09307383277208453, -0.07341682805799561, -0.24774335310175544], "rgb": [174, 102, 41], "semantic_id": 4, "pcd_info": {"point_index": 1379}, "mesh_info": {"face_index": 1044, "face_uv": [0.37370839210154405, 0.1660901016568714, 0.4602015062415868]}}, {"xyz": [-0.18153421327342972, -0.06777226827352978, -0.19635411687048543], "rgb": [176, 102, 42], "semantic_id": 5, "pcd_info": {"point_index": 907}, "mesh_info": {"face_index": 142, "face_uv": [0.3576063779067513, 0.17130141922585243, 0.471092202867395]}}, {"xyz": [0.06827937955084662, -0.441189889074211, -0.23041891708769335], "rgb": [174, 102, 42], "semantic_id": 17, "pcd_info": {"point_index": 690}, "mesh_info": {"face_index": 57, "face_uv": [0.020143287104902787, 0.6915389414284485, 0.2883177714666486]}}, {"xyz": [0.1064864884969764, -0.44544617279565785, 0.02778779590455671], "rgb": [177, 106, 42], "semantic_id": 18, "pcd_info": {"point_index": 1203}, "mesh_info": {"face_index": 1, "face_uv": [0.0017869893636210472, 0.506882424845664, 0.49133058579071076]}}, {"xyz": [-0.09564880149039356, -0.4454077991627217, 0.06561652100955273], "rgb": [183, 114, 47], "semantic_id": 19, "pcd_info": {"point_index": 1148}, "mesh_info": {"face_index": 104, "face_uv": [0.001975982935578341, 0.3422633102210349, 0.6557607068433866]}}, {"xyz": [-0.13984104972220657, -0.445809006690979, -0.18129875830940922], "rgb": [178, 108, 48], "semantic_id": 20, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 91, "face_uv": [0.26785282559634027, 0.614970263659695, 0.11717691074396479]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ff3a6eb4556b2c0eb04cb542e2c50eb4", "keypoints": [{"xyz": [0.2404676881448049, 0.19844612985460786, 0.024498181656642665], "rgb": [220, 193, 167], "semantic_id": 0, "pcd_info": {"point_index": 1467}, "mesh_info": {"face_index": 4167, "face_uv": [0.5553720452107463, 0.24482658162198964, 0.1998013731672637]}}, {"xyz": [-0.25898022222457384, 0.20926217389323876, 0.026508915112880616], "rgb": [221, 196, 167], "semantic_id": 1, "pcd_info": {"point_index": 1968}, "mesh_info": {"face_index": 6228, "face_uv": [0.15407620753695198, 0.2495107585263871, 0.5964130339366607]}}, {"xyz": [0.2014593841360679, -0.08084215643338699, 0.11468977113032203], "rgb": [223, 192, 163], "semantic_id": 2, "pcd_info": {"point_index": 1818}, "mesh_info": {"face_index": 70, "face_uv": [0.6246459271896985, 0.21850754525980046, 0.15684652755049835]}}, {"xyz": [-0.20088910663053877, -0.08055806916717723, 0.11375394523125781], "rgb": [232, 201, 175], "semantic_id": 3, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 1907, "face_uv": [0.38744195269173426, 0.05388945815936741, 0.558668589148897]}}, {"xyz": [0.17678594873783948, -0.04608639768962575, -0.19708359237725107], "rgb": [102, 96, 80], "semantic_id": 4, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 7078, "face_uv": [0.5823536074129215, 0.3379698965815401, 0.0796764960055388]}}, {"xyz": [-0.19450801471133317, -0.05051714236382154, -0.1858484424379278], "rgb": [102, 96, 80], "semantic_id": 5, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 6843, "face_uv": [0.05490889326957622, 0.45335205236327664, 0.4917390543671476]}}, {"xyz": [0.23917697703158125, -0.49946198630133526, -0.23120450474700693], "rgb": [228, 201, 171], "semantic_id": 17, "pcd_info": {"point_index": 824}, "mesh_info": {"face_index": 8036, "face_uv": [0.012771901883530829, 0.40528921697314174, 0.5819388811433274]}}, {"xyz": [0.2560289031028721, -0.48382394652437166, 0.15026505198948414], "rgb": [221, 193, 160], "semantic_id": 18, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 8220, "face_uv": [0.025566313672244826, 0.7384138263182504, 0.2360198600095045]}}, {"xyz": [-0.2349020165972775, -0.4979106850187486, 0.153235206001074], "rgb": [226, 199, 170], "semantic_id": 19, "pcd_info": {"point_index": 500}, "mesh_info": {"face_index": 8285, "face_uv": [0.2591385814926876, 0.7347489851126878, 0.00611243339462468]}}, {"xyz": [-0.2345195929150976, -0.49720079678950113, -0.24143219939741345], "rgb": [222, 198, 178], "semantic_id": 20, "pcd_info": {"point_index": 1165}, "mesh_info": {"face_index": 8257, "face_uv": [0.16858418202011702, 0.8088983237267799, 0.02251749425310708]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d8f7e27824e61aaa81dff5c2e57ad46e", "keypoints": [{"xyz": [0.16882433694921364, 0.4704712242101662, 0.1578165467373367], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 581}, "mesh_info": {"face_index": 6894, "face_uv": [0.01984758445852712, 0.9045430435856571, 0.0756093719558158]}}, {"xyz": [-0.17144960850184204, 0.47077727634954836, 0.1624775923485623], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 908}, "mesh_info": {"face_index": 6924, "face_uv": [0.012288173722411786, 0.6125681342719984, 0.3751436920055897]}}, {"xyz": [0.22913158612734194, 0.09636974658473474, 0.05475968608901571], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 189}, "mesh_info": {"face_index": 5549, "face_uv": [0.2543558075731072, 0.7330672127353008, 0.012576979691595545]}}, {"xyz": [-0.23076467794888494, 0.10074054151957168, 0.06413034326881062], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 934}, "mesh_info": {"face_index": 5574, "face_uv": [0.4268051452905285, 0.0076915128782804555, 0.5655033418311916]}}, {"xyz": [0.22336733861023766, 0.11274280394761876, -0.2885867388804192], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1403}, "mesh_info": {"face_index": 6089, "face_uv": [0.36951365400169095, 0.019582898746238024, 0.610903447252071]}}, {"xyz": [-0.23036835135123368, 0.1110143187625531, -0.2883895092383265], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1556}, "mesh_info": {"face_index": 6169, "face_uv": [0.47746537217439106, 0.005114117261877678, 0.5174205105637316]}}, {"xyz": [0.25611455535952, 0.22816868494020137, -0.14529613188440216], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1517}, "mesh_info": {"face_index": 24759, "face_uv": [0.6259336621449711, 0.16532627680447162, 0.20874006105055712]}}, {"xyz": [0.25691453557532273, 0.22342790551163194, 0.10180550677708887], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1053}, "mesh_info": {"face_index": 24068, "face_uv": [0.6293320187650614, 0.0008569784795704508, 0.36981100275536904]}}, {"xyz": [-0.2546851568158299, 0.22791006052707197, -0.145239012364078], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1472}, "mesh_info": {"face_index": 26005, "face_uv": [0.17443355577999278, 0.23261468457027823, 0.5929517596497286]}}, {"xyz": [-0.26512998894673967, 0.2210030189740525, 0.10813867400299149], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1313}, "mesh_info": {"face_index": 25314, "face_uv": [0.2549830756349413, 0.10010747280288271, 0.644909451562176]}}, {"xyz": [0.1895189868044511, -0.1450367141840373, -0.18867665299383374], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1368}, "mesh_info": {"face_index": 14587, "face_uv": [0.5691986703944553, 0.38733395776051005, 0.043467371845035525]}}, {"xyz": [0.19909800589084622, -0.15583119267422774, 0.1943993592579814], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 20519, "face_uv": [0.0371970918170196, 0.41654167071782866, 0.5462612374651517]}}, {"xyz": [-0.1947286810066095, -0.14281007441186433, 0.1909773539874932], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1170}, "mesh_info": {"face_index": 17153, "face_uv": [0.13610216599102024, 0.33791051012350704, 0.525987323885474]}}, {"xyz": [-0.19453411159252065, -0.1650277423376858, -0.20194984939782967], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 69}, "mesh_info": {"face_index": 9993, "face_uv": [0.11342125679042786, 0.8651152400876768, 0.02146350312189438]}}, {"xyz": [0.0017148720099427195, 0.010736609487253634, -0.03494678420420283], "rgb": [255, 255, 255], "semantic_id": 15, "pcd_info": {"point_index": 1096}, "mesh_info": {"face_index": 7043, "face_uv": [0.10122645885637932, 0.05891407491869598, 0.8398594662249346]}}, {"xyz": [-0.0002524116149870692, -0.12007660933528297, -0.020788977094831185], "rgb": [255, 255, 255], "semantic_id": 16, "pcd_info": {"point_index": 747}, "mesh_info": {"face_index": 7318, "face_uv": [0.08067239699489426, 0.12245124642162532, 0.796876356583482]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "dfda3c467eb6066fe6fe3612af521500", "keypoints": [{"xyz": [0.36603454852347006, 0.2232930064201355, 0.19364044412916126], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 817}, "mesh_info": {"face_index": 2617, "face_uv": [0.09973746076830413, 0.018431633752619785, 0.881830905479076]}}, {"xyz": [-0.3661288227944294, 0.2232930064201355, 0.1926978023652346], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 46}, "mesh_info": {"face_index": 706, "face_uv": [0.8854112277403244, 0.02302251861567524, 0.09156625364400038]}}, {"xyz": [0.29270645056713934, -0.07362513698195094, 0.026306031981657707], "rgb": [50, 50, 50], "semantic_id": 2, "pcd_info": {"point_index": 704}, "mesh_info": {"face_index": 1714, "face_uv": [0.2363493312078864, 0.11708820101697733, 0.6465624677751277]}}, {"xyz": [-0.2923859999473135, -0.07481977748888591, 0.026505055239575803], "rgb": [50, 50, 50], "semantic_id": 3, "pcd_info": {"point_index": 1193}, "mesh_info": {"face_index": 4143, "face_uv": [0.3614426075196296, 0.11807662837762672, 0.520480764102734]}}, {"xyz": [0.2956425165366441, -0.07738854745299684, -0.1926142106129165], "rgb": [51, 51, 51], "semantic_id": 4, "pcd_info": {"point_index": 1851}, "mesh_info": {"face_index": 1937, "face_uv": [0.5200440254480815, 0.05844020919417553, 0.4215157653577432]}}, {"xyz": [-0.2916482977739959, -0.07157098726527178, -0.20471267713675334], "rgb": [50, 50, 50], "semantic_id": 5, "pcd_info": {"point_index": 1553}, "mesh_info": {"face_index": 220, "face_uv": [0.08889112036147402, 0.38373453138237196, 0.5273743482561531]}}, {"xyz": [0.3670307958463568, 0.011720449561854362, -0.2200234402577328], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1887}, "mesh_info": {"face_index": 2391, "face_uv": [0.7465537733728606, 0.08063435616308168, 0.17281187046405885]}}, {"xyz": [0.3701837822659534, 0.03070445180783632, -0.029051351384957624], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 2484, "face_uv": [0.2772660942929879, 0.4198921287187779, 0.3028417769882353]}}, {"xyz": [-0.36515012876651787, 0.02075537847018194, -0.21077929118500038], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 17}, "mesh_info": {"face_index": 577, "face_uv": [0.1514649446822173, 0.2199441007109007, 0.6285909546068776]}}, {"xyz": [-0.3678170963398074, 0.03340871503844278, -0.028142810389003126], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1173}, "mesh_info": {"face_index": 595, "face_uv": [0.24487929261232688, 0.05097638209441739, 0.7041443252932532]}}, {"xyz": [0.35295600236728664, -0.28823599219322205, -0.2120444855828718], "rgb": [254, 222, 125], "semantic_id": 17, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 2303, "face_uv": [0.3644323346502914, 0.4093993801491871, 0.22616828520052137]}}, {"xyz": [0.35485955791434415, -0.28823599219322205, 0.10466471051222137], "rgb": [255, 223, 126], "semantic_id": 18, "pcd_info": {"point_index": 1350}, "mesh_info": {"face_index": 2378, "face_uv": [0.20420695096556063, 0.24788221115892123, 0.5479108378755182]}}, {"xyz": [-0.35787222005829605, -0.28823599219322205, 0.10278397960760399], "rgb": [255, 223, 126], "semantic_id": 19, "pcd_info": {"point_index": 696}, "mesh_info": {"face_index": 403, "face_uv": [0.25626236033825134, 0.3345478417724354, 0.4091897978893132]}}, {"xyz": [-0.3576877458166569, -0.28823599219322205, -0.20302032841514817], "rgb": [254, 222, 126], "semantic_id": 20, "pcd_info": {"point_index": 627}, "mesh_info": {"face_index": 414, "face_uv": [0.40726891346113975, 0.17504721549973015, 0.41768387103913]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "80dabf9ddbdc92f681806e3880250dff", "keypoints": [{"xyz": [0.23648695083560695, 0.4424409866333008, 0.1924988431837312], "rgb": [106, 108, 105], "semantic_id": 0, "pcd_info": {"point_index": 410}, "mesh_info": {"face_index": 6339, "face_uv": [0.32661697793625094, 0.17482203512435432, 0.49856098693939477]}}, {"xyz": [-0.16942180325922437, 0.3670217463370824, 0.2379476837621205], "rgb": [66, 40, 32], "semantic_id": 1, "pcd_info": {"point_index": 16}, "mesh_info": {"face_index": 13535, "face_uv": [0.1802218493917388, 0.3543822164149603, 0.46539593419330083]}}, {"xyz": [0.22346841166291778, 0.15168235351373416, 0.11858752174011505], "rgb": [119, 120, 114], "semantic_id": 2, "pcd_info": {"point_index": 1669}, "mesh_info": {"face_index": 5549, "face_uv": [0.14622253332587118, 0.1645641288831061, 0.6892133377910216]}}, {"xyz": [-0.20244007158782884, 0.1499960681209178, 0.16875162813260663], "rgb": [120, 121, 116], "semantic_id": 3, "pcd_info": {"point_index": 50}, "mesh_info": {"face_index": 8714, "face_uv": [0.09752765161055424, 0.18797291170890157, 0.7144994366805448]}}, {"xyz": [0.1894178740782972, 0.14948681538441638, -0.2029637745968762], "rgb": [119, 120, 114], "semantic_id": 4, "pcd_info": {"point_index": 1757}, "mesh_info": {"face_index": 5373, "face_uv": [0.5969405268372703, 0.20893169194291314, 0.19412778121981664]}}, {"xyz": [-0.23623603870202886, 0.14671831702822358, -0.17207452628480646], "rgb": [117, 118, 112], "semantic_id": 5, "pcd_info": {"point_index": 1379}, "mesh_info": {"face_index": 1824, "face_uv": [0.6555756788117575, 0.25600081925734514, 0.088423501930899]}}, {"xyz": [0.17412754774399658, -0.2129727299576416, -0.2615377158073168], "rgb": [116, 117, 111], "semantic_id": 17, "pcd_info": {"point_index": 1838}, "mesh_info": {"face_index": 4417, "face_uv": [0.24934997586777813, 0.40441851310290433, 0.3462315110293168]}}, {"xyz": [0.20487425861026023, -0.2394996213933247, 0.1561257307404076], "rgb": [103, 104, 97], "semantic_id": 18, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 3058, "face_uv": [0.3302650624950344, 0.27302725904891584, 0.3967076784560501]}}, {"xyz": [-0.18215365269736875, -0.24359046634427373, 0.19893374233637395], "rgb": [119, 120, 114], "semantic_id": 19, "pcd_info": {"point_index": 546}, "mesh_info": {"face_index": 7635, "face_uv": [0.31582727385991616, 0.2580601398290544, 0.42611258631102905]}}, {"xyz": [-0.23962645455459675, -0.21833829396248916, -0.21272009862165886], "rgb": [112, 113, 112], "semantic_id": 20, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 516, "face_uv": [0.7352418693986378, 0.17950125647768453, 0.08525687412367718]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "595b9c165214bdf0b0b1b4239165b394", "keypoints": [{"xyz": [0.13002804829803016, 0.5197602955029106, 0.18757591872860324], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 352}, "mesh_info": {"face_index": 913, "face_uv": [0.17178490052184273, 0.8025348523247469, 0.025680247153409524]}}, {"xyz": [-0.1336971326263079, 0.5172581947429635, 0.18733492306767197], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1406}, "mesh_info": {"face_index": 1547, "face_uv": [0.2766356246381402, 0.7190087881621625, 0.004355587199692462]}}, {"xyz": [0.1629446306829172, 0.06254799664020538, 0.11215675441180051], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 297}, "mesh_info": {"face_index": 1822, "face_uv": [0.8556893900854211, 0.02030190596979112, 0.1240087039447878]}}, {"xyz": [-0.16281247440161328, 0.06254799664020538, 0.12273117111597731], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1849}, "mesh_info": {"face_index": 544, "face_uv": [0.8265550322865978, 0.16833162989507022, 0.005113337818332034]}}, {"xyz": [0.15331896832592468, 0.05507387164551503, -0.16283210038309714], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 481}, "mesh_info": {"face_index": 1727, "face_uv": [0.4476017873807185, 0.47084072989570586, 0.08155748272357594]}}, {"xyz": [-0.15357708501265932, 0.05466333126304068, -0.1638057517774658], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1963}, "mesh_info": {"face_index": 67, "face_uv": [0.42361466555048344, 0.0730885075707749, 0.5032968268787412]}}, {"xyz": [0.13122943666681613, -0.301474988460541, -0.16611649484139582], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1473}, "mesh_info": {"face_index": 690, "face_uv": [0.020870423303357262, 0.3393883524939056, 0.6397412242027379]}}, {"xyz": [0.1393827143935764, -0.30147498846054077, 0.22823811415860368], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 1046, "face_uv": [0.24611068269564113, 0.08256792441728045, 0.6713213928870785]}}, {"xyz": [-0.125354741093888, -0.30147498846054077, 0.22467454668365], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1926}, "mesh_info": {"face_index": 1042, "face_uv": [0.01953803343198828, 0.4213860012147081, 0.5590759653533036]}}, {"xyz": [-0.12952239579605285, -0.30147498846054077, -0.16815808926269793], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1937}, "mesh_info": {"face_index": 735, "face_uv": [0.1280981381358482, 0.4473368423152909, 0.4245650195488609]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "79ed181ca18bf71dc8881577d38510", "keypoints": [{"xyz": [0.1017300153443366, 0.5675278267464579, 0.20417435005971385], "rgb": [149, 82, 37], "semantic_id": 0, "pcd_info": {"point_index": 127}, "mesh_info": {"face_index": 8234, "face_uv": [0.3693253890014877, 0.2542070452783209, 0.3764675657201879]}}, {"xyz": [-0.10656816737167524, 0.574482419246994, 0.20640776828416907], "rgb": [153, 85, 40], "semantic_id": 1, "pcd_info": {"point_index": 939}, "mesh_info": {"face_index": 8262, "face_uv": [0.07964838733027481, 0.03801295014913747, 0.8823386625205836]}}, {"xyz": [0.12319276671261556, 0.1898590028285978, 0.09240516375703522], "rgb": [155, 92, 49], "semantic_id": 2, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 102, "face_uv": [0.07383686840919154, 0.16548017021676845, 0.7606829613740389]}}, {"xyz": [-0.130999708433217, 0.1898590028285978, 0.09124750153311034], "rgb": [150, 84, 41], "semantic_id": 3, "pcd_info": {"point_index": 506}, "mesh_info": {"face_index": 109, "face_uv": [0.20857034412601572, 0.5330133279618718, 0.2584163279121113]}}, {"xyz": [0.14477305041156968, 0.18578244630573093, -0.17898049276990757], "rgb": [158, 95, 55], "semantic_id": 4, "pcd_info": {"point_index": 562}, "mesh_info": {"face_index": 1744, "face_uv": [0.3154717128052875, 0.03976650275327014, 0.644761784441443]}}, {"xyz": [-0.15181716896189137, 0.18515817166970594, -0.18435388668849317], "rgb": [146, 79, 37], "semantic_id": 5, "pcd_info": {"point_index": 117}, "mesh_info": {"face_index": 1746, "face_uv": [0.8687330633013688, 0.030168700162640037, 0.10109823653599188]}}, {"xyz": [0.1539213718153538, -0.18629641500058747, -0.17658487998311], "rgb": [147, 80, 34], "semantic_id": 17, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 4925, "face_uv": [0.26506403997544875, 0.31861778221134845, 0.41631817781320274]}}, {"xyz": [0.1555328398981486, -0.18248041054160913, 0.11613115553689618], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1484}, "mesh_info": {"face_index": 2520, "face_uv": [0.7565347529837175, 0.08021071576076136, 0.1632545312555206]}}, {"xyz": [-0.1544626329858083, -0.18745762977986935, 0.12596860870477278], "rgb": [145, 79, 32], "semantic_id": 19, "pcd_info": {"point_index": 1529}, "mesh_info": {"face_index": 7394, "face_uv": [0.08181707506525099, 0.4251430423752785, 0.49303988255947023]}}, {"xyz": [-0.14749229734284208, -0.18877213679277327, -0.1870524448148282], "rgb": [146, 80, 37], "semantic_id": 20, "pcd_info": {"point_index": 748}, "mesh_info": {"face_index": 6169, "face_uv": [0.04266170341774753, 0.16563291598805163, 0.7917053805942014]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f83f1cbaf6c41a5db04cb542e2c50eb4", "keypoints": [{"xyz": [0.22013562037180545, 0.3038014673947824, 0.29290984282228416], "rgb": [224, 194, 168], "semantic_id": 0, "pcd_info": {"point_index": 86}, "mesh_info": {"face_index": 4868, "face_uv": [0.4042643176164863, 0.29468529512261277, 0.3010503872609007]}}, {"xyz": [-0.2155173061840288, 0.3021686702143105, 0.30134348487734147], "rgb": [223, 194, 167], "semantic_id": 1, "pcd_info": {"point_index": 1557}, "mesh_info": {"face_index": 2747, "face_uv": [0.21237549719942211, 0.1053793872851703, 0.6822451155154078]}}, {"xyz": [0.2232016127160891, -0.047335565994720774, 0.06098609364603319], "rgb": [208, 178, 139], "semantic_id": 2, "pcd_info": {"point_index": 1963}, "mesh_info": {"face_index": 1861, "face_uv": [0.2993281094492251, 0.39262771130809443, 0.3080441792426704]}}, {"xyz": [-0.2192754700984728, -0.050802673263034004, 0.0673410509672257], "rgb": [220, 193, 168], "semantic_id": 3, "pcd_info": {"point_index": 1870}, "mesh_info": {"face_index": 1936, "face_uv": [0.5504565031314052, 0.341026211133528, 0.10851728573506277]}}, {"xyz": [0.22469798820853054, 0.023326179978617967, -0.23852817526794912], "rgb": [209, 184, 154], "semantic_id": 4, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 4035, "face_uv": [0.8836367713361052, 0.011756703507107141, 0.10460652515678671]}}, {"xyz": [-0.21678318791874063, 0.02366433212403929, -0.24093229342098182], "rgb": [215, 188, 159], "semantic_id": 5, "pcd_info": {"point_index": 340}, "mesh_info": {"face_index": 1655, "face_uv": [0.2922620177647929, 0.0266210124841469, 0.6811169697510604]}}, {"xyz": [0.24615015460918932, 0.16199969966119498, -0.12810259495023246], "rgb": [226, 196, 175], "semantic_id": 6, "pcd_info": {"point_index": 1327}, "mesh_info": {"face_index": 8685, "face_uv": [0.07738048284585375, 0.8836921886660749, 0.03892732848806927]}}, {"xyz": [0.23429985767467465, 0.10129977234904342, 0.15674088935461195], "rgb": [225, 196, 175], "semantic_id": 7, "pcd_info": {"point_index": 2014}, "mesh_info": {"face_index": 8666, "face_uv": [0.028246032424764655, 0.043283268600494654, 0.9284706989747413]}}, {"xyz": [-0.25049846715999124, 0.1625333998140026, -0.1306106184822383], "rgb": [230, 204, 179], "semantic_id": 8, "pcd_info": {"point_index": 619}, "mesh_info": {"face_index": 9377, "face_uv": [0.021326216499303535, 0.9450288727895569, 0.03364491071114014]}}, {"xyz": [-0.23885528736973993, 0.10135793063678622, 0.1564566342449809], "rgb": [224, 193, 169], "semantic_id": 9, "pcd_info": {"point_index": 1718}, "mesh_info": {"face_index": 9394, "face_uv": [0.8274328182323399, 0.035514044725601476, 0.13705313704205868]}}, {"xyz": [0.2438761270892485, -0.27057167755274714, -0.1966633479762501], "rgb": [228, 195, 166], "semantic_id": 17, "pcd_info": {"point_index": 255}, "mesh_info": {"face_index": 6291, "face_uv": [0.27964023683523986, 0.14047254454720812, 0.5798872186175459]}}, {"xyz": [0.21924089559297347, -0.2795920986399061, 0.2874888606479302], "rgb": [214, 184, 161], "semantic_id": 18, "pcd_info": {"point_index": 334}, "mesh_info": {"face_index": 4796, "face_uv": [0.41573678902896155, 0.12353868511244141, 0.460724525858597]}}, {"xyz": [-0.2191809461447713, -0.27986999239712573, 0.28530757661709394], "rgb": [220, 190, 163], "semantic_id": 19, "pcd_info": {"point_index": 1125}, "mesh_info": {"face_index": 2455, "face_uv": [0.556421665250669, 0.24912537875267943, 0.19445295599665155]}}, {"xyz": [-0.23979907053452348, -0.27085703209633527, -0.19250392500524177], "rgb": [230, 196, 169], "semantic_id": 20, "pcd_info": {"point_index": 1286}, "mesh_info": {"face_index": 7784, "face_uv": [0.24836958082870103, 0.5447116202452297, 0.20691879892606566]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "323f0787810ef9a285a030bdc6cb9884", "keypoints": [{"xyz": [0.21329289876884427, 0.2790469097704006, 0.1906396959908978], "rgb": [127, 127, 127], "semantic_id": 0, "pcd_info": {"point_index": 1588}, "mesh_info": {"face_index": 1585, "face_uv": [0.959442091158451, 0.024252259461565454, 0.016305649379982957]}}, {"xyz": [-0.2178114830371549, 0.27912004595492634, 0.19147610895869205], "rgb": [127, 127, 127], "semantic_id": 1, "pcd_info": {"point_index": 340}, "mesh_info": {"face_index": 1645, "face_uv": [0.11853853940051781, 0.8766465359022282, 0.00481492469725366]}}, {"xyz": [0.2167384682570116, -0.07919435663286256, 0.07321150226728057], "rgb": [127, 127, 127], "semantic_id": 2, "pcd_info": {"point_index": 1574}, "mesh_info": {"face_index": 1538, "face_uv": [0.1066115294354109, 0.10110801231742263, 0.7922804582471648]}}, {"xyz": [-0.2179900800469807, -0.08221694949993763, 0.07262181204355111], "rgb": [127, 127, 127], "semantic_id": 3, "pcd_info": {"point_index": 539}, "mesh_info": {"face_index": 1475, "face_uv": [0.06747631547830323, 0.0525611658197002, 0.8799625187019945]}}, {"xyz": [0.2058283430509494, -0.06660976533558005, -0.3098421282471815], "rgb": [128, 128, 128], "semantic_id": 4, "pcd_info": {"point_index": 1584}, "mesh_info": {"face_index": 1424, "face_uv": [0.13354103904575923, 0.03364109080306879, 0.832817870151174]}}, {"xyz": [-0.2029376137891311, -0.06714811111146213, -0.3100841148748774], "rgb": [128, 128, 128], "semantic_id": 5, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 1401, "face_uv": [0.02048786498468857, 0.03857259430411099, 0.9409395407112012]}}, {"xyz": [0.23541197022613322, 0.12131011751342768, -0.13899911672591014], "rgb": [128, 128, 128], "semantic_id": 6, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 4, "face_uv": [0.9279380334773676, 0.042578227712021764, 0.02948373881061189]}}, {"xyz": [0.24515031326311587, 0.13028234803459426, 0.1458837182942343], "rgb": [128, 128, 128], "semantic_id": 7, "pcd_info": {"point_index": 122}, "mesh_info": {"face_index": 240, "face_uv": [0.37604901323070383, 0.09531550583417499, 0.5286354809351211]}}, {"xyz": [-0.23819522582479744, 0.10707833465027905, -0.15877374264551786], "rgb": [127, 127, 127], "semantic_id": 8, "pcd_info": {"point_index": 372}, "mesh_info": {"face_index": 270, "face_uv": [0.01689021657796426, 0.35253450948025533, 0.6305752739417803]}}, {"xyz": [-0.24295091428557666, 0.12180379879912628, 0.16469916637777965], "rgb": [128, 128, 128], "semantic_id": 9, "pcd_info": {"point_index": 1206}, "mesh_info": {"face_index": 503, "face_uv": [0.0769217029962922, 0.22645922699409643, 0.6966190700096125]}}, {"xyz": [0.2384853058264147, -0.404594427008806, -0.3061836214994309], "rgb": [128, 128, 128], "semantic_id": 17, "pcd_info": {"point_index": 525}, "mesh_info": {"face_index": 3329, "face_uv": [0.309697688159427, 0.009426038912030274, 0.6808762729285444]}}, {"xyz": [0.23734534849651345, -0.40412225650861267, 0.1700177832910427], "rgb": [127, 127, 127], "semantic_id": 18, "pcd_info": {"point_index": 1021}, "mesh_info": {"face_index": 3336, "face_uv": [0.42834646133342935, 0.016219492354376197, 0.5554340463121932]}}, {"xyz": [-0.232852120379398, -0.4031177258450005, 0.16073819946058984], "rgb": [128, 128, 128], "semantic_id": 19, "pcd_info": {"point_index": 850}, "mesh_info": {"face_index": 3279, "face_uv": [0.6270841955468484, 0.033630839607100296, 0.3392849648460516]}}, {"xyz": [-0.2378383726003318, -0.40518303227664365, -0.29983397239097265], "rgb": [127, 127, 127], "semantic_id": 20, "pcd_info": {"point_index": 1134}, "mesh_info": {"face_index": 3270, "face_uv": [0.18296723968361034, 0.02336344267545324, 0.7936693176409357]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "99ae1b3f970c61fd5b56aadec5c0be6b", "keypoints": [{"xyz": [0.14454368858273003, 0.6381110930303002, 0.12099364325381157], "rgb": [95, 63, 42], "semantic_id": 0, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 182, "face_uv": [0.5622444046646088, 0.06380409321658227, 0.37395150211880906]}}, {"xyz": [-0.14979158392811953, 0.6385710538344733, 0.1219244856472788], "rgb": [101, 69, 47], "semantic_id": 1, "pcd_info": {"point_index": 429}, "mesh_info": {"face_index": 816, "face_uv": [0.011137039611709752, 0.5264349076018124, 0.46242805278647764]}}, {"xyz": [0.16126712868538068, 0.19557900726795174, 0.10436966788376177], "rgb": [92, 60, 39], "semantic_id": 2, "pcd_info": {"point_index": 2035}, "mesh_info": {"face_index": 22, "face_uv": [0.00035893602449677854, 0.19383130791678727, 0.8058097560587149]}}, {"xyz": [-0.16721695683173188, 0.19557900726795197, 0.10200670519514492], "rgb": [102, 70, 49], "semantic_id": 3, "pcd_info": {"point_index": 548}, "mesh_info": {"face_index": 24, "face_uv": [0.025706454544407144, 0.00818800813296087, 0.9661055373226319]}}, {"xyz": [0.1574602040339183, 0.19557900726795197, -0.18308214896539132], "rgb": [92, 63, 45], "semantic_id": 4, "pcd_info": {"point_index": 1132}, "mesh_info": {"face_index": 23, "face_uv": [0.01188639449820637, 0.9527569627314798, 0.035356642770313765]}}, {"xyz": [-0.16592051806977087, 0.19557900726795197, -0.19267083743413677], "rgb": [90, 59, 41], "semantic_id": 5, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 25, "face_uv": [0.015473372089700012, 0.01486238951116623, 0.9696642383991337]}}, {"xyz": [0.1593231813765084, -0.20055900514125824, -0.17829105524425107], "rgb": [95, 61, 41], "semantic_id": 17, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 450, "face_uv": [0.34611379263940933, 0.16047564525418795, 0.4934105621064027]}}, {"xyz": [0.15012050752461978, -0.20055900514125802, 0.12372375512865344], "rgb": [95, 61, 42], "semantic_id": 18, "pcd_info": {"point_index": 527}, "mesh_info": {"face_index": 67, "face_uv": [0.5134913570257258, 0.4857043355431784, 0.0008043074310947558]}}, {"xyz": [-0.14351463342663745, -0.20055900514125802, 0.13183678793642883], "rgb": [100, 67, 48], "semantic_id": 19, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 699, "face_uv": [0.6037653938281069, 0.19644608080416318, 0.19978852536772884]}}, {"xyz": [-0.14807598310614573, -0.20055900514125824, -0.17716407104835266], "rgb": [97, 63, 43], "semantic_id": 20, "pcd_info": {"point_index": 1281}, "mesh_info": {"face_index": 1002, "face_uv": [0.5464192445037709, 0.35764724973531226, 0.09593350576091683]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "59bd57fe0389e7831f7c97814eaf956d", "keypoints": [{"xyz": [0.16798681500582943, 0.19478898817392754, 0.05514232102235872], "rgb": [254, 252, 246], "semantic_id": 0, "pcd_info": {"point_index": 1870}, "mesh_info": {"face_index": 631, "face_uv": [0.13861425245422532, 0.1900324260088023, 0.6713533215369716]}}, {"xyz": [-0.17558757203867545, 0.19113603650460997, 0.053656765341505874], "rgb": [254, 252, 246], "semantic_id": 1, "pcd_info": {"point_index": 1921}, "mesh_info": {"face_index": 384, "face_uv": [0.052386167029131334, 0.9180634917828775, 0.029550341187989132]}}, {"xyz": [0.14700983163524378, -0.006818842576235884, 0.035324027582601225], "rgb": [254, 252, 246], "semantic_id": 2, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 1080, "face_uv": [0.5312367954129276, 0.431236143923202, 0.037527060663855694]}}, {"xyz": [-0.14386991798181237, -0.006710652541966233, 0.046514405283968774], "rgb": [254, 252, 246], "semantic_id": 3, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 1228, "face_uv": [0.774385328977425, 0.20860923834206896, 0.01700543268049144]}}, {"xyz": [0.16389235087910178, -0.016656783990720125, -0.2867036045912682], "rgb": [254, 252, 246], "semantic_id": 4, "pcd_info": {"point_index": 376}, "mesh_info": {"face_index": 1025, "face_uv": [0.46698905896602416, 0.12943003993106952, 0.40358090110290556]}}, {"xyz": [-0.15682834257505557, -0.009996960274962774, -0.28307663306016817], "rgb": [254, 252, 246], "semantic_id": 5, "pcd_info": {"point_index": 1344}, "mesh_info": {"face_index": 1211, "face_uv": [0.23063807793244573, 0.6353680153534338, 0.13399390671411923]}}, {"xyz": [0.17051910686435573, -0.6214029788970947, -0.28178176074089195], "rgb": [14, 14, 14], "semantic_id": 17, "pcd_info": {"point_index": 737}, "mesh_info": {"face_index": 6, "face_uv": [0.38710443367124336, 0.45969682657526156, 0.15319873975349502]}}, {"xyz": [0.17596450371206981, -0.6214029788970947, 0.060977622767114464], "rgb": [14, 14, 14], "semantic_id": 18, "pcd_info": {"point_index": 1906}, "mesh_info": {"face_index": 139, "face_uv": [0.35333838587290634, 0.31934710699196944, 0.32731450713512417]}}, {"xyz": [-0.16861358861821843, -0.6214029788970947, 0.059729362820076695], "rgb": [14, 14, 14], "semantic_id": 19, "pcd_info": {"point_index": 2022}, "mesh_info": {"face_index": 162, "face_uv": [0.1255118236689525, 0.39875152982098655, 0.475736646510061]}}, {"xyz": [-0.16879571501150606, -0.6214029788970947, -0.28030870081484055], "rgb": [14, 14, 14], "semantic_id": 20, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 186, "face_uv": [0.049843547510814275, 0.4934291906435887, 0.45672726184559703]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ee5ee3f6759aabacf2f43e6f841bd32b", "keypoints": [{"xyz": [0.21314094475026044, 0.4846459925174713, 0.07338722410002173], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1142}, "mesh_info": {"face_index": 11, "face_uv": [0.5183641131178027, 0.1826812115641566, 0.2989546753180406]}}, {"xyz": [-0.2160073490000074, 0.4846459925174713, 0.07248490853281915], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 468}, "mesh_info": {"face_index": 113, "face_uv": [0.15882595665508434, 0.5303721885978852, 0.3108018547470304]}}, {"xyz": [0.21272966505872926, 0.06714522710137683, 0.11113075311769838], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 33}, "mesh_info": {"face_index": 136, "face_uv": [0.013315334545044797, 0.016104084682412045, 0.9705805807725434]}}, {"xyz": [-0.20738532757591197, 0.061625685793384566, 0.11049199896512563], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 136}, "mesh_info": {"face_index": 145, "face_uv": [0.7455408607211164, 0.026467984832559695, 0.22799115444632498]}}, {"xyz": [0.23348825965254302, 0.04612634243602698, -0.24404011996262343], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1378}, "mesh_info": {"face_index": 137, "face_uv": [0.005294775301455321, 0.06838846353598102, 0.9263167611625642]}}, {"xyz": [-0.21927048734856303, 0.04066447636226411, -0.24575899541378032], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 611}, "mesh_info": {"face_index": 121, "face_uv": [0.8297644103026904, 0.014779441921269704, 0.15545614777604044]}}, {"xyz": [0.19455082560927842, -0.27765598893165566, -0.20706264612403963], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1149}, "mesh_info": {"face_index": 382, "face_uv": [0.5821604628148628, 0.29182939874872366, 0.1260101384364128]}}, {"xyz": [0.19711645733185143, -0.2776559889316559, 0.0960008500646982], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 648}, "mesh_info": {"face_index": 922, "face_uv": [0.4709472146131388, 0.3380096343978289, 0.1910431509890323]}}, {"xyz": [-0.187060456553782, -0.2776559889316559, 0.10332691199596535], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 2037}, "mesh_info": {"face_index": 746, "face_uv": [0.5059401494051027, 0.4412260916601284, 0.05283375893476903]}}, {"xyz": [-0.18151188284396821, -0.2776559889316559, -0.21235621411734992], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 48}, "mesh_info": {"face_index": 564, "face_uv": [0.39108424471347786, 0.45134146481645926, 0.15757429047006286]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3a74e3d5172ee94fdef1c01cbd4ae0c", "keypoints": [{"xyz": [0.19489300318200647, 0.2998769714686982, 0.11812179864240846], "rgb": [196, 167, 134], "semantic_id": 0, "pcd_info": {"point_index": 1352}, "mesh_info": {"face_index": 17907, "face_uv": [0.7187798923330855, 0.16730600177897653, 0.1139141058879383]}}, {"xyz": [-0.1899912771364442, 0.2975627598057309, 0.11983945709604737], "rgb": [198, 172, 138], "semantic_id": 1, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 17038, "face_uv": [0.44320468191608187, 0.12109850383009703, 0.4356968142538217]}}, {"xyz": [0.15796183483888637, -0.035026072522596374, 0.08316863370267125], "rgb": [187, 183, 171], "semantic_id": 2, "pcd_info": {"point_index": 1386}, "mesh_info": {"face_index": 153, "face_uv": [0.1995025027897108, 0.005524708978703095, 0.7949727882315805]}}, {"xyz": [-0.15283550196830703, -0.036628334262580164, 0.09032925411674153], "rgb": [187, 183, 171], "semantic_id": 3, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 297, "face_uv": [0.2412507697861837, 0.6108941553669041, 0.14785507484690605]}}, {"xyz": [0.205965465997001, -0.002934363337117274, -0.21730127932947918], "rgb": [188, 184, 172], "semantic_id": 4, "pcd_info": {"point_index": 672}, "mesh_info": {"face_index": 1550, "face_uv": [0.2372699934485488, 0.4249811296243372, 0.3377488769271936]}}, {"xyz": [-0.20479487857434714, -0.0029068654897190793, -0.2170479254481541], "rgb": [187, 183, 171], "semantic_id": 5, "pcd_info": {"point_index": 1701}, "mesh_info": {"face_index": 1781, "face_uv": [0.18119285145932149, 0.3565869930500227, 0.4622201554903132]}}, {"xyz": [0.2121518339857721, -0.43786928513264156, -0.22079940382618288], "rgb": [196, 171, 136], "semantic_id": 17, "pcd_info": {"point_index": 426}, "mesh_info": {"face_index": 24173, "face_uv": [0.6091321796503263, 0.25461187476246094, 0.13625594558721324]}}, {"xyz": [0.2020349886742656, -0.43847359914623363, 0.18181161956092312], "rgb": [188, 163, 128], "semantic_id": 18, "pcd_info": {"point_index": 424}, "mesh_info": {"face_index": 11918, "face_uv": [0.3978837556350503, 0.43099776596290995, 0.17111847840204006]}}, {"xyz": [-0.20460721327576048, -0.4387014798212203, 0.17668183996310455], "rgb": [188, 166, 132], "semantic_id": 19, "pcd_info": {"point_index": 1364}, "mesh_info": {"face_index": 11089, "face_uv": [0.23633265330837605, 0.5032729903676144, 0.2603943563240088]}}, {"xyz": [-0.20997858834065822, -0.4384204807621155, -0.21619077223573455], "rgb": [193, 163, 129], "semantic_id": 20, "pcd_info": {"point_index": 2040}, "mesh_info": {"face_index": 3879, "face_uv": [0.08897687606198078, 0.845706937629116, 0.06531618630890326]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "884a239f3dc6a91cad484915511ccff6", "keypoints": [{"xyz": [0.1469561137545433, 0.32315084591978754, 0.2248801462135852], "rgb": [55, 72, 115], "semantic_id": 0, "pcd_info": {"point_index": 215}, "mesh_info": {"face_index": 7210, "face_uv": [0.8471320656700881, 0.0035745382229691743, 0.149293396106943]}}, {"xyz": [-0.1485416729117186, 0.31772972002745764, 0.21748138470676004], "rgb": [38, 54, 98], "semantic_id": 1, "pcd_info": {"point_index": 765}, "mesh_info": {"face_index": 7218, "face_uv": [0.4131151486309636, 0.005364824488761609, 0.5815200268802734]}}, {"xyz": [0.14786557482116788, 0.06865946333596518, 0.11896060953613796], "rgb": [51, 68, 112], "semantic_id": 2, "pcd_info": {"point_index": 731}, "mesh_info": {"face_index": 7500, "face_uv": [0.01028179090280155, 0.7938054638614506, 0.19591274523574534]}}, {"xyz": [-0.14592610611184403, 0.07541210124503173, 0.11734803371089375], "rgb": [52, 65, 109], "semantic_id": 3, "pcd_info": {"point_index": 92}, "mesh_info": {"face_index": 7394, "face_uv": [0.9292940393354978, 0.008216692747338597, 0.062489267917162944]}}, {"xyz": [0.16305922690589925, 0.06223636105299324, -0.16838787526316223], "rgb": [35, 50, 95], "semantic_id": 4, "pcd_info": {"point_index": 745}, "mesh_info": {"face_index": 7513, "face_uv": [0.0009612112028122485, 0.45259705644083975, 0.5464417323563355]}}, {"xyz": [-0.15354837529469487, 0.06260858089103749, -0.16241195269555742], "rgb": [42, 57, 102], "semantic_id": 5, "pcd_info": {"point_index": 1643}, "mesh_info": {"face_index": 7400, "face_uv": [0.4557522749908457, 0.021366064759942557, 0.5228816602492308]}}, {"xyz": [0.26006757690994053, 0.2525435520705943, -0.06137449149873064], "rgb": [52, 69, 112], "semantic_id": 6, "pcd_info": {"point_index": 684}, "mesh_info": {"face_index": 7587, "face_uv": [0.6365527328245258, 0.1513947356872068, 0.21205253148826697]}}, {"xyz": [0.24189804625925782, 0.27925876269792127, 0.047611307892638344], "rgb": [51, 65, 109], "semantic_id": 7, "pcd_info": {"point_index": 818}, "mesh_info": {"face_index": 7588, "face_uv": [0.4455540346745829, 0.19945080529508877, 0.35499516003033166]}}, {"xyz": [-0.2540040364572201, 0.24941876200746282, -0.07619506178401925], "rgb": [43, 60, 104], "semantic_id": 8, "pcd_info": {"point_index": 1858}, "mesh_info": {"face_index": 7328, "face_uv": [0.6963158329493828, 0.13236927898846962, 0.1713148880621495]}}, {"xyz": [-0.24008657197408054, 0.2792098808874579, 0.03714854478960561], "rgb": [51, 65, 110], "semantic_id": 9, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 7320, "face_uv": [0.2559149144018232, 0.5506245365181712, 0.19346054908000426]}}, {"xyz": [0.24070261950265182, -0.32238719230804147, -0.21109754578416684], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1950}, "mesh_info": {"face_index": 5754, "face_uv": [0.45062328545478963, 0.5412189887238421, 0.008157725821370506]}}, {"xyz": [0.1991619946582901, -0.3154429058925756, 0.22792591054455813], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1754}, "mesh_info": {"face_index": 6136, "face_uv": [0.30296006327346164, 0.17919334986526037, 0.5178465868612799]}}, {"xyz": [-0.19419327562696176, -0.32114316603982385, 0.21668321633863008], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 315}, "mesh_info": {"face_index": 6014, "face_uv": [0.03060827188750767, 0.9552774931961933, 0.014114234916296924]}}, {"xyz": [-0.23311570049558494, -0.31765169777788405, -0.20013920325513945], "rgb": [232, 230, 233], "semantic_id": 20, "pcd_info": {"point_index": 2047}, "mesh_info": {"face_index": 5532, "face_uv": [0.32006171629486413, 0.06283026112907718, 0.6171080225760593]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e50a97aa15d7cbc5972e15b580d9a5b3", "keypoints": [{"xyz": [0.23298400640487665, 0.322775455507719, 0.12211520043580071], "rgb": [153, 89, 45], "semantic_id": 0, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 105, "face_uv": [0.15208944146976, 0.006854534581552441, 0.8410560239486873]}}, {"xyz": [-0.21185700595378865, 0.3244232293392002, 0.10429867301134743], "rgb": [145, 77, 35], "semantic_id": 1, "pcd_info": {"point_index": 1584}, "mesh_info": {"face_index": 61, "face_uv": [0.7112868215915601, 0.0023805842544906333, 0.28633259415394874]}}, {"xyz": [0.2329840064048767, -0.040523793450479406, 0.10831300073783029], "rgb": [156, 84, 39], "semantic_id": 2, "pcd_info": {"point_index": 552}, "mesh_info": {"face_index": 133, "face_uv": [0.21474988190578428, 0.006734125072856268, 0.7785159930213594]}}, {"xyz": [-0.21129700650066097, -0.046338183632735785, 0.09071427208705818], "rgb": [158, 92, 49], "semantic_id": 3, "pcd_info": {"point_index": 501}, "mesh_info": {"face_index": 1, "face_uv": [0.3426511782324067, 0.008543999779149606, 0.6488048219884445]}}, {"xyz": [0.21650298554597358, -0.016224000602960476, -0.32238465076406153], "rgb": [148, 79, 40], "semantic_id": 4, "pcd_info": {"point_index": 380}, "mesh_info": {"face_index": 164, "face_uv": [0.060352990385707385, 0.038780006606549365, 0.9008670030077365]}}, {"xyz": [-0.2208721700908166, -0.016224000602960476, -0.32072760512365905], "rgb": [159, 95, 51], "semantic_id": 5, "pcd_info": {"point_index": 215}, "mesh_info": {"face_index": 88, "face_uv": [0.008286591274722565, 0.06358295187741986, 0.9281304568478507]}}, {"xyz": [0.21975800395011902, -0.4233753053024083, -0.32280950030099814], "rgb": [158, 87, 45], "semantic_id": 17, "pcd_info": {"point_index": 1617}, "mesh_info": {"face_index": 185, "face_uv": [0.003627668890837389, 0.023657798589280462, 0.9727145325198823]}}, {"xyz": [0.21988616024704222, -0.4294597212673401, 0.0971826925388761], "rgb": [153, 84, 41], "semantic_id": 18, "pcd_info": {"point_index": 155}, "mesh_info": {"face_index": 153, "face_uv": [0.15795483423920934, 0.8323554430073286, 0.00968972275346217]}}, {"xyz": [-0.2226565958478456, -0.4195257050762886, 0.10337900370359426], "rgb": [151, 84, 39], "semantic_id": 19, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 4, "face_uv": [0.964853911216051, 0.02391015979017816, 0.011235928993771389]}}, {"xyz": [-0.2244109958410263, -0.4293183598557391, -0.32006270506781787], "rgb": [150, 86, 42], "semantic_id": 20, "pcd_info": {"point_index": 1899}, "mesh_info": {"face_index": 120, "face_uv": [0.10160153125156698, 0.009406450506320756, 0.8889920182421123]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a770cb6ad4a97df84abd45348d17aaf8", "keypoints": [{"xyz": [0.1052595967617756, 0.28796524650862154, 0.12247478333947592], "rgb": [29, 29, 29], "semantic_id": 0, "pcd_info": {"point_index": 2023}, "mesh_info": {"face_index": 3389, "face_uv": [0.5154397090782751, 0.09891941693409434, 0.385640873987632]}}, {"xyz": [-0.09824516421314317, 0.29105710655735373, 0.12354796156119918], "rgb": [29, 29, 29], "semantic_id": 1, "pcd_info": {"point_index": 1054}, "mesh_info": {"face_index": 3476, "face_uv": [0.44996828104828057, 0.0284677045240097, 0.5215640144277159]}}, {"xyz": [0.20350198482253204, -0.007690230484985516, 0.030001997924885115], "rgb": [29, 29, 29], "semantic_id": 2, "pcd_info": {"point_index": 283}, "mesh_info": {"face_index": 10353, "face_uv": [0.23490153149705545, 0.1541367115796882, 0.6109617569232566]}}, {"xyz": [-0.20506974019054264, -0.012922510410899202, 0.024000401595958953], "rgb": [28, 28, 28], "semantic_id": 3, "pcd_info": {"point_index": 1859}, "mesh_info": {"face_index": 10324, "face_uv": [0.2501028956909103, 0.14360799805255153, 0.6062891062565369]}}, {"xyz": [0.19508764116397198, -0.033220976485987874, -0.25229719532779693], "rgb": [29, 29, 29], "semantic_id": 4, "pcd_info": {"point_index": 431}, "mesh_info": {"face_index": 11869, "face_uv": [0.1295142055844877, 0.41953909740748474, 0.45094669700802903]}}, {"xyz": [-0.17988678759753451, -0.03571376310097896, -0.2466530228861411], "rgb": [28, 28, 28], "semantic_id": 5, "pcd_info": {"point_index": 956}, "mesh_info": {"face_index": 11774, "face_uv": [0.20622452585112316, 0.7471471677293655, 0.04662830641951084]}}, {"xyz": [0.1690239275939079, -0.44033378633212217, -0.26937324916489147], "rgb": [226, 167, 100], "semantic_id": 17, "pcd_info": {"point_index": 14}, "mesh_info": {"face_index": 962, "face_uv": [0.21830802384117198, 0.34368405228111537, 0.4380079238777127]}}, {"xyz": [0.16927432319645117, -0.420762973005367, 0.07599444416320617], "rgb": [235, 172, 107], "semantic_id": 18, "pcd_info": {"point_index": 157}, "mesh_info": {"face_index": 180, "face_uv": [0.03227566495513737, 0.7726015026743344, 0.19512283237053354]}}, {"xyz": [-0.16398975510948988, -0.4337257875505818, 0.07668494834126599], "rgb": [233, 179, 113], "semantic_id": 19, "pcd_info": {"point_index": 1264}, "mesh_info": {"face_index": 1468, "face_uv": [0.17990250534122607, 0.017768767201418713, 0.8023287274573525]}}, {"xyz": [-0.17032922463118383, -0.4265071955900077, -0.2740538245111822], "rgb": [226, 170, 103], "semantic_id": 20, "pcd_info": {"point_index": 761}, "mesh_info": {"face_index": 534, "face_uv": [0.01404268910138138, 0.724845696643858, 0.2611116142547618]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "341a2d3df9800314fa260f4362cac599", "keypoints": [{"xyz": [0.20756801313771034, 0.30770852004432264, 0.1866375523883952], "rgb": [157, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 443}, "mesh_info": {"face_index": 31996, "face_uv": [0.30815934205065565, 0.12419063553218937, 0.5676500224171547]}}, {"xyz": [-0.2108063240493585, 0.3076358428847488, 0.18408678057596228], "rgb": [157, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 636}, "mesh_info": {"face_index": 30208, "face_uv": [0.8399436679617165, 0.15902965365214847, 0.0010266783861335677]}}, {"xyz": [0.20755839446737417, -0.01350495972831034, 0.1528451369106727], "rgb": [141, 141, 141], "semantic_id": 2, "pcd_info": {"point_index": 1102}, "mesh_info": {"face_index": 23212, "face_uv": [0.5809901514203325, 0.014632933143638789, 0.4043769154360278]}}, {"xyz": [-0.19595868374678738, -0.021667342864951533, 0.1566136746427127], "rgb": [158, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 13}, "mesh_info": {"face_index": 7750, "face_uv": [0.27399292027093436, 0.37188043325392206, 0.35412664647514447]}}, {"xyz": [0.20459819503189172, -0.057812911448184234, -0.24236210611023057], "rgb": [157, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 10466, "face_uv": [0.39510215350543576, 0.2119007275712213, 0.3929971189233428]}}, {"xyz": [-0.20580645689675134, -0.0682546728789829, -0.24694974841704553], "rgb": [158, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1034}, "mesh_info": {"face_index": 1410, "face_uv": [0.18905091977550662, 0.013554364911073286, 0.7973947153134207]}}, {"xyz": [0.20975280974870364, -0.4349623905144253, -0.2524259644843054], "rgb": [141, 141, 141], "semantic_id": 17, "pcd_info": {"point_index": 1894}, "mesh_info": {"face_index": 28365, "face_uv": [0.28076730617743934, 0.6227696956468203, 0.09646299817574013]}}, {"xyz": [0.206819049094402, -0.43274224190481503, 0.23531201139366387], "rgb": [142, 142, 142], "semantic_id": 18, "pcd_info": {"point_index": 1159}, "mesh_info": {"face_index": 24087, "face_uv": [0.16197583864565987, 0.3184295295960284, 0.5195946317583117]}}, {"xyz": [-0.2092814091987798, -0.4327172643317301, 0.23545882664266454], "rgb": [142, 142, 142], "semantic_id": 19, "pcd_info": {"point_index": 1545}, "mesh_info": {"face_index": 18567, "face_uv": [0.017388745056866713, 0.03599571271224034, 0.946615542230893]}}, {"xyz": [-0.20906908927600476, -0.43529484100110016, -0.24718948351250397], "rgb": [142, 142, 142], "semantic_id": 20, "pcd_info": {"point_index": 189}, "mesh_info": {"face_index": 22958, "face_uv": [0.32127183269749937, 0.01341329908882433, 0.6653148682136771]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "26891b80550301721a648655355dc699", "keypoints": [{"xyz": [0.31243220552919765, 0.179190993309021, 0.1254779163170272], "rgb": [80, 80, 80], "semantic_id": 0, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 186, "face_uv": [0.8817802425891865, 0.10408453928857496, 0.014135218122238571]}}, {"xyz": [-0.3408562713337715, 0.1751068271456131, 0.11607570068423256], "rgb": [111, 111, 111], "semantic_id": 1, "pcd_info": {"point_index": 1041}, "mesh_info": {"face_index": 534, "face_uv": [0.1248204652346385, 0.38063373799508327, 0.49454579677027816]}}, {"xyz": [0.32735357291326134, -0.03235437898437965, 0.06736210283582089], "rgb": [129, 129, 129], "semantic_id": 2, "pcd_info": {"point_index": 173}, "mesh_info": {"face_index": 2293, "face_uv": [0.15622040746458962, 0.0008790640482917334, 0.8429005284871185]}}, {"xyz": [-0.3309361391892898, -0.022502950564233126, 0.06755373718236402], "rgb": [98, 98, 98], "semantic_id": 3, "pcd_info": {"point_index": 1016}, "mesh_info": {"face_index": 865, "face_uv": [0.9930946113248988, 0.006396927769829235, 0.0005084609052712393]}}, {"xyz": [0.31380843810885256, -0.029360815844147625, -0.19312506586509492], "rgb": [87, 87, 87], "semantic_id": 4, "pcd_info": {"point_index": 1844}, "mesh_info": {"face_index": 2143, "face_uv": [0.19771487548432734, 0.06279402380623818, 0.7394911007094356]}}, {"xyz": [-0.3261757780905324, -0.029494832606133947, -0.19416729542210076], "rgb": [70, 70, 70], "semantic_id": 5, "pcd_info": {"point_index": 756}, "mesh_info": {"face_index": 2593, "face_uv": [0.16420117995903552, 0.5668251075804369, 0.2689737124605257]}}, {"xyz": [0.3506283737928226, 0.11058419109979245, -0.15665815958498208], "rgb": [156, 156, 156], "semantic_id": 6, "pcd_info": {"point_index": 485}, "mesh_info": {"face_index": 4644, "face_uv": [0.073117477977732, 0.6511780659180527, 0.27570445610421546]}}, {"xyz": [0.3587667334307369, 0.12060999870300271, 0.16017739225446315], "rgb": [96, 96, 96], "semantic_id": 7, "pcd_info": {"point_index": 1676}, "mesh_info": {"face_index": 4190, "face_uv": [0.736734436479621, 0.017625507382093834, 0.24564005613828338]}}, {"xyz": [-0.3694497674649153, 0.10989418936320483, -0.15718763829390303], "rgb": [113, 113, 113], "semantic_id": 8, "pcd_info": {"point_index": 1459}, "mesh_info": {"face_index": 4600, "face_uv": [0.17549156478560163, 0.45334508504312, 0.37116335017127755]}}, {"xyz": [-0.36689123748309566, 0.12060999870300271, 0.1515740767125342], "rgb": [56, 56, 56], "semantic_id": 9, "pcd_info": {"point_index": 1281}, "mesh_info": {"face_index": 4250, "face_uv": [0.09920453002252577, 0.033578389432773595, 0.8672170805446988]}}, {"xyz": [0.33568026467041945, -0.3076840043067932, -0.11834745476666345], "rgb": [152, 152, 152], "semantic_id": 17, "pcd_info": {"point_index": 1352}, "mesh_info": {"face_index": 5107, "face_uv": [0.14750123978176619, 0.7443514642570936, 0.10814729596114019]}}, {"xyz": [0.3338334349548543, -0.307684004306793, 0.12266062527403679], "rgb": [171, 171, 171], "semantic_id": 18, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 102, "face_uv": [0.4770492556155352, 0.46847814132899457, 0.05447260305546944]}}, {"xyz": [-0.3377673320449739, -0.307684004306793, 0.12977235747128554], "rgb": [156, 156, 156], "semantic_id": 19, "pcd_info": {"point_index": 624}, "mesh_info": {"face_index": 5467, "face_uv": [0.20264945225200198, 0.7538722527756323, 0.04347829497236499]}}, {"xyz": [-0.3389922504211121, -0.307684004306793, -0.1299834894546205], "rgb": [167, 167, 167], "semantic_id": 20, "pcd_info": {"point_index": 28}, "mesh_info": {"face_index": 5283, "face_uv": [0.5659096678820742, 0.4006603062893992, 0.03343002582852579]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bc75933af4146bd3fdce5d02dd243c32", "keypoints": [{"xyz": [0.15232419833469205, 0.20662336525393354, 0.163381373653412], "rgb": [108, 78, 53], "semantic_id": 0, "pcd_info": {"point_index": 631}, "mesh_info": {"face_index": 11313, "face_uv": [0.18476835893669488, 0.00974756890762832, 0.8054840721556771]}}, {"xyz": [-0.14854568744852975, 0.20884902609622036, 0.15734659301367981], "rgb": [102, 74, 50], "semantic_id": 1, "pcd_info": {"point_index": 853}, "mesh_info": {"face_index": 10582, "face_uv": [0.021005073921365403, 0.7357432070181111, 0.24325171906052456]}}, {"xyz": [0.1427740782759229, -0.1388723679531435, 0.0658355876794765], "rgb": [226, 226, 226], "semantic_id": 2, "pcd_info": {"point_index": 1561}, "mesh_info": {"face_index": 3871, "face_uv": [0.018298546892799052, 0.017709423977109902, 0.9639920291300903]}}, {"xyz": [-0.15460050589053814, -0.13969750690231597, 0.07342665076613164], "rgb": [141, 141, 141], "semantic_id": 3, "pcd_info": {"point_index": 1211}, "mesh_info": {"face_index": 7538, "face_uv": [0.24088410824179737, 0.20011608594423697, 0.558999805813965]}}, {"xyz": [0.15317066167656357, -0.10366094578184071, -0.2488220506200698], "rgb": [233, 233, 233], "semantic_id": 4, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 3805, "face_uv": [0.05555673250943725, 0.002171079069934041, 0.9422721884206299]}}, {"xyz": [-0.15368681692095626, -0.119535893019314, -0.2497043105418575], "rgb": [141, 141, 141], "semantic_id": 5, "pcd_info": {"point_index": 1849}, "mesh_info": {"face_index": 12971, "face_uv": [0.4661258090896192, 0.43826750258793606, 0.09560668832244061]}}, {"xyz": [0.1549349409901165, 0.06766496528986199, -0.2513744557645612], "rgb": [131, 101, 77], "semantic_id": 6, "pcd_info": {"point_index": 682}, "mesh_info": {"face_index": 1975, "face_uv": [0.02677965538567005, 0.9265246230545533, 0.04669572155977993]}}, {"xyz": [0.1834788967798491, 0.014830722927424489, 0.09258421380653142], "rgb": [142, 142, 142], "semantic_id": 7, "pcd_info": {"point_index": 952}, "mesh_info": {"face_index": 6364, "face_uv": [0.21939072434755683, 0.23816508203564518, 0.5424441936167991]}}, {"xyz": [-0.18190714018892296, 0.06710896543495415, -0.2522276675511784], "rgb": [103, 78, 56], "semantic_id": 8, "pcd_info": {"point_index": 262}, "mesh_info": {"face_index": 15075, "face_uv": [0.10733149598299489, 0.05037781083618315, 0.8422906931808223]}}, {"xyz": [-0.17412584021301003, 0.013612890983966563, 0.09732812816087696], "rgb": [141, 141, 141], "semantic_id": 9, "pcd_info": {"point_index": 1189}, "mesh_info": {"face_index": 12398, "face_uv": [0.21531454816114137, 0.09465910247486105, 0.6900263493639919]}}, {"xyz": [0.17169332248568037, -0.3426054280584485, -0.25250631467946705], "rgb": [142, 142, 142], "semantic_id": 17, "pcd_info": {"point_index": 1713}, "mesh_info": {"face_index": 5884, "face_uv": [0.008337167925380685, 0.5961330868002018, 0.39552974527441764]}}, {"xyz": [0.17746007558134774, -0.3465699851512909, 0.16580495068011805], "rgb": [142, 142, 142], "semantic_id": 18, "pcd_info": {"point_index": 344}, "mesh_info": {"face_index": 6554, "face_uv": [0.13588996086393898, 0.06865595704038681, 0.7954540820956743]}}, {"xyz": [-0.18049296276883586, -0.3465699851512911, 0.1694847551437868], "rgb": [142, 142, 142], "semantic_id": 19, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 13623, "face_uv": [0.08990159553991968, 0.18599292213293805, 0.7241054823271429]}}, {"xyz": [-0.17690379606289142, -0.3427012769422646, -0.2464805096215493], "rgb": [142, 142, 142], "semantic_id": 20, "pcd_info": {"point_index": 1216}, "mesh_info": {"face_index": 13388, "face_uv": [0.7778249347308924, 0.21395689463841486, 0.008218170630692767]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a1296954d5190272327289c00b6dc9ca", "keypoints": [{"xyz": [0.18236087704490248, 0.39091105346153465, 0.06738658817056242], "rgb": [149, 149, 149], "semantic_id": 0, "pcd_info": {"point_index": 747}, "mesh_info": {"face_index": 15552, "face_uv": [0.2960580798333061, 0.6663427165015191, 0.03759920366517509]}}, {"xyz": [-0.18412770286899174, 0.3921869874051707, 0.06846320680937978], "rgb": [149, 149, 149], "semantic_id": 1, "pcd_info": {"point_index": 1997}, "mesh_info": {"face_index": 15501, "face_uv": [0.4404658921788499, 0.5377374066732529, 0.021796701147897356]}}, {"xyz": [0.11303577769079814, 0.08844920675066636, 0.09034477581546918], "rgb": [148, 148, 148], "semantic_id": 2, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 13406, "face_uv": [0.19674994409086147, 0.7148738958001629, 0.08837616010897402]}}, {"xyz": [-0.11667047412834997, 0.08767315773633921, 0.08980151642512157], "rgb": [149, 149, 149], "semantic_id": 3, "pcd_info": {"point_index": 232}, "mesh_info": {"face_index": 12941, "face_uv": [0.22167002827068383, 0.7436994197041606, 0.034630552025159245]}}, {"xyz": [0.18036929676492264, 0.07831819343011626, -0.21245748275839693], "rgb": [148, 148, 148], "semantic_id": 4, "pcd_info": {"point_index": 693}, "mesh_info": {"face_index": 10306, "face_uv": [0.37432801309272423, 0.027164476619388957, 0.5985075102878863]}}, {"xyz": [-0.18492221825383903, 0.0723792961190779, -0.21287560187596544], "rgb": [148, 148, 148], "semantic_id": 5, "pcd_info": {"point_index": 348}, "mesh_info": {"face_index": 9605, "face_uv": [0.399857196379588, 0.19340818553499792, 0.406734618085414]}}, {"xyz": [0.20392341372972078, -0.32180263402890574, -0.24569936206583753], "rgb": [149, 149, 149], "semantic_id": 17, "pcd_info": {"point_index": 974}, "mesh_info": {"face_index": 2078, "face_uv": [0.23248672224091507, 0.1480615771097553, 0.6194517006493313]}}, {"xyz": [0.20413482465306432, -0.32868198334930754, 0.1248642745460311], "rgb": [148, 148, 148], "semantic_id": 18, "pcd_info": {"point_index": 472}, "mesh_info": {"face_index": 1066, "face_uv": [0.4499138770190257, 0.43257287736718414, 0.11751324561378758]}}, {"xyz": [-0.229821459508035, -0.3203914351685515, 0.1312305400955902], "rgb": [149, 149, 149], "semantic_id": 19, "pcd_info": {"point_index": 1341}, "mesh_info": {"face_index": 1370, "face_uv": [0.3188260906388276, 0.5152081792041905, 0.16596573015698224]}}, {"xyz": [-0.22870305729557616, -0.32255628723682905, -0.23255214795147988], "rgb": [149, 149, 149], "semantic_id": 20, "pcd_info": {"point_index": 1892}, "mesh_info": {"face_index": 2497, "face_uv": [0.3258824746228522, 0.2490693570819729, 0.42504816829517483]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f3573756e64259f2b29d280b4e59c527", "keypoints": [{"xyz": [0.2334582224837768, 0.3029885353300896, 0.296750852909784], "rgb": [225, 212, 181], "semantic_id": 0, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 16, "face_uv": [0.05929370960922124, 0.5111119802551575, 0.42959431013562166]}}, {"xyz": [-0.21440063471747686, 0.3038940576327751, 0.29809504182594826], "rgb": [225, 212, 181], "semantic_id": 1, "pcd_info": {"point_index": 922}, "mesh_info": {"face_index": 7171, "face_uv": [0.10806020980768338, 0.059591639735682086, 0.8323481504566347]}}, {"xyz": [0.22768342242247297, -0.08933850107070973, 0.10365819898512862], "rgb": [247, 210, 139], "semantic_id": 2, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 3793, "face_uv": [0.009678920531370521, 0.9796474256900817, 0.010673653778550537]}}, {"xyz": [-0.2072525817459519, -0.09095464292739663, 0.10146318888452943], "rgb": [224, 211, 180], "semantic_id": 3, "pcd_info": {"point_index": 1969}, "mesh_info": {"face_index": 7283, "face_uv": [0.18070829164025537, 0.45064863479165185, 0.3686430735680922]}}, {"xyz": [0.22740726750569246, -0.027523467061782436, -0.2845078825786931], "rgb": [225, 212, 181], "semantic_id": 4, "pcd_info": {"point_index": 1501}, "mesh_info": {"face_index": 342, "face_uv": [0.38910183634475376, 0.22943160753151748, 0.3814665561237294]}}, {"xyz": [-0.21800715700161702, -0.02591142522668588, -0.28269755167081234], "rgb": [224, 211, 180], "semantic_id": 5, "pcd_info": {"point_index": 1233}, "mesh_info": {"face_index": 7082, "face_uv": [0.06624251034995879, 0.8069603117997725, 0.12679717785026853]}}, {"xyz": [0.21679531595087392, -0.3385350108146672, -0.23081033736193496], "rgb": [225, 212, 181], "semantic_id": 17, "pcd_info": {"point_index": 1477}, "mesh_info": {"face_index": 7650, "face_uv": [0.6743229315673838, 0.29289535838016617, 0.03278171005245141]}}, {"xyz": [0.2163149430553019, -0.3386753420412556, 0.20238382782196307], "rgb": [225, 212, 181], "semantic_id": 18, "pcd_info": {"point_index": 891}, "mesh_info": {"face_index": 7584, "face_uv": [0.10492659952943899, 0.5509749807129448, 0.34409841975761624]}}, {"xyz": [-0.20408265745203877, -0.33744168570262634, 0.2050268034649807], "rgb": [224, 211, 180], "semantic_id": 19, "pcd_info": {"point_index": 1541}, "mesh_info": {"face_index": 7516, "face_uv": [0.09092588221669623, 0.7543814371291975, 0.15469268065410618]}}, {"xyz": [-0.2066251334474941, -0.33853501081466675, -0.23322583794485685], "rgb": [225, 212, 181], "semantic_id": 20, "pcd_info": {"point_index": 1244}, "mesh_info": {"face_index": 7578, "face_uv": [0.5685535088519441, 0.3743020567966247, 0.05714443435143125]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a89450b61d786e4d115013480320769f", "keypoints": [{"xyz": [0.23892369093849306, 0.4212770974139351, 0.1897989958524704], "rgb": [224, 223, 220], "semantic_id": 0, "pcd_info": {"point_index": 917}, "mesh_info": {"face_index": 756, "face_uv": [0.9211815208639914, 0.01311505417273464, 0.06570342496327387]}}, {"xyz": [-0.241473847248789, 0.42227822376085006, 0.1897989958524704], "rgb": [209, 215, 225], "semantic_id": 1, "pcd_info": {"point_index": 1090}, "mesh_info": {"face_index": 1636, "face_uv": [0.018436207863277695, 0.057012942433901634, 0.9245508497028208]}}, {"xyz": [0.2376836298321757, 0.12165100127458567, 0.181841529595415], "rgb": [203, 210, 220], "semantic_id": 2, "pcd_info": {"point_index": 713}, "mesh_info": {"face_index": 1039, "face_uv": [0.3538833779572691, 0.3078227129481836, 0.3382939090945468]}}, {"xyz": [-0.23595320310761886, 0.12587881773926235, 0.18979899585247018], "rgb": [202, 208, 221], "semantic_id": 3, "pcd_info": {"point_index": 431}, "mesh_info": {"face_index": 1637, "face_uv": [0.22019872101886154, 0.05187074766766366, 0.7279305313134736]}}, {"xyz": [0.2338562511182462, 0.05122060729397426, -0.1941950023174286], "rgb": [200, 207, 217], "semantic_id": 4, "pcd_info": {"point_index": 1338}, "mesh_info": {"face_index": 664, "face_uv": [0.06386006847794738, 0.019065587272857808, 0.9170743442491948]}}, {"xyz": [-0.23859804105201632, 0.05220782128281798, -0.1941950023174286], "rgb": [207, 214, 224], "semantic_id": 5, "pcd_info": {"point_index": 1737}, "mesh_info": {"face_index": 1640, "face_uv": [0.09578017168183511, 0.01213921619773194, 0.8920806121204329]}}, {"xyz": [0.250930480283848, 0.3121966307963092, -0.1941950023174288], "rgb": [207, 214, 224], "semantic_id": 6, "pcd_info": {"point_index": 438}, "mesh_info": {"face_index": 313, "face_uv": [0.40502516887875656, 0.07559139972549024, 0.5193834313957544]}}, {"xyz": [0.25374331694707825, 0.313647985458374, 0.20199165190912738], "rgb": [202, 209, 219], "semantic_id": 7, "pcd_info": {"point_index": 749}, "mesh_info": {"face_index": 255, "face_uv": [0.5515272135892267, 0.00793116314106508, 0.44054162326970814]}}, {"xyz": [-0.25861075042884224, 0.31257935481724197, -0.19419500231742848], "rgb": [206, 213, 223], "semantic_id": 8, "pcd_info": {"point_index": 1302}, "mesh_info": {"face_index": 621, "face_uv": [0.7278515426253725, 0.006184313197696813, 0.26596414417693004]}}, {"xyz": [-0.2548932292746331, 0.3136479854583739, 0.20510855319590948], "rgb": [205, 212, 222], "semantic_id": 9, "pcd_info": {"point_index": 129}, "mesh_info": {"face_index": 18, "face_uv": [0.0032838810729430264, 0.5404048654146786, 0.456311253512378]}}, {"xyz": [0.21447582770904955, -0.31749571229829165, -0.18944081863375128], "rgb": [197, 204, 214], "semantic_id": 17, "pcd_info": {"point_index": 861}, "mesh_info": {"face_index": 129, "face_uv": [0.10330734951993618, 0.8899867143951157, 0.006705936084947366]}}, {"xyz": [0.21921818988608757, -0.31246027307140845, 0.14767803523329048], "rgb": [200, 207, 217], "semantic_id": 18, "pcd_info": {"point_index": 1900}, "mesh_info": {"face_index": 486, "face_uv": [0.799008372613581, 0.1804821768118325, 0.0205094505745869]}}, {"xyz": [-0.21594795596601057, -0.3175047717914068, 0.1484463627636805], "rgb": [202, 209, 219], "semantic_id": 19, "pcd_info": {"point_index": 1903}, "mesh_info": {"face_index": 360, "face_uv": [0.11446849254443961, 0.8788504059160905, 0.006681101539468713]}}, {"xyz": [-0.2147928204898908, -0.3170218418122992, -0.1891491809082495], "rgb": [193, 200, 210], "semantic_id": 20, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 586, "face_uv": [0.9865026877769345, 0.005492367685252218, 0.00800494453781144]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6aa1ba85285feb756306d83fc23a955a", "keypoints": [{"xyz": [0.20645631909729245, 0.37996290400974875, 0.1511413160775239], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 444}, "mesh_info": {"face_index": 273, "face_uv": [0.29592519145833623, 0.5131529247010876, 0.1909218838405761]}}, {"xyz": [-0.18508089602993527, 0.38036864703346485, 0.17259501121366372], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 2109, "face_uv": [0.19880996994888225, 0.11320131758569811, 0.6879887124654203]}}, {"xyz": [0.20418655546702735, 0.06500901718737873, 0.10707940484737627], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1949}, "mesh_info": {"face_index": 30, "face_uv": [0.6114894635836688, 0.1775779578735837, 0.21093257854275174]}}, {"xyz": [-0.19152129309081622, 0.06679635347026225, 0.12566024726536756], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1590}, "mesh_info": {"face_index": 1720, "face_uv": [0.4234547045036398, 0.22356404296366994, 0.3529812525326909]}}, {"xyz": [0.18472706376312809, 0.058100323871823956, -0.250441968046623], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1116}, "mesh_info": {"face_index": 634, "face_uv": [0.8508198131848353, 0.005745721492915432, 0.1434344653222473]}}, {"xyz": [-0.21256028269833369, 0.05771534565177916, -0.2284821527838783], "rgb": [6, 2, 0], "semantic_id": 5, "pcd_info": {"point_index": 602}, "mesh_info": {"face_index": 16138, "face_uv": [0.32276247873641245, 0.005181172919207435, 0.6720563483443799]}}, {"xyz": [0.22273755076576682, 0.18466127518614428, -0.2269631338684195], "rgb": [205, 212, 222], "semantic_id": 6, "pcd_info": {"point_index": 931}, "mesh_info": {"face_index": 15072, "face_uv": [0.29278227722989986, 0.38002893267802185, 0.3271887900920785]}}, {"xyz": [0.2248974800226098, 0.1931209366551967, 0.1737491311650456], "rgb": [202, 209, 219], "semantic_id": 7, "pcd_info": {"point_index": 894}, "mesh_info": {"face_index": 13492, "face_uv": [0.021690296632927684, 0.00720694702804728, 0.9711027563390197]}}, {"xyz": [-0.23971832691746436, 0.19255381897351254, -0.20134496458626272], "rgb": [207, 214, 224], "semantic_id": 8, "pcd_info": {"point_index": 1851}, "mesh_info": {"face_index": 7210, "face_uv": [0.7102487401559723, 0.21776112378685336, 0.07199013605717464]}}, {"xyz": [-0.2197027715732427, 0.19556779097607824, 0.21068877376166284], "rgb": [205, 212, 222], "semantic_id": 9, "pcd_info": {"point_index": 517}, "mesh_info": {"face_index": 9333, "face_uv": [0.28384844435796075, 0.3562843299742369, 0.35986722566780277]}}, {"xyz": [0.20900136764804111, -0.3266030056815782, -0.22239844850502655], "rgb": [201, 208, 218], "semantic_id": 17, "pcd_info": {"point_index": 1052}, "mesh_info": {"face_index": 13442, "face_uv": [0.22878570315144672, 0.5032627157949671, 0.26795158105358713]}}, {"xyz": [0.22105004520936222, -0.33025534422394176, 0.18417178449641347], "rgb": [204, 211, 221], "semantic_id": 18, "pcd_info": {"point_index": 1448}, "mesh_info": {"face_index": 11209, "face_uv": [0.5584189066046968, 0.11518893097247515, 0.32639216242282765]}}, {"xyz": [-0.21796510529367707, -0.33661199023517896, 0.19619699459864748], "rgb": [203, 210, 220], "semantic_id": 19, "pcd_info": {"point_index": 227}, "mesh_info": {"face_index": 7614, "face_uv": [0.031913879664257724, 0.20360316448331234, 0.7644829558524302]}}, {"xyz": [-0.24137087189247663, -0.32810022311259546, -0.20058069428027092], "rgb": [195, 202, 212], "semantic_id": 20, "pcd_info": {"point_index": 1548}, "mesh_info": {"face_index": 5636, "face_uv": [0.49642518334024544, 0.05568806983915444, 0.44788674682060053]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8ea007bffdc9a27831aee04639d1b4e0", "keypoints": [{"xyz": [0.15554917429939774, 0.19371835578260582, 0.04136226755576389], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1294}, "mesh_info": {"face_index": 1548, "face_uv": [0.2432842654423178, 0.15276370954209184, 0.603952025015636]}}, {"xyz": [-0.14979304612749836, 0.19214511029766806, 0.04079699888825461], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 650}, "mesh_info": {"face_index": 3994, "face_uv": [0.0052115781185714215, 0.033210272142613226, 0.9615781497388262]}}, {"xyz": [0.16457689953283317, -0.12961536719268207, 0.01791421769250834], "rgb": [28, 28, 152], "semantic_id": 2, "pcd_info": {"point_index": 986}, "mesh_info": {"face_index": 6289, "face_uv": [0.1926288013345747, 0.3971963935343078, 0.41017480513111626]}}, {"xyz": [-0.17014901026584983, -0.1313494290641002, 0.019166488657055725], "rgb": [28, 28, 152], "semantic_id": 3, "pcd_info": {"point_index": 108}, "mesh_info": {"face_index": 6124, "face_uv": [0.36895275665095195, 0.5698505504182116, 0.06119669293083198]}}, {"xyz": [0.17617030333105244, -0.14315693944036, -0.3286821899523926], "rgb": [29, 29, 153], "semantic_id": 4, "pcd_info": {"point_index": 376}, "mesh_info": {"face_index": 7433, "face_uv": [0.462714700965879, 0.028485850010669483, 0.508799449023452]}}, {"xyz": [-0.17180689812249586, -0.142510921396642, -0.33122909451016413], "rgb": [29, 29, 153], "semantic_id": 5, "pcd_info": {"point_index": 1330}, "mesh_info": {"face_index": 6626, "face_uv": [0.6270746463711812, 0.34985113454002265, 0.023074219088796373]}}, {"xyz": [0.2048146208782191, -0.10971778973229152, -0.18214631172435003], "rgb": [0, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 594}, "mesh_info": {"face_index": 7980, "face_uv": [0.2735384288323749, 0.4771997176544714, 0.2492618535131555]}}, {"xyz": [0.2001529808386987, -0.10845813993798492, -0.009418869625324233], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 8007, "face_uv": [0.2608396804676217, 0.6487348490562026, 0.0904254704761713]}}, {"xyz": [-0.2058307642622863, -0.10849818303063108, -0.17790286499232705], "rgb": [0, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 7875, "face_uv": [0.3489378371086813, 0.4123579557221862, 0.23870420716914104]}}, {"xyz": [-0.20420560581984495, -0.10760278793379818, -0.009311141828483693], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 93}, "mesh_info": {"face_index": 7744, "face_uv": [0.2663291719117494, 0.4721591768823979, 0.26151165120585507]}}, {"xyz": [0.20727061715043407, -0.5594409704208374, -0.26708558849697583], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1502}, "mesh_info": {"face_index": 7937, "face_uv": [0.11820222760689048, 0.6131739790928409, 0.2686237933002687]}}, {"xyz": [0.20360528413057924, -0.5594409704208374, 0.08438644045193784], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 776}, "mesh_info": {"face_index": 8034, "face_uv": [0.445004377010093, 0.5216998798627657, 0.03329574312714132]}}, {"xyz": [-0.19542501706510507, -0.5594409704208374, 0.08173993227198471], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1243}, "mesh_info": {"face_index": 7673, "face_uv": [0.25363611754386906, 0.20474006178464882, 0.5416238206714821]}}, {"xyz": [-0.20658413562537503, -0.5594409704208374, -0.27455632505761907], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 950}, "mesh_info": {"face_index": 7901, "face_uv": [0.041771823571677344, 0.6153639736130908, 0.34286420281523183]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "da264a41dd8fdd655357c338ec9641", "keypoints": [{"xyz": [0.18938694125685512, 0.16701963080447602, 0.18966631684742288], "rgb": [174, 127, 48], "semantic_id": 0, "pcd_info": {"point_index": 138}, "mesh_info": {"face_index": 9369, "face_uv": [0.025477643280504853, 0.37791033688456815, 0.5966120198349266]}}, {"xyz": [-0.19075380132938535, 0.1673942244117541, 0.1870375927298785], "rgb": [200, 118, 1], "semantic_id": 1, "pcd_info": {"point_index": 1170}, "mesh_info": {"face_index": 9209, "face_uv": [0.4414080276301781, 0.536707838364649, 0.021884134005172872]}}, {"xyz": [0.19193514669868356, -0.18892442641270923, 0.09975324330062255], "rgb": [185, 137, 64], "semantic_id": 2, "pcd_info": {"point_index": 1700}, "mesh_info": {"face_index": 240, "face_uv": [0.9751278563845868, 0.02446900150155405, 0.0004031421138591271]}}, {"xyz": [-0.18786659762784716, -0.18925763864779555, 0.10350180134154977], "rgb": [213, 144, 16], "semantic_id": 3, "pcd_info": {"point_index": 1333}, "mesh_info": {"face_index": 241, "face_uv": [0.947665757176959, 0.015395336230241866, 0.03693890659279721]}}, {"xyz": [0.21505282704450374, -0.15369724296785825, -0.2965441547438246], "rgb": [222, 140, 6], "semantic_id": 4, "pcd_info": {"point_index": 111}, "mesh_info": {"face_index": 226, "face_uv": [0.02734251828521947, 0.016263488568775863, 0.9563939931460058]}}, {"xyz": [-0.20997758417329307, -0.15409555589045731, -0.292063229520816], "rgb": [210, 121, 1], "semantic_id": 5, "pcd_info": {"point_index": 121}, "mesh_info": {"face_index": 226, "face_uv": [0.9595262814823178, 0.027109903412948097, 0.01336381510473381]}}, {"xyz": [0.2538777146931603, -0.0002924863315894033, -0.2813323339888999], "rgb": [149, 87, 53], "semantic_id": 6, "pcd_info": {"point_index": 835}, "mesh_info": {"face_index": 2189, "face_uv": [0.5673163321017394, 0.026027707221652506, 0.40665596067661036]}}, {"xyz": [0.23248385911434227, -0.07969954086977982, 0.11435183394229728], "rgb": [149, 85, 44], "semantic_id": 7, "pcd_info": {"point_index": 311}, "mesh_info": {"face_index": 1713, "face_uv": [0.24657982822045152, 0.03927037358010923, 0.7141497981994445]}}, {"xyz": [-0.26667181402674683, 0.0008703542289485444, -0.2863469274585734], "rgb": [144, 81, 43], "semantic_id": 8, "pcd_info": {"point_index": 1857}, "mesh_info": {"face_index": 4067, "face_uv": [0.6597618820619664, 0.012364393487491927, 0.3278737244505398]}}, {"xyz": [-0.24514423435151264, -0.08413367589382403, 0.13727662525129805], "rgb": [139, 75, 45], "semantic_id": 9, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 4638, "face_uv": [0.3624239363400114, 0.616483393403442, 0.02109267025654821]}}, {"xyz": [0.2436600895652016, -0.46389292787846925, -0.29164371159997926], "rgb": [165, 101, 68], "semantic_id": 17, "pcd_info": {"point_index": 482}, "mesh_info": {"face_index": 394, "face_uv": [0.10003959749800516, 0.48325876974375476, 0.4167016327582399]}}, {"xyz": [0.2154952639207123, -0.4638190375762484, 0.18082380159722644], "rgb": [166, 102, 67], "semantic_id": 18, "pcd_info": {"point_index": 872}, "mesh_info": {"face_index": 428, "face_uv": [0.07522440491665154, 0.48620328067995666, 0.4385723144033914]}}, {"xyz": [-0.21756372720274061, -0.463761167190304, 0.18447809054816655], "rgb": [162, 99, 63], "semantic_id": 19, "pcd_info": {"point_index": 1966}, "mesh_info": {"face_index": 4048, "face_uv": [0.5166155912452045, 0.3732833851444706, 0.11010102361032549]}}, {"xyz": [-0.2405132042887768, -0.463807580037932, -0.289313893701213], "rgb": [165, 101, 66], "semantic_id": 20, "pcd_info": {"point_index": 1299}, "mesh_info": {"face_index": 4015, "face_uv": [0.27258199590303767, 0.4026100986753386, 0.32480790542162385]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d75b618231bf0815492a611633bf8558", "keypoints": [{"xyz": [0.15315503010267087, 0.2168819125483641, 0.1663449950116368], "rgb": [234, 210, 178], "semantic_id": 0, "pcd_info": {"point_index": 2019}, "mesh_info": {"face_index": 472, "face_uv": [0.5623039928584206, 0.322247999034739, 0.1154480081068402]}}, {"xyz": [-0.15374557989135926, 0.2119869272714654, 0.17651709568536095], "rgb": [234, 210, 178], "semantic_id": 1, "pcd_info": {"point_index": 2028}, "mesh_info": {"face_index": 354, "face_uv": [0.5025097023540469, 0.023776079100959226, 0.4737142185449937]}}, {"xyz": [0.16447466253800289, -0.09281100332736947, 0.08558995263258251], "rgb": [114, 98, 75], "semantic_id": 2, "pcd_info": {"point_index": 1633}, "mesh_info": {"face_index": 1928, "face_uv": [0.22932606235261213, 0.030057373131825594, 0.7406165645155598]}}, {"xyz": [-0.1756409894168337, -0.09281100332736947, 0.08532570332690925], "rgb": [100, 85, 62], "semantic_id": 3, "pcd_info": {"point_index": 2037}, "mesh_info": {"face_index": 1701, "face_uv": [0.9287629755665261, 0.010142629392036506, 0.06109439504143488]}}, {"xyz": [0.23203195847119892, -0.10325366560215943, -0.2231156776913399], "rgb": [112, 95, 60], "semantic_id": 4, "pcd_info": {"point_index": 137}, "mesh_info": {"face_index": 1966, "face_uv": [0.3298536241077345, 0.47466232700630673, 0.19548404888595056]}}, {"xyz": [-0.24573238845809736, -0.10185366966519926, -0.2187865288300006], "rgb": [112, 97, 75], "semantic_id": 5, "pcd_info": {"point_index": 436}, "mesh_info": {"face_index": 2000, "face_uv": [0.43785004018122153, 0.5450917432193855, 0.017058216599394466]}}, {"xyz": [0.27275821563267844, 0.10890572951958877, -0.24175368042667056], "rgb": [234, 210, 178], "semantic_id": 6, "pcd_info": {"point_index": 750}, "mesh_info": {"face_index": 598, "face_uv": [0.015705213994279717, 0.928392203004001, 0.05590258300171869]}}, {"xyz": [0.23835996726648193, 0.17328774407966407, 0.0015010794461012278], "rgb": [235, 211, 179], "semantic_id": 7, "pcd_info": {"point_index": 1715}, "mesh_info": {"face_index": 1271, "face_uv": [0.6875144602565955, 0.08484529230773605, 0.22764024743567102]}}, {"xyz": [-0.2659251638798823, 0.10923804100092482, -0.2350415578477213], "rgb": [235, 211, 179], "semantic_id": 8, "pcd_info": {"point_index": 1594}, "mesh_info": {"face_index": 1414, "face_uv": [0.05227921621146265, 0.6419802658984666, 0.30574051789007073]}}, {"xyz": [-0.24131688084179012, 0.16064204688914008, -0.04599629364955515], "rgb": [235, 211, 179], "semantic_id": 9, "pcd_info": {"point_index": 527}, "mesh_info": {"face_index": 1383, "face_uv": [0.11143945799408383, 0.11255493748990851, 0.7760056045160091]}}, {"xyz": [0.2604003623400528, -0.4048080146312714, -0.22645539514190682], "rgb": [235, 211, 179], "semantic_id": 17, "pcd_info": {"point_index": 6}, "mesh_info": {"face_index": 2503, "face_uv": [0.20630074640330778, 0.37312361946955597, 0.42057563412713633]}}, {"xyz": [0.15200927709993717, -0.40480801463127136, 0.14216930095427455], "rgb": [235, 211, 179], "semantic_id": 18, "pcd_info": {"point_index": 650}, "mesh_info": {"face_index": 2239, "face_uv": [0.008937322207471454, 0.1945655270469921, 0.7964971507455365]}}, {"xyz": [-0.15203005422727425, -0.40480801463127136, 0.14774054208349857], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1917}, "mesh_info": {"face_index": 2158, "face_uv": [0.09240573632207279, 0.502108897956635, 0.4054853657212922]}}, {"xyz": [-0.25628961671361145, -0.4048080146312716, -0.22677626247738625], "rgb": [235, 211, 179], "semantic_id": 20, "pcd_info": {"point_index": 661}, "mesh_info": {"face_index": 2477, "face_uv": [0.36267803874786775, 0.5267339129518451, 0.11058804830028769]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "61fcffc9fa0995dcdeeecaed91450a4d", "keypoints": [{"xyz": [0.17304757726936582, 0.32524657624243913, 0.022833000868558884], "rgb": [135, 92, 28], "semantic_id": 0, "pcd_info": {"point_index": 633}, "mesh_info": {"face_index": 578, "face_uv": [0.0043522633424786, 0.6396061296148638, 0.35604160704265747]}}, {"xyz": [-0.17327854578415755, 0.317977121158152, 0.022833000868559106], "rgb": [130, 82, 22], "semantic_id": 1, "pcd_info": {"point_index": 1708}, "mesh_info": {"face_index": 445, "face_uv": [0.4047700914602811, 0.5738806261052092, 0.021349282434519404]}}, {"xyz": [0.16984610082215143, -0.09926048367039009, 0.022833000868558884], "rgb": [137, 93, 29], "semantic_id": 2, "pcd_info": {"point_index": 1971}, "mesh_info": {"face_index": 489, "face_uv": [0.8161623729539279, 0.1807477256570098, 0.0030899013890621396]}}, {"xyz": [-0.17108820281922374, -0.09914600741965907, 0.022833000868559106], "rgb": [130, 85, 14], "semantic_id": 3, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 533, "face_uv": [0.4476081984823753, 0.5490342383854682, 0.003357563132166102]}}, {"xyz": [0.17248532143587975, -0.10677618324496341, -0.2489279955625534], "rgb": [147, 104, 38], "semantic_id": 4, "pcd_info": {"point_index": 1106}, "mesh_info": {"face_index": 1364, "face_uv": [0.3475971950562979, 0.03274047697369112, 0.619662327970011]}}, {"xyz": [-0.1786430614682066, -0.1127122399947853, -0.2489279955625534], "rgb": [152, 109, 42], "semantic_id": 5, "pcd_info": {"point_index": 1640}, "mesh_info": {"face_index": 1362, "face_uv": [0.3192906267350452, 0.006414247957236027, 0.6742951253077187]}}, {"xyz": [0.17353951463704934, -0.5282710194587708, -0.23834940556619255], "rgb": [149, 105, 40], "semantic_id": 17, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 1395, "face_uv": [0.570386921072196, 0.04161486629334729, 0.3879982126344567]}}, {"xyz": [0.17768113048938755, -0.5282710194587708, 0.08286860081533987], "rgb": [146, 106, 37], "semantic_id": 18, "pcd_info": {"point_index": 1167}, "mesh_info": {"face_index": 1596, "face_uv": [0.3796011019052982, 0.5683634663919503, 0.052035431702751545]}}, {"xyz": [-0.16305199265480042, -0.522265908935568, 0.05458407480901739], "rgb": [144, 100, 25], "semantic_id": 19, "pcd_info": {"point_index": 801}, "mesh_info": {"face_index": 1697, "face_uv": [0.9136765423026906, 0.04139285491388424, 0.044930602783425144]}}, {"xyz": [-0.16305199265480042, -0.5268167095084734, -0.2353405953809502], "rgb": [144, 104, 40], "semantic_id": 20, "pcd_info": {"point_index": 1204}, "mesh_info": {"face_index": 1580, "face_uv": [0.8774510164756977, 0.008160926281755106, 0.1143880572425471]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "935093c683edbf2087946594df4e196c", "keypoints": [{"xyz": [0.16418269495704207, 0.4500636650614266, 0.10506002020936345], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 47}, "mesh_info": {"face_index": 252, "face_uv": [0.015997458355409538, 0.6646233230994447, 0.3193792185451473]}}, {"xyz": [-0.17109395414266904, 0.4462510983974728, 0.10500946959823021], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1228}, "mesh_info": {"face_index": 230, "face_uv": [0.024915179507161343, 0.34160022796474787, 0.6334845925280914]}}, {"xyz": [0.1711278591056107, 0.02937600016593911, 0.08466864110087713], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 8, "face_uv": [0.9733024898776887, 0.02604753030944204, 0.0006499798128616141]}}, {"xyz": [-0.17369419085204613, 0.02937600016593933, 0.08557435869449004], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 43, "face_uv": [0.5680558823195719, 0.037898992849869625, 0.39404512483055854]}}, {"xyz": [0.17926392922017104, 0.02937600016593933, -0.25598866894660766], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1329}, "mesh_info": {"face_index": 100, "face_uv": [0.04663234253959931, 0.5732355426855945, 0.38013211477480624]}}, {"xyz": [-0.18716068625450463, 0.029376000165939553, -0.25684475036040944], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 176}, "mesh_info": {"face_index": 126, "face_uv": [0.04286567223893032, 0.14287153392772475, 0.8142627938333524]}}, {"xyz": [0.17343333894985521, -0.3592849969863896, -0.25223370513273957], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1240}, "mesh_info": {"face_index": 119, "face_uv": [0.19155510842830337, 0.38264829773748493, 0.4257965938342129]}}, {"xyz": [0.1690036793579764, -0.3592849969863894, 0.09506510741304394], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1541}, "mesh_info": {"face_index": 802, "face_uv": [0.006957047543656461, 0.4949668750354562, 0.49807607742088794]}}, {"xyz": [-0.17917478339876092, -0.35928499698638916, 0.09495634953968579], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1209}, "mesh_info": {"face_index": 968, "face_uv": [0.49633295949728906, 0.32693537041795534, 0.1767316700847556]}}, {"xyz": [-0.18109598960882, -0.35928499698638916, -0.25497288869331775], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 67, "face_uv": [0.05386406202095399, 0.5048936422183273, 0.44124229576071866]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "748957972cae6b03c56be62b05937331", "keypoints": [{"xyz": [0.17688417527958708, 0.37802509653681465, -0.0009972450636466235], "rgb": [125, 69, 32], "semantic_id": 0, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 6851, "face_uv": [0.5298067098508596, 0.07632712400880237, 0.393866166140338]}}, {"xyz": [-0.17308020335032775, 0.3737423547451271, -0.019486825138386843], "rgb": [125, 72, 38], "semantic_id": 1, "pcd_info": {"point_index": 722}, "mesh_info": {"face_index": 5410, "face_uv": [0.08957378644396384, 0.07224303608862481, 0.8381831774670881]}}, {"xyz": [0.15105372733373446, -0.010302448536748887, 0.04165944174832226], "rgb": [125, 69, 32], "semantic_id": 2, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 2819, "face_uv": [0.2657194619055009, 0.42012868057144587, 0.31415185752305835]}}, {"xyz": [-0.15135539890020094, -0.015567094651529834, 0.05417792967877477], "rgb": [122, 66, 29], "semantic_id": 3, "pcd_info": {"point_index": 1956}, "mesh_info": {"face_index": 5324, "face_uv": [0.12059627781280344, 0.2725808121735685, 0.6068229100136308]}}, {"xyz": [0.17373405752905197, -0.03709168319927003, -0.23969522214369565], "rgb": [117, 61, 24], "semantic_id": 4, "pcd_info": {"point_index": 19}, "mesh_info": {"face_index": 4075, "face_uv": [0.19553595512058924, 0.31926275941554483, 0.48520128546386626]}}, {"xyz": [-0.16878051596964244, -0.031133897583827785, -0.23790689490157169], "rgb": [125, 68, 33], "semantic_id": 5, "pcd_info": {"point_index": 1781}, "mesh_info": {"face_index": 3875, "face_uv": [0.01850712059243026, 0.4846354686406214, 0.49685741076694795]}}, {"xyz": [0.14284278725011706, -0.4520539939403536, -0.17887924523112064], "rgb": [122, 65, 28], "semantic_id": 17, "pcd_info": {"point_index": 209}, "mesh_info": {"face_index": 586, "face_uv": [0.4302864459944283, 0.49961162829069616, 0.07010192571487608]}}, {"xyz": [0.14363005608558815, -0.4520539939403536, 0.057808995062464175], "rgb": [123, 66, 29], "semantic_id": 18, "pcd_info": {"point_index": 12}, "mesh_info": {"face_index": 1172, "face_uv": [0.41623284416649853, 0.34573379134755766, 0.23803336448594428]}}, {"xyz": [-0.14983174741629385, -0.45205399394035317, 0.046353454276299555], "rgb": [120, 63, 27], "semantic_id": 19, "pcd_info": {"point_index": 1074}, "mesh_info": {"face_index": 1761, "face_uv": [0.15576346995520288, 0.4956168576532142, 0.34861967239158237]}}, {"xyz": [-0.13444626616588798, -0.4520539939403534, -0.1743423832415394], "rgb": [123, 66, 28], "semantic_id": 20, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 2, "face_uv": [0.22204554167655788, 0.41862514726731653, 0.3593293110561256]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a2824df0ddb58c0617b431cae0dd70ed", "keypoints": [{"xyz": [0.13781470256401446, 0.5564883300726057, 0.28207200351154493], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 8156, "face_uv": [0.3527274151769342, 0.09242441799112919, 0.5548481668319366]}}, {"xyz": [-0.14306046910783593, 0.5572170621110124, 0.2808416662143658], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 8140, "face_uv": [0.3774216163982548, 0.05166556869127094, 0.5709128149104745]}}, {"xyz": [0.14397805871188732, 0.11630024787478033, 0.07945476561180387], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1018}, "mesh_info": {"face_index": 6961, "face_uv": [0.2383764760474723, 0.06212221964354943, 0.699501304308978]}}, {"xyz": [-0.14683686826340514, 0.13281909969606276, 0.07277791888019314], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 422}, "mesh_info": {"face_index": 6942, "face_uv": [0.03212185190709123, 0.7004244889240148, 0.2674536591688939]}}, {"xyz": [0.1715071307573476, 0.059112720112426076, -0.21041842237860453], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1917}, "mesh_info": {"face_index": 8303, "face_uv": [0.3786378574446943, 0.41058812590399274, 0.2107740166513133]}}, {"xyz": [-0.18174276699363356, 0.04420863923376106, -0.21269217531664242], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1310}, "mesh_info": {"face_index": 6736, "face_uv": [0.2243605048182072, 0.32137980685043605, 0.45425968833135627]}}, {"xyz": [0.21870026203784687, 0.23488981798550396, -0.18406501478308956], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 7326, "face_uv": [0.011525239252992226, 0.6921159123239025, 0.29635884842310484]}}, {"xyz": [0.18054251444155933, 0.19827966298904187, 0.19980185068052134], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 661}, "mesh_info": {"face_index": 7284, "face_uv": [0.09237457492713948, 0.8695684122017373, 0.03805701287112315]}}, {"xyz": [-0.21571404530195243, 0.23749574056366285, -0.17842721106912285], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1409}, "mesh_info": {"face_index": 7339, "face_uv": [0.0014501385289929756, 0.3291929331333514, 0.669356928337658]}}, {"xyz": [-0.1646314079383795, 0.19909029534015632, 0.20373378797142444], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 7}, "mesh_info": {"face_index": 7298, "face_uv": [0.4424801113105648, 0.3914432313965691, 0.16607665729286664]}}, {"xyz": [0.20647626118495838, -0.14198037045929768, -0.21141685390611814], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1490}, "mesh_info": {"face_index": 686, "face_uv": [0.19110484140630013, 0.005537345504782936, 0.8033578130889165]}}, {"xyz": [0.1767698412439852, -0.14491688517661094, 0.18010607722875668], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 1278, "face_uv": [0.9887024608171332, 0.006724589471720925, 0.004572949711147839]}}, {"xyz": [-0.17321595501721704, -0.14319863677388356, 0.1870640675060045], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1652}, "mesh_info": {"face_index": 4010, "face_uv": [0.2041552323902751, 0.6842667244296328, 0.11157804318009668]}}, {"xyz": [-0.20788497742249895, -0.14429221055679275, -0.20205040949054245], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1991}, "mesh_info": {"face_index": 4130, "face_uv": [0.22810435054805384, 0.0126061322250265, 0.7592895172269197]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a65534c7545a4b3a19fb4103277a6b93", "keypoints": [{"xyz": [0.3701526093864145, 0.19759206749633706, 0.08900052997607588], "rgb": [157, 71, 18], "semantic_id": 0, "pcd_info": {"point_index": 534}, "mesh_info": {"face_index": 11602, "face_uv": [0.08743401523492972, 0.3583709280374698, 0.554195056727599]}}, {"xyz": [-0.3747234817807733, 0.19827931862143233, 0.08913452972140612], "rgb": [167, 78, 20], "semantic_id": 1, "pcd_info": {"point_index": 373}, "mesh_info": {"face_index": 16900, "face_uv": [0.4878295680525366, 0.03346680929978284, 0.47870362264767896]}}, {"xyz": [0.3303192148348255, -0.04585159069435488, -0.01634092378544527], "rgb": [223, 207, 181], "semantic_id": 2, "pcd_info": {"point_index": 1410}, "mesh_info": {"face_index": 4160, "face_uv": [0.31019564845616054, 0.6802973820678242, 0.009506969476025825]}}, {"xyz": [-0.32976565955951925, -0.048362898913750535, -0.02120177857999206], "rgb": [223, 207, 181], "semantic_id": 3, "pcd_info": {"point_index": 339}, "mesh_info": {"face_index": 29838, "face_uv": [0.1417394973920354, 0.796061278535598, 0.06219922407236718]}}, {"xyz": [0.32719124381397063, -0.10367434927775318, -0.2886973659665153], "rgb": [223, 207, 181], "semantic_id": 4, "pcd_info": {"point_index": 1348}, "mesh_info": {"face_index": 990, "face_uv": [0.07074475623165107, 0.17070421929512744, 0.7585510244732219]}}, {"xyz": [-0.3333714195341202, -0.11122512262399795, -0.28691372736292053], "rgb": [223, 207, 181], "semantic_id": 5, "pcd_info": {"point_index": 694}, "mesh_info": {"face_index": 42815, "face_uv": [0.6120725187040755, 0.23249314017076195, 0.15543434112516302]}}, {"xyz": [0.36346818771686296, 0.038580011450764534, -0.29149600863456704], "rgb": [222, 206, 180], "semantic_id": 6, "pcd_info": {"point_index": 737}, "mesh_info": {"face_index": 22355, "face_uv": [0.7362959846734654, 0.02135260092063557, 0.24235141440589822]}}, {"xyz": [0.35668317050284604, 0.0486919991672039, 0.07581061643313758], "rgb": [223, 207, 181], "semantic_id": 7, "pcd_info": {"point_index": 378}, "mesh_info": {"face_index": 22277, "face_uv": [0.2910877840294107, 0.45952353278777675, 0.24938868318281254]}}, {"xyz": [-0.35778852186647253, 0.04065647901927738, -0.29149600863456726], "rgb": [223, 207, 181], "semantic_id": 8, "pcd_info": {"point_index": 186}, "mesh_info": {"face_index": 30715, "face_uv": [0.6201750686846493, 0.0048883804208249525, 0.3749365508945257]}}, {"xyz": [-0.36190126114925636, 0.0486919991672039, 0.07040396404562443], "rgb": [223, 206, 180], "semantic_id": 9, "pcd_info": {"point_index": 194}, "mesh_info": {"face_index": 30598, "face_uv": [0.2845399464427471, 0.5575914163356528, 0.1578686372216]}}, {"xyz": [0.36144624387730095, -0.31124401092529297, -0.27795091884219336], "rgb": [210, 210, 210], "semantic_id": 17, "pcd_info": {"point_index": 1651}, "mesh_info": {"face_index": 24170, "face_uv": [0.677176583303892, 0.05421751961752428, 0.2686058970785838]}}, {"xyz": [0.3584155729329218, -0.31124401092529297, 0.046875706490101754], "rgb": [180, 180, 180], "semantic_id": 18, "pcd_info": {"point_index": 1379}, "mesh_info": {"face_index": 24355, "face_uv": [0.5738570059520215, 0.3477315653079632, 0.07841142874001547]}}, {"xyz": [-0.36843252426456985, -0.31124401092529297, 0.054937516262670405], "rgb": [159, 159, 159], "semantic_id": 19, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 32720, "face_uv": [0.22430761363074414, 0.5228028150046415, 0.25288957136461443]}}, {"xyz": [-0.36387405702974895, -0.31124401092529297, -0.2754043526256684], "rgb": [180, 180, 180], "semantic_id": 20, "pcd_info": {"point_index": 1831}, "mesh_info": {"face_index": 32486, "face_uv": [0.1844616498381836, 0.19728431273768507, 0.6182540374241313]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "19dbb6cbd039caf0a419f44cba56de45", "keypoints": [{"xyz": [0.20490195446772236, 0.281562000513077, 0.20583816693028992], "rgb": [152, 152, 152], "semantic_id": 0, "pcd_info": {"point_index": 1766}, "mesh_info": {"face_index": 1, "face_uv": [0.7819299612079965, 0.18337487546667808, 0.034695163325326135]}}, {"xyz": [-0.2262695870024422, 0.28156200051307656, 0.21754630497141136], "rgb": [189, 189, 189], "semantic_id": 1, "pcd_info": {"point_index": 1681}, "mesh_info": {"face_index": 719, "face_uv": [0.5848531296360338, 0.35346647020216043, 0.06168040016180506]}}, {"xyz": [0.19978677391513522, -0.01333899279462003, 0.17505184614421243], "rgb": [194, 194, 194], "semantic_id": 2, "pcd_info": {"point_index": 492}, "mesh_info": {"face_index": 61, "face_uv": [0.211208242443153, 0.0111457707981091, 0.7776459867587386]}}, {"xyz": [-0.21208957799675132, -0.011496409887726156, 0.17646388866356333], "rgb": [139, 139, 139], "semantic_id": 3, "pcd_info": {"point_index": 110}, "mesh_info": {"face_index": 140, "face_uv": [0.702020722105201, 0.0012026554440649861, 0.29677662245073294]}}, {"xyz": [0.20693300664424896, 0.0019600432740942697, -0.26978423702938303], "rgb": [157, 157, 157], "semantic_id": 4, "pcd_info": {"point_index": 1736}, "mesh_info": {"face_index": 33, "face_uv": [0.3198750364935861, 0.466888683874955, 0.21323627963145883]}}, {"xyz": [-0.21348180213564716, -0.021874272066267464, -0.24212400615215302], "rgb": [185, 185, 185], "semantic_id": 5, "pcd_info": {"point_index": 1685}, "mesh_info": {"face_index": 160, "face_uv": [0.38866444247072746, 0.020251930304772105, 0.5910836272245005]}}, {"xyz": [0.28671578797648967, 0.2815620005130768, -0.32671978836811577], "rgb": [160, 160, 160], "semantic_id": 6, "pcd_info": {"point_index": 873}, "mesh_info": {"face_index": 2, "face_uv": [0.0036390443656309905, 0.0737287058358422, 0.9226322497985269]}}, {"xyz": [0.28987442006022124, 0.28156200051307667, 0.26855109840127644], "rgb": [160, 160, 160], "semantic_id": 7, "pcd_info": {"point_index": 1378}, "mesh_info": {"face_index": 0, "face_uv": [0.956881873887614, 0.04084037202493056, 0.002277754087455154]}}, {"xyz": [-0.30425492262294446, 0.2815620005130768, -0.3246748219006516], "rgb": [172, 172, 172], "semantic_id": 8, "pcd_info": {"point_index": 1452}, "mesh_info": {"face_index": 21, "face_uv": [0.05075717703786836, 0.006513037057964847, 0.9427297859041669]}}, {"xyz": [-0.3054544260085477, 0.2815620005130768, 0.2653045737488733], "rgb": [173, 173, 173], "semantic_id": 9, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 10, "face_uv": [0.027265637693382333, 0.9631144059921886, 0.009619956314429157]}}, {"xyz": [0.2894074357537574, -0.2429099977016449, -0.32450181661471067], "rgb": [201, 201, 201], "semantic_id": 17, "pcd_info": {"point_index": 781}, "mesh_info": {"face_index": 18, "face_uv": [0.0462407199959951, 0.006800397383693286, 0.9469588826203117]}}, {"xyz": [0.27871035602786914, -0.2429099977016448, 0.2719007844134348], "rgb": [152, 152, 152], "semantic_id": 18, "pcd_info": {"point_index": 156}, "mesh_info": {"face_index": 729, "face_uv": [0.02182946217292161, 0.0179619736922745, 0.9602085641348036]}}, {"xyz": [-0.2992018853844864, -0.2429099977016449, 0.26681376354164454], "rgb": [186, 186, 186], "semantic_id": 19, "pcd_info": {"point_index": 155}, "mesh_info": {"face_index": 737, "face_uv": [0.07026007573028945, 0.006529738061776031, 0.9232101862079345]}}, {"xyz": [-0.3056413431380951, -0.2429099977016449, -0.32677699545546657], "rgb": [187, 187, 187], "semantic_id": 20, "pcd_info": {"point_index": 1756}, "mesh_info": {"face_index": 137, "face_uv": [0.9652759976253396, 0.02103571865050578, 0.013688283724154638]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b944154f00e7cf1fad484915511ccff6", "keypoints": [{"xyz": [0.14630243595609385, 0.46572889653116784, 0.27672509596011774], "rgb": [212, 172, 120], "semantic_id": 0, "pcd_info": {"point_index": 757}, "mesh_info": {"face_index": 14766, "face_uv": [0.07809756968848955, 0.02659716603324101, 0.8953052642782657]}}, {"xyz": [-0.15136689990173163, 0.4624278465237469, 0.2708467833478616], "rgb": [214, 174, 124], "semantic_id": 1, "pcd_info": {"point_index": 1448}, "mesh_info": {"face_index": 14621, "face_uv": [0.025988265437376416, 0.23437710417514773, 0.7396346303874757]}}, {"xyz": [0.16970286405933482, 0.22509601675605428, 0.14456152090436225], "rgb": [212, 172, 120], "semantic_id": 2, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 15343, "face_uv": [0.03908558874762455, 0.5225570314918228, 0.43835737976055283]}}, {"xyz": [-0.16526242524370205, 0.22575426876926263, 0.14737816347917487], "rgb": [214, 173, 121], "semantic_id": 3, "pcd_info": {"point_index": 1894}, "mesh_info": {"face_index": 15118, "face_uv": [0.43437285133604997, 0.5361259360132415, 0.029501212650704448]}}, {"xyz": [0.15904151712128423, 0.191465327495417, -0.14273907553361553], "rgb": [214, 174, 122], "semantic_id": 4, "pcd_info": {"point_index": 1431}, "mesh_info": {"face_index": 15338, "face_uv": [0.1092733838559723, 0.05689205748531289, 0.8338345586587156]}}, {"xyz": [-0.15134648854135463, 0.18994063429309738, -0.14338763554889034], "rgb": [213, 172, 120], "semantic_id": 5, "pcd_info": {"point_index": 118}, "mesh_info": {"face_index": 15080, "face_uv": [0.017003114704499136, 0.10436045713933499, 0.8786364281561669]}}, {"xyz": [0.25718121342338324, 0.37420255952020776, -0.08595119755105673], "rgb": [212, 172, 120], "semantic_id": 6, "pcd_info": {"point_index": 1868}, "mesh_info": {"face_index": 15432, "face_uv": [0.02463744128918582, 0.15422068086618831, 0.8211418778446266]}}, {"xyz": [0.23315931878117624, 0.42505229845458325, 0.12417630185227968], "rgb": [214, 174, 125], "semantic_id": 7, "pcd_info": {"point_index": 1925}, "mesh_info": {"face_index": 15437, "face_uv": [0.00020783557484843404, 0.035799603953443254, 0.9639925604717086]}}, {"xyz": [-0.2542485434484463, 0.36889057974885797, -0.08478336737842618], "rgb": [214, 173, 121], "semantic_id": 8, "pcd_info": {"point_index": 1851}, "mesh_info": {"face_index": 15154, "face_uv": [0.03286201792247917, 0.04336043030853057, 0.9237775517689908]}}, {"xyz": [-0.23238989168126362, 0.4249207673339286, 0.11792845066811886], "rgb": [212, 172, 120], "semantic_id": 9, "pcd_info": {"point_index": 743}, "mesh_info": {"face_index": 15176, "face_uv": [0.02874520020237267, 0.7891129159721825, 0.18214188382544436]}}, {"xyz": [0.23686270544785726, -0.11546227536345849, -0.2155769797148066], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 853}, "mesh_info": {"face_index": 7313, "face_uv": [0.17991720576926507, 0.3162519327390915, 0.503830861491644]}}, {"xyz": [0.18764762975740296, -0.11180063889824553, 0.1972373931339102], "rgb": [232, 230, 233], "semantic_id": 18, "pcd_info": {"point_index": 1295}, "mesh_info": {"face_index": 234, "face_uv": [0.014161000480674495, 0.4152116331105248, 0.5706273664088007]}}, {"xyz": [-0.18271129745357934, -0.11457348942242182, 0.19762476310381505], "rgb": [231, 229, 232], "semantic_id": 19, "pcd_info": {"point_index": 973}, "mesh_info": {"face_index": 5770, "face_uv": [0.0030841317880086322, 0.05792402832173602, 0.938991839890255]}}, {"xyz": [-0.2335220578908404, -0.11344341268417048, -0.21589202018591713], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1325}, "mesh_info": {"face_index": 9575, "face_uv": [0.8551150996922039, 0.00575860146979416, 0.13912629883800223]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cccc93857d3f5c9950504d983def56c", "keypoints": [{"xyz": [0.1449962609480261, 0.5754325721504252, 0.28365417199494036], "rgb": [200, 149, 55], "semantic_id": 0, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 9250, "face_uv": [0.03313187987323927, 0.33776049809714814, 0.6291076220296116]}}, {"xyz": [-0.15141122522516945, 0.5836632415179202, 0.28447721209586696], "rgb": [199, 147, 51], "semantic_id": 1, "pcd_info": {"point_index": 824}, "mesh_info": {"face_index": 8434, "face_uv": [0.000506488870509073, 0.6368371515678207, 0.3626563595616689]}}, {"xyz": [0.1442141241112169, 0.12967256344333433, 0.2427803151358534], "rgb": [185, 194, 181], "semantic_id": 2, "pcd_info": {"point_index": 79}, "mesh_info": {"face_index": 13, "face_uv": [0.8798670550791609, 0.013123588498447199, 0.10700935642239204]}}, {"xyz": [-0.147924338532179, 0.1348646532577229, 0.2442962722751143], "rgb": [192, 140, 38], "semantic_id": 3, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 8482, "face_uv": [0.012644554320795183, 0.47097650873774477, 0.5163789369414599]}}, {"xyz": [0.1678178113203898, 0.11968910408845645, -0.08943752292642748], "rgb": [111, 153, 115], "semantic_id": 4, "pcd_info": {"point_index": 937}, "mesh_info": {"face_index": 101, "face_uv": [0.19372699696133738, 0.02874510102889495, 0.7775279020097674]}}, {"xyz": [-0.17100001664791964, 0.11720640264937776, -0.09042039457429207], "rgb": [180, 191, 180], "semantic_id": 5, "pcd_info": {"point_index": 264}, "mesh_info": {"face_index": 124, "face_uv": [0.3339434914882725, 0.01823258028796568, 0.6478239282237623]}}, {"xyz": [0.1462797080362951, -0.2571370005607605, -0.04894412762617639], "rgb": [198, 144, 45], "semantic_id": 17, "pcd_info": {"point_index": 5}, "mesh_info": {"face_index": 7006, "face_uv": [0.20353571777094506, 0.7937850339208621, 0.0026792483081927916]}}, {"xyz": [0.1407019825578085, -0.25713700056076094, 0.2670197334352913], "rgb": [198, 144, 50], "semantic_id": 18, "pcd_info": {"point_index": 669}, "mesh_info": {"face_index": 9140, "face_uv": [0.45797382533850906, 0.3689636429797968, 0.17306253168169583]}}, {"xyz": [-0.14962739677504652, -0.2571370005607605, 0.2773229586806764], "rgb": [196, 143, 49], "semantic_id": 19, "pcd_info": {"point_index": 653}, "mesh_info": {"face_index": 8333, "face_uv": [0.3070706926721608, 0.1409434742817108, 0.5519858330461284]}}, {"xyz": [-0.14365013004457639, -0.2571370005607605, -0.05040785098293908], "rgb": [197, 149, 66], "semantic_id": 20, "pcd_info": {"point_index": 1505}, "mesh_info": {"face_index": 7720, "face_uv": [0.26765823360150615, 0.29659985460173244, 0.43574191179676136]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6c0b7ec41053d2e463860398b0d16872", "keypoints": [{"xyz": [0.18385032136439014, 0.14599962252998577, 0.07626500276888959], "rgb": [163, 111, 72], "semantic_id": 0, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 1497, "face_uv": [0.057152690273169916, 0.9221809493009594, 0.02066636042587542]}}, {"xyz": [-0.18334631498438164, 0.14627613779039672, 0.0763749119124193], "rgb": [162, 110, 72], "semantic_id": 1, "pcd_info": {"point_index": 700}, "mesh_info": {"face_index": 5098, "face_uv": [0.049426211964692934, 0.9161192581000632, 0.03445452993524454]}}, {"xyz": [0.1473911992685201, -0.11650300025939941, -0.04676682272206256], "rgb": [158, 111, 67], "semantic_id": 2, "pcd_info": {"point_index": 610}, "mesh_info": {"face_index": 10028, "face_uv": [0.32628324040396506, 0.4570078906426246, 0.21670886895341038]}}, {"xyz": [-0.14640330580144148, -0.11650300025939919, -0.04847734508063928], "rgb": [159, 111, 67], "semantic_id": 3, "pcd_info": {"point_index": 984}, "mesh_info": {"face_index": 8875, "face_uv": [0.4493564884067582, 0.3697894622828653, 0.18085404931037455]}}, {"xyz": [0.1511519920077978, -0.11650300025939919, -0.35030814897525686], "rgb": [149, 108, 65], "semantic_id": 4, "pcd_info": {"point_index": 276}, "mesh_info": {"face_index": 10056, "face_uv": [0.0328525343395665, 0.18650912598252206, 0.7806383396779095]}}, {"xyz": [-0.15357315842558242, -0.11650300025939941, -0.3507444407022393], "rgb": [149, 108, 66], "semantic_id": 5, "pcd_info": {"point_index": 1230}, "mesh_info": {"face_index": 8903, "face_uv": [0.017717217375510057, 0.1558469755295441, 0.8264358070949458]}}, {"xyz": [0.19429514880977497, -0.5127625344255566, -0.1716900253913925], "rgb": [166, 115, 71], "semantic_id": 17, "pcd_info": {"point_index": 871}, "mesh_info": {"face_index": 3221, "face_uv": [0.5049646633702568, 0.4670712658745835, 0.027964070755159616]}}, {"xyz": [0.17119123342269726, -0.5214920043945315, 0.2436782673109027], "rgb": [164, 114, 65], "semantic_id": 18, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 7225, "face_uv": [0.07320467192777796, 0.36151572753744776, 0.5652796005347747]}}, {"xyz": [-0.1748490497584071, -0.5214920043945312, 0.2423989745704751], "rgb": [164, 113, 65], "semantic_id": 19, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 7527, "face_uv": [0.41001484268271643, 0.4304431666670906, 0.15954199065019295]}}, {"xyz": [-0.1957978965820154, -0.5125364389271136, -0.17635349708640258], "rgb": [161, 111, 69], "semantic_id": 20, "pcd_info": {"point_index": 1399}, "mesh_info": {"face_index": 6777, "face_uv": [0.20231342713200448, 0.42587751174008553, 0.3718090611279094]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f59627a077dcc2566c63b8b48495261a", "keypoints": [{"xyz": [0.14102386265361616, 0.548933982849121, 0.10534921656030782], "rgb": [149, 83, 43], "semantic_id": 0, "pcd_info": {"point_index": 502}, "mesh_info": {"face_index": 30, "face_uv": [0.6333936595281722, 0.17602288274102568, 0.19058345773080193]}}, {"xyz": [-0.12353302899393936, 0.5489339828491211, 0.09783007846774372], "rgb": [153, 88, 47], "semantic_id": 1, "pcd_info": {"point_index": 961}, "mesh_info": {"face_index": 38, "face_uv": [0.46859424333026917, 0.4598666702147942, 0.07153908645493659]}}, {"xyz": [0.12861602114272405, -0.007284000050276518, 0.07328851909847733], "rgb": [156, 91, 48], "semantic_id": 2, "pcd_info": {"point_index": 1190}, "mesh_info": {"face_index": 2, "face_uv": [0.2287572271474703, 0.7142036065363582, 0.05703916631617157]}}, {"xyz": [-0.13322693099005625, -0.007284000050276518, 0.07476586313629241], "rgb": [149, 84, 41], "semantic_id": 3, "pcd_info": {"point_index": 1967}, "mesh_info": {"face_index": 0, "face_uv": [0.8077819215260779, 0.1522450878739624, 0.03997299059995965]}}, {"xyz": [0.13998532426465124, -0.007284000050276518, -0.1659407282902563], "rgb": [154, 85, 43], "semantic_id": 4, "pcd_info": {"point_index": 697}, "mesh_info": {"face_index": 14, "face_uv": [0.4597940366607469, 0.5355383430823802, 0.004667620256872914]}}, {"xyz": [-0.14011584546133843, -0.01019561171971839, -0.1718669980764389], "rgb": [148, 84, 40], "semantic_id": 5, "pcd_info": {"point_index": 337}, "mesh_info": {"face_index": 41, "face_uv": [0.01906395760345456, 0.9393868813252011, 0.04154916107134435]}}, {"xyz": [0.10966972970379318, -0.3605690002441406, -0.16236027875514347], "rgb": [153, 87, 46], "semantic_id": 17, "pcd_info": {"point_index": 477}, "mesh_info": {"face_index": 93, "face_uv": [0.2581313822322926, 0.2406777435964085, 0.5011908741712989]}}, {"xyz": [0.12854265223845718, -0.3605690002441406, 0.09903997731295638], "rgb": [145, 78, 35], "semantic_id": 18, "pcd_info": {"point_index": 300}, "mesh_info": {"face_index": 140, "face_uv": [0.5381493304613366, 0.3783128583728339, 0.08353781116582938]}}, {"xyz": [-0.1178498557264861, -0.3605690002441406, 0.0956372702448729], "rgb": [153, 87, 43], "semantic_id": 19, "pcd_info": {"point_index": 432}, "mesh_info": {"face_index": 120, "face_uv": [0.36519759825844844, 0.3823593107001178, 0.25244309104143386]}}, {"xyz": [-0.12361113828857878, -0.36056900024414085, -0.15397354552691045], "rgb": [150, 82, 41], "semantic_id": 20, "pcd_info": {"point_index": 1212}, "mesh_info": {"face_index": 76, "face_uv": [0.485852320176458, 0.5078627645013749, 0.006284915322167617]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1e53d84e48bb7d25febad4f49b26ec52", "keypoints": [{"xyz": [0.2636497046924602, 0.19437896666017251, 0.07611788883532866], "rgb": [219, 214, 198], "semantic_id": 0, "pcd_info": {"point_index": 508}, "mesh_info": {"face_index": 92, "face_uv": [0.45124192953948317, 0.3993200682614081, 0.14943800219910913]}}, {"xyz": [-0.2667223515436347, 0.19393498873910997, 0.0844617296485366], "rgb": [217, 210, 191], "semantic_id": 1, "pcd_info": {"point_index": 1639}, "mesh_info": {"face_index": 229, "face_uv": [0.46793649530900294, 0.41226759731590384, 0.11979590737509345]}}, {"xyz": [0.26878359629416937, 0.03807829592635015, 0.002639173184376009], "rgb": [178, 171, 153], "semantic_id": 2, "pcd_info": {"point_index": 1923}, "mesh_info": {"face_index": 7415, "face_uv": [0.023466003375824968, 0.957704370808745, 0.018829625815428564]}}, {"xyz": [-0.2569896082679459, 0.03853071712064726, 0.0018512640729682062], "rgb": [244, 237, 219], "semantic_id": 3, "pcd_info": {"point_index": 1271}, "mesh_info": {"face_index": 115, "face_uv": [0.9661337006375106, 0.01205833730287825, 0.021807962059634773]}}, {"xyz": [0.26963099837303167, 0.005678057693805916, -0.28854878203237333], "rgb": [190, 183, 165], "semantic_id": 4, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 811, "face_uv": [0.2873188574514605, 0.013190996865265293, 0.6994901456832744]}}, {"xyz": [-0.25251213997401517, 0.012371343817004776, -0.29268374674196274], "rgb": [202, 196, 179], "semantic_id": 5, "pcd_info": {"point_index": 1313}, "mesh_info": {"face_index": 2358, "face_uv": [0.23683453778293945, 0.6870205500683124, 0.0761449121487477]}}, {"xyz": [0.3757087410890218, 0.12266537768728192, -0.29819067381498243], "rgb": [195, 189, 172], "semantic_id": 6, "pcd_info": {"point_index": 1488}, "mesh_info": {"face_index": 2008, "face_uv": [0.244096560438902, 0.5768030871011303, 0.17910035245996808]}}, {"xyz": [0.3752355524548021, 0.1236890705441569, 0.21227956120802208], "rgb": [173, 165, 150], "semantic_id": 7, "pcd_info": {"point_index": 69}, "mesh_info": {"face_index": 5723, "face_uv": [0.3775234358955718, 0.4384328850644347, 0.18404367903999388]}}, {"xyz": [-0.3794096430166075, 0.12268453225804521, -0.29414579003176267], "rgb": [229, 222, 204], "semantic_id": 8, "pcd_info": {"point_index": 1594}, "mesh_info": {"face_index": 2125, "face_uv": [0.2400180198619778, 0.18995446657185916, 0.5700275135661631]}}, {"xyz": [-0.3788195992864937, 0.12201431258850726, 0.2093132606077136], "rgb": [217, 213, 197], "semantic_id": 9, "pcd_info": {"point_index": 361}, "mesh_info": {"face_index": 2078, "face_uv": [0.21895939489109456, 0.19289473033847834, 0.5881458747704267]}}, {"xyz": [0.3648703198161093, -0.18895241798156198, -0.2850250005722046], "rgb": [204, 211, 221], "semantic_id": 17, "pcd_info": {"point_index": 1525}, "mesh_info": {"face_index": 18, "face_uv": [0.5864205278070772, 0.00629014444841049, 0.40728932774451226]}}, {"xyz": [0.36696260787149676, -0.19650200009346008, 0.1938736740062792], "rgb": [200, 207, 217], "semantic_id": 18, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 21, "face_uv": [0.0029202851536473903, 0.9936151844477717, 0.003464530398580842]}}, {"xyz": [-0.3673559972840002, -0.19650200009346008, 0.19446055079690996], "rgb": [201, 208, 218], "semantic_id": 19, "pcd_info": {"point_index": 1238}, "mesh_info": {"face_index": 23, "face_uv": [0.9899872790727409, 0.005167168226133643, 0.004845552701125503]}}, {"xyz": [-0.3665351359679443, -0.19191775358721935, -0.2850250005722048], "rgb": [203, 210, 220], "semantic_id": 20, "pcd_info": {"point_index": 556}, "mesh_info": {"face_index": 10, "face_uv": [0.643914561635037, 0.005954117681763661, 0.35013132068320013]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bd1787066323c7a64424fc4d3c9cb157", "keypoints": [{"xyz": [0.13093216728650936, 0.3167431754300901, 0.06591339145856301], "rgb": [160, 92, 45], "semantic_id": 0, "pcd_info": {"point_index": 1296}, "mesh_info": {"face_index": 610, "face_uv": [0.03421016174788939, 0.1320408469498779, 0.833748991302221]}}, {"xyz": [-0.13655335268396757, 0.32328399830049637, 0.055446451303209576], "rgb": [151, 85, 35], "semantic_id": 1, "pcd_info": {"point_index": 1962}, "mesh_info": {"face_index": 651, "face_uv": [0.057452109285014985, 0.8841565482956965, 0.05839134241928605]}}, {"xyz": [0.10443196263907828, -0.11647705324080485, 0.021980850502951288], "rgb": [145, 81, 35], "semantic_id": 2, "pcd_info": {"point_index": 830}, "mesh_info": {"face_index": 740, "face_uv": [0.4179363416374674, 0.17876183462909292, 0.4033018237334226]}}, {"xyz": [-0.11718226789371627, -0.12027238897762474, 0.011758777387160357], "rgb": [146, 80, 35], "semantic_id": 3, "pcd_info": {"point_index": 573}, "mesh_info": {"face_index": 208, "face_uv": [0.6480040452052634, 0.03737536269183339, 0.3146205921029561]}}, {"xyz": [0.16452805406077786, -0.1277579963207245, -0.34547160778177965], "rgb": [141, 77, 33], "semantic_id": 4, "pcd_info": {"point_index": 760}, "mesh_info": {"face_index": 39, "face_uv": [0.13691077116123618, 0.02335867855525484, 0.8397305502835091]}}, {"xyz": [-0.18557418037311785, -0.1289083849237933, -0.34711501002311684], "rgb": [145, 81, 33], "semantic_id": 5, "pcd_info": {"point_index": 845}, "mesh_info": {"face_index": 12, "face_uv": [0.024478360140728433, 0.03739762921854819, 0.9381240106407227]}}, {"xyz": [0.15354268207099642, -0.46525212853062214, -0.3305250728829572], "rgb": [148, 84, 36], "semantic_id": 17, "pcd_info": {"point_index": 292}, "mesh_info": {"face_index": 97, "face_uv": [0.3319207448580331, 0.344789815367287, 0.32328943977467983]}}, {"xyz": [0.10232799271578122, -0.42712929224574636, 0.10989891015267461], "rgb": [148, 81, 35], "semantic_id": 18, "pcd_info": {"point_index": 1678}, "mesh_info": {"face_index": 658, "face_uv": [0.2737577863898976, 0.4794710091499963, 0.24677120446010625]}}, {"xyz": [-0.11660063162047794, -0.42531501094813384, 0.08949352264467891], "rgb": [149, 82, 35], "semantic_id": 19, "pcd_info": {"point_index": 1012}, "mesh_info": {"face_index": 126, "face_uv": [0.5341098858603223, 0.3803573794565227, 0.08553273468315536]}}, {"xyz": [-0.17926006983881398, -0.4656820615745667, -0.3342225975468571], "rgb": [147, 83, 36], "semantic_id": 20, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 72, "face_uv": [0.3416290936252059, 0.5091785392292341, 0.1491923671455603]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "53180e91cd6651ab76e29c9c43bc7aa", "keypoints": [{"xyz": [0.20934906691461058, 0.2864882235575109, 0.08247572275961412], "rgb": [169, 85, 48], "semantic_id": 0, "pcd_info": {"point_index": 46}, "mesh_info": {"face_index": 49, "face_uv": [0.08783468902207793, 0.42891888501339376, 0.48324642596452844]}}, {"xyz": [-0.1893609067128627, 0.28186442350721264, 0.07381168649253333], "rgb": [174, 84, 49], "semantic_id": 1, "pcd_info": {"point_index": 1204}, "mesh_info": {"face_index": 2134, "face_uv": [0.1094562187167815, 0.04176973270027699, 0.8487740485829444]}}, {"xyz": [0.16360279605790107, -0.13317200541496277, 0.04747621405318947], "rgb": [174, 94, 59], "semantic_id": 2, "pcd_info": {"point_index": 1408}, "mesh_info": {"face_index": 6334, "face_uv": [0.6019107503365165, 0.151713025652911, 0.2463762240105725]}}, {"xyz": [-0.16284855678122626, -0.12315381761382438, 0.04899417328937583], "rgb": [163, 83, 46], "semantic_id": 3, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 2490, "face_uv": [0.7826559573506676, 0.2002723306465666, 0.017071712002765103]}}, {"xyz": [0.19869300723075867, -0.13414943116736952, -0.29373944688733333], "rgb": [174, 91, 53], "semantic_id": 4, "pcd_info": {"point_index": 1316}, "mesh_info": {"face_index": 7688, "face_uv": [0.6935812816060702, 0.3036272458764608, 0.0027914725174688574]}}, {"xyz": [-0.18487285229220984, -0.14141697269914244, -0.29969900846481334], "rgb": [167, 84, 47], "semantic_id": 5, "pcd_info": {"point_index": 1589}, "mesh_info": {"face_index": 5241, "face_uv": [0.015655197996263498, 0.7810664767834582, 0.20327832522027867]}}, {"xyz": [0.19012239287958296, -0.4833190143108368, -0.27495507686908693], "rgb": [171, 86, 51], "semantic_id": 17, "pcd_info": {"point_index": 400}, "mesh_info": {"face_index": 5979, "face_uv": [0.0003143465500294063, 0.402049389628311, 0.5976362638216596]}}, {"xyz": [0.18498525603462862, -0.4833190143108368, 0.05202391189491129], "rgb": [146, 76, 45], "semantic_id": 18, "pcd_info": {"point_index": 1603}, "mesh_info": {"face_index": 6394, "face_uv": [0.06552400530986717, 0.3475919854137844, 0.5868840092763484]}}, {"xyz": [-0.17994420094911884, -0.4833190143108368, 0.04981476482487835], "rgb": [149, 73, 40], "semantic_id": 19, "pcd_info": {"point_index": 741}, "mesh_info": {"face_index": 8605, "face_uv": [0.0634787173055018, 0.4531962117205735, 0.4833250709739247]}}, {"xyz": [-0.17742357404111475, -0.4833190143108368, -0.27906440715718606], "rgb": [169, 83, 48], "semantic_id": 20, "pcd_info": {"point_index": 75}, "mesh_info": {"face_index": 8618, "face_uv": [0.4269964018201683, 0.496800635040438, 0.0762029631393938]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4499729e53c858ae71a782a4379556c7", "keypoints": [{"xyz": [0.14818734075361778, 0.4304507487712588, 0.13952115066723847], "rgb": [254, 139, 0], "semantic_id": 0, "pcd_info": {"point_index": 1514}, "mesh_info": {"face_index": 4958, "face_uv": [0.8707202842546959, 0.10998819284383456, 0.019291522901469425]}}, {"xyz": [-0.14926426339811463, 0.43357019162984267, 0.14085857795076429], "rgb": [254, 139, 0], "semantic_id": 1, "pcd_info": {"point_index": 1679}, "mesh_info": {"face_index": 5487, "face_uv": [0.21139158472047795, 0.15425679476868542, 0.634351620510836]}}, {"xyz": [0.14879011667905712, 0.13158443522131025, 0.13578964209138655], "rgb": [254, 139, 0], "semantic_id": 2, "pcd_info": {"point_index": 851}, "mesh_info": {"face_index": 6071, "face_uv": [0.3457523232050557, 0.10773785325004398, 0.5465098235448997]}}, {"xyz": [-0.143980563932409, 0.130887117351562, 0.13237306871259968], "rgb": [191, 191, 191], "semantic_id": 3, "pcd_info": {"point_index": 359}, "mesh_info": {"face_index": 17552, "face_uv": [0.1062048683637081, 0.36792418145614253, 0.5258709501801496]}}, {"xyz": [0.11504864842476947, 0.1517784668600788, -0.16239688543046893], "rgb": [254, 139, 0], "semantic_id": 4, "pcd_info": {"point_index": 382}, "mesh_info": {"face_index": 3368, "face_uv": [0.09842967117566029, 0.8227352704773603, 0.07883505834697846]}}, {"xyz": [-0.11277532760233516, 0.14720477318426917, -0.16424682408195768], "rgb": [190, 190, 190], "semantic_id": 5, "pcd_info": {"point_index": 777}, "mesh_info": {"face_index": 10151, "face_uv": [0.708531946164103, 0.13201027564708748, 0.15945777818880622]}}, {"xyz": [0.1727310533937475, -0.29746427988978286, -0.197268735530725], "rgb": [190, 190, 190], "semantic_id": 17, "pcd_info": {"point_index": 111}, "mesh_info": {"face_index": 11696, "face_uv": [0.40979450797885086, 0.05967410541973662, 0.530531386601412]}}, {"xyz": [0.17814288275158915, -0.297552885574226, 0.1624825811336872], "rgb": [191, 191, 191], "semantic_id": 18, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 20652, "face_uv": [0.7688343873518761, 0.00724207761838195, 0.22392353502974197]}}, {"xyz": [-0.1774072991277103, -0.29713680912578533, 0.16720108926793642], "rgb": [190, 190, 190], "semantic_id": 19, "pcd_info": {"point_index": 1891}, "mesh_info": {"face_index": 21484, "face_uv": [0.5972710089845559, 0.39009674337695954, 0.012632247638484098]}}, {"xyz": [-0.18244731005366022, -0.29741780508114446, -0.1904884699874671], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 20717, "face_uv": [0.3248582245223747, 0.10402278127722686, 0.5711189942003987]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "21bfb150cfc23accb01c58badc8bbc39", "keypoints": [{"xyz": [0.16863140119405606, 0.22998855296332743, 0.18280166866542413], "rgb": [232, 206, 176], "semantic_id": 0, "pcd_info": {"point_index": 1064}, "mesh_info": {"face_index": 2008, "face_uv": [0.4421089486674465, 0.13835306488670862, 0.41953798644584467]}}, {"xyz": [-0.16814869447012382, 0.23548414771822312, 0.19509018748429696], "rgb": [236, 210, 180], "semantic_id": 1, "pcd_info": {"point_index": 1511}, "mesh_info": {"face_index": 1076, "face_uv": [0.04174859163234201, 0.540586403976092, 0.4176650043915667]}}, {"xyz": [0.20365043987442022, -0.05590576646270129, 0.09287497229298647], "rgb": [228, 201, 171], "semantic_id": 2, "pcd_info": {"point_index": 1238}, "mesh_info": {"face_index": 2052, "face_uv": [0.9066768848937118, 0.026739710115303534, 0.066583404990984]}}, {"xyz": [-0.20724386081652701, -0.057421943525249874, 0.09139815344835212], "rgb": [238, 211, 181], "semantic_id": 3, "pcd_info": {"point_index": 699}, "mesh_info": {"face_index": 1262, "face_uv": [0.6296320371047439, 0.07702526478214151, 0.29334269811311714]}}, {"xyz": [0.20478806143526324, -0.06250055226852325, -0.23213868107237512], "rgb": [236, 210, 180], "semantic_id": 4, "pcd_info": {"point_index": 603}, "mesh_info": {"face_index": 3883, "face_uv": [0.26329087585607186, 0.27291290203010854, 0.46379622211381977]}}, {"xyz": [-0.1863950186737815, -0.05379407329817576, -0.239107512311038], "rgb": [205, 205, 205], "semantic_id": 5, "pcd_info": {"point_index": 677}, "mesh_info": {"face_index": 4207, "face_uv": [0.20777664396284587, 0.2178406076974822, 0.5743827483396715]}}, {"xyz": [0.23346666794186532, 0.13501241839755385, -0.19411782916649778], "rgb": [241, 215, 187], "semantic_id": 6, "pcd_info": {"point_index": 468}, "mesh_info": {"face_index": 81, "face_uv": [0.30762142582271934, 0.4898042677571946, 0.20257430642008628]}}, {"xyz": [0.22435073346172313, 0.13920896925648424, 0.03860814405762025], "rgb": [234, 207, 178], "semantic_id": 7, "pcd_info": {"point_index": 406}, "mesh_info": {"face_index": 1660, "face_uv": [0.02421191899259015, 0.06717758631738772, 0.9086104946900224]}}, {"xyz": [-0.2325044072200394, 0.13089032448268684, -0.19448882406826706], "rgb": [240, 215, 185], "semantic_id": 8, "pcd_info": {"point_index": 1187}, "mesh_info": {"face_index": 1460, "face_uv": [0.3522618226642157, 0.6440743603667952, 0.003663816968989917]}}, {"xyz": [-0.1998337311373135, 0.14030054792148627, 0.08893198665873703], "rgb": [232, 205, 176], "semantic_id": 9, "pcd_info": {"point_index": 1575}, "mesh_info": {"face_index": 1126, "face_uv": [0.18974910050305369, 0.6319400311091087, 0.17831086838783913]}}, {"xyz": [0.23695917248784992, -0.46618250716997855, -0.21328867222028772], "rgb": [236, 206, 177], "semantic_id": 17, "pcd_info": {"point_index": 464}, "mesh_info": {"face_index": 731, "face_uv": [0.11088723334228755, 0.5069536635303525, 0.38215910312735984]}}, {"xyz": [0.20392880076599662, -0.4661790132522584, 0.20228572041254256], "rgb": [238, 212, 182], "semantic_id": 18, "pcd_info": {"point_index": 928}, "mesh_info": {"face_index": 2233, "face_uv": [0.3996408997211462, 0.4219035894753038, 0.17845551080355018]}}, {"xyz": [-0.20520409284359542, -0.4661790132522583, 0.2033515368415879], "rgb": [240, 213, 185], "semantic_id": 19, "pcd_info": {"point_index": 1724}, "mesh_info": {"face_index": 1416, "face_uv": [0.4024526201583745, 0.2771889128715568, 0.3203584669700687]}}, {"xyz": [-0.23761529902980685, -0.46618245990744744, -0.21385496298546347], "rgb": [233, 206, 178], "semantic_id": 20, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 1586, "face_uv": [0.2930800293376444, 0.4603105048859976, 0.2466094657763583]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "288837a47f55c0e9d8d964adc0b6502a", "keypoints": [{"xyz": [0.22466370482775047, 0.19077867069724186, 0.2759765657231994], "rgb": [0, 0, 102], "semantic_id": 0, "pcd_info": {"point_index": 1610}, "mesh_info": {"face_index": 1131, "face_uv": [0.612137101501439, 0.04252021470768915, 0.34534268379087235]}}, {"xyz": [-0.2139370846789337, 0.19310987611604635, 0.2607013972808123], "rgb": [0, 0, 101], "semantic_id": 1, "pcd_info": {"point_index": 565}, "mesh_info": {"face_index": 1979, "face_uv": [0.16530329930001791, 0.6637387962622168, 0.17095790443776424]}}, {"xyz": [0.14957362899393228, -0.03571953823880292, 0.21124415353901], "rgb": [0, 0, 101], "semantic_id": 2, "pcd_info": {"point_index": 90}, "mesh_info": {"face_index": 1530, "face_uv": [0.2626338979882473, 0.49452338987564254, 0.24284271213610842]}}, {"xyz": [-0.15369686879944394, -0.03281052988795152, 0.21142004732648473], "rgb": [0, 0, 101], "semantic_id": 3, "pcd_info": {"point_index": 1993}, "mesh_info": {"face_index": 2134, "face_uv": [0.4639426053169688, 0.5272285162315624, 0.008828878451468566]}}, {"xyz": [0.15876696832756576, -0.03859569823540987, -0.0869410498104066], "rgb": [0, 0, 102], "semantic_id": 4, "pcd_info": {"point_index": 1047}, "mesh_info": {"face_index": 1876, "face_uv": [0.35192211480389224, 0.3423255753892092, 0.3057523098069022]}}, {"xyz": [-0.15961846873574453, -0.0385292716923793, -0.08918724550581086], "rgb": [0, 0, 101], "semantic_id": 5, "pcd_info": {"point_index": 1915}, "mesh_info": {"face_index": 2498, "face_uv": [0.10820399354562917, 0.8734127617900037, 0.018383244664365337]}}, {"xyz": [0.23565244015159992, 0.18100501602071306, -0.11460617682899682], "rgb": [0, 0, 102], "semantic_id": 6, "pcd_info": {"point_index": 1931}, "mesh_info": {"face_index": 3732, "face_uv": [0.2984221813754277, 0.12127817008243498, 0.5802996485421382]}}, {"xyz": [0.22881408434081896, 0.19315948597977783, 0.2232453629814477], "rgb": [0, 0, 102], "semantic_id": 7, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 1402, "face_uv": [0.2979228811154621, 0.19329784208600959, 0.5087792767985286]}}, {"xyz": [-0.23343452272916193, 0.18564284134136133, -0.10312953874772868], "rgb": [0, 0, 101], "semantic_id": 8, "pcd_info": {"point_index": 1471}, "mesh_info": {"face_index": 2416, "face_uv": [0.26561742566997093, 0.34420228052121876, 0.3901802938088092]}}, {"xyz": [-0.22638877128264961, 0.19328894036622501, 0.20700209328687783], "rgb": [0, 0, 102], "semantic_id": 9, "pcd_info": {"point_index": 1645}, "mesh_info": {"face_index": 2056, "face_uv": [0.04913164528545035, 0.19788100115049426, 0.7529873535640564]}}, {"xyz": [0.24019509317525004, -0.3046959936618805, -0.14407796229543823], "rgb": [151, 84, 40], "semantic_id": 17, "pcd_info": {"point_index": 1918}, "mesh_info": {"face_index": 74, "face_uv": [0.15315904370425584, 0.5373680096019419, 0.3094729466938023]}}, {"xyz": [0.2502407906649402, -0.3046959936618805, 0.21534674246727345], "rgb": [145, 81, 35], "semantic_id": 18, "pcd_info": {"point_index": 1820}, "mesh_info": {"face_index": 117, "face_uv": [0.07416649924621316, 0.8962613238160144, 0.029572176937772497]}}, {"xyz": [-0.24780448347267284, -0.3046959936618805, 0.22911307007161302], "rgb": [150, 81, 32], "semantic_id": 19, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 141, "face_uv": [0.847053800527079, 0.026280308356023296, 0.1266658911168977]}}, {"xyz": [-0.23763964914276617, -0.30469599366188027, -0.15182947680580017], "rgb": [151, 84, 37], "semantic_id": 20, "pcd_info": {"point_index": 2037}, "mesh_info": {"face_index": 314, "face_uv": [0.4011693129795298, 0.4907234531605035, 0.10810723385996607]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2ce61518f138b7f75d009c98a5b96836", "keypoints": [{"xyz": [0.19049476503689478, 0.4591209888458254, 0.16464940288570243], "rgb": [255, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 1819}, "mesh_info": {"face_index": 336, "face_uv": [0.004779939466325516, 0.3603287873838963, 0.6348912731497787]}}, {"xyz": [-0.19080575860669222, 0.459120988845825, 0.16640437986334858], "rgb": [254, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 517}, "mesh_info": {"face_index": 347, "face_uv": [0.005885260672851091, 0.49981011676558357, 0.4943046225615648]}}, {"xyz": [0.19089720789242648, 0.11850696905911895, 0.14171160194609134], "rgb": [255, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 150}, "mesh_info": {"face_index": 356, "face_uv": [0.003735748081199801, 0.5473204353507821, 0.44894381656802024]}}, {"xyz": [-0.19307400286197662, 0.11701225359602618, 0.14264272515457255], "rgb": [255, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 603}, "mesh_info": {"face_index": 194, "face_uv": [0.1036260910079519, 0.19842775118393186, 0.6979461578081163]}}, {"xyz": [0.19021560329737885, 0.09583954748746892, -0.2270759940147402], "rgb": [255, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 202}, "mesh_info": {"face_index": 431, "face_uv": [0.5375922074364241, 0.0055042616389093975, 0.45690353092466746]}}, {"xyz": [-0.18656808049501278, 0.09534524227637586, -0.22707599401473977], "rgb": [254, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 621}, "mesh_info": {"face_index": 430, "face_uv": [0.4744910157733725, 0.016880478792225474, 0.5086285054344011]}}, {"xyz": [0.22228143321316057, -0.32968313273014593, -0.2094652575534095], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 249}, "mesh_info": {"face_index": 70, "face_uv": [0.3626466546090662, 0.3365787779722623, 0.3007745674186717]}}, {"xyz": [0.2229573810662147, -0.33304150203070826, 0.1623486673622213], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 365}, "mesh_info": {"face_index": 733, "face_uv": [0.11430699112231751, 0.32387391786585873, 0.5618190910118235]}}, {"xyz": [-0.21853480491612337, -0.32925369972772733, 0.16535533517990886], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 372}, "mesh_info": {"face_index": 498, "face_uv": [0.13668158526054366, 0.4298937604290951, 0.4334246543103618]}}, {"xyz": [-0.21806204037382515, -0.32714307551742006, -0.21000763573283032], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1469}, "mesh_info": {"face_index": 582, "face_uv": [0.03574614539158007, 0.3680370064437159, 0.5962168481647047]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "47ad261baf9609ffc27c29012942420f", "keypoints": [{"xyz": [0.17114139882149507, 0.45215690396951647, 0.2124589979648588], "rgb": [15, 15, 15], "semantic_id": 0, "pcd_info": {"point_index": 784}, "mesh_info": {"face_index": 608, "face_uv": [0.09304369185140149, 0.03645580445685268, 0.8705005036917448]}}, {"xyz": [-0.17788412984931126, 0.45445189729981383, 0.212458997964859], "rgb": [26, 26, 24], "semantic_id": 1, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 631, "face_uv": [0.9269874960409813, 0.05650471553791272, 0.016507788421106027]}}, {"xyz": [0.17323521599980823, 0.0007773129099206688, 0.05987030126421611], "rgb": [17, 17, 17], "semantic_id": 2, "pcd_info": {"point_index": 1675}, "mesh_info": {"face_index": 300, "face_uv": [0.5050567804088434, 0.07028411059996756, 0.42465910899120424]}}, {"xyz": [-0.1739133568115624, -0.0014351905359359929, 0.07006975939846882], "rgb": [14, 14, 13], "semantic_id": 3, "pcd_info": {"point_index": 1218}, "mesh_info": {"face_index": 310, "face_uv": [0.4576608696633694, 0.039474877606994, 0.5028642527296316]}}, {"xyz": [0.17658949737342797, 0.06152554784028608, -0.24921941131783276], "rgb": [21, 21, 21], "semantic_id": 4, "pcd_info": {"point_index": 1116}, "mesh_info": {"face_index": 409, "face_uv": [0.6211852878463141, 0.12241859481381757, 0.25639611733986906]}}, {"xyz": [-0.17060339794497864, 0.06621471753118247, -0.2417907289586677], "rgb": [17, 17, 15], "semantic_id": 5, "pcd_info": {"point_index": 1281}, "mesh_info": {"face_index": 372, "face_uv": [0.4465398949864713, 0.018496406688108633, 0.534963698325421]}}, {"xyz": [0.21472801532930974, 0.09291733696549653, -0.1649807971855548], "rgb": [194, 163, 100], "semantic_id": 6, "pcd_info": {"point_index": 1725}, "mesh_info": {"face_index": 3982, "face_uv": [0.4705215640447633, 0.24883849936996605, 0.2806399365852703]}}, {"xyz": [0.21601369011812482, 0.1887494484841521, 0.22421682574610657], "rgb": [196, 162, 97], "semantic_id": 7, "pcd_info": {"point_index": 1963}, "mesh_info": {"face_index": 4102, "face_uv": [0.5573866336160581, 0.09485470883116906, 0.3477586575528005]}}, {"xyz": [-0.22036744126608615, 0.08895629051619047, -0.16930155125004376], "rgb": [192, 161, 98], "semantic_id": 8, "pcd_info": {"point_index": 691}, "mesh_info": {"face_index": 4284, "face_uv": [0.12535613427052097, 0.6651205544870396, 0.20952331124243995]}}, {"xyz": [-0.2150721525248246, 0.18976828332441875, 0.22531898947782492], "rgb": [195, 161, 95], "semantic_id": 9, "pcd_info": {"point_index": 246}, "mesh_info": {"face_index": 4423, "face_uv": [0.3727043355472584, 0.5501780233641813, 0.0771176410885678]}}, {"xyz": [0.213866940146197, -0.22863699495792367, -0.1538802683422642], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1005}, "mesh_info": {"face_index": 5175, "face_uv": [0.1792052461338903, 0.2920301540632085, 0.5287645998029002]}}, {"xyz": [0.2165455507600111, -0.2286369949579239, 0.18278914525805995], "rgb": [195, 158, 92], "semantic_id": 18, "pcd_info": {"point_index": 887}, "mesh_info": {"face_index": 3986, "face_uv": [0.43106824466956045, 0.06125122478245351, 0.507680530547986]}}, {"xyz": [-0.21247263368253277, -0.2286369949579239, 0.18118345904968133], "rgb": [195, 159, 93], "semantic_id": 19, "pcd_info": {"point_index": 1134}, "mesh_info": {"face_index": 4307, "face_uv": [0.440105512445, 0.06614308982618654, 0.4937513977288135]}}, {"xyz": [-0.21073690169327652, -0.22863699495792367, -0.1443179340648295], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 929}, "mesh_info": {"face_index": 5140, "face_uv": [0.3828596232358851, 0.47075000394343486, 0.1463903728206791]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "807c16e4f6f2c5852cf52ec1a1c9b69d", "keypoints": [{"xyz": [0.1583442602638891, 0.3259313550191043, 0.11329665765671337], "rgb": [249, 235, 214], "semantic_id": 0, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 48, "face_uv": [0.7218228947422008, 0.06614129122977612, 0.21203581402803792]}}, {"xyz": [-0.1625756999361384, 0.3209328282805186, 0.11170676754496855], "rgb": [249, 235, 214], "semantic_id": 1, "pcd_info": {"point_index": 1941}, "mesh_info": {"face_index": 608, "face_uv": [0.2404958057606106, 0.13904861955347403, 0.6204555746859288]}}, {"xyz": [0.15719465258525506, -0.0649759992957113, 0.02603422529354238], "rgb": [159, 112, 66], "semantic_id": 2, "pcd_info": {"point_index": 1294}, "mesh_info": {"face_index": 1439, "face_uv": [0.9605027175453963, 0.03121446418179707, 0.00828281827280344]}}, {"xyz": [-0.15490068881049623, -0.06497599929571174, 0.02294645363824399], "rgb": [163, 116, 72], "semantic_id": 3, "pcd_info": {"point_index": 17}, "mesh_info": {"face_index": 1439, "face_uv": [0.027248383708255025, 0.9532749333203882, 0.019476682971360473]}}, {"xyz": [0.15154399240905342, -0.06497599929571152, -0.23828738275068395], "rgb": [158, 107, 69], "semantic_id": 4, "pcd_info": {"point_index": 11}, "mesh_info": {"face_index": 1432, "face_uv": [0.03349207713603599, 0.9520911168957337, 0.014416805968230285]}}, {"xyz": [-0.15686099241492085, -0.0649759992957113, -0.2373428258014041], "rgb": [146, 96, 59], "semantic_id": 5, "pcd_info": {"point_index": 366}, "mesh_info": {"face_index": 1432, "face_uv": [0.036916307898750354, 0.04093350807105895, 0.9221501840301872]}}, {"xyz": [0.1519562931718772, -0.5168240070343015, -0.24424629751298638], "rgb": [248, 234, 213], "semantic_id": 17, "pcd_info": {"point_index": 204}, "mesh_info": {"face_index": 559, "face_uv": [0.046342159424028695, 0.4669021882818273, 0.48675565229414364]}}, {"xyz": [0.15542293035173038, -0.516824007034302, 0.13402763356050962], "rgb": [249, 235, 214], "semantic_id": 18, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 287, "face_uv": [0.06565529251436461, 0.3644844112083849, 0.569860296277251]}}, {"xyz": [-0.1530816337196121, -0.516824007034302, 0.12897869023386022], "rgb": [249, 235, 214], "semantic_id": 19, "pcd_info": {"point_index": 1917}, "mesh_info": {"face_index": 847, "face_uv": [0.10029186868528504, 0.479013013063722, 0.42069511825099337]}}, {"xyz": [-0.15349086489514402, -0.5168240070343018, -0.23897544833544831], "rgb": [249, 235, 214], "semantic_id": 20, "pcd_info": {"point_index": 1116}, "mesh_info": {"face_index": 1111, "face_uv": [0.13357998668336676, 0.5088967262217388, 0.3575232870948945]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "664eb477f8098678f1783a44a88d6274", "keypoints": [{"xyz": [0.19303234225301752, 0.23240169033266422, 0.03356827899004389], "rgb": [159, 76, 10], "semantic_id": 0, "pcd_info": {"point_index": 580}, "mesh_info": {"face_index": 218, "face_uv": [0.05783784404810766, 0.17478375768936905, 0.7673783982625252]}}, {"xyz": [-0.19346968291409672, 0.2348922492071348, 0.03948296240226923], "rgb": [161, 71, 6], "semantic_id": 1, "pcd_info": {"point_index": 985}, "mesh_info": {"face_index": 1427, "face_uv": [0.17565058444097162, 0.23977284865847956, 0.5845765669005477]}}, {"xyz": [0.16701505374116732, -0.16189301104854237, -0.0424585471847978], "rgb": [152, 69, 9], "semantic_id": 2, "pcd_info": {"point_index": 715}, "mesh_info": {"face_index": 233, "face_uv": [0.47649946194675985, 0.11638783860054387, 0.4071126994527039]}}, {"xyz": [-0.1654317717552023, -0.15344399448891166, -0.04186811246858113], "rgb": [157, 74, 10], "semantic_id": 3, "pcd_info": {"point_index": 98}, "mesh_info": {"face_index": 1409, "face_uv": [0.6272538463195575, 0.18427243943451496, 0.18847371424592213]}}, {"xyz": [0.18673268504594923, -0.15854019851123646, -0.3990989923477175], "rgb": [165, 81, 17], "semantic_id": 4, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 1713, "face_uv": [0.14310215015995303, 0.01609905326185814, 0.8407987965781893]}}, {"xyz": [-0.19262926943018177, -0.16303731358899162, -0.39318946622051865], "rgb": [135, 62, 7], "semantic_id": 5, "pcd_info": {"point_index": 1709}, "mesh_info": {"face_index": 1788, "face_uv": [0.39230983237248584, 0.5911602555095998, 0.016529912117914138]}}, {"xyz": [0.19294600188732136, -0.526331454772927, -0.3944786025701089], "rgb": [145, 61, 2], "semantic_id": 17, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 10, "face_uv": [0.7999848813077689, 0.007137131483725865, 0.1928779872085046]}}, {"xyz": [0.20241691271348872, -0.5288130044937136, 0.04904415726243011], "rgb": [146, 66, 7], "semantic_id": 18, "pcd_info": {"point_index": 83}, "mesh_info": {"face_index": 138, "face_uv": [0.09073209247251628, 0.8669380147732842, 0.0423298927541999]}}, {"xyz": [-0.20268390136788605, -0.52846518338511, 0.04614153022393], "rgb": [146, 66, 7], "semantic_id": 19, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 1341, "face_uv": [0.009666263098973251, 0.200188496946064, 0.7901452399549632]}}, {"xyz": [-0.1845902630087644, -0.5288770198822021, -0.39530774703216076], "rgb": [149, 66, 5], "semantic_id": 20, "pcd_info": {"point_index": 955}, "mesh_info": {"face_index": 2754, "face_uv": [0.3509386361841801, 0.15826538466994186, 0.4907959791458781]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "79862d8abd869cf6b3a8888e78d004b3", "keypoints": [{"xyz": [0.22138268533150718, 0.337998697490001, 0.12809605362729326], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 548}, "mesh_info": {"face_index": 510, "face_uv": [0.009753086514690873, 0.00039354089585426355, 0.9898533725894575]}}, {"xyz": [-0.22115504538574238, 0.3404610202967745, 0.12857022106186844], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 797}, "mesh_info": {"face_index": 502, "face_uv": [0.9975881022559759, 0.0005484768471935094, 0.0018634208968302424]}}, {"xyz": [0.2225465090638878, 0.006231647163022602, 0.06430042282211623], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 281}, "mesh_info": {"face_index": 532, "face_uv": [0.0011660850218020952, 0.24905385108797654, 0.7497800638902207]}}, {"xyz": [-0.21550229273749105, -0.001462999964132905, 0.05768350385464349], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 519}, "mesh_info": {"face_index": 81, "face_uv": [0.07365529670429193, 0.014725488912839852, 0.9116192143828682]}}, {"xyz": [0.22261334985552894, -0.0017064472387064988, -0.28817454420636346], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1442}, "mesh_info": {"face_index": 90, "face_uv": [0.00585700710598122, 0.14237193753219182, 0.8517710553618257]}}, {"xyz": [-0.2205608340284063, -0.0034969395827988414, -0.29041099548339844], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 925}, "mesh_info": {"face_index": 98, "face_uv": [0.0033045804416343572, 0.03295857546721824, 0.9637368440911475]}}, {"xyz": [0.2615540602978011, 0.22207899391651176, -0.2720769229573379], "rgb": [54, 45, 42], "semantic_id": 6, "pcd_info": {"point_index": 300}, "mesh_info": {"face_index": 43, "face_uv": [0.7223905667111336, 0.2388407610295575, 0.038768672259310015]}}, {"xyz": [0.27714781472263467, 0.22207899391651154, 0.20026280237496163], "rgb": [53, 46, 43], "semantic_id": 7, "pcd_info": {"point_index": 1725}, "mesh_info": {"face_index": 22, "face_uv": [0.7250142861065476, 0.26573173316637216, 0.009253980727080287]}}, {"xyz": [-0.275115822166082, 0.22207899391651154, -0.2848545424038995], "rgb": [68, 57, 55], "semantic_id": 8, "pcd_info": {"point_index": 1681}, "mesh_info": {"face_index": 38, "face_uv": [0.5922835452558702, 0.010929569459214635, 0.3967868852849151]}}, {"xyz": [-0.2717981690621266, 0.22207899391651154, 0.20418008144617386], "rgb": [51, 41, 39], "semantic_id": 9, "pcd_info": {"point_index": 401}, "mesh_info": {"face_index": 36, "face_uv": [0.14695850637546426, 0.8265981218505175, 0.026443371774018284]}}, {"xyz": [0.2450117410665006, -0.2870419919490814, -0.2535566709830337], "rgb": [51, 46, 42], "semantic_id": 17, "pcd_info": {"point_index": 821}, "mesh_info": {"face_index": 1, "face_uv": [0.07242472286948298, 0.08329950861696686, 0.8442757685135502]}}, {"xyz": [0.2405817705128538, -0.2870419919490814, 0.1694576922403974], "rgb": [50, 45, 41], "semantic_id": 18, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 0, "face_uv": [0.08392229556968604, 0.9091441802488481, 0.006933524181465533]}}, {"xyz": [-0.2491852363331311, -0.2870419919490812, 0.17688891299347065], "rgb": [50, 45, 41], "semantic_id": 19, "pcd_info": {"point_index": 850}, "mesh_info": {"face_index": 0, "face_uv": [0.0691015894896525, 0.07373639544085206, 0.8571620150694946]}}, {"xyz": [-0.25260311466977253, -0.2870419919490812, -0.2422246816018236], "rgb": [50, 45, 41], "semantic_id": 20, "pcd_info": {"point_index": 1582}, "mesh_info": {"face_index": 0, "face_uv": [0.9049749413981247, 0.06790643521477513, 0.027118623387099302]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "590d04438aeffbb58f447453fccbd9d3", "keypoints": [{"xyz": [0.21028050212908417, 0.2900856755537574, 0.10104586825187112], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 758}, "mesh_info": {"face_index": 91, "face_uv": [0.20929313374377795, 0.5844347764422408, 0.2062720898139812]}}, {"xyz": [-0.21302785946067898, 0.2880839002692188, 0.09581409012695041], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 924}, "mesh_info": {"face_index": 43, "face_uv": [0.3750895969785486, 0.11937440731511122, 0.5055359957063398]}}, {"xyz": [0.2105268959040404, -0.0728830313588188, 0.0622919984161856], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 475}, "mesh_info": {"face_index": 22, "face_uv": [0.9836745009071759, 0.007878343943389376, 0.008447155149438182]}}, {"xyz": [-0.21679044237480616, -0.06627508044179309, 0.0622919984161856], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 877}, "mesh_info": {"face_index": 41, "face_uv": [0.035859777041664376, 5.008366621788593e-05, 0.9640368250948721]}}, {"xyz": [0.21044493901152683, -0.08645534498287777, -0.27541500329971313], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 68}, "mesh_info": {"face_index": 14, "face_uv": [0.003354560452249114, 0.876090047906807, 0.12055539164094389]}}, {"xyz": [-0.2004430108194989, -0.07937599718570698, -0.2709798500381997], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 0, "face_uv": [0.013133139789752403, 0.037727950167749914, 0.9491389100424963]}}, {"xyz": [0.19712716517101872, -0.4129959940910337, -0.26932444738318395], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1734}, "mesh_info": {"face_index": 100, "face_uv": [0.49747240028375955, 0.47035224227460903, 0.032175357441630956]}}, {"xyz": [0.19589349550028406, -0.39667201042175293, 0.11955191597042036], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 784}, "mesh_info": {"face_index": 124, "face_uv": [0.26079509379820065, 0.499844701622999, 0.23936020457880025]}}, {"xyz": [-0.19519712615994672, -0.4191170036792755, 0.12360757608351769], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1550}, "mesh_info": {"face_index": 139, "face_uv": [0.07556650615149135, 0.5164923058792765, 0.4079411879692322]}}, {"xyz": [-0.18306310541712378, -0.44258299469947815, -0.2747031780930266], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 2036}, "mesh_info": {"face_index": 56, "face_uv": [0.05814139119744745, 0.1934283301066212, 0.7484302786959314]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3f7417590f1bcfded5c89ecb06d1099b", "keypoints": [{"xyz": [0.15090192358416438, 0.2923642814356302, 0.03760876323518092], "rgb": [155, 91, 46], "semantic_id": 0, "pcd_info": {"point_index": 1484}, "mesh_info": {"face_index": 229, "face_uv": [0.12493314687095164, 0.6792642034782371, 0.19580264965081118]}}, {"xyz": [-0.15553091302314828, 0.28255856402267343, 0.06042073437574946], "rgb": [155, 94, 53], "semantic_id": 1, "pcd_info": {"point_index": 1470}, "mesh_info": {"face_index": 222, "face_uv": [0.4362623148859345, 0.04418290848920144, 0.5195547766248642]}}, {"xyz": [0.17135949780192078, -0.05241524540547471, 0.02546899951994397], "rgb": [151, 80, 36], "semantic_id": 2, "pcd_info": {"point_index": 848}, "mesh_info": {"face_index": 55, "face_uv": [0.18239118019032616, 0.8104673075965784, 0.007141512213086559]}}, {"xyz": [-0.165744008139184, -0.05217078722854329, 0.02546899951994419], "rgb": [156, 84, 39], "semantic_id": 3, "pcd_info": {"point_index": 976}, "mesh_info": {"face_index": 153, "face_uv": [0.759846488749995, 0.23290369095831948, 0.007249820291685301]}}, {"xyz": [0.1740453077402373, -0.05507739542672585, -0.25734999775886536], "rgb": [148, 80, 35], "semantic_id": 4, "pcd_info": {"point_index": 1450}, "mesh_info": {"face_index": 26, "face_uv": [0.9832166681955954, 0.0059093249655040245, 0.010874006838900555]}}, {"xyz": [-0.16996860797519067, -0.057171796534726704, -0.25734999775886536], "rgb": [148, 77, 29], "semantic_id": 5, "pcd_info": {"point_index": 294}, "mesh_info": {"face_index": 36, "face_uv": [0.012370503125918544, 0.9757386985007447, 0.011890798373336798]}}, {"xyz": [0.15626633291663733, -0.5093590021133423, -0.23184273246743914], "rgb": [149, 81, 36], "semantic_id": 17, "pcd_info": {"point_index": 1138}, "mesh_info": {"face_index": 2, "face_uv": [0.0395867681264298, 0.6048141764202988, 0.3555990554532714]}}, {"xyz": [0.1407796036086721, -0.5093590021133421, 0.050573848072436145], "rgb": [149, 79, 35], "semantic_id": 18, "pcd_info": {"point_index": 670}, "mesh_info": {"face_index": 106, "face_uv": [0.4439883971334639, 0.40697338987538434, 0.14903821299115128]}}, {"xyz": [-0.1455831012195299, -0.5093590021133423, 0.05754569220361061], "rgb": [148, 84, 44], "semantic_id": 19, "pcd_info": {"point_index": 883}, "mesh_info": {"face_index": 204, "face_uv": [0.4439950644614205, 0.5190338978688908, 0.03697103766968867]}}, {"xyz": [-0.15098438930584868, -0.5093590021133425, -0.21883661143659433], "rgb": [152, 85, 40], "semantic_id": 20, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 87, "face_uv": [0.012251269132713844, 0.4033094446339647, 0.5844392862333219]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ea572cc193b804399c66df0f068d2a36", "keypoints": [{"xyz": [0.23528850914866106, 0.4177510142326355, 0.2155320402177164], "rgb": [130, 107, 82], "semantic_id": 0, "pcd_info": {"point_index": 1922}, "mesh_info": {"face_index": 93196, "face_uv": [0.4891229618949674, 0.40899278162844477, 0.10188425647658791]}}, {"xyz": [-0.23561279633465482, 0.4177510142326355, 0.21247953658510932], "rgb": [156, 134, 108], "semantic_id": 1, "pcd_info": {"point_index": 1667}, "mesh_info": {"face_index": 86150, "face_uv": [0.4920484951734471, 0.2536768497055112, 0.25427465512104175]}}, {"xyz": [0.20173545871474394, 0.08490999788045883, 0.18770643223618824], "rgb": [139, 57, 40], "semantic_id": 2, "pcd_info": {"point_index": 1382}, "mesh_info": {"face_index": 36421, "face_uv": [0.9773776982073886, 0.014560758139366501, 0.00806154365324484]}}, {"xyz": [-0.20695818456660742, 0.08879233941407638, 0.17213962700688645], "rgb": [120, 110, 71], "semantic_id": 3, "pcd_info": {"point_index": 898}, "mesh_info": {"face_index": 36867, "face_uv": [0.26963122343286655, 0.6888398117995665, 0.041528964767569565]}}, {"xyz": [0.19816731899729123, 0.08490999788045905, -0.27054746958338516], "rgb": [146, 119, 74], "semantic_id": 4, "pcd_info": {"point_index": 756}, "mesh_info": {"face_index": 36423, "face_uv": [0.0022301643614157417, 0.9768296765164547, 0.020940159122132217]}}, {"xyz": [-0.2024665047130891, 0.08490999788045883, -0.2721295168938501], "rgb": [136, 104, 66], "semantic_id": 5, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 36423, "face_uv": [0.9722718463285726, 0.010140208766111375, 0.017587944905316188]}}, {"xyz": [0.23336077178293846, 0.1525059938430786, -0.15532695589950202], "rgb": [160, 136, 111], "semantic_id": 6, "pcd_info": {"point_index": 1424}, "mesh_info": {"face_index": 35861, "face_uv": [0.007307147202668106, 0.5874203233470143, 0.4052725294503175]}}, {"xyz": [0.23728394830031402, 0.18745337029851306, 0.1907830148543347], "rgb": [157, 133, 107], "semantic_id": 7, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 35733, "face_uv": [0.2884452189656762, 0.6193029704510329, 0.09225181058329059]}}, {"xyz": [-0.23748345769980428, 0.15250599384307884, -0.15413268115732592], "rgb": [159, 136, 111], "semantic_id": 8, "pcd_info": {"point_index": 1516}, "mesh_info": {"face_index": 13360, "face_uv": [0.30298793810112623, 0.5983688119755973, 0.09864324992327793]}}, {"xyz": [-0.2377340517958914, 0.18745905574406763, 0.19060599318532118], "rgb": [159, 135, 109], "semantic_id": 9, "pcd_info": {"point_index": 468}, "mesh_info": {"face_index": 13232, "face_uv": [0.3005282439515989, 0.6100280162133004, 0.08944373983510225]}}, {"xyz": [0.24035195149735622, -0.26596000790595986, -0.27590771040012624], "rgb": [152, 128, 102], "semantic_id": 17, "pcd_info": {"point_index": 628}, "mesh_info": {"face_index": 45856, "face_uv": [0.16739594849730013, 0.2788916223994694, 0.5537124291032296]}}, {"xyz": [0.23453214892173363, -0.2659600079059601, 0.21701282878689626], "rgb": [156, 131, 107], "semantic_id": 18, "pcd_info": {"point_index": 615}, "mesh_info": {"face_index": 91166, "face_uv": [0.4651110533690728, 0.4486345892196257, 0.08625435741130152]}}, {"xyz": [-0.23751559463853528, -0.2659600079059601, 0.2176951972204509], "rgb": [156, 132, 105], "semantic_id": 19, "pcd_info": {"point_index": 1924}, "mesh_info": {"face_index": 84176, "face_uv": [0.09707060421954057, 0.6052337338689837, 0.29769566191147573]}}, {"xyz": [-0.23996660447695345, -0.2659600079059601, -0.27110464599179535], "rgb": [158, 134, 108], "semantic_id": 20, "pcd_info": {"point_index": 907}, "mesh_info": {"face_index": 8837, "face_uv": [0.04707912404881749, 0.7117961548996018, 0.24112472105158067]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e41e8329ed0c0b88d93768e7b9b1eabf", "keypoints": [{"xyz": [0.11032094554858363, 0.27905215298771424, 0.2862337384951031], "rgb": [27, 27, 27], "semantic_id": 0, "pcd_info": {"point_index": 737}, "mesh_info": {"face_index": 30081, "face_uv": [0.2453601183812058, 0.08189155752995997, 0.6727483240888338]}}, {"xyz": [-0.14830776466815343, 0.2754232386838422, 0.2723816641973457], "rgb": [28, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 30473, "face_uv": [0.07430641628472688, 0.41800576793455535, 0.5076878157807183]}}, {"xyz": [0.12003230795457354, 0.006130206995593079, 0.13356759979393434], "rgb": [40, 40, 40], "semantic_id": 2, "pcd_info": {"point_index": 788}, "mesh_info": {"face_index": 8737, "face_uv": [0.06427586315953156, 0.8675687176546184, 0.06815541918584997]}}, {"xyz": [-0.1371562481549553, 0.0013704283828726016, 0.11503752884525931], "rgb": [32, 32, 32], "semantic_id": 3, "pcd_info": {"point_index": 555}, "mesh_info": {"face_index": 21714, "face_uv": [0.27024331849868427, 0.18818978942335282, 0.5415668920779624]}}, {"xyz": [0.1837732724464608, -0.016636215933983012, -0.23913102851320123], "rgb": [31, 31, 31], "semantic_id": 4, "pcd_info": {"point_index": 1672}, "mesh_info": {"face_index": 17281, "face_uv": [0.42128765783220046, 0.5162472354786558, 0.06246510668914354]}}, {"xyz": [-0.1978729423148876, -0.024001224771213137, -0.2352396858627459], "rgb": [30, 30, 30], "semantic_id": 5, "pcd_info": {"point_index": 387}, "mesh_info": {"face_index": 16557, "face_uv": [0.3357124255672876, 0.28570581303600256, 0.37858176139671024]}}, {"xyz": [0.2317150226295151, 0.11479984562680046, -0.14768372576611322], "rgb": [28, 28, 28], "semantic_id": 6, "pcd_info": {"point_index": 1482}, "mesh_info": {"face_index": 29090, "face_uv": [0.0013600441374668176, 0.596257011445629, 0.40238294441690603]}}, {"xyz": [-0.24083663209514994, 0.11639788404404405, -0.14661137310759342], "rgb": [28, 28, 28], "semantic_id": 8, "pcd_info": {"point_index": 1194}, "mesh_info": {"face_index": 29722, "face_uv": [0.42384481267285534, 0.1653290839070139, 0.41082610342013265]}}, {"xyz": [0.22906213385330998, -0.32955899834632874, -0.21761171972595927], "rgb": [28, 28, 28], "semantic_id": 17, "pcd_info": {"point_index": 96}, "mesh_info": {"face_index": 31181, "face_uv": [0.1960565301137672, 0.3129900703632371, 0.49095339952299566]}}, {"xyz": [0.14631309154133956, -0.3294771794744691, 0.2222768988910363], "rgb": [102, 82, 62], "semantic_id": 18, "pcd_info": {"point_index": 1415}, "mesh_info": {"face_index": 136, "face_uv": [0.01446511569724251, 0.4528778898024111, 0.5326569945003465]}}, {"xyz": [-0.15990171651300672, -0.32939350338470796, 0.21262355803641642], "rgb": [108, 88, 67], "semantic_id": 19, "pcd_info": {"point_index": 1092}, "mesh_info": {"face_index": 1252, "face_uv": [0.013263255027309072, 0.6669345408280091, 0.31980220414468224]}}, {"xyz": [-0.2384759463847445, -0.32955899834632874, -0.22393606600078975], "rgb": [28, 28, 28], "semantic_id": 20, "pcd_info": {"point_index": 1201}, "mesh_info": {"face_index": 29227, "face_uv": [0.37757406628830487, 0.10994501678863379, 0.5124809169230613]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 7]}, {"kp_indexes": [8, 11]}, {"kp_indexes": [9, 10]}], "rotation": []}}, {"class_id": "03001627", "model_id": "26c9e85dfa18af9fcf004563556ddb36", "keypoints": [{"xyz": [0.14085193418095499, 0.28621645972712617, 0.08550577821037164], "rgb": [171, 166, 147], "semantic_id": 0, "pcd_info": {"point_index": 314}, "mesh_info": {"face_index": 2412, "face_uv": [0.4673957029932155, 0.13143361007827903, 0.40117068692851354]}}, {"xyz": [-0.1402944174717001, 0.2816166025003033, 0.08481006665738056], "rgb": [143, 130, 111], "semantic_id": 1, "pcd_info": {"point_index": 50}, "mesh_info": {"face_index": 2656, "face_uv": [0.7415593524428044, 0.25800818438184814, 0.00043246317534885345]}}, {"xyz": [0.16350296446516505, -0.14652171314286544, 0.037035115878298885], "rgb": [158, 150, 129], "semantic_id": 2, "pcd_info": {"point_index": 171}, "mesh_info": {"face_index": 180, "face_uv": [0.07500871044035895, 0.012270162780140781, 0.9127211267795045]}}, {"xyz": [-0.16757170675875976, -0.1453412052585501, 0.038651061428256916], "rgb": [99, 90, 74], "semantic_id": 3, "pcd_info": {"point_index": 332}, "mesh_info": {"face_index": 1970, "face_uv": [0.1058029474855518, 0.36553437267007133, 0.5286626798443841]}}, {"xyz": [0.16288373894500396, -0.16363087158684683, -0.3762897316071727], "rgb": [156, 146, 125], "semantic_id": 4, "pcd_info": {"point_index": 783}, "mesh_info": {"face_index": 0, "face_uv": [0.04773582512639552, 0.2992904977122275, 0.6529736771613768]}}, {"xyz": [-0.16271288365871328, -0.16206749443390658, -0.3777604868553277], "rgb": [160, 149, 128], "semantic_id": 5, "pcd_info": {"point_index": 1172}, "mesh_info": {"face_index": 1389, "face_uv": [0.3665055111938398, 0.6280977851407514, 0.005396703665408527]}}, {"xyz": [0.15228194144737806, -0.5044479966163635, -0.36187175244570535], "rgb": [180, 171, 156], "semantic_id": 17, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 207, "face_uv": [0.04422363709838409, 0.4169251305168601, 0.5388512323847559]}}, {"xyz": [0.14983789391536975, -0.5044479966163635, 0.03357398041648674], "rgb": [161, 153, 135], "semantic_id": 18, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 405, "face_uv": [0.2216331892217276, 0.36949224484172744, 0.408874565936545]}}, {"xyz": [-0.14789185675187355, -0.5044479966163635, 0.04193089911102854], "rgb": [158, 148, 129], "semantic_id": 19, "pcd_info": {"point_index": 984}, "mesh_info": {"face_index": 1494, "face_uv": [0.5775405528873578, 0.2631066985843657, 0.15935274852827638]}}, {"xyz": [-0.14749993790770866, -0.5044479966163636, -0.3559201391344182], "rgb": [175, 166, 150], "semantic_id": 20, "pcd_info": {"point_index": 2008}, "mesh_info": {"face_index": 1957, "face_uv": [0.26615272752517344, 0.1945835668866409, 0.5392637055881858]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2b8380ed4b779be7af7c7ad2549a1b15", "keypoints": [{"xyz": [0.16716135601098692, 0.31471984486919413, 0.2216406353949596], "rgb": [149, 149, 149], "semantic_id": 0, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 5729, "face_uv": [0.06813318298244149, 0.4634201234092545, 0.46844669360830427]}}, {"xyz": [-0.1753426724330675, 0.32522453145135155, 0.2277917859897218], "rgb": [148, 148, 148], "semantic_id": 1, "pcd_info": {"point_index": 1880}, "mesh_info": {"face_index": 4892, "face_uv": [0.10567877429314138, 0.6997224543428683, 0.19459877136399]}}, {"xyz": [0.17299959869208067, -0.007844019733741492, 0.09423000920511122], "rgb": [148, 148, 148], "semantic_id": 2, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 1918, "face_uv": [0.09726246929283869, 0.6407714441840882, 0.261966086523061]}}, {"xyz": [-0.17383282526413601, -0.01044403227486379, 0.09953273085637301], "rgb": [149, 149, 149], "semantic_id": 3, "pcd_info": {"point_index": 360}, "mesh_info": {"face_index": 1545, "face_uv": [0.2888439272539938, 0.10179738614172638, 0.6093586866042812]}}, {"xyz": [0.16880319519599687, -0.000844075672958855, -0.2734411300764755], "rgb": [149, 149, 149], "semantic_id": 4, "pcd_info": {"point_index": 1789}, "mesh_info": {"face_index": 4098, "face_uv": [0.5557380682940751, 0.19065338309578084, 0.25360854861014853]}}, {"xyz": [-0.17298692522684608, -0.001978827045435505, -0.2734431608865498], "rgb": [148, 148, 148], "semantic_id": 5, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 1652, "face_uv": [0.13595655548368785, 0.6998114594649862, 0.16423198505131803]}}, {"xyz": [0.16733964391582035, -0.42125065770715064, -0.23590371039434832], "rgb": [149, 149, 149], "semantic_id": 17, "pcd_info": {"point_index": 1424}, "mesh_info": {"face_index": 5401, "face_uv": [0.33679441585770953, 0.5458324513755591, 0.1173731327667315]}}, {"xyz": [0.14335797627529379, -0.42125099897384644, 0.20090718240316685], "rgb": [149, 149, 149], "semantic_id": 18, "pcd_info": {"point_index": 939}, "mesh_info": {"face_index": 7785, "face_uv": [0.4475893065980634, 0.5012701310812494, 0.05114056232068727]}}, {"xyz": [-0.143702774424633, -0.4212509989738462, 0.19677573900214235], "rgb": [148, 148, 148], "semantic_id": 19, "pcd_info": {"point_index": 1469}, "mesh_info": {"face_index": 7559, "face_uv": [0.45232112484862474, 0.5288337678398787, 0.018845107311496093]}}, {"xyz": [-0.16857364778096987, -0.4212505024718469, -0.243047008995615], "rgb": [149, 149, 149], "semantic_id": 20, "pcd_info": {"point_index": 957}, "mesh_info": {"face_index": 4928, "face_uv": [0.05303502153851119, 0.4569696084766932, 0.4899953699847955]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "50e8ca681532bf195fa5d73d8d08a44f", "keypoints": [{"xyz": [0.15870941524111726, 0.3647874673337246, 0.1569980679531791], "rgb": [225, 225, 200], "semantic_id": 0, "pcd_info": {"point_index": 1789}, "mesh_info": {"face_index": 2478, "face_uv": [0.07527749737150216, 0.25114261668454024, 0.6735798859439577]}}, {"xyz": [-0.14623970233472727, 0.3740535623464414, 0.15244037144797862], "rgb": [224, 224, 199], "semantic_id": 1, "pcd_info": {"point_index": 1724}, "mesh_info": {"face_index": 1701, "face_uv": [0.024301723145702416, 0.7605039391389714, 0.2151943377153231]}}, {"xyz": [0.16753999888896942, 0.04095522392796325, 0.07925361023349753], "rgb": [225, 225, 199], "semantic_id": 2, "pcd_info": {"point_index": 1289}, "mesh_info": {"face_index": 1941, "face_uv": [0.3268516548419432, 0.6332735614445598, 0.039874783713497015]}}, {"xyz": [-0.16360267199534828, 0.040497565030249594, 0.0768081639759266], "rgb": [224, 224, 199], "semantic_id": 3, "pcd_info": {"point_index": 848}, "mesh_info": {"face_index": 1068, "face_uv": [0.5198849393098961, 0.13297295660558306, 0.3471421040845205]}}, {"xyz": [0.1821475085260811, 0.035774998366832844, -0.25598225720184], "rgb": [225, 225, 200], "semantic_id": 4, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 2137, "face_uv": [0.8128360605523667, 0.18358016280767825, 0.0035837766399583223]}}, {"xyz": [-0.18626691690694477, 0.03577499836683273, -0.24590085914935833], "rgb": [225, 225, 200], "semantic_id": 5, "pcd_info": {"point_index": 127}, "mesh_info": {"face_index": 1302, "face_uv": [0.441642188949946, 0.24990870833152656, 0.30844910271852755]}}, {"xyz": [0.1849499703781755, -0.3927460014820099, -0.253964443608947], "rgb": [225, 225, 200], "semantic_id": 17, "pcd_info": {"point_index": 835}, "mesh_info": {"face_index": 2, "face_uv": [0.1282271038396819, 0.2792525069914749, 0.5925203891688432]}}, {"xyz": [0.1858759617037261, -0.3927460014820101, 0.13856485731347035], "rgb": [225, 225, 200], "semantic_id": 18, "pcd_info": {"point_index": 1651}, "mesh_info": {"face_index": 1054, "face_uv": [0.17071100559901603, 0.20013070428757956, 0.629158290113405]}}, {"xyz": [-0.184817305917524, -0.3927460014820101, 0.1363454329956539], "rgb": [225, 225, 200], "semantic_id": 19, "pcd_info": {"point_index": 1195}, "mesh_info": {"face_index": 670, "face_uv": [0.20622196631148904, 0.7262223430547959, 0.0675556906337156]}}, {"xyz": [-0.1836700613689089, -0.3927460014820099, -0.2585265131303235], "rgb": [225, 225, 200], "semantic_id": 20, "pcd_info": {"point_index": 1021}, "mesh_info": {"face_index": 7, "face_uv": [0.30779606123069214, 0.23074174542172768, 0.4614621933475802]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "eac0a44a4b4bf460f37e11038ce8fb27", "keypoints": [{"xyz": [0.17551567916477429, 0.5085930448796161, -0.011018838070852244], "rgb": [131, 87, 50], "semantic_id": 0, "pcd_info": {"point_index": 1089}, "mesh_info": {"face_index": 196, "face_uv": [0.010668947300477542, 0.03638055567295237, 0.9529504970265719]}}, {"xyz": [-0.16250330656658735, 0.5079100592391244, -0.004451701293345489], "rgb": [157, 81, 30], "semantic_id": 1, "pcd_info": {"point_index": 1581}, "mesh_info": {"face_index": 376, "face_uv": [0.019385838546169064, 0.8996826984886911, 0.08093146296514024]}}, {"xyz": [0.13607788150848082, 0.03457558873852462, 0.03665729432921583], "rgb": [156, 113, 73], "semantic_id": 2, "pcd_info": {"point_index": 1161}, "mesh_info": {"face_index": 2145, "face_uv": [0.08793983199129136, 0.0002589825969372793, 0.9118011854117526]}}, {"xyz": [-0.1331825399351805, 0.035779903162440174, 0.043873977504783834], "rgb": [153, 101, 64], "semantic_id": 3, "pcd_info": {"point_index": 593}, "mesh_info": {"face_index": 2042, "face_uv": [0.0028241424944662587, 0.5910848307496936, 0.406091026755838]}}, {"xyz": [0.14995745640837693, 0.03332924026524908, -0.17817771975644603], "rgb": [140, 90, 34], "semantic_id": 4, "pcd_info": {"point_index": 1931}, "mesh_info": {"face_index": 43, "face_uv": [0.9405909517024944, 0.01580866764345544, 0.04360038065404995]}}, {"xyz": [-0.1517296424234634, 0.03332443028930787, -0.17818252954536695], "rgb": [137, 76, 16], "semantic_id": 5, "pcd_info": {"point_index": 1038}, "mesh_info": {"face_index": 46, "face_uv": [0.04164061836756803, 0.9562131644835238, 0.0021462171489096257]}}, {"xyz": [0.14772174214083217, -0.32915198802948, -0.17442050949952304], "rgb": [153, 87, 20], "semantic_id": 17, "pcd_info": {"point_index": 343}, "mesh_info": {"face_index": 1175, "face_uv": [0.015670631688220023, 0.14779823917055648, 0.8365311291412235]}}, {"xyz": [0.14606545202947113, -0.32915198802948, 0.06831274889681399], "rgb": [153, 76, 22], "semantic_id": 18, "pcd_info": {"point_index": 2045}, "mesh_info": {"face_index": 1940, "face_uv": [0.2206829262126321, 0.16126625863249142, 0.6180508151548765]}}, {"xyz": [-0.14648469197810707, -0.32915198802948, 0.06618480814764374], "rgb": [163, 87, 20], "semantic_id": 19, "pcd_info": {"point_index": 2014}, "mesh_info": {"face_index": 1558, "face_uv": [0.15227851667807515, 0.6447732722396026, 0.2029482110823223]}}, {"xyz": [-0.15092191765828883, -0.32915198802948, -0.17351886625325347], "rgb": [148, 83, 17], "semantic_id": 20, "pcd_info": {"point_index": 499}, "mesh_info": {"face_index": 790, "face_uv": [0.028328396520829947, 0.2299824016453925, 0.7416892018337775]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "39c629e6f9e752964c6ea7add0063fc3", "keypoints": [{"xyz": [0.1929238518737404, 0.3726814371632518, 0.1500919319474776], "rgb": [220, 208, 186], "semantic_id": 0, "pcd_info": {"point_index": 1820}, "mesh_info": {"face_index": 260, "face_uv": [0.007867411250118127, 0.2992976031210524, 0.6928349856288343]}}, {"xyz": [-0.2294817740018701, 0.3674090057390879, 0.14934163212082474], "rgb": [220, 208, 186], "semantic_id": 1, "pcd_info": {"point_index": 263}, "mesh_info": {"face_index": 250, "face_uv": [0.8205256767457928, 0.1557841430929209, 0.023690180161287603]}}, {"xyz": [0.15432212891171104, 0.15513961224021378, 0.11913437548095329], "rgb": [222, 209, 191], "semantic_id": 2, "pcd_info": {"point_index": 1745}, "mesh_info": {"face_index": 256, "face_uv": [0.3392812290343835, 0.2623495332936034, 0.3983692376720128]}}, {"xyz": [-0.18112654626563524, 0.15580160139985466, 0.11020001858686235], "rgb": [83, 68, 61], "semantic_id": 3, "pcd_info": {"point_index": 389}, "mesh_info": {"face_index": 112, "face_uv": [0.6088533872914632, 0.045735510153168735, 0.34541110255536855]}}, {"xyz": [0.166394491794036, 0.13931748029331403, -0.22698122814318022], "rgb": [99, 96, 82], "semantic_id": 4, "pcd_info": {"point_index": 1926}, "mesh_info": {"face_index": 203, "face_uv": [0.013014932240334825, 0.9076529497818121, 0.07933211797785286]}}, {"xyz": [-0.19863780774633208, 0.1380777901989637, -0.22740154368066934], "rgb": [103, 82, 74], "semantic_id": 5, "pcd_info": {"point_index": 594}, "mesh_info": {"face_index": 198, "face_uv": [0.016028831858144767, 0.47203850174439965, 0.5119326663974562]}}, {"xyz": [0.18773664460026857, -0.4098773245488352, -0.2572085883548072], "rgb": [220, 207, 187], "semantic_id": 17, "pcd_info": {"point_index": 690}, "mesh_info": {"face_index": 90, "face_uv": [0.48500782230632605, 0.0044779562006417905, 0.5105142214930329]}}, {"xyz": [0.18969865251216317, -0.4116970002651215, 0.15520579808314827], "rgb": [220, 208, 187], "semantic_id": 18, "pcd_info": {"point_index": 1253}, "mesh_info": {"face_index": 59, "face_uv": [0.2538944870434415, 0.5794751792643926, 0.16663033369216607]}}, {"xyz": [-0.21925536502109674, -0.40626165346232584, 0.1498307394133418], "rgb": [221, 209, 187], "semantic_id": 19, "pcd_info": {"point_index": 1282}, "mesh_info": {"face_index": 32, "face_uv": [0.01337559472843456, 0.5255381342490487, 0.4610862710225201]}}, {"xyz": [-0.2169999578051932, -0.41044152520489025, -0.25724809015596417], "rgb": [220, 207, 188], "semantic_id": 20, "pcd_info": {"point_index": 1386}, "mesh_info": {"face_index": 100, "face_uv": [0.381812869100876, 0.0030895407793777654, 0.6150975901197447]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "facd3e432232c27f245ac1812a4e4d0c", "keypoints": [{"xyz": [0.150452115368984, 0.23175600171089195, 0.2379146959569795], "rgb": [167, 161, 94], "semantic_id": 0, "pcd_info": {"point_index": 2}, "mesh_info": {"face_index": 239, "face_uv": [0.6268739317913097, 0.0011456260993559734, 0.3719804421093353]}}, {"xyz": [-0.13384054390247482, 0.23173687603423265, 0.24001480301719463], "rgb": [167, 161, 94], "semantic_id": 1, "pcd_info": {"point_index": 123}, "mesh_info": {"face_index": 241, "face_uv": [0.21002927958019532, 0.3824500696752526, 0.40752065074455274]}}, {"xyz": [0.14488784422375478, -0.08921831428170468, 0.19872443896361802], "rgb": [167, 161, 94], "semantic_id": 2, "pcd_info": {"point_index": 1282}, "mesh_info": {"face_index": 373, "face_uv": [0.5023912674801435, 0.025136320241718982, 0.4724724122781394]}}, {"xyz": [-0.13000692337489303, -0.09010843061542428, 0.20062704625587946], "rgb": [166, 160, 93], "semantic_id": 3, "pcd_info": {"point_index": 299}, "mesh_info": {"face_index": 364, "face_uv": [0.022401578821809622, 0.7088189327078808, 0.26877948847030914]}}, {"xyz": [0.14491229130989197, -0.08949074614252694, -0.23258133681935966], "rgb": [167, 161, 94], "semantic_id": 4, "pcd_info": {"point_index": 101}, "mesh_info": {"face_index": 367, "face_uv": [0.0010048264210447252, 0.4344288190267424, 0.5645663545522128]}}, {"xyz": [-0.126338121259748, -0.0954332920415304, -0.23406100273132324], "rgb": [167, 161, 94], "semantic_id": 5, "pcd_info": {"point_index": 1984}, "mesh_info": {"face_index": 375, "face_uv": [0.050058303329991234, 0.9479544103600219, 0.00198728630998695]}}, {"xyz": [0.2041998382741026, 0.09376255446824544, -0.23265095231009958], "rgb": [167, 161, 94], "semantic_id": 6, "pcd_info": {"point_index": 946}, "mesh_info": {"face_index": 263, "face_uv": [0.0036515715228565833, 0.5550040216783602, 0.4413444067987838]}}, {"xyz": [0.20397950772254764, 0.03559722333179083, 0.2694722418543398], "rgb": [206, 203, 166], "semantic_id": 7, "pcd_info": {"point_index": 322}, "mesh_info": {"face_index": 265, "face_uv": [0.5525921894495274, 0.09396975326179643, 0.35343805728867655]}}, {"xyz": [-0.1844040124039637, 0.08844538864524631, -0.23807859508779028], "rgb": [167, 161, 94], "semantic_id": 8, "pcd_info": {"point_index": 1356}, "mesh_info": {"face_index": 188, "face_uv": [0.4880682905793546, 0.4043706494212625, 0.1075610599993836]}}, {"xyz": [-0.17778075487731348, 0.03624728112832204, 0.2638604712583069], "rgb": [216, 213, 184], "semantic_id": 9, "pcd_info": {"point_index": 491}, "mesh_info": {"face_index": 210, "face_uv": [0.18893800586866363, 0.4394306946702125, 0.3716312994611236]}}, {"xyz": [0.19937410370397143, -0.34940001368522655, -0.23598358756790622], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 502}, "mesh_info": {"face_index": 84, "face_uv": [0.32205441232512194, 0.46815772977642056, 0.20978785789845786]}}, {"xyz": [0.19424770421254428, -0.34940001368522644, 0.26727448983871144], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 331}, "mesh_info": {"face_index": 420, "face_uv": [0.3370520491874079, 0.3970879435078261, 0.265860007304766]}}, {"xyz": [-0.18764677777954114, -0.34940001368522644, 0.2697107866135852], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 690}, "mesh_info": {"face_index": 360, "face_uv": [0.23435432203977324, 0.4954266286560736, 0.27021904930415325]}}, {"xyz": [-0.19212295771433846, -0.34940001368522633, -0.22739330347729336], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 51}, "mesh_info": {"face_index": 398, "face_uv": [0.44364577871996086, 0.48495091804190915, 0.0714033032381297]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a16c172406430b6af7628281ecb18112", "keypoints": [{"xyz": [0.16329809457933123, 0.4056395407557487, 0.23227786456970864], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 1608}, "mesh_info": {"face_index": 16166, "face_uv": [0.8026179594844494, 0.11426801477928124, 0.08311402573626957]}}, {"xyz": [-0.16665376605708557, 0.40397087190036873, 0.22203652024974602], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1272}, "mesh_info": {"face_index": 14083, "face_uv": [0.354375933171918, 0.4784008035909816, 0.16722326323710038]}}, {"xyz": [0.1729739980961288, 0.016932392102805505, 0.11359120532170186], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1983}, "mesh_info": {"face_index": 15875, "face_uv": [0.0871388845610095, 0.41424281238389055, 0.49861830305509997]}}, {"xyz": [-0.16620981078763955, 0.0052101062204312765, 0.10726601015772019], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 1233}, "mesh_info": {"face_index": 20513, "face_uv": [0.14269129524244034, 0.8550961666147534, 0.0022125381427971044]}}, {"xyz": [0.1695507683130576, 0.008274708996603541, -0.21537230531187657], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 1867}, "mesh_info": {"face_index": 29023, "face_uv": [0.6045230302038974, 0.08863083668220333, 0.3068461331138984]}}, {"xyz": [-0.16692507507918558, 0.00383028843581823, -0.22054754116219688], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 917}, "mesh_info": {"face_index": 21831, "face_uv": [0.05147097971938505, 0.4525545472335925, 0.49597447304702263]}}, {"xyz": [0.19465331518920256, 0.10847610695939064, -0.23437300324440002], "rgb": [254, 227, 174], "semantic_id": 6, "pcd_info": {"point_index": 1254}, "mesh_info": {"face_index": 41217, "face_uv": [0.3792821089651059, 0.12605907611397413, 0.49465881492091995]}}, {"xyz": [0.20337000378396958, 0.11580690704320418, 0.2506706227481647], "rgb": [253, 224, 166], "semantic_id": 7, "pcd_info": {"point_index": 998}, "mesh_info": {"face_index": 38209, "face_uv": [0.5507614482694463, 0.03905657255462121, 0.4101819791759324]}}, {"xyz": [-0.20518443331602862, 0.11454774136622281, -0.23372168223257683], "rgb": [254, 221, 153], "semantic_id": 8, "pcd_info": {"point_index": 677}, "mesh_info": {"face_index": 34997, "face_uv": [0.31758414894480164, 0.3096454408067091, 0.37277041024848917]}}, {"xyz": [-0.2005968147122307, 0.11695580379224524, 0.24804476198603614], "rgb": [254, 229, 172], "semantic_id": 9, "pcd_info": {"point_index": 1644}, "mesh_info": {"face_index": 33693, "face_uv": [0.04528277523836741, 0.9414894093223569, 0.01322781543927462]}}, {"xyz": [0.1950936070817654, -0.3359220027923584, -0.2077872684146696], "rgb": [254, 225, 171], "semantic_id": 17, "pcd_info": {"point_index": 1587}, "mesh_info": {"face_index": 45763, "face_uv": [0.15645106738743328, 0.2841089632639838, 0.5594399693485829]}}, {"xyz": [0.19696740580335306, -0.3359220027923584, 0.2241153002242376], "rgb": [255, 226, 173], "semantic_id": 18, "pcd_info": {"point_index": 1167}, "mesh_info": {"face_index": 44662, "face_uv": [0.2866890957524408, 0.4928710217705738, 0.22043988247698545]}}, {"xyz": [-0.19742002398925612, -0.3359220027923583, 0.22586334389297114], "rgb": [254, 228, 172], "semantic_id": 19, "pcd_info": {"point_index": 897}, "mesh_info": {"face_index": 32364, "face_uv": [0.3110549644236892, 0.5671799648302691, 0.12176507074604126]}}, {"xyz": [-0.19744887264476937, -0.3359220027923583, -0.20825335713299162], "rgb": [254, 225, 171], "semantic_id": 20, "pcd_info": {"point_index": 1927}, "mesh_info": {"face_index": 30356, "face_uv": [0.5792532958976002, 0.26907136161085377, 0.15167534249154568]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "47fc279d7f0c2a492d9da2668ec34c", "keypoints": [{"xyz": [0.1730003168832945, 0.29738191391616287, 0.11500473848533478], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1621}, "mesh_info": {"face_index": 886, "face_uv": [0.2862359461500821, 0.30598531710973825, 0.4077787367401796]}}, {"xyz": [-0.17673250688878997, 0.29769510242190744, 0.11434805531122381], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1685}, "mesh_info": {"face_index": 0, "face_uv": [0.22109708785207885, 0.3496193217000162, 0.4292835904479049]}}, {"xyz": [0.19204293253267452, -0.012035973150610113, 0.032436375496039394], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 3421, "face_uv": [0.4033433576533799, 0.5898206078498477, 0.0068360344967710925]}}, {"xyz": [-0.1862919498716089, -0.011005250287506652, 0.031525414284722], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 3379, "face_uv": [0.9755358130492089, 0.01803677419747198, 0.006427412753280083]}}, {"xyz": [0.1933266480630434, -0.005661544021591691, -0.30080206275344945], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1075}, "mesh_info": {"face_index": 3364, "face_uv": [0.03247803842067735, 0.016956872268942016, 0.9505650893103393]}}, {"xyz": [-0.19661382614450276, -0.005605574835674254, -0.3041806663098646], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1339}, "mesh_info": {"face_index": 3378, "face_uv": [0.9772429335348405, 0.019612912073259058, 0.00314415439188972]}}, {"xyz": [0.2272201330728491, 0.14333871366977702, -0.27329333652761206], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 3653, "face_uv": [0.1565036695535825, 0.34982381272478325, 0.49367251772163395]}}, {"xyz": [0.2063132670782572, 0.1651560709303077, 0.0715779942124608], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1386}, "mesh_info": {"face_index": 3688, "face_uv": [0.0214071461489583, 0.41786684128677815, 0.5607260125642634]}}, {"xyz": [-0.2311901814425845, 0.13143099683026604, -0.28540186082466956], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1010}, "mesh_info": {"face_index": 3502, "face_uv": [0.3404677189542027, 0.5371764346498138, 0.12235584639598454]}}, {"xyz": [-0.2134127155480151, 0.1651560846959672, 0.06989965373106344], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1184}, "mesh_info": {"face_index": 3552, "face_uv": [0.02600315502645816, 0.5562460679341142, 0.4177507770394262]}}, {"xyz": [0.2484999789876109, -0.4090773685815281, -0.3014507083573529], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 3591, "face_uv": [0.4438228282493304, 0.009118715670584854, 0.5470584560800837]}}, {"xyz": [0.18253293712621643, -0.41235500574111916, 0.14373313471182803], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 360}, "mesh_info": {"face_index": 2306, "face_uv": [0.40388784137449546, 0.5392772268584, 0.056834931767104]}}, {"xyz": [-0.1870861976856919, -0.4123550057411194, 0.1381513745013634], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 32}, "mesh_info": {"face_index": 1858, "face_uv": [0.21621678591151122, 0.46151705715658314, 0.3222661569319057]}}, {"xyz": [-0.23408737454330109, -0.4102758071642274, -0.2916675620428477], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1388}, "mesh_info": {"face_index": 3447, "face_uv": [0.19967036272304542, 0.005935064105970749, 0.7943945731709842]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ebaffb5ce608e7158d09bc92d0fc6d3a", "keypoints": [{"xyz": [0.14112360891551773, 0.2690583555757291, 0.13140919265389361], "rgb": [153, 81, 11], "semantic_id": 0, "pcd_info": {"point_index": 1583}, "mesh_info": {"face_index": 148, "face_uv": [0.8663908679475576, 0.07440748339971211, 0.05920164865272996]}}, {"xyz": [-0.15699971269035518, 0.26932343923937285, 0.12276520684276271], "rgb": [153, 81, 11], "semantic_id": 1, "pcd_info": {"point_index": 314}, "mesh_info": {"face_index": 258, "face_uv": [0.8398164998904648, 0.05580823083579581, 0.10437526927373852]}}, {"xyz": [0.1641337777626154, 0.024993940782008894, 0.1100729608886124], "rgb": [154, 82, 12], "semantic_id": 2, "pcd_info": {"point_index": 822}, "mesh_info": {"face_index": 107, "face_uv": [0.17408126575457705, 0.017391116706060424, 0.8085276175393628]}}, {"xyz": [-0.16408299456969955, 0.028085970825369677, 0.11614837158088487], "rgb": [153, 81, 11], "semantic_id": 3, "pcd_info": {"point_index": 1679}, "mesh_info": {"face_index": 93, "face_uv": [0.061483703909133436, 0.035203273208711645, 0.9033130228821545]}}, {"xyz": [0.2235202797775771, 0.023798299673539303, -0.2575399875640869], "rgb": [153, 81, 12], "semantic_id": 4, "pcd_info": {"point_index": 485}, "mesh_info": {"face_index": 137, "face_uv": [0.00750246208526909, 0.9894965739846534, 0.0030009639300774575]}}, {"xyz": [-0.22797399759292603, 0.023300420074701234, -0.2541315431926451], "rgb": [154, 82, 12], "semantic_id": 5, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 196, "face_uv": [0.00807260675721878, 0.0076353072682396736, 0.9842920859745415]}}, {"xyz": [0.2691683821068773, 0.18931638076368884, -0.2575399875640869], "rgb": [154, 82, 12], "semantic_id": 6, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 137, "face_uv": [0.08446389082497399, 0.036001969128952094, 0.8795341400460739]}}, {"xyz": [0.17907433507492637, 0.19556599855422996, 0.16041358212043208], "rgb": [154, 82, 12], "semantic_id": 7, "pcd_info": {"point_index": 456}, "mesh_info": {"face_index": 273, "face_uv": [0.13443696321242432, 0.08251053396455571, 0.7830525028230211]}}, {"xyz": [-0.27581817021353794, 0.19556599855422951, -0.25357596690394113], "rgb": [153, 81, 11], "semantic_id": 8, "pcd_info": {"point_index": 510}, "mesh_info": {"face_index": 168, "face_uv": [0.06302965985557568, 0.01826830334871099, 0.9187020367957122]}}, {"xyz": [-0.1965317342115095, 0.19556599855422974, 0.14906666153617198], "rgb": [153, 81, 11], "semantic_id": 9, "pcd_info": {"point_index": 1881}, "mesh_info": {"face_index": 264, "face_uv": [0.05747980921402706, 0.8867208868674247, 0.055799303918548177]}}, {"xyz": [0.23641051666651602, -0.3946459889411926, -0.21423889841599075], "rgb": [51, 12, 0], "semantic_id": 17, "pcd_info": {"point_index": 1521}, "mesh_info": {"face_index": 313, "face_uv": [0.1684610336881596, 0.4844231753095529, 0.3471157910022875]}}, {"xyz": [0.23307827805446274, -0.3946459889411926, 0.004514935982152579], "rgb": [50, 11, 0], "semantic_id": 18, "pcd_info": {"point_index": 1058}, "mesh_info": {"face_index": 463, "face_uv": [0.2135320316273954, 0.4260577258091283, 0.3604102425634762]}}, {"xyz": [-0.2393636563824161, -0.3946459889411926, 0.008515434990397393], "rgb": [51, 12, 0], "semantic_id": 19, "pcd_info": {"point_index": 1627}, "mesh_info": {"face_index": 498, "face_uv": [0.26391757990709025, 0.30846044924429594, 0.42762197084861375]}}, {"xyz": [-0.23993506973993003, -0.39464598894119285, -0.21711342836917752], "rgb": [51, 12, 0], "semantic_id": 20, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 378, "face_uv": [0.23100017425103886, 0.6811699955885087, 0.08782983016045301]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "68e9a9ebe0475536194b666f21552cb8", "keypoints": [{"xyz": [0.21366564104368424, 0.23705619514594975, -0.011536999605596066], "rgb": [77, 31, 29], "semantic_id": 0, "pcd_info": {"point_index": 230}, "mesh_info": {"face_index": 378, "face_uv": [0.13699064402694563, 0.8369017073951427, 0.02610764857791172]}}, {"xyz": [-0.22000221528465855, 0.23700418830228853, -0.011536999605596066], "rgb": [76, 31, 29], "semantic_id": 1, "pcd_info": {"point_index": 272}, "mesh_info": {"face_index": 392, "face_uv": [0.8758329420398063, 0.11272980617698584, 0.011437251783207843]}}, {"xyz": [0.21707573307721925, -0.19106300175189983, -0.029045241055311477], "rgb": [77, 31, 29], "semantic_id": 2, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 486, "face_uv": [0.0447000291733941, 0.03699859334704638, 0.91830137747956]}}, {"xyz": [-0.2145813984505603, -0.19106300175189983, -0.026908560005928672], "rgb": [77, 31, 29], "semantic_id": 3, "pcd_info": {"point_index": 1749}, "mesh_info": {"face_index": 486, "face_uv": [0.03924490076909612, 0.9590276904726898, 0.0017274087582145475]}}, {"xyz": [0.20787525287840256, -0.19106300175189983, -0.3905152025965486], "rgb": [77, 31, 29], "semantic_id": 4, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 487, "face_uv": [0.03243642267388298, 0.9433489792256282, 0.024214598100489263]}}, {"xyz": [-0.20601235300963505, -0.19106300175189983, -0.38442633383231106], "rgb": [77, 31, 29], "semantic_id": 5, "pcd_info": {"point_index": 807}, "mesh_info": {"face_index": 487, "face_uv": [0.047981822374708674, 0.059275978467427486, 0.8927421991578645]}}, {"xyz": [0.212830386954145, -0.5005859732627869, -0.3788141067031068], "rgb": [77, 31, 29], "semantic_id": 17, "pcd_info": {"point_index": 1748}, "mesh_info": {"face_index": 456, "face_uv": [0.3485336176048212, 0.424307046677644, 0.22715933571753474]}}, {"xyz": [0.2208746537185693, -0.5005859732627869, 0.05478190231062974], "rgb": [77, 31, 29], "semantic_id": 18, "pcd_info": {"point_index": 18}, "mesh_info": {"face_index": 440, "face_uv": [0.2711306778879481, 0.6390384440001403, 0.08983087811191166]}}, {"xyz": [-0.21380301321049044, -0.5005859732627869, 0.05599586320049549], "rgb": [77, 31, 29], "semantic_id": 19, "pcd_info": {"point_index": 1559}, "mesh_info": {"face_index": 484, "face_uv": [0.23872555012583616, 0.5327919320866018, 0.2284825177875621]}}, {"xyz": [-0.21086945091384535, -0.5005859732627869, -0.3891837522212529], "rgb": [77, 31, 29], "semantic_id": 20, "pcd_info": {"point_index": 1891}, "mesh_info": {"face_index": 465, "face_uv": [0.3746694646888514, 0.3889024669004378, 0.23642806841071082]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8f2cc8ff68f3208ec935dd3bb5739fc", "keypoints": [{"xyz": [0.2321013884866004, 0.3932618950015776, 0.19321000576019287], "rgb": [197, 168, 77], "semantic_id": 0, "pcd_info": {"point_index": 195}, "mesh_info": {"face_index": 314, "face_uv": [0.41356886330808174, 0.3087341404965067, 0.2776969961954115]}}, {"xyz": [-0.22774653733029776, 0.3967126800050864, 0.19321000576019265], "rgb": [199, 165, 65], "semantic_id": 1, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 488, "face_uv": [0.5420165033152705, 0.4369752809744092, 0.021008215710319116]}}, {"xyz": [0.2321596813922583, 0.06969299912452698, 0.15033732325004445], "rgb": [198, 165, 57], "semantic_id": 2, "pcd_info": {"point_index": 1943}, "mesh_info": {"face_index": 158, "face_uv": [0.9457155664308546, 0.02943484416019266, 0.024849589408952887]}}, {"xyz": [-0.22928738845301644, 0.06969299912452698, 0.1536261853784746], "rgb": [204, 164, 42], "semantic_id": 3, "pcd_info": {"point_index": 891}, "mesh_info": {"face_index": 406, "face_uv": [0.039233249836148926, 0.7389374642102821, 0.22182928595356904]}}, {"xyz": [0.22349898078704405, 0.06969299912452698, -0.17409843531653824], "rgb": [208, 168, 44], "semantic_id": 4, "pcd_info": {"point_index": 542}, "mesh_info": {"face_index": 158, "face_uv": [0.008202518941739333, 0.04696240441461664, 0.9448350766436442]}}, {"xyz": [-0.236064192930722, 0.06969299912452698, -0.16490135873064404], "rgb": [203, 163, 39], "semantic_id": 5, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 344, "face_uv": [0.011377255587661448, 0.9649578700162631, 0.02366487439607547]}}, {"xyz": [0.22637814347287177, -0.2997420132160189, -0.28116400913010564], "rgb": [201, 162, 46], "semantic_id": 17, "pcd_info": {"point_index": 957}, "mesh_info": {"face_index": 25, "face_uv": [0.36364572695211134, 0.5998611419872426, 0.03649313106064681]}}, {"xyz": [0.22006852786841916, -0.29974201321601845, 0.1746776264977461], "rgb": [203, 164, 44], "semantic_id": 18, "pcd_info": {"point_index": 1636}, "mesh_info": {"face_index": 27, "face_uv": [0.41774853759837116, 0.5243512236828746, 0.05790023871875362]}}, {"xyz": [-0.22016085063028018, -0.2997420132160189, 0.1898798047713967], "rgb": [204, 165, 48], "semantic_id": 19, "pcd_info": {"point_index": 1461}, "mesh_info": {"face_index": 600, "face_uv": [0.027698536280030436, 0.46346919606473974, 0.5088322676552306]}}, {"xyz": [-0.2325883480814691, -0.2997420132160189, -0.2826919180522233], "rgb": [203, 163, 41], "semantic_id": 20, "pcd_info": {"point_index": 1750}, "mesh_info": {"face_index": 579, "face_uv": [0.6746617368167006, 0.2918805820291481, 0.03345768115415205]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6be6173e7eea5888a616caf97d73fa02", "keypoints": [{"xyz": [0.14868025160085913, 0.4427005860560968, 0.12335195846696445], "rgb": [185, 130, 86], "semantic_id": 0, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 4791, "face_uv": [0.11289891915249717, 0.5271298822938435, 0.35997119855365484]}}, {"xyz": [-0.14120270520341383, 0.44321340564989625, 0.1308330203389796], "rgb": [195, 137, 94], "semantic_id": 1, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 1815, "face_uv": [0.0534039438093793, 0.39587114559043074, 0.550724910601252]}}, {"xyz": [0.1405409418121827, -0.1185025816288321, 0.02413776526085254], "rgb": [175, 138, 94], "semantic_id": 2, "pcd_info": {"point_index": 1033}, "mesh_info": {"face_index": 24570, "face_uv": [0.10246841660306576, 0.8594531176079578, 0.0380784657889778]}}, {"xyz": [-0.13359601439450022, -0.11844948629357699, 0.028491039757145287], "rgb": [175, 138, 94], "semantic_id": 3, "pcd_info": {"point_index": 385}, "mesh_info": {"face_index": 24523, "face_uv": [0.9394312427593833, 0.03835420191519756, 0.02221455532541942]}}, {"xyz": [0.12492915843010022, -0.11733594495307503, -0.26113121884933066], "rgb": [175, 138, 94], "semantic_id": 4, "pcd_info": {"point_index": 2024}, "mesh_info": {"face_index": 24509, "face_uv": [0.7906358481856369, 0.13199524183207037, 0.0773689099822932]}}, {"xyz": [-0.14114501218491948, -0.1193546594898209, -0.2545758621043148], "rgb": [188, 123, 88], "semantic_id": 5, "pcd_info": {"point_index": 1588}, "mesh_info": {"face_index": 6670, "face_uv": [0.48971543172454346, 0.3413428966056823, 0.1689416716697714]}}, {"xyz": [0.14821852806812238, 0.014704159064148903, -0.303523043257965], "rgb": [158, 100, 63], "semantic_id": 6, "pcd_info": {"point_index": 520}, "mesh_info": {"face_index": 21017, "face_uv": [0.6548053185056214, 0.12695120862487422, 0.21824347286950457]}}, {"xyz": [0.15678470846891301, 0.0159972266095465, 0.024465022618216148], "rgb": [158, 100, 63], "semantic_id": 7, "pcd_info": {"point_index": 1046}, "mesh_info": {"face_index": 20867, "face_uv": [0.12783791016093812, 0.6240526764676418, 0.248109413371424]}}, {"xyz": [-0.16302496225015267, 0.02163028677572232, -0.2909953939110106], "rgb": [158, 100, 63], "semantic_id": 8, "pcd_info": {"point_index": 1926}, "mesh_info": {"face_index": 17227, "face_uv": [0.37746542559832663, 0.055340437540749236, 0.567194136860926]}}, {"xyz": [-0.14932292568924993, 0.01589325681300613, 0.03785326229828434], "rgb": [158, 100, 63], "semantic_id": 9, "pcd_info": {"point_index": 1027}, "mesh_info": {"face_index": 17759, "face_uv": [0.09385155726726162, 0.17126252216720214, 0.7348859205655479]}}, {"xyz": [0.14880474848014447, -0.25261458488664557, -0.2561579516365353], "rgb": [209, 144, 109], "semantic_id": 17, "pcd_info": {"point_index": 1848}, "mesh_info": {"face_index": 22005, "face_uv": [0.06355996380137414, 0.06341535894456113, 0.873024677254065]}}, {"xyz": [0.15660270393522846, -0.28490294325381227, 0.04383688891757642], "rgb": [209, 144, 109], "semantic_id": 18, "pcd_info": {"point_index": 634}, "mesh_info": {"face_index": 23322, "face_uv": [0.01037208858987874, 0.31583095732422833, 0.6737969540858936]}}, {"xyz": [-0.15237658016492794, -0.27833689418334284, 0.03994394441125282], "rgb": [195, 137, 94], "semantic_id": 19, "pcd_info": {"point_index": 332}, "mesh_info": {"face_index": 1543, "face_uv": [0.03901643273529065, 0.22045061278314357, 0.7405329544815673]}}, {"xyz": [-0.15670451428648013, -0.2516184120134696, -0.25915990436528324], "rgb": [215, 146, 99], "semantic_id": 20, "pcd_info": {"point_index": 1929}, "mesh_info": {"face_index": 20297, "face_uv": [0.03902020702887882, 0.9014093710301285, 0.0595704219409923]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5510d5af1ab5714b3c42e318f3affc", "keypoints": [{"xyz": [0.180903532725338, 0.45954742352116495, 0.2280042324422813], "rgb": [115, 115, 115], "semantic_id": 0, "pcd_info": {"point_index": 1377}, "mesh_info": {"face_index": 1757, "face_uv": [0.0939771336083056, 0.002327210553692245, 0.9036956558380017]}}, {"xyz": [-0.1811876676663155, 0.45810879656872316, 0.22784830376648535], "rgb": [126, 126, 126], "semantic_id": 1, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 1910, "face_uv": [0.006116301586373748, 0.9856996998878103, 0.00818399852581499]}}, {"xyz": [0.17689656395716835, 0.08876482773252614, 0.18781616348435892], "rgb": [136, 136, 136], "semantic_id": 2, "pcd_info": {"point_index": 1615}, "mesh_info": {"face_index": 1747, "face_uv": [0.004276346220271907, 0.9746271799604584, 0.02109647381926902]}}, {"xyz": [-0.18287948050364772, 0.08582594711304847, 0.18749762658878688], "rgb": [145, 145, 145], "semantic_id": 3, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 1747, "face_uv": [0.9781594464072939, 0.008484575794650314, 0.013355977798055373]}}, {"xyz": [0.18391024590131974, 0.07137602366534712, -0.1759094737221082], "rgb": [142, 142, 142], "semantic_id": 4, "pcd_info": {"point_index": 1672}, "mesh_info": {"face_index": 1261, "face_uv": [0.9812168607642454, 0.012244860969188524, 0.006538278266565496]}}, {"xyz": [-0.1822079600836388, 0.06673189847341798, -0.17631900310516357], "rgb": [139, 139, 139], "semantic_id": 5, "pcd_info": {"point_index": 689}, "mesh_info": {"face_index": 1293, "face_uv": [0.031090094148798087, 0.9104371322758333, 0.058472773575368585]}}, {"xyz": [0.18029860474746479, -0.31295089727587455, -0.15546466523039354], "rgb": [171, 153, 129], "semantic_id": 17, "pcd_info": {"point_index": 1688}, "mesh_info": {"face_index": 2062, "face_uv": [0.07576381313345647, 0.17991889543538522, 0.7443172914311579]}}, {"xyz": [0.165936091178565, -0.3139890134334562, 0.25389333321060725], "rgb": [176, 163, 142], "semantic_id": 18, "pcd_info": {"point_index": 623}, "mesh_info": {"face_index": 2496, "face_uv": [0.4348216636032659, 0.36103611846902683, 0.20414221792770657]}}, {"xyz": [-0.17226221191828373, -0.3139890134334562, 0.2614266204748109], "rgb": [174, 161, 140], "semantic_id": 19, "pcd_info": {"point_index": 1070}, "mesh_info": {"face_index": 1508, "face_uv": [0.604819824418254, 0.38792975348286357, 0.007250422098881726]}}, {"xyz": [-0.17666553897669574, -0.3139890134334564, -0.17226214634289738], "rgb": [169, 152, 128], "semantic_id": 20, "pcd_info": {"point_index": 202}, "mesh_info": {"face_index": 348, "face_uv": [0.21042360516402295, 0.25700120194315984, 0.5325751928928172]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4b3c381658cfe96d4db79ead79f57b22", "keypoints": [{"xyz": [0.23435811383427735, 0.25742228312563764, 0.27019436918595485], "rgb": [62, 61, 67], "semantic_id": 0, "pcd_info": {"point_index": 2038}, "mesh_info": {"face_index": 786, "face_uv": [0.44407330914478305, 0.5332314639814527, 0.02269522687376378]}}, {"xyz": [-0.17787153116135607, 0.25699649924839085, 0.275376674597665], "rgb": [58, 57, 63], "semantic_id": 1, "pcd_info": {"point_index": 1946}, "mesh_info": {"face_index": 791, "face_uv": [0.5978269297021301, 0.3781745240270751, 0.023998546270795187]}}, {"xyz": [0.22733184351977898, 0.006617293847389405, 0.12947079886862928], "rgb": [48, 47, 53], "semantic_id": 2, "pcd_info": {"point_index": 1930}, "mesh_info": {"face_index": 562, "face_uv": [0.5114519347736013, 0.012346000133491108, 0.4762020650929098]}}, {"xyz": [-0.1759106596738795, -0.0008195622634799005, 0.1369701319971885], "rgb": [63, 62, 68], "semantic_id": 3, "pcd_info": {"point_index": 746}, "mesh_info": {"face_index": 628, "face_uv": [0.39418233041262296, 0.024954187512402377, 0.5808634820749752]}}, {"xyz": [0.21824861369575482, 0.04334610471027367, -0.2973110136473952], "rgb": [76, 75, 81], "semantic_id": 4, "pcd_info": {"point_index": 1077}, "mesh_info": {"face_index": 484, "face_uv": [0.022818899949603785, 0.9013805589948001, 0.07580054105559626]}}, {"xyz": [-0.16700450733115355, 0.04322852481153072, -0.2950373483615085], "rgb": [59, 58, 64], "semantic_id": 5, "pcd_info": {"point_index": 290}, "mesh_info": {"face_index": 472, "face_uv": [0.8240141681877963, 0.17173622223549287, 0.004249609576729138]}}, {"xyz": [0.254486381298556, 0.0873529985547068, -0.2482857250290903], "rgb": [149, 154, 157], "semantic_id": 6, "pcd_info": {"point_index": 240}, "mesh_info": {"face_index": 129, "face_uv": [0.3406241438143953, 0.11038375292843919, 0.548992103257168]}}, {"xyz": [0.2549527041875053, 0.08735299855470657, 0.2420194261931639], "rgb": [153, 158, 161], "semantic_id": 7, "pcd_info": {"point_index": 1139}, "mesh_info": {"face_index": 21, "face_uv": [0.5023234944404594, 0.4968322896254781, 0.0008442159340625322]}}, {"xyz": [-0.20012797175243258, 0.08735299855470635, -0.2462485611499576], "rgb": [144, 149, 152], "semantic_id": 8, "pcd_info": {"point_index": 458}, "mesh_info": {"face_index": 209, "face_uv": [0.22342851596890226, 0.13469329395154622, 0.6418781900795489]}}, {"xyz": [-0.19522119529675186, 0.08735299855470657, 0.2396136015891624], "rgb": [153, 158, 161], "semantic_id": 9, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 30, "face_uv": [0.3884516714761848, 0.002312413970893649, 0.6092359145529215]}}, {"xyz": [0.25500109037819946, -0.3661940097808838, -0.24524228397078435], "rgb": [150, 155, 158], "semantic_id": 17, "pcd_info": {"point_index": 1050}, "mesh_info": {"face_index": 192, "face_uv": [0.46485244326837377, 0.5100071989214238, 0.025140357810202518]}}, {"xyz": [0.25003578246249697, -0.3661940097808838, 0.24169529410810248], "rgb": [145, 150, 153], "semantic_id": 18, "pcd_info": {"point_index": 1088}, "mesh_info": {"face_index": 190, "face_uv": [0.5122877591623103, 0.47793103625648914, 0.009781204581200607]}}, {"xyz": [-0.19779641487957528, -0.36619400978088357, 0.2454389939171325], "rgb": [143, 148, 151], "semantic_id": 19, "pcd_info": {"point_index": 552}, "mesh_info": {"face_index": 203, "face_uv": [0.32578304113292245, 0.6662216850432616, 0.00799527382381533]}}, {"xyz": [-0.19833078080195018, -0.36619400978088357, -0.24384030877221338], "rgb": [148, 153, 156], "semantic_id": 20, "pcd_info": {"point_index": 1848}, "mesh_info": {"face_index": 224, "face_uv": [0.49932394509185585, 0.02685560203578295, 0.47382045287236063]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fac321238dc8637eaa7cb30470f3273c", "keypoints": [{"xyz": [0.13642448818863956, 0.3400684826294862, 0.12124211021367601], "rgb": [95, 95, 95], "semantic_id": 0, "pcd_info": {"point_index": 675}, "mesh_info": {"face_index": 2544, "face_uv": [0.013369690040945662, 0.4324100066294358, 0.5542203033296181]}}, {"xyz": [-0.1473147218321566, 0.3335874950157516, 0.1193122007054129], "rgb": [95, 95, 95], "semantic_id": 1, "pcd_info": {"point_index": 1931}, "mesh_info": {"face_index": 2093, "face_uv": [0.3358840019702864, 0.3982095835706624, 0.265906414459051]}}, {"xyz": [0.13876614518592942, 0.0004051399331006511, 0.0936505476966123], "rgb": [96, 96, 96], "semantic_id": 2, "pcd_info": {"point_index": 945}, "mesh_info": {"face_index": 193, "face_uv": [0.42813455306567905, 0.03610267863982069, 0.5357627682945085]}}, {"xyz": [-0.13207918111215594, 1.5279770098075574e-05, 0.09097898375686198], "rgb": [95, 95, 95], "semantic_id": 3, "pcd_info": {"point_index": 1779}, "mesh_info": {"face_index": 688, "face_uv": [0.11307408512181921, 0.5983236356278084, 0.2886022792503462]}}, {"xyz": [0.13703735422361354, 0.00046420135308733457, -0.18610665941724086], "rgb": [96, 96, 96], "semantic_id": 4, "pcd_info": {"point_index": 255}, "mesh_info": {"face_index": 1218, "face_uv": [0.5732301766643576, 0.4133867552877244, 0.01338306804792462]}}, {"xyz": [-0.13992012436387224, 0.000447347583786728, -0.1836136562349756], "rgb": [95, 95, 95], "semantic_id": 5, "pcd_info": {"point_index": 2007}, "mesh_info": {"face_index": 3195, "face_uv": [0.022241348296322766, 0.44119905831631023, 0.5365595933873549]}}, {"xyz": [0.18799885465424115, -0.4628649950027466, -0.2297383047988715], "rgb": [96, 96, 96], "semantic_id": 17, "pcd_info": {"point_index": 235}, "mesh_info": {"face_index": 3363, "face_uv": [0.09840295717710357, 0.3421219757885119, 0.5594750670343845]}}, {"xyz": [0.18929498286846813, -0.4628649950027466, 0.14255745752370447], "rgb": [96, 96, 96], "semantic_id": 18, "pcd_info": {"point_index": 1390}, "mesh_info": {"face_index": 1931, "face_uv": [0.37698405736900664, 0.3845377046559003, 0.23847823797509307]}}, {"xyz": [-0.18818900238891817, -0.46286499500274636, 0.14163163679931137], "rgb": [95, 95, 95], "semantic_id": 19, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 2272, "face_uv": [0.007360172964438851, 0.5672433644082138, 0.42539646262734687]}}, {"xyz": [-0.18597969668819428, -0.4628649950027466, -0.22960784365685102], "rgb": [96, 96, 96], "semantic_id": 20, "pcd_info": {"point_index": 514}, "mesh_info": {"face_index": 2631, "face_uv": [0.47298265694416314, 0.036282678602587534, 0.4907346644532493]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f083f6f7e9770fb7b161f36d4e309050", "keypoints": [{"xyz": [0.1839888705082228, 0.29984649561427346, 0.16455065445044803], "rgb": [218, 139, 137], "semantic_id": 0, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 754, "face_uv": [0.25907130084071095, 0.5837527591231632, 0.1571759400361254]}}, {"xyz": [-0.16886045592193838, 0.3109915955098871, 0.16583192879705244], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 284}, "mesh_info": {"face_index": 1034, "face_uv": [0.3807640760487922, 0.5487865553086702, 0.0704493686425392]}}, {"xyz": [0.13120044595989733, -0.031726795925358875, 0.11393323033248637], "rgb": [200, 200, 200], "semantic_id": 2, "pcd_info": {"point_index": 110}, "mesh_info": {"face_index": 1476, "face_uv": [0.18913297154416045, 0.7873059887374839, 0.02356103971836618]}}, {"xyz": [-0.12263558687120382, -0.03135439929306805, 0.10815843292805749], "rgb": [172, 172, 172], "semantic_id": 3, "pcd_info": {"point_index": 765}, "mesh_info": {"face_index": 1479, "face_uv": [0.6225772644501151, 0.32313190382435747, 0.0542908317255299]}}, {"xyz": [0.12179596823427463, -0.03222111073770195, -0.17069719480952594], "rgb": [86, 17, 22], "semantic_id": 4, "pcd_info": {"point_index": 1329}, "mesh_info": {"face_index": 1385, "face_uv": [0.5891732403805497, 0.35310066682329894, 0.05772609279615353]}}, {"xyz": [-0.131233308564141, -0.03270628191780034, -0.17748089374786902], "rgb": [108, 24, 34], "semantic_id": 5, "pcd_info": {"point_index": 1522}, "mesh_info": {"face_index": 1393, "face_uv": [0.20024977599638177, 0.7766936220309002, 0.023056601972720418]}}, {"xyz": [0.21829325106918399, 0.11506771260571402, -0.17953815886583857], "rgb": [190, 56, 56], "semantic_id": 6, "pcd_info": {"point_index": 671}, "mesh_info": {"face_index": 475, "face_uv": [0.05903425877172058, 0.9049406996975334, 0.03602504153074509]}}, {"xyz": [0.22436187147245495, 0.11825067136081335, 0.11950409205935086], "rgb": [190, 56, 55], "semantic_id": 7, "pcd_info": {"point_index": 1433}, "mesh_info": {"face_index": 382, "face_uv": [0.11845083795473928, 0.5594137570166954, 0.3221354050285657]}}, {"xyz": [-0.2322271249667865, 0.11012589115042282, -0.18280600011348724], "rgb": [194, 55, 55], "semantic_id": 8, "pcd_info": {"point_index": 55}, "mesh_info": {"face_index": 1270, "face_uv": [0.2690293926087805, 0.6405656970920218, 0.0904049102991977]}}, {"xyz": [-0.2435730719869128, 0.1138277260730074, 0.12536074170458833], "rgb": [191, 55, 55], "semantic_id": 9, "pcd_info": {"point_index": 179}, "mesh_info": {"face_index": 214, "face_uv": [0.2609844550229144, 0.4536140371771709, 0.2854015077999166]}}, {"xyz": [0.19057013088131203, -0.29118231428247365, -0.12748295125438847], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1380}, "mesh_info": {"face_index": 1623, "face_uv": [0.005462885583203844, 0.1620666185709071, 0.8324704958458892]}}, {"xyz": [0.19608803592584573, -0.2749247330112288, 0.17608613136800244], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 570}, "mesh_info": {"face_index": 1756, "face_uv": [0.3637436681695987, 0.2738151691922226, 0.3624411626381792]}}, {"xyz": [-0.19291728059337476, -0.29121633584251105, 0.16589997101700443], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 1713, "face_uv": [0.15856068475148094, 0.10116345739159188, 0.7402758578569271]}}, {"xyz": [-0.1874525156825227, -0.2895483377006991, -0.12764539091414284], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 682}, "mesh_info": {"face_index": 1847, "face_uv": [0.1751652406855287, 0.33044848441969404, 0.4943862748947782]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e2ced471afce616454bfa32aa0766acb", "keypoints": [{"xyz": [0.1739694912185319, 0.3501094373618183, 0.04990873822929465], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 645}, "mesh_info": {"face_index": 114, "face_uv": [0.2698930406373983, 0.10948186906128332, 0.6206250903013182]}}, {"xyz": [-0.1768415556282459, 0.3475687117429116, 0.047498696284094644], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 355}, "mesh_info": {"face_index": 104, "face_uv": [0.892009017801806, 0.06360776760322541, 0.044383214594969356]}}, {"xyz": [0.17499388132698368, -0.077425716772203, 0.0441569983959198], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1649}, "mesh_info": {"face_index": 49, "face_uv": [0.005142877520258143, 0.9822164756585913, 0.012640646821150493]}}, {"xyz": [-0.17444142848872357, -0.08117678559327679, 0.0441569983959198], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1693}, "mesh_info": {"face_index": 48, "face_uv": [0.0038911659276070457, 0.014894722066140016, 0.9812141120062531]}}, {"xyz": [0.17438575915839513, -0.0870465942521379, -0.2225250005722046], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 642}, "mesh_info": {"face_index": 36, "face_uv": [0.9322118356660565, 0.05947641329435757, 0.00831175103958587]}}, {"xyz": [-0.1726115251319002, -0.08570366540522212, -0.2225250005722046], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1872}, "mesh_info": {"face_index": 26, "face_uv": [0.019976582008615896, 0.9595336653087534, 0.020489752682630702]}}, {"xyz": [0.14245791339943575, -0.47791999578475974, -0.17858075380641425], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 83}, "mesh_info": {"face_index": 90, "face_uv": [0.424968826842655, 0.5488776910269318, 0.026153482130413637]}}, {"xyz": [0.15391551342966228, -0.4779199957847595, 0.07280643952645405], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 260}, "mesh_info": {"face_index": 163, "face_uv": [0.02687301793639563, 0.5411055114345569, 0.43202147062904744]}}, {"xyz": [-0.15216960445060443, -0.4779199957847593, 0.07195879317114862], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 678}, "mesh_info": {"face_index": 76, "face_uv": [0.4614885569151478, 0.43969264145532827, 0.0988188016295234]}}, {"xyz": [-0.15840904552220553, -0.4779199957847593, -0.18773791441790277], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1099}, "mesh_info": {"face_index": 1, "face_uv": [0.35735902963408706, 0.43450182745633453, 0.20813914290957794]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "83839b89dd91996c7d910d51d878f708", "keypoints": [{"xyz": [0.2545008882265583, 0.3763830212518342, 0.234526150205927], "rgb": [137, 137, 137], "semantic_id": 0, "pcd_info": {"point_index": 1867}, "mesh_info": {"face_index": 649, "face_uv": [0.14422557497175492, 0.7356026843576913, 0.12017174067055432]}}, {"xyz": [-0.25291808231128027, 0.3764956252888447, 0.2307803805461539], "rgb": [137, 137, 137], "semantic_id": 1, "pcd_info": {"point_index": 1570}, "mesh_info": {"face_index": 833, "face_uv": [0.13750496711923246, 0.1712438573752023, 0.6912511755055658]}}, {"xyz": [0.25034896438087867, 0.03327236178120008, 0.1271872648719066], "rgb": [229, 222, 187], "semantic_id": 2, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 2993, "face_uv": [0.6624255248498, 0.32746004367262316, 0.010114431477577776]}}, {"xyz": [-0.248110034628003, 0.03625663331496831, 0.11711064485261913], "rgb": [215, 209, 153], "semantic_id": 3, "pcd_info": {"point_index": 1318}, "mesh_info": {"face_index": 3006, "face_uv": [0.013208230243646974, 0.9597377120449206, 0.027054057711433946]}}, {"xyz": [0.2528140390517268, 0.07108201886435883, -0.2717863384136973], "rgb": [242, 240, 220], "semantic_id": 4, "pcd_info": {"point_index": 449}, "mesh_info": {"face_index": 3821, "face_uv": [0.3440808545337217, 0.005284380113334158, 0.6506347653529451]}}, {"xyz": [-0.25458693927292014, 0.07140371041311555, -0.26959488773661794], "rgb": [238, 234, 213], "semantic_id": 5, "pcd_info": {"point_index": 1608}, "mesh_info": {"face_index": 3845, "face_uv": [0.0005174251795937685, 0.9114275272589742, 0.08805504756158752]}}, {"xyz": [0.24884034874528754, -0.22418477950516935, -0.3118508302462005], "rgb": [137, 137, 137], "semantic_id": 17, "pcd_info": {"point_index": 1510}, "mesh_info": {"face_index": 1727, "face_uv": [0.20744569297109716, 0.5031686678752918, 0.28938563915361365]}}, {"xyz": [0.25119431350413973, -0.2379089151211825, 0.21041511143694414], "rgb": [137, 137, 137], "semantic_id": 18, "pcd_info": {"point_index": 1834}, "mesh_info": {"face_index": 1773, "face_uv": [0.1542429785543939, 0.7285130306036621, 0.11724399084194415]}}, {"xyz": [-0.2554608090302941, -0.2224834627701029, 0.23832826869514223], "rgb": [137, 137, 137], "semantic_id": 19, "pcd_info": {"point_index": 1862}, "mesh_info": {"face_index": 1121, "face_uv": [0.17982411211667965, 0.12467763427851665, 0.6954982536048043]}}, {"xyz": [-0.25419635221522796, -0.2319523381157642, -0.3065828029526623], "rgb": [137, 137, 137], "semantic_id": 20, "pcd_info": {"point_index": 1162}, "mesh_info": {"face_index": 1265, "face_uv": [0.133877280169229, 0.29627817833191017, 0.5698445414988612]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5840d369b3e0e40f7c4ed45ce654123", "keypoints": [{"xyz": [0.184507169764166, 0.27193766174150014, 0.16255414004397628], "rgb": [90, 90, 90], "semantic_id": 0, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 26, "face_uv": [0.4862469038743726, 0.005627209352727751, 0.5081258867729003]}}, {"xyz": [-0.18491505653083057, 0.27266684157428167, 0.15841415540063863], "rgb": [61, 61, 61], "semantic_id": 1, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 27, "face_uv": [0.4635720688155007, 0.009073448420494127, 0.5273544827640052]}}, {"xyz": [0.17475396413033856, -0.04069000110030152, 0.004936359585527864], "rgb": [115, 115, 115], "semantic_id": 2, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 180, "face_uv": [0.7118729936349496, 0.24830109055886984, 0.03982591580617526]}}, {"xyz": [-0.18636434425184356, -0.03497938926488531, 0.005813180823509789], "rgb": [70, 70, 70], "semantic_id": 3, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 56, "face_uv": [0.0010087783134695156, 0.005208000874115615, 0.9937832208124244]}}, {"xyz": [0.17140585129983443, -0.04069000110030174, -0.3031771548814309], "rgb": [86, 86, 86], "semantic_id": 4, "pcd_info": {"point_index": 1516}, "mesh_info": {"face_index": 181, "face_uv": [0.012732543662750931, 0.9571471137222356, 0.030120342615013493]}}, {"xyz": [-0.17660884160809778, -0.04069000110030174, -0.3093594369065943], "rgb": [90, 90, 90], "semantic_id": 5, "pcd_info": {"point_index": 1457}, "mesh_info": {"face_index": 182, "face_uv": [0.700920829137442, 0.02883481886932834, 0.2702443519932295]}}, {"xyz": [0.24996161970183817, 0.0950620025396347, -0.22804005938571553], "rgb": [130, 130, 130], "semantic_id": 6, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 490, "face_uv": [0.49109105734492503, 0.03442914785281638, 0.4744797948022585]}}, {"xyz": [0.25918582108610344, 0.09506200253963493, 0.19705798120346568], "rgb": [87, 87, 87], "semantic_id": 7, "pcd_info": {"point_index": 1842}, "mesh_info": {"face_index": 491, "face_uv": [0.5881832651541332, 0.03937081496113628, 0.3724459198847329]}}, {"xyz": [-0.26530472714029013, 0.09506200253963493, -0.22981465958500452], "rgb": [96, 96, 96], "semantic_id": 8, "pcd_info": {"point_index": 1530}, "mesh_info": {"face_index": 486, "face_uv": [0.641572397350963, 0.035169300762414556, 0.3232583018866247]}}, {"xyz": [-0.28383196300799335, 0.0950620025396347, 0.204248219924101], "rgb": [126, 126, 126], "semantic_id": 9, "pcd_info": {"point_index": 1715}, "mesh_info": {"face_index": 488, "face_uv": [0.1992028394462473, 0.02370478328242194, 0.7770923772713306]}}, {"xyz": [0.28059781036009346, -0.2992649972438812, -0.28753435227154484], "rgb": [173, 163, 121], "semantic_id": 17, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 574, "face_uv": [0.1383341704013106, 0.8102579597561735, 0.05140786984251586]}}, {"xyz": [0.2906688989138122, -0.2992649972438812, 0.20410857156100232], "rgb": [171, 161, 118], "semantic_id": 18, "pcd_info": {"point_index": 33}, "mesh_info": {"face_index": 634, "face_uv": [0.360768294002121, 0.6331153849665534, 0.006116321031325583]}}, {"xyz": [-0.28856324445691156, -0.2992649972438812, 0.20111959167242216], "rgb": [171, 161, 119], "semantic_id": 19, "pcd_info": {"point_index": 1970}, "mesh_info": {"face_index": 613, "face_uv": [0.3440559184857101, 0.037248406586378444, 0.6186956749279114]}}, {"xyz": [-0.2905935946529369, -0.29926499724388145, -0.28833126179565316], "rgb": [171, 160, 117], "semantic_id": 20, "pcd_info": {"point_index": 1485}, "mesh_info": {"face_index": 594, "face_uv": [0.3742390274640031, 0.5774218215900233, 0.04833915094597431]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "64952439f8d9e1da9c0c9824ccd078be", "keypoints": [{"xyz": [0.17444858734326324, 0.4190957718189685, 0.10508900135755539], "rgb": [120, 115, 117], "semantic_id": 0, "pcd_info": {"point_index": 1938}, "mesh_info": {"face_index": 36, "face_uv": [0.48894958930993804, 0.4671577336909053, 0.043892676999156645]}}, {"xyz": [-0.17876997830068198, 0.4235140085220336, 0.10576408436136875], "rgb": [119, 114, 117], "semantic_id": 1, "pcd_info": {"point_index": 1746}, "mesh_info": {"face_index": 516, "face_uv": [0.5509433388915645, 0.013413401955139159, 0.43564325915329605]}}, {"xyz": [0.19246281974344798, -0.0630059987306597, 0.0961992336928208], "rgb": [98, 91, 86], "semantic_id": 2, "pcd_info": {"point_index": 1988}, "mesh_info": {"face_index": 1168, "face_uv": [0.14707729654721585, 0.05742252307185315, 0.7955001803809345]}}, {"xyz": [-0.19022525745069402, -0.06300599873065948, 0.10042658515662972], "rgb": [113, 113, 109], "semantic_id": 3, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 3217, "face_uv": [0.037265910212260125, 0.09931222314500025, 0.8634218666427399]}}, {"xyz": [0.20040781854020465, -0.0716228371588894, -0.2472189962863922], "rgb": [124, 125, 128], "semantic_id": 4, "pcd_info": {"point_index": 1551}, "mesh_info": {"face_index": 1043, "face_uv": [0.2689187788566165, 0.06828896933371656, 0.6627922518096669]}}, {"xyz": [-0.19718655236082067, -0.07388309610802013, -0.2472189962863922], "rgb": [108, 108, 108], "semantic_id": 5, "pcd_info": {"point_index": 333}, "mesh_info": {"face_index": 3250, "face_uv": [0.05494510602704538, 0.48637487653795913, 0.4586800174349955]}}, {"xyz": [0.17757098385354259, -0.39562105224390354, -0.21366600692272208], "rgb": [98, 97, 103], "semantic_id": 17, "pcd_info": {"point_index": 898}, "mesh_info": {"face_index": 3436, "face_uv": [0.00931133934067692, 0.5291974429103864, 0.4614912177489377]}}, {"xyz": [0.17071133672220185, -0.3985370099544525, 0.11748550216111497], "rgb": [119, 119, 124], "semantic_id": 18, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 0, "face_uv": [0.1465919895390197, 0.2463093385199682, 0.6070986719410121]}}, {"xyz": [-0.18236349339484278, -0.3985370099544525, 0.1064524840890837], "rgb": [122, 121, 126], "semantic_id": 19, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 484, "face_uv": [0.3776575904293264, 0.027091397403830344, 0.5952510121668433]}}, {"xyz": [-0.17406001210477437, -0.3985370099544524, -0.20120682518231536], "rgb": [114, 111, 107], "semantic_id": 20, "pcd_info": {"point_index": 1872}, "mesh_info": {"face_index": 3440, "face_uv": [0.4315315806104119, 0.24754974196637844, 0.32091867742320945]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b998016472e9dd7a9b9f2eb77f5e247e", "keypoints": [{"xyz": [0.15202706670774763, 0.3751118733301533, 0.07776588963230396], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 538}, "mesh_info": {"face_index": 131, "face_uv": [0.19038082467705603, 0.2600576827229684, 0.5495614925999756]}}, {"xyz": [-0.15091638346979297, 0.37448400581595265, 0.07467476742214285], "rgb": [226, 225, 221], "semantic_id": 1, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 99, "face_uv": [0.18523338484748095, 0.5105085010561324, 0.30425811409638687]}}, {"xyz": [0.15494294386622764, -0.10025300085544564, 0.019114346007615968], "rgb": [225, 224, 220], "semantic_id": 2, "pcd_info": {"point_index": 662}, "mesh_info": {"face_index": 30, "face_uv": [0.04837536452847685, 0.9420360155152436, 0.009588619956277179]}}, {"xyz": [-0.15161015352213394, -0.10025300085544586, 0.019899130890110417], "rgb": [225, 225, 220], "semantic_id": 3, "pcd_info": {"point_index": 1295}, "mesh_info": {"face_index": 39, "face_uv": [0.8935391295493292, 0.054961919222006834, 0.051498951228663846]}}, {"xyz": [0.16098098876487432, -0.10025300085544586, -0.21510950712635535], "rgb": [226, 225, 221], "semantic_id": 4, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 31, "face_uv": [0.9233027677785868, 0.046051257290320516, 0.030645974931092747]}}, {"xyz": [-0.16168060735027753, -0.10025300085544586, -0.21942852962848383], "rgb": [226, 224, 220], "semantic_id": 5, "pcd_info": {"point_index": 392}, "mesh_info": {"face_index": 38, "face_uv": [0.02192928052587491, 0.9704704516669826, 0.00760026780714237]}}, {"xyz": [0.1375032995326479, -0.4644699990749359, -0.18484981744139212], "rgb": [226, 225, 221], "semantic_id": 17, "pcd_info": {"point_index": 1399}, "mesh_info": {"face_index": 72, "face_uv": [0.4220660794421901, 0.4966899278505096, 0.08124399270730033]}}, {"xyz": [0.12635948700225927, -0.4644699990749359, 0.08679309973350138], "rgb": [226, 224, 220], "semantic_id": 18, "pcd_info": {"point_index": 2036}, "mesh_info": {"face_index": 134, "face_uv": [0.5145310446818112, 0.3467681309531581, 0.13870082436503064]}}, {"xyz": [-0.1332549291811576, -0.4644699990749359, 0.07161060076979422], "rgb": [226, 224, 221], "semantic_id": 19, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 116, "face_uv": [0.4739179162675191, 0.45549930560222224, 0.07058277813025866]}}, {"xyz": [-0.13877787173495504, -0.4644699990749359, -0.19714320000968702], "rgb": [226, 225, 221], "semantic_id": 20, "pcd_info": {"point_index": 18}, "mesh_info": {"face_index": 4, "face_uv": [0.4009971908026033, 0.3570299386781256, 0.24197287051927108]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e51df025a8c64a483147d51c94487639", "keypoints": [{"xyz": [0.3316497460231076, 0.327565997838974, 0.16481197193577546], "rgb": [219, 229, 229], "semantic_id": 0, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 0, "face_uv": [0.0011465567390249018, 0.42901237401968345, 0.5698410692412916]}}, {"xyz": [-0.3296730968851014, 0.3275659978389738, 0.1847130885938757], "rgb": [218, 229, 228], "semantic_id": 1, "pcd_info": {"point_index": 274}, "mesh_info": {"face_index": 53, "face_uv": [0.5715705698765896, 0.42430968181575796, 0.004119748307651704]}}, {"xyz": [0.19342258703395548, -0.0033314117451856973, 0.10660400241613388], "rgb": [210, 221, 223], "semantic_id": 2, "pcd_info": {"point_index": 1736}, "mesh_info": {"face_index": 22, "face_uv": [0.9898517323046649, 0.008413461126918965, 0.0017348065684160262]}}, {"xyz": [-0.1850632388468903, 0.0009574394032740852, 0.10660400241613366], "rgb": [162, 178, 211], "semantic_id": 3, "pcd_info": {"point_index": 207}, "mesh_info": {"face_index": 33, "face_uv": [0.03888505882394734, 0.029658875664739882, 0.9314560655113107]}}, {"xyz": [0.18478159991114637, -0.004846000112593174, -0.21597919952871636], "rgb": [225, 225, 236], "semantic_id": 4, "pcd_info": {"point_index": 1466}, "mesh_info": {"face_index": 46, "face_uv": [0.03037466543757626, 0.04897419884370241, 0.9206511357187213]}}, {"xyz": [-0.18295049899745813, -0.004846000112593396, -0.2291576040842307], "rgb": [251, 251, 252], "semantic_id": 5, "pcd_info": {"point_index": 1322}, "mesh_info": {"face_index": 46, "face_uv": [0.9649715628686097, 0.010122198259672152, 0.02490623887176392]}}, {"xyz": [0.25983431690919434, 0.1421947501947618, -0.23259100317955017], "rgb": [210, 221, 223], "semantic_id": 6, "pcd_info": {"point_index": 1867}, "mesh_info": {"face_index": 86, "face_uv": [0.5201460719277426, 0.014775942854912417, 0.46507798521734495]}}, {"xyz": [0.2654241249399468, 0.1444000005722048, 0.10427450292142249], "rgb": [220, 230, 229], "semantic_id": 7, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 14, "face_uv": [0.5062767540747725, 0.006867729348256677, 0.48685551657697235]}}, {"xyz": [-0.2685620773380824, 0.1444000005722046, -0.23159252240794992], "rgb": [228, 237, 234], "semantic_id": 8, "pcd_info": {"point_index": 670}, "mesh_info": {"face_index": 38, "face_uv": [0.5294045206859302, 0.002943677693150985, 0.4676518016209187]}}, {"xyz": [-0.2681465811652895, 0.1444000005722046, 0.10373336593936677], "rgb": [221, 231, 230], "semantic_id": 9, "pcd_info": {"point_index": 348}, "mesh_info": {"face_index": 26, "face_uv": [0.47365782612273793, 0.008463085922287675, 0.5178790879549744]}}, {"xyz": [0.26822585534300747, -0.24736350222502268, -0.23259100317955017], "rgb": [164, 180, 213], "semantic_id": 17, "pcd_info": {"point_index": 408}, "mesh_info": {"face_index": 42, "face_uv": [0.012548040768947303, 0.5269264512811008, 0.46052550794995184]}}, {"xyz": [0.26863365101594017, -0.24906599521636963, 0.23906270545885644], "rgb": [211, 220, 233], "semantic_id": 18, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 21, "face_uv": [0.4700679571891392, 0.006781369481621935, 0.5231506733292389]}}, {"xyz": [-0.27525626031594996, -0.24906599521636963, 0.23583852558265228], "rgb": [189, 202, 218], "semantic_id": 19, "pcd_info": {"point_index": 1804}, "mesh_info": {"face_index": 27, "face_uv": [0.5787429050592803, 0.013570917538888404, 0.40768617740183133]}}, {"xyz": [-0.26153594865199553, -0.24906599521636963, -0.2271955538625089], "rgb": [178, 191, 221], "semantic_id": 20, "pcd_info": {"point_index": 157}, "mesh_info": {"face_index": 37, "face_uv": [0.5223804154170871, 0.011361854435902343, 0.46625773014701055]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "95c5a8897fa78d3883b06dcdd869d9ac", "keypoints": [{"xyz": [0.13731553134541125, 0.3399027561363761, 0.1844949575576056], "rgb": [152, 74, 0], "semantic_id": 0, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 377, "face_uv": [0.210599391717111, 0.06706699494299075, 0.7223336133398943]}}, {"xyz": [-0.12777618000289287, 0.34721616766360097, 0.18629382690682528], "rgb": [153, 75, 0], "semantic_id": 1, "pcd_info": {"point_index": 948}, "mesh_info": {"face_index": 370, "face_uv": [0.02530710200362457, 0.4971611192995249, 0.47753177869685093]}}, {"xyz": [0.14175032061101248, -0.04251199960708596, 0.08070582421881234], "rgb": [254, 152, 48], "semantic_id": 2, "pcd_info": {"point_index": 1440}, "mesh_info": {"face_index": 1182, "face_uv": [0.027748988290352165, 0.5574704094743971, 0.4147806022352456]}}, {"xyz": [-0.13634559343612584, -0.04488354823422269, 0.1072629988193512], "rgb": [153, 75, 0], "semantic_id": 3, "pcd_info": {"point_index": 1327}, "mesh_info": {"face_index": 67, "face_uv": [0.3127124730131623, 0.31809326224257223, 0.36919426474426553]}}, {"xyz": [0.1387358420616666, -0.043891737319670554, -0.23661762292860122], "rgb": [254, 152, 48], "semantic_id": 4, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 1184, "face_uv": [0.26121336590560057, 0.5234068799607872, 0.2153797541336114]}}, {"xyz": [-0.14748435879558403, -0.04442636734880301, -0.2318922165743329], "rgb": [254, 152, 48], "semantic_id": 5, "pcd_info": {"point_index": 1916}, "mesh_info": {"face_index": 820, "face_uv": [0.3387333791012115, 0.08771034446217127, 0.5735562764366139]}}, {"xyz": [0.15582948763022214, -0.41838499903678916, -0.21270328652618897], "rgb": [153, 75, 0], "semantic_id": 17, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 272, "face_uv": [0.3559066936660798, 0.3972587653412762, 0.24683454099264457]}}, {"xyz": [0.15285901229615834, -0.41838499903678894, 0.1198127680883121], "rgb": [153, 75, 0], "semantic_id": 18, "pcd_info": {"point_index": 1346}, "mesh_info": {"face_index": 245, "face_uv": [0.12751796406396113, 0.4167207446612994, 0.45576129127473947]}}, {"xyz": [-0.1411632486347666, -0.41838499903678894, 0.1113738541214555], "rgb": [153, 75, 0], "semantic_id": 19, "pcd_info": {"point_index": 1292}, "mesh_info": {"face_index": 6, "face_uv": [0.39626694329913054, 0.40521302650389496, 0.19852003019697445]}}, {"xyz": [-0.14122501031787993, -0.41838499903678894, -0.2156863144909576], "rgb": [153, 75, 0], "semantic_id": 20, "pcd_info": {"point_index": 672}, "mesh_info": {"face_index": 132, "face_uv": [0.3941907110968731, 0.5397988719870918, 0.06601041691603511]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "eb6e55bb557701e37df0e9a69c97c97d", "keypoints": [{"xyz": [0.11870189837833929, 0.2668800492410237, 0.1497726574385323], "rgb": [243, 249, 225], "semantic_id": 0, "pcd_info": {"point_index": 1495}, "mesh_info": {"face_index": 15762, "face_uv": [0.12904856936101972, 0.04270556652697963, 0.8282458641120022]}}, {"xyz": [-0.11062605630616479, 0.2688103825968733, 0.14919980127062815], "rgb": [249, 250, 241], "semantic_id": 1, "pcd_info": {"point_index": 362}, "mesh_info": {"face_index": 10628, "face_uv": [0.21749330421024776, 0.15631131350803845, 0.6261953822817173]}}, {"xyz": [0.17586618689540137, 0.01046050198439108, 0.0358548329095969], "rgb": [254, 253, 216], "semantic_id": 2, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 21854, "face_uv": [0.05042147722597371, 0.9188960904892781, 0.030682432284748127]}}, {"xyz": [-0.1711001284345423, -0.0002626837694545969, 0.044123799518199336], "rgb": [253, 244, 236], "semantic_id": 3, "pcd_info": {"point_index": 830}, "mesh_info": {"face_index": 17571, "face_uv": [0.397422083968172, 0.31920546529780014, 0.2833724507340278]}}, {"xyz": [0.20576007941824537, 0.045929616826431596, -0.23462925046805305], "rgb": [229, 221, 194], "semantic_id": 4, "pcd_info": {"point_index": 977}, "mesh_info": {"face_index": 2664, "face_uv": [0.16559176839907322, 0.1693999309081474, 0.6650083006927788]}}, {"xyz": [-0.20385133658681975, 0.05107522433206335, -0.22834473025401192], "rgb": [228, 240, 178], "semantic_id": 5, "pcd_info": {"point_index": 1244}, "mesh_info": {"face_index": 1243, "face_uv": [0.19015400409706315, 0.4419188241534959, 0.3679271717494411]}}, {"xyz": [0.20146435193172393, -0.4103126412476721, -0.29164092020005516], "rgb": [160, 121, 70], "semantic_id": 17, "pcd_info": {"point_index": 202}, "mesh_info": {"face_index": 24234, "face_uv": [0.3733005347782636, 0.09508235900395343, 0.5316171062177832]}}, {"xyz": [0.17146926807974266, -0.4144063485647105, 0.09062810740212157], "rgb": [235, 251, 200], "semantic_id": 18, "pcd_info": {"point_index": 1279}, "mesh_info": {"face_index": 23877, "face_uv": [0.23704538318912483, 0.14562570354636223, 0.6173289132645114]}}, {"xyz": [-0.18320009213116686, -0.41611795779901084, 0.0935207972516538], "rgb": [242, 254, 216], "semantic_id": 19, "pcd_info": {"point_index": 285}, "mesh_info": {"face_index": 23588, "face_uv": [0.022443355229704472, 0.2116166252466963, 0.7659400195235996]}}, {"xyz": [-0.20603253113936854, -0.41015724865402947, -0.2934856023412081], "rgb": [156, 116, 64], "semantic_id": 20, "pcd_info": {"point_index": 1091}, "mesh_info": {"face_index": 24233, "face_uv": [0.02943263541683445, 0.8099126112114564, 0.16065475337170868]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "56f9ae090d2fe856ad5067eac75a07f7", "keypoints": [{"xyz": [0.15384677030294192, 0.3084828710069427, 0.153430978058692], "rgb": [168, 82, 177], "semantic_id": 0, "pcd_info": {"point_index": 431}, "mesh_info": {"face_index": 359, "face_uv": [0.016083114091901256, 0.2844005368308316, 0.6995163490772687]}}, {"xyz": [-0.12655698622433945, 0.3116198859623236, 0.1676337162405167], "rgb": [167, 81, 176], "semantic_id": 1, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 129, "face_uv": [0.32314472557332663, 0.37887868407711195, 0.29797659034956125]}}, {"xyz": [0.1572239008164496, 0.07212021984591988, 0.08934619259062049], "rgb": [168, 82, 177], "semantic_id": 2, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 1082, "face_uv": [0.10672759012829885, 0.7287586981089827, 0.16451371176272037]}}, {"xyz": [-0.1614587247808392, 0.07271244589142367, 0.09330688796503628], "rgb": [168, 82, 177], "semantic_id": 3, "pcd_info": {"point_index": 1005}, "mesh_info": {"face_index": 1114, "face_uv": [0.788794893713415, 0.03860083319139681, 0.17260427309519313]}}, {"xyz": [0.18599220031256908, 0.06476639292260367, -0.26002088721540306], "rgb": [167, 81, 176], "semantic_id": 4, "pcd_info": {"point_index": 1562}, "mesh_info": {"face_index": 1146, "face_uv": [0.013806032220663697, 0.5940512490848995, 0.3921427186944361]}}, {"xyz": [-0.18133273438130196, 0.0696535066437356, -0.2515958059088059], "rgb": [167, 81, 176], "semantic_id": 5, "pcd_info": {"point_index": 875}, "mesh_info": {"face_index": 1141, "face_uv": [0.057656972196895716, 0.9152044559713051, 0.027138571831798887]}}, {"xyz": [0.2709579594497868, 0.26543899725900766, -0.04518117391651433], "rgb": [168, 82, 177], "semantic_id": 6, "pcd_info": {"point_index": 2043}, "mesh_info": {"face_index": 726, "face_uv": [0.11967841298120127, 0.5221471985280403, 0.3581743884907587]}}, {"xyz": [-0.2699387608028542, 0.2667506509599633, -0.03925791921997557], "rgb": [167, 81, 176], "semantic_id": 8, "pcd_info": {"point_index": 1711}, "mesh_info": {"face_index": 516, "face_uv": [0.5093949496097816, 0.2751339837178442, 0.21547106667237373]}}, {"xyz": [0.18800257363011696, -0.32200422300182274, -0.26950019318324353], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 1541, "face_uv": [0.2928420153878043, 0.5587238337249606, 0.1484341508872353]}}, {"xyz": [0.2206529113222869, -0.32279716396449953, 0.15030717001881952], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 789}, "mesh_info": {"face_index": 1776, "face_uv": [0.1440150794511133, 0.275901681712459, 0.5800832388364278]}}, {"xyz": [-0.2180846810901949, -0.32100147051827777, 0.1460562381487046], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1784}, "mesh_info": {"face_index": 1695, "face_uv": [0.216377932040215, 0.4253131985876543, 0.35830886937212775]}}, {"xyz": [-0.18844639687826736, -0.3219861875194485, -0.275607221096694], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 1435, "face_uv": [0.11971498009653593, 0.24768087944231335, 0.6326041404611498]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 7]}, {"kp_indexes": [8, 11]}, {"kp_indexes": [9, 10]}], "rotation": []}}, {"class_id": "03001627", "model_id": "374bec02e71fe06528b4c5ec471dc963", "keypoints": [{"xyz": [0.164366950000031, 0.5303339958190918, 0.07673864623635662], "rgb": [149, 81, 35], "semantic_id": 0, "pcd_info": {"point_index": 1691}, "mesh_info": {"face_index": 0, "face_uv": [0.47448192865877004, 0.011018326238687854, 0.5144997451025421]}}, {"xyz": [-0.16076284811865327, 0.5277515165217074, 0.07684541953231935], "rgb": [151, 84, 41], "semantic_id": 1, "pcd_info": {"point_index": 1485}, "mesh_info": {"face_index": 12, "face_uv": [0.5281591441664121, 0.10579710259949035, 0.36604375323409766]}}, {"xyz": [0.15457014197413688, 0.030036000534892082, 0.05095691797983615], "rgb": [145, 78, 33], "semantic_id": 2, "pcd_info": {"point_index": 867}, "mesh_info": {"face_index": 18, "face_uv": [0.16981442243609954, 0.30646256335927813, 0.5237230142046223]}}, {"xyz": [-0.15253414596348122, 0.030036000534892304, 0.051201010718326945], "rgb": [144, 77, 36], "semantic_id": 3, "pcd_info": {"point_index": 1539}, "mesh_info": {"face_index": 61, "face_uv": [0.1606764793727157, 0.7195338298399813, 0.11978969078731048]}}, {"xyz": [0.16574437351422283, 0.028364860230307404, -0.24916300177574136], "rgb": [159, 92, 47], "semantic_id": 4, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 109, "face_uv": [0.9770013015048119, 0.02021654831635172, 0.002782150178835412]}}, {"xyz": [-0.16368028085891143, 0.030036000534892082, -0.23087642858569613], "rgb": [151, 82, 40], "semantic_id": 5, "pcd_info": {"point_index": 966}, "mesh_info": {"face_index": 100, "face_uv": [0.06368539713104994, 0.008933759684178073, 0.9273808431847719]}}, {"xyz": [0.15073075066356817, -0.3038691826590818, -0.24916300177574163], "rgb": [151, 83, 39], "semantic_id": 17, "pcd_info": {"point_index": 1884}, "mesh_info": {"face_index": 128, "face_uv": [0.3383555840170274, 0.11054441455170524, 0.5511000014312676]}}, {"xyz": [0.1486291885739319, -0.34536799788475037, 0.0871007986897756], "rgb": [148, 80, 35], "semantic_id": 18, "pcd_info": {"point_index": 1078}, "mesh_info": {"face_index": 247, "face_uv": [0.006369554979603278, 0.3612280999220882, 0.6324023450983085]}}, {"xyz": [-0.14640185739201417, -0.34536799788475037, 0.08262950796534035], "rgb": [148, 80, 38], "semantic_id": 19, "pcd_info": {"point_index": 429}, "mesh_info": {"face_index": 239, "face_uv": [0.4802047770134208, 0.24454499171033048, 0.2752502312762488]}}, {"xyz": [-0.15685818065689666, -0.3416130927605836, -0.24916300177574152], "rgb": [140, 72, 30], "semantic_id": 20, "pcd_info": {"point_index": 2008}, "mesh_info": {"face_index": 125, "face_uv": [0.866537541992123, 0.012826670367105185, 0.12063578764077164]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5edb33755a80aded3da27ece6ae88fff", "keypoints": [{"xyz": [0.13024935903451118, 0.4985042866404299, 0.10919002706788439], "rgb": [146, 80, 38], "semantic_id": 0, "pcd_info": {"point_index": 857}, "mesh_info": {"face_index": 861, "face_uv": [0.6386043228060085, 0.04396893344249862, 0.3174267437514933]}}, {"xyz": [-0.13307919811887892, 0.48593450629471135, 0.10911864149792272], "rgb": [159, 92, 47], "semantic_id": 1, "pcd_info": {"point_index": 1035}, "mesh_info": {"face_index": 858, "face_uv": [0.36935759562123627, 0.3097645807116284, 0.32087782366713563]}}, {"xyz": [0.14818339622160914, 0.1739419996738436, 0.08791656678539339], "rgb": [146, 82, 38], "semantic_id": 2, "pcd_info": {"point_index": 9}, "mesh_info": {"face_index": 760, "face_uv": [0.018142450698025687, 0.971176108419727, 0.010681440882248578]}}, {"xyz": [-0.1485359966754914, 0.1764570609827305, 0.098462693820358], "rgb": [159, 92, 48], "semantic_id": 3, "pcd_info": {"point_index": 1467}, "mesh_info": {"face_index": 786, "face_uv": [0.8258986208166713, 0.010132714014312035, 0.163968665169017]}}, {"xyz": [0.1453543600513605, 0.17394199967384338, -0.1473167970098594], "rgb": [152, 89, 45], "semantic_id": 4, "pcd_info": {"point_index": 1988}, "mesh_info": {"face_index": 229, "face_uv": [0.020113982383210733, 0.023464657593631765, 0.9564213600231575]}}, {"xyz": [-0.1472182580679875, 0.1739419996738436, -0.1517377931513777], "rgb": [142, 77, 35], "semantic_id": 5, "pcd_info": {"point_index": 995}, "mesh_info": {"face_index": 744, "face_uv": [0.0012596971192192431, 0.9943467132075859, 0.004393589673196117]}}, {"xyz": [0.14194019893293636, -0.3431659936904907, -0.13948293639074266], "rgb": [149, 83, 41], "semantic_id": 17, "pcd_info": {"point_index": 284}, "mesh_info": {"face_index": 517, "face_uv": [0.45672042942527014, 0.33971143442805424, 0.20356813614667565]}}, {"xyz": [0.14184184319889048, -0.3431659936904905, 0.10816562476884989], "rgb": [152, 81, 32], "semantic_id": 18, "pcd_info": {"point_index": 54}, "mesh_info": {"face_index": 1060, "face_uv": [0.171573734259895, 0.3669506769726513, 0.46147558876745304]}}, {"xyz": [-0.1375675112820321, -0.3431659936904905, 0.10674106110280718], "rgb": [148, 87, 47], "semantic_id": 19, "pcd_info": {"point_index": 1930}, "mesh_info": {"face_index": 240, "face_uv": [0.469737286789052, 0.4358201005700897, 0.0944426126408576]}}, {"xyz": [-0.1294365975460658, -0.3431659936904905, -0.14962629953429446], "rgb": [146, 81, 39], "semantic_id": 20, "pcd_info": {"point_index": 602}, "mesh_info": {"face_index": 6, "face_uv": [0.0766547212519046, 0.8300842679271258, 0.09326101082096903]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b919250f54644e1e326e6d76fa066efd", "keypoints": [{"xyz": [0.16184756867312033, 0.2878830134868622, -0.0655848310964513], "rgb": [133, 89, 22], "semantic_id": 0, "pcd_info": {"point_index": 1074}, "mesh_info": {"face_index": 1232, "face_uv": [0.1519664916681718, 0.053559688561375676, 0.7944738197704525]}}, {"xyz": [-0.16418389742032596, 0.2869707931849138, -0.06848873185665738], "rgb": [132, 88, 21], "semantic_id": 1, "pcd_info": {"point_index": 1302}, "mesh_info": {"face_index": 1302, "face_uv": [0.009992334645308677, 0.7739386893699937, 0.21606897598469738]}}, {"xyz": [0.13442764873891855, -0.12428720593054665, -0.03292908331719202], "rgb": [132, 88, 21], "semantic_id": 2, "pcd_info": {"point_index": 479}, "mesh_info": {"face_index": 530, "face_uv": [0.039223501994072436, 0.15196846212638018, 0.8088080358795433]}}, {"xyz": [-0.12196732089023377, -0.12433712707086353, -0.012530933558380974], "rgb": [132, 88, 21], "semantic_id": 3, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 347, "face_uv": [0.7375175937498448, 0.2234083785948588, 0.03907402765527757]}}, {"xyz": [0.19047265142719302, -0.1373869925737381, -0.32152870305211567], "rgb": [132, 88, 21], "semantic_id": 4, "pcd_info": {"point_index": 629}, "mesh_info": {"face_index": 168, "face_uv": [0.9659254030369024, 0.011621502571890808, 0.022453094391206543]}}, {"xyz": [-0.1910147918355798, -0.13738699257373804, -0.3260788876523577], "rgb": [132, 88, 21], "semantic_id": 5, "pcd_info": {"point_index": 997}, "mesh_info": {"face_index": 182, "face_uv": [0.019335957694125324, 0.9797067988021941, 0.0009572435036801046]}}, {"xyz": [0.14505727571421223, -0.507652997970581, -0.30114450657999003], "rgb": [133, 89, 22], "semantic_id": 17, "pcd_info": {"point_index": 1016}, "mesh_info": {"face_index": 1215, "face_uv": [0.19732090554059195, 0.42745318630923573, 0.37522590815017226]}}, {"xyz": [0.143423769065241, -0.507652997970581, -0.015098619803679214], "rgb": [133, 89, 22], "semantic_id": 18, "pcd_info": {"point_index": 1224}, "mesh_info": {"face_index": 271, "face_uv": [0.037717061463375, 0.6093891670899965, 0.35289377144662853]}}, {"xyz": [-0.17777500360960927, -0.5045049786567686, -0.01386920807161307], "rgb": [132, 88, 21], "semantic_id": 19, "pcd_info": {"point_index": 84}, "mesh_info": {"face_index": 246, "face_uv": [0.24136317711153255, 0.5296228367402289, 0.22901398614823804]}}, {"xyz": [-0.17170436933037028, -0.5081179738044739, -0.3070706471814014], "rgb": [133, 89, 22], "semantic_id": 20, "pcd_info": {"point_index": 914}, "mesh_info": {"face_index": 222, "face_uv": [0.3243554306831083, 0.3464351980692719, 0.32920937124761984]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "84d783ab90b79f8036b0f2a1430e993a", "keypoints": [{"xyz": [0.18537599944390126, 0.3618788104853289, 0.174401088232796], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1304}, "mesh_info": {"face_index": 2900, "face_uv": [0.005952474193206678, 0.45269867473632186, 0.5413488510704688]}}, {"xyz": [-0.17458166206031883, 0.36246773021122314, 0.17456768519917443], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 762}, "mesh_info": {"face_index": 3512, "face_uv": [0.0038510731863898103, 0.18128090362086732, 0.8148680231927411]}}, {"xyz": [0.1603199988603592, -0.06320207267180655, 0.07550307717115323], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 771}, "mesh_info": {"face_index": 346, "face_uv": [0.265274764609562, 0.08301014953298796, 0.65171508585745]}}, {"xyz": [-0.15908615015692135, -0.057252999395132065, 0.06924115009782217], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 1283, "face_uv": [0.16009598365933653, 0.615538357595504, 0.22436565874515962]}}, {"xyz": [0.1694589100307955, -0.05829288215886863, -0.2875399887561798], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 862}, "mesh_info": {"face_index": 1003, "face_uv": [0.5386878334444766, 0.43562590127037537, 0.02568626528514798]}}, {"xyz": [-0.16633677132059438, -0.0586041278516215, -0.2875399887561798], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 877}, "mesh_info": {"face_index": 1042, "face_uv": [0.033374381399490255, 0.6721282759938572, 0.29449734260665256]}}, {"xyz": [0.19270700216293335, -0.40902168846383635, -0.23459742156967645], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1565}, "mesh_info": {"face_index": 3495, "face_uv": [0.7752144937549867, 0.11086229971405033, 0.11392320653096283]}}, {"xyz": [0.1765130013227465, -0.41260693287429934, 0.07758639668234046], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 851}, "mesh_info": {"face_index": 1920, "face_uv": [0.6242098813805578, 0.0059334764342239355, 0.3698566421852195]}}, {"xyz": [-0.15545299649238598, -0.4129675999979163, 0.0777896561199729], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1283}, "mesh_info": {"face_index": 1252, "face_uv": [0.003585813833677799, 0.3706416149330292, 0.6257725712332937]}}, {"xyz": [-0.17164599895477295, -0.411934899526514, -0.21177645682289548], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1387}, "mesh_info": {"face_index": 3292, "face_uv": [0.039963217468390995, 0.5204610226487019, 0.43957575988290715]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a9ee7abdaba4ed6c14817c31e6492a06", "keypoints": [{"xyz": [0.14301713134070138, 0.23595693047600563, 0.03322613278221753], "rgb": [148, 80, 40], "semantic_id": 0, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 203, "face_uv": [0.3758559282217065, 0.5302843528260734, 0.09385971895222012]}}, {"xyz": [-0.16105463785372576, 0.23702416304080076, 0.03305462885462089], "rgb": [153, 86, 42], "semantic_id": 1, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 180, "face_uv": [0.46241873156864444, 0.4727688396463639, 0.06481242878499183]}}, {"xyz": [0.1377332676784167, -0.1380389928817749, -0.0008440137405244658], "rgb": [159, 93, 50], "semantic_id": 2, "pcd_info": {"point_index": 412}, "mesh_info": {"face_index": 133, "face_uv": [0.020271454711103015, 0.36467587793350364, 0.6150526673553932]}}, {"xyz": [-0.15738930908832616, -0.1380389928817749, -0.003530440644525054], "rgb": [159, 92, 48], "semantic_id": 3, "pcd_info": {"point_index": 1768}, "mesh_info": {"face_index": 123, "face_uv": [0.3789356435012122, 0.03298628198687872, 0.5880780745119091]}}, {"xyz": [0.14957108258775653, -0.1380389928817749, -0.2001158950127277], "rgb": [153, 85, 39], "semantic_id": 4, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 130, "face_uv": [0.9634229499264708, 0.0009180415509295333, 0.03565900852259957]}}, {"xyz": [-0.15971750742479063, -0.13803899288177468, -0.19834825296961378], "rgb": [151, 83, 38], "semantic_id": 5, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 124, "face_uv": [0.9204630419654722, 0.04494327929425306, 0.034593678740273026]}}, {"xyz": [0.13102710696225206, -0.5074009895324707, -0.1788411352751899], "rgb": [153, 86, 41], "semantic_id": 17, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 302, "face_uv": [0.47043612441748833, 0.5207257857739181, 0.008838089808593411]}}, {"xyz": [0.13612322548355132, -0.5074009895324707, 0.04208812481589536], "rgb": [154, 87, 42], "semantic_id": 18, "pcd_info": {"point_index": 1498}, "mesh_info": {"face_index": 305, "face_uv": [0.40426285547221047, 0.29045525818357615, 0.30528188634421327]}}, {"xyz": [-0.1560223309129546, -0.5074009895324707, 0.03389676393358676], "rgb": [154, 87, 41], "semantic_id": 19, "pcd_info": {"point_index": 958}, "mesh_info": {"face_index": 220, "face_uv": [0.4125462746367899, 0.5422232396599547, 0.04523048570325541]}}, {"xyz": [-0.15355145970957268, -0.5074009895324707, -0.1890049741501615], "rgb": [148, 80, 34], "semantic_id": 20, "pcd_info": {"point_index": 1319}, "mesh_info": {"face_index": 286, "face_uv": [0.4732989202141903, 0.413762666176615, 0.11293841360919475]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "72da26fc9b49ecd3c3bd24f986301745", "keypoints": [{"xyz": [0.1768846967018956, 0.39814370503613417, 0.23970433113083267], "rgb": [152, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 343}, "mesh_info": {"face_index": 4436, "face_uv": [0.01274971327746876, 0.37587730709351214, 0.6113729796290189]}}, {"xyz": [-0.18444414176283896, 0.39775327856324727, 0.2387905112026394], "rgb": [152, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 3747, "face_uv": [0.0044935815989935405, 0.004449722335344499, 0.9910566960656525]}}, {"xyz": [0.17305596069171314, 0.03513487553297212, 0.08278436947045908], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 883}, "mesh_info": {"face_index": 18926, "face_uv": [0.5391522315285747, 0.12924684990164004, 0.33160091856978613]}}, {"xyz": [-0.17479923065158265, 0.0361086826929955, 0.07658771402551534], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 519}, "mesh_info": {"face_index": 20432, "face_uv": [0.5651903538502496, 0.17860269946162435, 0.25620694668812793]}}, {"xyz": [0.16556593170920192, 0.058174914499828256, -0.32549392143634925], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 900}, "mesh_info": {"face_index": 19324, "face_uv": [0.23389170539185944, 0.00557810121602859, 0.7605301933921118]}}, {"xyz": [-0.16960131863546934, 0.052539843993370305, -0.3203696368472191], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1528}, "mesh_info": {"face_index": 20186, "face_uv": [0.8311516702246474, 0.16469500829630898, 0.004153321479043846]}}, {"xyz": [0.19190900296356872, -0.2896629308541044, -0.26482965209759435], "rgb": [255, 125, 0], "semantic_id": 17, "pcd_info": {"point_index": 549}, "mesh_info": {"face_index": 13986, "face_uv": [0.26717859200293886, 0.17121295710178655, 0.5616084508952746]}}, {"xyz": [0.19200179177790955, -0.29014934687561816, 0.11703456896182285], "rgb": [153, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 1633}, "mesh_info": {"face_index": 5867, "face_uv": [0.05747361334307917, 0.07104331319100705, 0.871483073465915]}}, {"xyz": [-0.18130655909556015, -0.2904765660477964, 0.11669872583072527], "rgb": [153, 29, 29], "semantic_id": 19, "pcd_info": {"point_index": 718}, "mesh_info": {"face_index": 2566, "face_uv": [0.07283893521097622, 0.38269286755841136, 0.5444681972306132]}}, {"xyz": [-0.18123400841720494, -0.2921398791074498, -0.25069553363833164], "rgb": [254, 125, 0], "semantic_id": 20, "pcd_info": {"point_index": 111}, "mesh_info": {"face_index": 10383, "face_uv": [0.4930919629085414, 0.1930483657266503, 0.3138596713648069]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fbca73a2c226a86a593a4d04856c4691", "keypoints": [{"xyz": [0.21511846979694565, 0.2574930356894183, 0.10385606992945617], "rgb": [175, 103, 42], "semantic_id": 0, "pcd_info": {"point_index": 1888}, "mesh_info": {"face_index": 70, "face_uv": [0.08162878810961187, 0.5678430453174962, 0.3505281665728921]}}, {"xyz": [-0.2148327274247795, 0.26169772256094226, 0.09317301319494353], "rgb": [182, 107, 45], "semantic_id": 1, "pcd_info": {"point_index": 1569}, "mesh_info": {"face_index": 65, "face_uv": [0.4736137604079937, 0.20491174575653878, 0.32147449383546745]}}, {"xyz": [0.20649396047213808, -0.04288199916481972, 0.036765803580376455], "rgb": [180, 102, 41], "semantic_id": 2, "pcd_info": {"point_index": 1261}, "mesh_info": {"face_index": 10, "face_uv": [0.9753483916488765, 0.008366690847147527, 0.01628491750397597]}}, {"xyz": [-0.20540289871640216, -0.04288199916481972, 0.03296163170892302], "rgb": [176, 99, 42], "semantic_id": 3, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 10, "face_uv": [0.03395376708939146, 0.020101949685116097, 0.9459442832254925]}}, {"xyz": [0.20070208571696269, -0.04288199916481972, -0.2690988175418717], "rgb": [180, 103, 41], "semantic_id": 4, "pcd_info": {"point_index": 673}, "mesh_info": {"face_index": 9, "face_uv": [0.03788899931201978, 0.04809010986112835, 0.9140208908268521]}}, {"xyz": [-0.20861144722950692, -0.04288199916481972, -0.26861308772156367], "rgb": [177, 102, 41], "semantic_id": 5, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 10, "face_uv": [0.02662059555507646, 0.9504114917070322, 0.02296791273789137]}}, {"xyz": [0.1690348911827756, -0.4122830033302308, -0.2469940872281018], "rgb": [179, 105, 40], "semantic_id": 17, "pcd_info": {"point_index": 227}, "mesh_info": {"face_index": 1, "face_uv": [0.35736596044042607, 0.40593944138375015, 0.23669459817582406]}}, {"xyz": [0.1576830398181599, -0.41228300333023093, 0.08360496005981899], "rgb": [178, 103, 43], "semantic_id": 18, "pcd_info": {"point_index": 290}, "mesh_info": {"face_index": 46, "face_uv": [0.3457713343280211, 0.3892193003480523, 0.26500936532392716]}}, {"xyz": [-0.17975876400172333, -0.4122830033302308, 0.08668889213155284], "rgb": [178, 106, 43], "semantic_id": 19, "pcd_info": {"point_index": 1092}, "mesh_info": {"face_index": 57, "face_uv": [0.4451504772889582, 0.4164209450692829, 0.1384285776417592]}}, {"xyz": [-0.17401336992690578, -0.41228300333023093, -0.2654275017359656], "rgb": [181, 107, 42], "semantic_id": 20, "pcd_info": {"point_index": 262}, "mesh_info": {"face_index": 27, "face_uv": [0.4778279995192605, 0.207423281886, 0.31474871859474]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "98d1fb12c3354d341e67ee2399c63faa", "keypoints": [{"xyz": [0.17926953165147191, 0.5835813427022427, 0.09945695481949524], "rgb": [148, 87, 33], "semantic_id": 0, "pcd_info": {"point_index": 595}, "mesh_info": {"face_index": 5063, "face_uv": [0.9205348605655697, 0.07445102829192991, 0.005014111142500668]}}, {"xyz": [-0.1884050857365708, 0.576186231343517, 0.09620500355958916], "rgb": [150, 85, 31], "semantic_id": 1, "pcd_info": {"point_index": 1771}, "mesh_info": {"face_index": 4980, "face_uv": [0.019764961949100376, 0.07731963214304004, 0.9029154059078575]}}, {"xyz": [0.18562074533711864, 0.14274799823760986, 0.13316723303093103], "rgb": [139, 83, 29], "semantic_id": 2, "pcd_info": {"point_index": 1497}, "mesh_info": {"face_index": 5364, "face_uv": [0.04271265134945301, 0.09696669905190831, 0.8603206495986385]}}, {"xyz": [-0.18398719195099209, 0.14274799823760986, 0.11857334721234736], "rgb": [140, 79, 29], "semantic_id": 3, "pcd_info": {"point_index": 1606}, "mesh_info": {"face_index": 5323, "face_uv": [0.32895201420669634, 0.05777001468384832, 0.6132779711094553]}}, {"xyz": [0.18845499851714775, 0.13447733598545242, -0.23126715269183795], "rgb": [149, 86, 33], "semantic_id": 4, "pcd_info": {"point_index": 1816}, "mesh_info": {"face_index": 5368, "face_uv": [0.018090343422811836, 0.49476707191702646, 0.48714258466016175]}}, {"xyz": [-0.18583348381289097, 0.1337107064924622, -0.23203373542942596], "rgb": [148, 85, 31], "semantic_id": 5, "pcd_info": {"point_index": 611}, "mesh_info": {"face_index": 5367, "face_uv": [0.032165776668319934, 0.5520643004313285, 0.41576992290035236]}}, {"xyz": [0.1799075432012921, -0.22556200623512246, -0.18497003065004514], "rgb": [142, 78, 26], "semantic_id": 17, "pcd_info": {"point_index": 1007}, "mesh_info": {"face_index": 3421, "face_uv": [0.3126692235536974, 0.32097109518756334, 0.36635968125873825]}}, {"xyz": [0.17445218660196815, -0.2255620062351229, 0.15232657772708036], "rgb": [140, 76, 25], "semantic_id": 18, "pcd_info": {"point_index": 1535}, "mesh_info": {"face_index": 4577, "face_uv": [0.2515648156096363, 0.04880202298223205, 0.6996331614081326]}}, {"xyz": [-0.17990771133224592, -0.22556200623512246, 0.14782348519434058], "rgb": [142, 79, 27], "semantic_id": 19, "pcd_info": {"point_index": 1026}, "mesh_info": {"face_index": 2265, "face_uv": [0.41108491275779674, 0.3364576843785983, 0.25245740286360396]}}, {"xyz": [-0.17711334411735047, -0.2255620062351229, -0.18701635024640495], "rgb": [143, 79, 27], "semantic_id": 20, "pcd_info": {"point_index": 1770}, "mesh_info": {"face_index": 1109, "face_uv": [0.38516177032972504, 0.47586240308560096, 0.13897582658467494]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8cb34663a9e42f95c3bd24f986301745", "keypoints": [{"xyz": [0.2547988612748378, 0.3666353709062651, 0.20294739885939728], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 762}, "mesh_info": {"face_index": 20675, "face_uv": [0.1328932098538913, 0.5258431451947383, 0.3412636449513719]}}, {"xyz": [-0.2666510390465366, 0.3625769273415851, 0.20470466150034283], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 913}, "mesh_info": {"face_index": 20830, "face_uv": [0.08571386763349474, 0.8348974791454487, 0.07938865322105598]}}, {"xyz": [0.2614877368548201, 0.017868353547490168, 0.05030839372095408], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1446}, "mesh_info": {"face_index": 15837, "face_uv": [0.32969564665784246, 0.23219430746279668, 0.4381100458793649]}}, {"xyz": [-0.2434501056608477, 0.015991726644922544, 0.06593645266911774], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 256}, "mesh_info": {"face_index": 15535, "face_uv": [0.3031437814406433, 0.37227280055439976, 0.3245834180049592]}}, {"xyz": [0.26207276439376836, 0.058720446630268874, -0.3309671243967356], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1910}, "mesh_info": {"face_index": 17143, "face_uv": [0.8938194754119677, 0.05199361205814917, 0.054186912529883495]}}, {"xyz": [-0.25238935635155474, 0.053987587982529894, -0.3378938625657595], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1466}, "mesh_info": {"face_index": 16337, "face_uv": [0.4027992121394361, 0.3129955293814888, 0.28420525847907474]}}, {"xyz": [0.2701165297787558, -0.1999194154814916, -0.26356797665930043], "rgb": [195, 202, 212], "semantic_id": 17, "pcd_info": {"point_index": 1883}, "mesh_info": {"face_index": 3158, "face_uv": [0.5976550755651001, 0.1400410377649103, 0.2623038866699884]}}, {"xyz": [0.2712622400367321, -0.20169968081377787, 0.1070230207138212], "rgb": [204, 211, 221], "semantic_id": 18, "pcd_info": {"point_index": 1328}, "mesh_info": {"face_index": 381, "face_uv": [0.4444161700536546, 0.4347252178144822, 0.12085861213186369]}}, {"xyz": [-0.26450339692037655, -0.20269247486797215, 0.09994711043243815], "rgb": [201, 208, 218], "semantic_id": 19, "pcd_info": {"point_index": 1431}, "mesh_info": {"face_index": 4354, "face_uv": [0.14355979641053898, 0.5594384377960325, 0.29700176579342835]}}, {"xyz": [-0.2652065478921543, -0.20263432080497523, -0.24722826966803887], "rgb": [203, 210, 220], "semantic_id": 20, "pcd_info": {"point_index": 817}, "mesh_info": {"face_index": 5084, "face_uv": [0.4445655101435131, 0.021371972534149145, 0.5340625173223397]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "123305d8ccc0dc6346918a1d9c256af3", "keypoints": [{"xyz": [0.13106311221177838, 0.33881128462371934, 0.16216276550293607], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 1912}, "mesh_info": {"face_index": 5730, "face_uv": [0.8832532019403369, 0.023696833923336727, 0.09304996413632668]}}, {"xyz": [-0.14761841465114606, 0.3255024609798266, 0.1585994296248887], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 541}, "mesh_info": {"face_index": 6380, "face_uv": [0.7496159523255868, 0.13235433179158768, 0.1180297158828259]}}, {"xyz": [0.10221368703421763, -5.791095224028098e-06, 0.0910746444138062], "rgb": [0, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 5002, "face_uv": [0.2800975004584719, 0.2646833626031199, 0.45521913693840815]}}, {"xyz": [-0.09632620329709185, -0.005813359344304048, 0.091267997991054], "rgb": [0, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 943}, "mesh_info": {"face_index": 7129, "face_uv": [0.2356409484767626, 0.6720698856140109, 0.09228916590922433]}}, {"xyz": [0.15529658946708835, -0.013073752818897222, -0.17173763723250124], "rgb": [0, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 803}, "mesh_info": {"face_index": 17402, "face_uv": [0.5822980300077651, 0.17428295546601488, 0.24341901452622092]}}, {"xyz": [-0.13640570958755316, -0.013187992102664414, -0.19687713028341802], "rgb": [0, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 725}, "mesh_info": {"face_index": 18308, "face_uv": [0.026386327214888455, 0.11516330941921057, 0.8584503633659013]}}, {"xyz": [0.18823834007800067, -0.3912329971790316, -0.24600356961734782], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1964}, "mesh_info": {"face_index": 17279, "face_uv": [0.07223043240692498, 0.31925654248940716, 0.6085130251036684]}}, {"xyz": [0.185996394471442, -0.3912329971790316, 0.1275759036683215], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1448}, "mesh_info": {"face_index": 17214, "face_uv": [0.5742134641742421, 0.09949871023782689, 0.32628782558793157]}}, {"xyz": [-0.181529875333021, -0.3912329971790316, 0.11643548831407469], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1513}, "mesh_info": {"face_index": 17154, "face_uv": [0.4518471998300556, 0.287590528005527, 0.26056227216441796]}}, {"xyz": [-0.18951677755608964, -0.39123299717903137, -0.25417145543695807], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 257}, "mesh_info": {"face_index": 17118, "face_uv": [0.36459087611407315, 0.3481242152392856, 0.28728490864664125]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f69b87648aa2c6f52ef787234c3ff353", "keypoints": [{"xyz": [0.19658092372351363, 0.37279948645965955, 0.19917290208204458], "rgb": [163, 114, 69], "semantic_id": 0, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 1879, "face_uv": [0.11568265237206993, 0.2475806070273956, 0.6367367406005341]}}, {"xyz": [-0.17884915651174893, 0.3695891726261191, 0.19542470636066653], "rgb": [150, 99, 56], "semantic_id": 1, "pcd_info": {"point_index": 549}, "mesh_info": {"face_index": 1533, "face_uv": [0.5471915114491811, 0.4485828587134015, 0.004225629837417614]}}, {"xyz": [0.16569445133709476, -0.01137831156515845, 0.10384230960005025], "rgb": [184, 187, 224], "semantic_id": 2, "pcd_info": {"point_index": 851}, "mesh_info": {"face_index": 2344, "face_uv": [0.41660842725335595, 0.5407312837526437, 0.042660288994004966]}}, {"xyz": [-0.1583983976366674, -0.009584433516455437, 0.1083002429053227], "rgb": [82, 87, 170], "semantic_id": 3, "pcd_info": {"point_index": 1168}, "mesh_info": {"face_index": 2318, "face_uv": [0.821527519146557, 0.03005878253853519, 0.14841369831490575]}}, {"xyz": [0.1689637539781011, -0.01049172301931045, -0.24780191510499983], "rgb": [112, 111, 200], "semantic_id": 4, "pcd_info": {"point_index": 965}, "mesh_info": {"face_index": 2338, "face_uv": [0.70108552779865, 0.034992976145932594, 0.2639214960554167]}}, {"xyz": [-0.15146943285365222, -0.011463470572906198, -0.24784913365069816], "rgb": [56, 62, 141], "semantic_id": 5, "pcd_info": {"point_index": 552}, "mesh_info": {"face_index": 2322, "face_uv": [0.42791322075320676, 0.03486900358562766, 0.5372177756611628]}}, {"xyz": [0.20239079262637402, 0.17755399644374847, -0.30972541095421857], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 123}, "mesh_info": {"face_index": 246, "face_uv": [0.7291863645409904, 0.019713572275489023, 0.2511000631835205]}}, {"xyz": [0.19500410210310967, 0.1775539964437487, 0.14038175138019926], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 266}, "mesh_info": {"face_index": 664, "face_uv": [0.014535115677256127, 0.9084967713600011, 0.07696811296274411]}}, {"xyz": [-0.18474565644182114, 0.17755399644374847, -0.3130098870832294], "rgb": [158, 110, 62], "semantic_id": 8, "pcd_info": {"point_index": 1768}, "mesh_info": {"face_index": 2660, "face_uv": [0.013177709367086496, 0.39952380488575745, 0.587298485747156]}}, {"xyz": [-0.18300951241358848, 0.17755399644374847, 0.13846803196297666], "rgb": [172, 130, 82], "semantic_id": 9, "pcd_info": {"point_index": 1781}, "mesh_info": {"face_index": 3777, "face_uv": [0.5396635024043515, 0.019859187208372826, 0.44047731038727567]}}, {"xyz": [0.19459253827497744, -0.34886398911476135, -0.27341942482863263], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1976}, "mesh_info": {"face_index": 24, "face_uv": [0.03762568318694584, 0.5218763152848528, 0.44049800152820134]}}, {"xyz": [0.19745121423031042, -0.34886398911476135, 0.10348458644061842], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1322}, "mesh_info": {"face_index": 314, "face_uv": [0.12253197618374342, 0.32038503143219144, 0.5570829923840651]}}, {"xyz": [-0.17950892706959531, -0.34886398911476135, 0.10059572396583971], "rgb": [159, 106, 66], "semantic_id": 19, "pcd_info": {"point_index": 1394}, "mesh_info": {"face_index": 3242, "face_uv": [0.512031072831068, 0.009603028000507151, 0.47836589916842487]}}, {"xyz": [-0.18356584532588732, -0.34886398911476135, -0.2732909012840584], "rgb": [207, 185, 166], "semantic_id": 20, "pcd_info": {"point_index": 1834}, "mesh_info": {"face_index": 3663, "face_uv": [0.27259184576839124, 0.17164917901940388, 0.5557589752122049]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c61e3ca5004f3e8667816b64852d28f", "keypoints": [{"xyz": [0.16771320294511732, 0.36314344472328075, 0.25451893029305084], "rgb": [144, 80, 36], "semantic_id": 0, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 6502, "face_uv": [0.4871234240334541, 0.19839968999901553, 0.3144768859675303]}}, {"xyz": [-0.1416065171007077, 0.38261027409191195, 0.2565980525519056], "rgb": [146, 84, 40], "semantic_id": 1, "pcd_info": {"point_index": 1076}, "mesh_info": {"face_index": 5918, "face_uv": [0.1971496658268252, 0.608907440893356, 0.19394289327981823]}}, {"xyz": [0.22029243976762963, 0.0036849447124247536, 0.16358009041300137], "rgb": [146, 82, 41], "semantic_id": 2, "pcd_info": {"point_index": 1941}, "mesh_info": {"face_index": 2939, "face_uv": [0.11035566125845278, 0.2422012889020602, 0.6474430498394643]}}, {"xyz": [-0.22454767715940177, 0.0037043951025816924, 0.16323218082650226], "rgb": [152, 86, 38], "semantic_id": 3, "pcd_info": {"point_index": 718}, "mesh_info": {"face_index": 2687, "face_uv": [0.059079260277323874, 0.8706912107044763, 0.07022952901819608]}}, {"xyz": [0.23805964576748384, 0.013934981073970842, -0.16140362505663497], "rgb": [147, 82, 36], "semantic_id": 4, "pcd_info": {"point_index": 1635}, "mesh_info": {"face_index": 3188, "face_uv": [0.2294665238977004, 0.1535479278720631, 0.6169855482302385]}}, {"xyz": [-0.237235479918786, 0.014362708517180911, -0.15914531853746328], "rgb": [147, 84, 38], "semantic_id": 5, "pcd_info": {"point_index": 123}, "mesh_info": {"face_index": 2284, "face_uv": [0.3015850240515728, 0.27642825715651714, 0.4219867187919104]}}, {"xyz": [0.24075550867076123, 0.21058978551111784, -0.11519300147502753], "rgb": [151, 87, 39], "semantic_id": 6, "pcd_info": {"point_index": 1367}, "mesh_info": {"face_index": 7826, "face_uv": [0.6233591378646219, 0.051297531604845695, 0.32534333053053327]}}, {"xyz": [0.23228258700474247, 0.17697625176921683, 0.19782116577803133], "rgb": [154, 92, 50], "semantic_id": 7, "pcd_info": {"point_index": 1181}, "mesh_info": {"face_index": 7450, "face_uv": [0.10946446880808809, 0.400013674373123, 0.4905218568187906]}}, {"xyz": [-0.2399427159952088, 0.21125843753101914, -0.12031767340518534], "rgb": [149, 86, 40], "semantic_id": 8, "pcd_info": {"point_index": 429}, "mesh_info": {"face_index": 11658, "face_uv": [0.38853022325322745, 0.009463816672792984, 0.6020059600739802]}}, {"xyz": [-0.23320453708204425, 0.17609758157926803, 0.20426372340487164], "rgb": [152, 87, 44], "semantic_id": 9, "pcd_info": {"point_index": 1834}, "mesh_info": {"face_index": 10875, "face_uv": [0.07861888809272072, 0.4940368727611298, 0.42734423914615066]}}, {"xyz": [0.2172159616442169, -0.3306199908256531, -0.16547825157929097], "rgb": [147, 82, 34], "semantic_id": 17, "pcd_info": {"point_index": 1053}, "mesh_info": {"face_index": 14375, "face_uv": [0.04490268264859999, 0.4898175226974897, 0.4652797946539103]}}, {"xyz": [0.21450086424585407, -0.3306199908256531, 0.16355499802804896], "rgb": [149, 85, 40], "semantic_id": 18, "pcd_info": {"point_index": 919}, "mesh_info": {"face_index": 14028, "face_uv": [0.5038986444032487, 0.20734478812787477, 0.28875656746887646]}}, {"xyz": [-0.2126094792032428, -0.3306199908256531, 0.16220520232198432], "rgb": [150, 88, 45], "semantic_id": 19, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 64, "face_uv": [0.27024142643873605, 0.43985978716023266, 0.2898987864010313]}}, {"xyz": [-0.21789550115300882, -0.3306199908256531, -0.1665389168770066], "rgb": [158, 89, 40], "semantic_id": 20, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 12703, "face_uv": [0.18548521409563698, 0.27046374401064055, 0.5440510418937224]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "61b76525022f44fa9f2fd5a6f642de3d", "keypoints": [{"xyz": [0.26067545122974645, 0.24542220020419547, 0.25037119898306714], "rgb": [233, 183, 142], "semantic_id": 0, "pcd_info": {"point_index": 1624}, "mesh_info": {"face_index": 2721, "face_uv": [0.10506135924342312, 0.48608084992942246, 0.4088577908271554]}}, {"xyz": [-0.2561975628903567, 0.24446783958919427, 0.25352164625206797], "rgb": [193, 140, 99], "semantic_id": 1, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 3558, "face_uv": [0.10562271312404935, 0.11051050197415777, 0.7838667849017933]}}, {"xyz": [0.24820808203668798, -0.11814164677252914, 0.08315403518705766], "rgb": [73, 53, 35], "semantic_id": 2, "pcd_info": {"point_index": 1833}, "mesh_info": {"face_index": 3297, "face_uv": [0.40821577952440363, 0.2609185804525614, 0.3308656400230324]}}, {"xyz": [-0.2540036785350269, -0.12067895634448056, 0.07806284219782578], "rgb": [44, 35, 27], "semantic_id": 3, "pcd_info": {"point_index": 903}, "mesh_info": {"face_index": 2190, "face_uv": [0.2603005852906683, 0.20872644506660942, 0.5309729696427217]}}, {"xyz": [0.25625283760741213, -0.0367393234258917, -0.34265962389014726], "rgb": [195, 137, 92], "semantic_id": 4, "pcd_info": {"point_index": 434}, "mesh_info": {"face_index": 2944, "face_uv": [0.1519421357128985, 0.04974823096393534, 0.7983096333231663]}}, {"xyz": [-0.26576599478721613, -0.03831714904443806, -0.34237549699252945], "rgb": [227, 205, 174], "semantic_id": 5, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 2728, "face_uv": [0.15371278644660738, 0.5383058266927491, 0.30798138686064336]}}, {"xyz": [0.2125910668750554, -0.31767699122428894, -0.2792435380638262], "rgb": [182, 182, 182], "semantic_id": 17, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 27, "face_uv": [0.024609358394029765, 0.28903766335359005, 0.6863529782523802]}}, {"xyz": [0.2104784385733738, -0.31767699122428894, 0.17885057874840787], "rgb": [182, 182, 182], "semantic_id": 18, "pcd_info": {"point_index": 313}, "mesh_info": {"face_index": 168, "face_uv": [0.04083664642431063, 0.6949336092103429, 0.26422974436534646]}}, {"xyz": [-0.21086994343155413, -0.31767699122428894, 0.18217850749539838], "rgb": [182, 182, 182], "semantic_id": 19, "pcd_info": {"point_index": 1637}, "mesh_info": {"face_index": 66, "face_uv": [0.35879787607591757, 0.043773727030832335, 0.5974283968932501]}}, {"xyz": [-0.20695227088897766, -0.31767699122428916, -0.27437087772322405], "rgb": [182, 182, 182], "semantic_id": 20, "pcd_info": {"point_index": 141}, "mesh_info": {"face_index": 63, "face_uv": [0.4702503135803256, 0.03650395408141429, 0.49324573233826086]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "386b2caac16694edbab0cb5a4ccf2fb2", "keypoints": [{"xyz": [0.23757193279512323, 0.25061833530856464, 0.23046402673200816], "rgb": [203, 101, 0], "semantic_id": 0, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 2224, "face_uv": [0.47416222569348343, 0.23616379249181976, 0.28967398181469506]}}, {"xyz": [-0.20736549741464208, 0.2490348004954508, 0.23038830544030442], "rgb": [203, 101, 0], "semantic_id": 1, "pcd_info": {"point_index": 1414}, "mesh_info": {"face_index": 2074, "face_uv": [0.5397784843396415, 0.2990198839419502, 0.16120163171840227]}}, {"xyz": [0.1806658142456823, 0.07712589503271494, 0.15340237025102732], "rgb": [204, 102, 0], "semantic_id": 2, "pcd_info": {"point_index": 286}, "mesh_info": {"face_index": 3918, "face_uv": [0.054671848814887736, 0.3979139440037269, 0.5474142071813876]}}, {"xyz": [-0.16220669583113048, 0.07887552832721922, 0.14489666070732077], "rgb": [203, 101, 0], "semantic_id": 3, "pcd_info": {"point_index": 547}, "mesh_info": {"face_index": 4659, "face_uv": [0.03077192659625708, 0.38722544064568015, 0.5820026327580602]}}, {"xyz": [0.18421006471717943, 0.06707234894304637, -0.2637225837235375], "rgb": [203, 101, 0], "semantic_id": 4, "pcd_info": {"point_index": 767}, "mesh_info": {"face_index": 4266, "face_uv": [0.01833890576252444, 0.27439299801752337, 0.7072680962199518]}}, {"xyz": [-0.16339483366755717, 0.0691388624739302, -0.262023912814473], "rgb": [204, 102, 0], "semantic_id": 5, "pcd_info": {"point_index": 1787}, "mesh_info": {"face_index": 5021, "face_uv": [0.5662961161517045, 0.1457631214684322, 0.2879407623798637]}}, {"xyz": [0.288422697962436, 0.2661860127562403, -0.21688603234694726], "rgb": [204, 102, 0], "semantic_id": 6, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 2663, "face_uv": [0.07779964163690077, 0.16505911993607578, 0.757141238427024]}}, {"xyz": [0.3134504289696891, 0.2670462229386634, 0.24074100335531567], "rgb": [203, 101, 0], "semantic_id": 7, "pcd_info": {"point_index": 135}, "mesh_info": {"face_index": 2627, "face_uv": [0.36357920109514247, 0.5682121148316385, 0.06820868407321849]}}, {"xyz": [-0.29929981332570865, 0.26599861810198, -0.23570703598834863], "rgb": [203, 101, 0], "semantic_id": 8, "pcd_info": {"point_index": 381}, "mesh_info": {"face_index": 2981, "face_uv": [0.1129900911161282, 0.03976402253750718, 0.8472458863463644]}}, {"xyz": [-0.27593589590249423, 0.26697663848786846, 0.20092753595182944], "rgb": [203, 101, 0], "semantic_id": 9, "pcd_info": {"point_index": 406}, "mesh_info": {"face_index": 2067, "face_uv": [0.32439837256126236, 0.5498597241361002, 0.12574190330263707]}}, {"xyz": [0.2951859866058326, -0.2032420039176941, -0.17387033280123368], "rgb": [15, 15, 15], "semantic_id": 17, "pcd_info": {"point_index": 2026}, "mesh_info": {"face_index": 1792, "face_uv": [0.5604060558721518, 0.10987406397164977, 0.32971988015619846]}}, {"xyz": [0.297260882027645, -0.2032420039176941, 0.23084952153553567], "rgb": [15, 15, 15], "semantic_id": 18, "pcd_info": {"point_index": 677}, "mesh_info": {"face_index": 1816, "face_uv": [0.08511746772628377, 0.28868298962833366, 0.6261995426453826]}}, {"xyz": [-0.2728390097618104, -0.19459378851002507, 0.23270432418991716], "rgb": [15, 15, 15], "semantic_id": 19, "pcd_info": {"point_index": 1648}, "mesh_info": {"face_index": 1869, "face_uv": [0.6725279217324356, 0.1310597525356896, 0.1964123257318752]}}, {"xyz": [-0.2728390097618104, -0.19493187381778254, -0.17152013170610061], "rgb": [15, 15, 15], "semantic_id": 20, "pcd_info": {"point_index": 841}, "mesh_info": {"face_index": 1856, "face_uv": [0.22782703655465744, 0.38375087741892033, 0.3884220860264226]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c045514b5d4e4407b0ea0348afc5cb87", "keypoints": [{"xyz": [0.17084889388295565, 0.43846969957132165, 0.1773836991015888], "rgb": [176, 102, 36], "semantic_id": 0, "pcd_info": {"point_index": 561}, "mesh_info": {"face_index": 377, "face_uv": [0.2775699976108687, 0.045086936614682986, 0.6773430657744481]}}, {"xyz": [-0.15648296401121708, 0.4454886276598393, 0.17433585291904996], "rgb": [179, 106, 42], "semantic_id": 1, "pcd_info": {"point_index": 1223}, "mesh_info": {"face_index": 317, "face_uv": [0.6134849959724492, 0.34093250106822903, 0.045582502959321994]}}, {"xyz": [0.16620341190666377, 0.03874199837446213, 0.1294428532498857], "rgb": [189, 115, 56], "semantic_id": 2, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 497, "face_uv": [0.016754061928346994, 0.9098907174147052, 0.07335522065694776]}}, {"xyz": [-0.14219014486077788, 0.04088347226247546, 0.157172992825508], "rgb": [172, 101, 39], "semantic_id": 3, "pcd_info": {"point_index": 482}, "mesh_info": {"face_index": 318, "face_uv": [0.00537170659645575, 0.0646287759861069, 0.9299995174174366]}}, {"xyz": [0.17857373362444684, 0.023579634386050874, -0.15746926493360558], "rgb": [213, 188, 136], "semantic_id": 4, "pcd_info": {"point_index": 1085}, "mesh_info": {"face_index": 587, "face_uv": [0.4362429536990973, 0.00045046190762064827, 0.5633065843932812]}}, {"xyz": [-0.15999981454890433, 0.02083543944922328, -0.15706204950494274], "rgb": [143, 114, 64], "semantic_id": 5, "pcd_info": {"point_index": 1514}, "mesh_info": {"face_index": 584, "face_uv": [0.5330946559922917, 0.029833036188063905, 0.43707230781964357]}}, {"xyz": [0.15072856821937725, -0.3529259860515594, -0.14313814779687095], "rgb": [175, 102, 44], "semantic_id": 17, "pcd_info": {"point_index": 352}, "mesh_info": {"face_index": 0, "face_uv": [0.49638689860457624, 0.08474084418652664, 0.4188722572088969]}}, {"xyz": [0.15023235180541308, -0.35292598605155945, 0.16822394174847488], "rgb": [176, 104, 41], "semantic_id": 18, "pcd_info": {"point_index": 630}, "mesh_info": {"face_index": 433, "face_uv": [0.5188162774122586, 0.375687155323666, 0.10549656726407554]}}, {"xyz": [-0.1451330904638254, -0.35292598605155945, 0.17033536798559723], "rgb": [180, 107, 43], "semantic_id": 19, "pcd_info": {"point_index": 157}, "mesh_info": {"face_index": 130, "face_uv": [0.5682798353501446, 0.3109968632934412, 0.12072330135641425]}}, {"xyz": [-0.14379536924823608, -0.35292598605155945, -0.1288357817236859], "rgb": [178, 105, 45], "semantic_id": 20, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 296, "face_uv": [0.4727055301672611, 0.5229394468786285, 0.004355022954110472]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "58b8bc3981302103b78c56df3d6a2934", "keypoints": [{"xyz": [0.15528906156833852, 0.16077400743961334, 0.15838171260072098], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1762}, "mesh_info": {"face_index": 265, "face_uv": [0.573016250883211, 0.4224091441298958, 0.004574604986893348]}}, {"xyz": [-0.26865113533579965, 0.16077400743961312, 0.15172912997370558], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 982}, "mesh_info": {"face_index": 512, "face_uv": [0.01789289374616729, 0.6114391763110074, 0.370667929942824]}}, {"xyz": [0.14513794820307815, -0.20025119271709158, 0.07536099851131439], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 610}, "mesh_info": {"face_index": 479, "face_uv": [0.01759549989394573, 0.9718554761038424, 0.010549024002212035]}}, {"xyz": [-0.26663799511601555, -0.18985259191971804, 0.07536099851131417], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 284}, "mesh_info": {"face_index": 97, "face_uv": [0.9103405397967237, 0.01683333810927982, 0.07282612209399368]}}, {"xyz": [0.1519293938918808, -0.20356400310993172, -0.3531846066254305], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 53, "face_uv": [0.979038991527301, 0.008567722809435702, 0.012393285663262012]}}, {"xyz": [-0.268986992693113, -0.20356400310993195, -0.34833611322350044], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 896}, "mesh_info": {"face_index": 52, "face_uv": [0.4569739470624409, 0.011385363975238498, 0.5316406889623206]}}, {"xyz": [0.21317496089973917, 0.07815932265651315, -0.36910301446914673], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 843}, "mesh_info": {"face_index": 445, "face_uv": [0.1950018347658722, 0.39138644048369836, 0.41361172475042945]}}, {"xyz": [0.21585805890023566, 0.07874531665814044, 0.26514399053342075], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 142}, "mesh_info": {"face_index": 448, "face_uv": [0.619389866762564, 0.010542826204102887, 0.3700673070333334]}}, {"xyz": [-0.3155511112078422, 0.056124087858732574, -0.35005900263786305], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 9}, "mesh_info": {"face_index": 380, "face_uv": [0.23798974498990502, 0.44825070263167827, 0.3137595523784164]}}, {"xyz": [-0.31584099198961596, 0.07375802130606024, 0.2694795369338232], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1460}, "mesh_info": {"face_index": 561, "face_uv": [0.5039779489830176, 0.0038948712527262026, 0.49212717976426146]}}, {"xyz": [0.23745717212974146, -0.2578200101852417, -0.34444250870240445], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 738}, "mesh_info": {"face_index": 1, "face_uv": [0.01833656025075052, 0.9802072430068878, 0.0014561967423615278]}}, {"xyz": [0.23448510863997565, -0.2578200101852415, 0.2562989555659705], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 611}, "mesh_info": {"face_index": 3, "face_uv": [0.9519313226351264, 0.024814388901691322, 0.023254288463181397]}}, {"xyz": [-0.33651294507768215, -0.2578200101852415, 0.24832843028890392], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 2, "face_uv": [0.005547225822670654, 0.9625096375787369, 0.031943136598591715]}}, {"xyz": [-0.331669594561523, -0.2578200101852417, -0.3324387265724251], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 105}, "mesh_info": {"face_index": 2, "face_uv": [0.9211597628315639, 0.03888304516422208, 0.039957192004213965]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "73379ebbbac81af13ee8e30b29f70dfc", "keypoints": [{"xyz": [0.3830231869338872, 0.12073134601197766, 0.11002608701218523], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 36388, "face_uv": [0.15348816328943785, 0.7938222635639095, 0.05268957314665336]}}, {"xyz": [-0.3941996735281357, 0.10698837451414533, 0.10417854944245963], "rgb": [57, 57, 57], "semantic_id": 1, "pcd_info": {"point_index": 1206}, "mesh_info": {"face_index": 2773, "face_uv": [0.6539879079683016, 0.20589780138773744, 0.1401142906439595]}}, {"xyz": [0.3170469111589934, -0.06227242333348637, 0.04997298527252947], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 504}, "mesh_info": {"face_index": 38834, "face_uv": [0.11317115462662546, 0.1406111820714606, 0.7462176633019184]}}, {"xyz": [-0.32511480202964516, -0.06706803933820416, 0.056228283275736146], "rgb": [59, 86, 137], "semantic_id": 3, "pcd_info": {"point_index": 1807}, "mesh_info": {"face_index": 11130, "face_uv": [0.2252788520888603, 0.2685210768404119, 0.5062000710707281]}}, {"xyz": [0.37106279384353996, -0.04220816683693274, -0.13896453512084317], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 958}, "mesh_info": {"face_index": 40464, "face_uv": [0.5484779341437135, 0.1022588901718521, 0.3492631756844352]}}, {"xyz": [-0.37921710798990554, -0.0477496499075758, -0.1273604488343013], "rgb": [57, 57, 57], "semantic_id": 5, "pcd_info": {"point_index": 1453}, "mesh_info": {"face_index": 5476, "face_uv": [0.1188540204005087, 0.7504464993605213, 0.1306994802389616]}}, {"xyz": [0.42756414997547243, 0.024047070853855157, -0.11993889021482873], "rgb": [58, 58, 58], "semantic_id": 6, "pcd_info": {"point_index": 1082}, "mesh_info": {"face_index": 32609, "face_uv": [0.28143483971086436, 0.25342774609598573, 0.4651374141931502]}}, {"xyz": [0.3989057300184362, 0.04781064371905597, 0.0429095363968619], "rgb": [57, 57, 57], "semantic_id": 7, "pcd_info": {"point_index": 961}, "mesh_info": {"face_index": 31046, "face_uv": [0.2641495180081876, 0.017947027573375896, 0.7179034544184361]}}, {"xyz": [-0.433366009974933, 0.02413357398711935, -0.11554503923220591], "rgb": [58, 58, 58], "semantic_id": 8, "pcd_info": {"point_index": 787}, "mesh_info": {"face_index": 4317, "face_uv": [0.2953712931240326, 0.2892866908579136, 0.4153420160180541]}}, {"xyz": [-0.3993354350520627, 0.05148094616551435, 0.05781953577680407], "rgb": [57, 57, 57], "semantic_id": 9, "pcd_info": {"point_index": 273}, "mesh_info": {"face_index": 6278, "face_uv": [0.05104751384641504, 0.5248622200638734, 0.42409026608971123]}}, {"xyz": [0.4023285896818509, -0.19995908957807906, -0.14725757808846673], "rgb": [170, 170, 170], "semantic_id": 17, "pcd_info": {"point_index": 207}, "mesh_info": {"face_index": 28962, "face_uv": [0.06992564446028895, 0.034632110200266616, 0.8954422453394458]}}, {"xyz": [0.4084207206014969, -0.20055299997329712, 0.11165396398284022], "rgb": [170, 170, 170], "semantic_id": 18, "pcd_info": {"point_index": 1511}, "mesh_info": {"face_index": 29936, "face_uv": [0.4249150552406565, 0.32335438113989545, 0.25173056361944807]}}, {"xyz": [-0.4043736465353317, -0.20055299997329712, 0.1163446539442462], "rgb": [170, 170, 170], "semantic_id": 19, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 1901, "face_uv": [0.32866700072330357, 0.10864797481092639, 0.56268502446577]}}, {"xyz": [-0.4123881386831064, -0.20055299997329712, -0.14654004364623796], "rgb": [170, 170, 170], "semantic_id": 20, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 967, "face_uv": [0.2470095564635768, 0.7038211198975839, 0.04916932363883933]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1f0bfd529b33c045b84e887edbdca251", "keypoints": [{"xyz": [0.17407800257205963, 0.517960406280107, 0.11679270746989433], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 371, "face_uv": [0.35460880736541484, 0.03292729571295644, 0.6124638969216287]}}, {"xyz": [-0.1740780025720597, 0.5249746153762921, 0.12735310691106055], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 995}, "mesh_info": {"face_index": 301, "face_uv": [0.3259238996923648, 0.6579377642491696, 0.01613833605846584]}}, {"xyz": [0.1439439694180973, 0.11393000185489632, 0.10238303795134418], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1016}, "mesh_info": {"face_index": 279, "face_uv": [0.9068597798284219, 0.08655324828157998, 0.006586971889996282]}}, {"xyz": [-0.1577548499386755, 0.11402563965583157, 0.10444699972867988], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 307, "face_uv": [0.5311594067761266, 0.46859086726545346, 0.0002497259584221067]}}, {"xyz": [0.16657488483183644, 0.11393000185489643, -0.2072687425446973], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 680}, "mesh_info": {"face_index": 369, "face_uv": [0.005183693529942441, 0.9784489779599882, 0.01636732851006833]}}, {"xyz": [-0.16927705768780252, 0.11223309331327869, -0.20889300107955933], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 360, "face_uv": [0.01378963686773037, 0.04874073285547653, 0.9374696302767931]}}, {"xyz": [0.12094671622354405, -0.3386459946632384, -0.15375811172223755], "rgb": [159, 157, 155], "semantic_id": 17, "pcd_info": {"point_index": 1539}, "mesh_info": {"face_index": 190, "face_uv": [0.41636337696245446, 0.5260745750056378, 0.057562048031907335]}}, {"xyz": [0.12000030291220093, -0.3386709988117218, 0.09055438192297324], "rgb": [126, 121, 117], "semantic_id": 18, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 1, "face_uv": [0.39902972910628565, 0.4467413621082972, 0.15422890878541726]}}, {"xyz": [-0.1277839515374395, -0.3386709988117218, 0.08440714000379457], "rgb": [132, 128, 126], "semantic_id": 19, "pcd_info": {"point_index": 384}, "mesh_info": {"face_index": 84, "face_uv": [0.5755934489225123, 0.3296869793198037, 0.09471957175768403]}}, {"xyz": [-0.1113616283061275, -0.3386709988117218, -0.15409858052174222], "rgb": [167, 162, 161], "semantic_id": 20, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 292, "face_uv": [0.42614246789660964, 0.19861058147666388, 0.37524695062672647]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6f7a337878543c07c3bd24f986301745", "keypoints": [{"xyz": [0.1552275236326139, 0.3942204476342126, 0.2155143245472708], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 699}, "mesh_info": {"face_index": 1478, "face_uv": [0.747707939294857, 0.01399479084718613, 0.23829726985795696]}}, {"xyz": [-0.15380857318664073, 0.39423029941776866, 0.2092200605301368], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 1787, "face_uv": [0.14131430400160228, 0.6413484242275931, 0.21733727177080497]}}, {"xyz": [0.1600904768966867, 0.03799207668522797, 0.08589603494477793], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 19000, "face_uv": [0.6552031346237526, 0.008339137172070028, 0.3364577282041776]}}, {"xyz": [-0.15184815810353647, 0.03812918095813855, 0.08473652024026418], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 438}, "mesh_info": {"face_index": 19915, "face_uv": [0.5206483364178683, 0.022656569052633503, 0.4566950945295012]}}, {"xyz": [0.1559496532213785, 0.08065518920582893, -0.29809981477217457], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 799}, "mesh_info": {"face_index": 19000, "face_uv": [0.012516869066448309, 0.9665698943029182, 0.020913236630629974]}}, {"xyz": [-0.15312201413663645, 0.08116576195305747, -0.3026933783088424], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1693}, "mesh_info": {"face_index": 19823, "face_uv": [0.7134999963523325, 0.2627650432723562, 0.023734960375312055]}}, {"xyz": [0.18397225316560176, -0.2968512462522377, -0.24879035385550902], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 633}, "mesh_info": {"face_index": 10245, "face_uv": [0.39415492272450636, 0.4696088295350882, 0.13623624774040674]}}, {"xyz": [0.18719472540040794, -0.29871430763314644, 0.13115495594962417], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1953}, "mesh_info": {"face_index": 7228, "face_uv": [0.15214414312926525, 0.14324397179249576, 0.70461188507824]}}, {"xyz": [-0.18819651568087337, -0.2986473684948643, 0.13327950627628612], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 427}, "mesh_info": {"face_index": 2182, "face_uv": [0.6296856786456293, 0.021797646559381916, 0.3485166747949885]}}, {"xyz": [-0.18589270861557916, -0.2978695093337056, -0.24833757093821562], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1003}, "mesh_info": {"face_index": 6579, "face_uv": [0.37215694196068355, 0.4939616804538407, 0.13388137758547644]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d2b9e98373e96afec8d65ca96e6b18ef", "keypoints": [{"xyz": [0.3417271381491699, 0.4028318806806723, 0.18565740275124054], "rgb": [117, 170, 150], "semantic_id": 0, "pcd_info": {"point_index": 1166}, "mesh_info": {"face_index": 133, "face_uv": [0.018378709384964748, 0.012399119979068639, 0.9692221706359689]}}, {"xyz": [-0.34379743421023784, 0.4016149534219716, 0.18515342746458985], "rgb": [115, 170, 147], "semantic_id": 1, "pcd_info": {"point_index": 1657}, "mesh_info": {"face_index": 132, "face_uv": [0.7059236425919476, 0.010471588072909207, 0.28360476933514805]}}, {"xyz": [0.3480227736184097, 0.1085520014166832, 0.10165018180650387], "rgb": [97, 152, 133], "semantic_id": 2, "pcd_info": {"point_index": 253}, "mesh_info": {"face_index": 111, "face_uv": [0.0034254812847623667, 0.9794944163540533, 0.01708010236118388]}}, {"xyz": [-0.343312185140857, 0.12064828686823414, 0.1098963829566808], "rgb": [104, 168, 134], "semantic_id": 3, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 65, "face_uv": [0.1314193385214403, 0.8413359950103982, 0.027244666468160268]}}, {"xyz": [0.35042598843574524, 0.09312743598304685, -0.17604419667443616], "rgb": [48, 83, 78], "semantic_id": 4, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 15, "face_uv": [0.4228682930494425, 0.15081932201474485, 0.42631238493581264]}}, {"xyz": [-0.3419086252709076, 0.0967840701890803, -0.1858190031145559], "rgb": [84, 141, 118], "semantic_id": 5, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 101, "face_uv": [0.46712587005276823, 0.013163848300955017, 0.519710281646277]}}, {"xyz": [0.28915684002830305, -0.16785154168864924, -0.14218299267591106], "rgb": [199, 136, 117], "semantic_id": 17, "pcd_info": {"point_index": 1067}, "mesh_info": {"face_index": 252, "face_uv": [0.38186578393977716, 0.5952678359946206, 0.02286638006560226]}}, {"xyz": [0.276761548011906, -0.17275400459766388, 0.06195251940238758], "rgb": [167, 98, 73], "semantic_id": 18, "pcd_info": {"point_index": 1953}, "mesh_info": {"face_index": 260, "face_uv": [0.6614294854865148, 0.06517126080541609, 0.2733992537080692]}}, {"xyz": [-0.2983305218367334, -0.17275400459766388, 0.061702512339192966], "rgb": [185, 115, 91], "semantic_id": 19, "pcd_info": {"point_index": 1464}, "mesh_info": {"face_index": 284, "face_uv": [0.8088439135002347, 0.0786859045651439, 0.11247018193462152]}}, {"xyz": [-0.28441329668159787, -0.17062643132825173, -0.13764565161991932], "rgb": [182, 117, 98], "semantic_id": 20, "pcd_info": {"point_index": 366}, "mesh_info": {"face_index": 383, "face_uv": [0.5050455031010401, 0.36537919776919725, 0.12957529912976554]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d6075b23895c7d0880e85c92fa2351f7", "keypoints": [{"xyz": [0.29019805691422884, 0.3041940306503499, 0.12470426953497019], "rgb": [149, 85, 39], "semantic_id": 0, "pcd_info": {"point_index": 838}, "mesh_info": {"face_index": 448, "face_uv": [0.463059645725238, 0.11321992011970952, 0.4237204341550518]}}, {"xyz": [-0.2840512972187547, 0.30575353814176087, 0.11585849021666678], "rgb": [153, 87, 44], "semantic_id": 1, "pcd_info": {"point_index": 1287}, "mesh_info": {"face_index": 170, "face_uv": [0.4414004662095891, 0.5559100028763576, 0.002689530914053534]}}, {"xyz": [0.28778590701949214, -0.016049999743700027, 0.019927742977915774], "rgb": [142, 79, 35], "semantic_id": 2, "pcd_info": {"point_index": 789}, "mesh_info": {"face_index": 491, "face_uv": [0.8772688071827069, 0.09767697802198384, 0.025054214795309084]}}, {"xyz": [-0.28002369814208994, -0.016049999743700027, 0.02189880772007441], "rgb": [143, 76, 29], "semantic_id": 3, "pcd_info": {"point_index": 2022}, "mesh_info": {"face_index": 405, "face_uv": [0.0417151570878182, 0.9263281951394509, 0.031956647772730974]}}, {"xyz": [0.293599683950898, -0.016049999743700027, -0.20679244674383718], "rgb": [151, 87, 37], "semantic_id": 4, "pcd_info": {"point_index": 1108}, "mesh_info": {"face_index": 416, "face_uv": [0.19245305857015235, 0.015398991558625428, 0.7921479498712222]}}, {"xyz": [-0.2934891009341852, -0.016049999743700027, -0.21109893948246294], "rgb": [146, 84, 38], "semantic_id": 5, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 332, "face_uv": [0.009593995840348892, 0.10642401305578361, 0.8839819911038678]}}, {"xyz": [0.32024294038344814, 0.12080000340938568, -0.2050771701499437], "rgb": [151, 87, 41], "semantic_id": 6, "pcd_info": {"point_index": 1312}, "mesh_info": {"face_index": 693, "face_uv": [0.12229261468632212, 0.24303677704321822, 0.6346706082704595]}}, {"xyz": [0.3185571368625251, 0.12080000340938546, 0.12778961126688726], "rgb": [148, 82, 38], "semantic_id": 7, "pcd_info": {"point_index": 540}, "mesh_info": {"face_index": 844, "face_uv": [0.42692249223548606, 0.03201388751417843, 0.5410636202503337]}}, {"xyz": [-0.3136873851940257, 0.12080000340938568, -0.2095060662745278], "rgb": [150, 88, 43], "semantic_id": 8, "pcd_info": {"point_index": 1883}, "mesh_info": {"face_index": 323, "face_uv": [0.3647759919004447, 0.16212891470805832, 0.47309509339149697]}}, {"xyz": [-0.31104738429499423, 0.12080000340938568, 0.12684477818444098], "rgb": [150, 86, 44], "semantic_id": 9, "pcd_info": {"point_index": 846}, "mesh_info": {"face_index": 281, "face_uv": [0.3170586992114408, 0.252492485146898, 0.4304488156416612]}}, {"xyz": [0.31022268645842377, -0.26203445903946454, -0.16364100575447083], "rgb": [148, 82, 35], "semantic_id": 17, "pcd_info": {"point_index": 1897}, "mesh_info": {"face_index": 826, "face_uv": [0.002097988253017318, 0.2685671451803996, 0.7293348665665831]}}, {"xyz": [0.32020872626408436, -0.262378990650177, 0.21758063052699214], "rgb": [159, 95, 47], "semantic_id": 18, "pcd_info": {"point_index": 462}, "mesh_info": {"face_index": 855, "face_uv": [0.1178961300699165, 0.5155244193018967, 0.3665794506281868]}}, {"xyz": [-0.31605600737348033, -0.2623789906501768, 0.21474149167709644], "rgb": [148, 84, 38], "semantic_id": 19, "pcd_info": {"point_index": 337}, "mesh_info": {"face_index": 1, "face_uv": [0.38655419998066876, 0.458660537850191, 0.15478526216913938]}}, {"xyz": [-0.3101414927936924, -0.2522946993566174, -0.16364100575447083], "rgb": [154, 81, 38], "semantic_id": 20, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 58, "face_uv": [0.06140720913864211, 0.6026491856081534, 0.33594360525320455]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1ef99f4e735ceabad97996b11dc03f35", "keypoints": [{"xyz": [0.23813232162527986, 0.47040700912475586, 0.14302947645992692], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 109}, "mesh_info": {"face_index": 9, "face_uv": [0.11149121303178036, 0.008117028385224753, 0.8803917585829949]}}, {"xyz": [-0.23847056485824794, 0.46887007875816145, 0.1375119984149933], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 349}, "mesh_info": {"face_index": 114, "face_uv": [0.005259787528035181, 0.05505356932360919, 0.9396866431483557]}}, {"xyz": [0.23503463877138786, 0.07123071123470215, 0.13751199841499306], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1915}, "mesh_info": {"face_index": 137, "face_uv": [0.025009402923870716, 0.9610433313909081, 0.013947265685219546]}}, {"xyz": [-0.23835429473940553, 0.07571559508258852, 0.1375119984149935], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1261}, "mesh_info": {"face_index": 15, "face_uv": [0.8182964135936568, 0.180333511733174, 0.0013700746731707503]}}, {"xyz": [0.24141772580721377, 0.07014600187540054, -0.22985211685659046], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1630}, "mesh_info": {"face_index": 64, "face_uv": [0.030205253883559022, 0.9660889385209086, 0.0037058075955324677]}}, {"xyz": [-0.24004486084717816, 0.07014600187540054, -0.22593594747829893], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1115}, "mesh_info": {"face_index": 122, "face_uv": [0.006509594336188561, 0.11451481437278198, 0.8789755912910294]}}, {"xyz": [0.2420630007982254, -0.29542868714995185, -0.23134098748638565], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 95, "face_uv": [0.007443766637275174, 0.9835748010554495, 0.008981432307275385]}}, {"xyz": [0.23843045841437283, -0.2917291707605194, 0.18700000643730164], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 737}, "mesh_info": {"face_index": 18, "face_uv": [0.09514504925833665, 0.007553776737447672, 0.8973011740042156]}}, {"xyz": [-0.2342093176144231, -0.287891091669336, 0.18700000643730164], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 2}, "mesh_info": {"face_index": 2, "face_uv": [0.1300286427020817, 0.835826081895247, 0.0341452754026712]}}, {"xyz": [-0.23922032314299624, -0.29234655081697525, -0.2322539985179901], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 410}, "mesh_info": {"face_index": 60, "face_uv": [0.04919409549937233, 0.014097859697908943, 0.9367080448027187]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "53d88f50e3abc2888dcbe86402c7c15", "keypoints": [{"xyz": [0.23625300067009747, 0.3228139150200242, 0.3661729378399494], "rgb": [157, 146, 127], "semantic_id": 0, "pcd_info": {"point_index": 1890}, "mesh_info": {"face_index": 124, "face_uv": [0.10865617560162341, 0.597517759950239, 0.2938260644481364]}}, {"xyz": [-0.2258787841635953, 0.32446399331092834, 0.3807940805388831], "rgb": [198, 187, 168], "semantic_id": 1, "pcd_info": {"point_index": 1637}, "mesh_info": {"face_index": 876, "face_uv": [0.12315376603686531, 0.4829325569539083, 0.39391367700922636]}}, {"xyz": [0.21539999544620514, -0.027811141830682007, 0.26657174173168796], "rgb": [185, 173, 150], "semantic_id": 2, "pcd_info": {"point_index": 1857}, "mesh_info": {"face_index": 243, "face_uv": [0.44394673280981417, 0.23328542472910307, 0.32276784246108275]}}, {"xyz": [-0.19908900558948517, -0.00849822704411074, 0.2547185441614319], "rgb": [181, 171, 150], "semantic_id": 3, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 1086, "face_uv": [0.43945431539528224, 0.27462103685764155, 0.28592464774707615]}}, {"xyz": [0.2122158044610897, -0.03279287988935364, -0.19212559910237648], "rgb": [202, 190, 167], "semantic_id": 4, "pcd_info": {"point_index": 981}, "mesh_info": {"face_index": 510, "face_uv": [0.39607857266492297, 0.5962392186946553, 0.0076822086404183315]}}, {"xyz": [-0.19908900558948517, -0.01739778905965217, -0.19223619468093012], "rgb": [186, 176, 158], "semantic_id": 5, "pcd_info": {"point_index": 1687}, "mesh_info": {"face_index": 1110, "face_uv": [0.7289501422058418, 0.02876445815343349, 0.24228539964072474]}}, {"xyz": [0.22911478662266216, 0.06487661986915016, -0.18289266510972868], "rgb": [194, 182, 163], "semantic_id": 6, "pcd_info": {"point_index": 462}, "mesh_info": {"face_index": 400, "face_uv": [0.2692273963466551, 0.2647081231337773, 0.4660644805195637]}}, {"xyz": [0.23158601859688566, 0.15036075143102345, 0.15829227370127186], "rgb": [155, 144, 125], "semantic_id": 7, "pcd_info": {"point_index": 898}, "mesh_info": {"face_index": 293, "face_uv": [0.6263803838645008, 0.3124051802240248, 0.06121443591148003]}}, {"xyz": [-0.2279981821359185, 0.06401404390774812, -0.19925960399161868], "rgb": [183, 171, 149], "semantic_id": 8, "pcd_info": {"point_index": 1627}, "mesh_info": {"face_index": 1276, "face_uv": [0.09976864747304838, 0.44202622070650377, 0.4582051318204491]}}, {"xyz": [-0.22501498077064824, 0.15178122510834013, 0.1606179034541857], "rgb": [159, 149, 130], "semantic_id": 9, "pcd_info": {"point_index": 1072}, "mesh_info": {"face_index": 1116, "face_uv": [0.11142558825025192, 0.4996047593929862, 0.3889696523567615]}}, {"xyz": [0.25661926232135923, -0.2627280056476595, -0.19510704334343543], "rgb": [92, 28, 12], "semantic_id": 17, "pcd_info": {"point_index": 563}, "mesh_info": {"face_index": 851, "face_uv": [0.26198212399391346, 0.31141278406982353, 0.4266050919362639]}}, {"xyz": [0.2510427601809572, -0.2543912700211115, 0.4005010025190784], "rgb": [92, 29, 12], "semantic_id": 18, "pcd_info": {"point_index": 1605}, "mesh_info": {"face_index": 29, "face_uv": [0.0936497985554512, 0.12068057220787531, 0.7856696292366736]}}, {"xyz": [-0.2337445929613487, -0.24124222269876316, 0.3993016064255422], "rgb": [93, 30, 12], "semantic_id": 19, "pcd_info": {"point_index": 597}, "mesh_info": {"face_index": 16, "face_uv": [0.6889769933029904, 0.27829627118357153, 0.03272673551343791]}}, {"xyz": [-0.23655277145259923, -0.24753484016462624, -0.1912785234443316], "rgb": [92, 29, 11], "semantic_id": 20, "pcd_info": {"point_index": 1630}, "mesh_info": {"face_index": 834, "face_uv": [0.21993259547569569, 0.27052335647034836, 0.509544048053956]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4b495abfcbcf4b76ad484915511ccff6", "keypoints": [{"xyz": [0.18819085041912237, 0.39781497683230793, 0.20976965991572638], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 326}, "mesh_info": {"face_index": 795, "face_uv": [0.018207429388077002, 0.02506306819178188, 0.9567295024201424]}}, {"xyz": [-0.18201266627561719, 0.3945394848352677, 0.209518923921455], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 1398}, "mesh_info": {"face_index": 598, "face_uv": [0.9264440433593768, 0.0022160878292147145, 0.07133986881140601]}}, {"xyz": [0.19342688009887204, 0.08786499417839111, 0.09866565194760779], "rgb": [44, 57, 102], "semantic_id": 2, "pcd_info": {"point_index": 148}, "mesh_info": {"face_index": 5831, "face_uv": [0.8131459842404746, 0.18470035294874246, 0.0021536628107883924]}}, {"xyz": [-0.19069602049082127, 0.08750421630496241, 0.09820176694547189], "rgb": [46, 59, 104], "semantic_id": 3, "pcd_info": {"point_index": 918}, "mesh_info": {"face_index": 5960, "face_uv": [0.8479274335435842, 0.10360690509060738, 0.048465661365805324]}}, {"xyz": [0.19156277169708807, 0.08836175073298952, -0.1603731310729355], "rgb": [34, 48, 93], "semantic_id": 4, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 2720, "face_uv": [0.7472586905880091, 0.13302471494991228, 0.11971659446207845]}}, {"xyz": [-0.18830100509203446, 0.08527502491722799, -0.16110291131343235], "rgb": [52, 65, 109], "semantic_id": 5, "pcd_info": {"point_index": 1039}, "mesh_info": {"face_index": 3514, "face_uv": [0.5156075831923979, 0.23467148368345464, 0.24972093312414637]}}, {"xyz": [0.2337622198717353, 0.2446361687496602, -0.06969756149224415], "rgb": [0, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 1791}, "mesh_info": {"face_index": 6427, "face_uv": [0.23747498327609454, 0.07856527052678489, 0.6839597461971209]}}, {"xyz": [0.23497640539593745, 0.23408779344530983, 0.08557092659696006], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 1212}, "mesh_info": {"face_index": 33746, "face_uv": [0.36980774000428285, 0.2923337384252928, 0.33785852157042406]}}, {"xyz": [-0.236779748040574, 0.2446566176853957, -0.07071537254396054], "rgb": [0, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 1692}, "mesh_info": {"face_index": 6870, "face_uv": [0.0654572563397811, 0.5639655821744267, 0.37057716148579173]}}, {"xyz": [-0.23396948032068027, 0.24476262971792018, 0.07849168276320569], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 978}, "mesh_info": {"face_index": 6975, "face_uv": [0.004769814284241022, 0.618613865427584, 0.3766163202881775]}}, {"xyz": [0.21969838897007782, -0.2900195384167493, -0.19960417154242172], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1022}, "mesh_info": {"face_index": 27097, "face_uv": [0.4093100013124462, 0.2606084342613482, 0.3300815644262051]}}, {"xyz": [0.22651027255301542, -0.2769719523113439, 0.26346184266759454], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 788}, "mesh_info": {"face_index": 14899, "face_uv": [0.4541951354468697, 0.4418543323795811, 0.10395053217354898]}}, {"xyz": [-0.23407961205999683, -0.28446250061564765, 0.26783881927848163], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 168}, "mesh_info": {"face_index": 11225, "face_uv": [0.19552862908933005, 0.36970476014934806, 0.4347666107613219]}}, {"xyz": [-0.23179755991764672, -0.29022050387644877, -0.188491254798404], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1173}, "mesh_info": {"face_index": 29711, "face_uv": [0.1529123663382678, 0.5846106305824523, 0.2624770030792795]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "228d5702c588fc1cf7628281ecb18112", "keypoints": [{"xyz": [0.16515673222010735, 0.39264079227960486, 0.2109919245735632], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 2002}, "mesh_info": {"face_index": 6242, "face_uv": [0.1500222366152356, 0.19474156078692512, 0.6552362025978394]}}, {"xyz": [-0.1715150465949753, 0.3893056567878872, 0.21156526334527315], "rgb": [222, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1670}, "mesh_info": {"face_index": 1565, "face_uv": [0.340936292526511, 0.13181409687783968, 0.5272496105956492]}}, {"xyz": [0.16669928968888398, -0.020229634403840513, 0.10497685954302671], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 871}, "mesh_info": {"face_index": 14395, "face_uv": [0.03693229341188329, 0.6233261480542317, 0.33974155853388815]}}, {"xyz": [-0.1758038520630117, -0.02100521398638211, 0.10945842999813182], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 1327}, "mesh_info": {"face_index": 9399, "face_uv": [0.26520278736606634, 0.2031986982997694, 0.5315985143341617]}}, {"xyz": [0.1785168312238804, -0.04203713442276169, -0.23631253179216605], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 237}, "mesh_info": {"face_index": 18046, "face_uv": [0.25194707269469246, 0.019074556989109218, 0.7289783703161985]}}, {"xyz": [-0.18054435063496943, -0.04401167926121019, -0.23597806885190908], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 550}, "mesh_info": {"face_index": 10569, "face_uv": [0.5615560339509904, 0.038990205351121465, 0.39945376069788824]}}, {"xyz": [0.20885655357624353, 0.06378122345436532, -0.22592302214010884], "rgb": [254, 224, 165], "semantic_id": 6, "pcd_info": {"point_index": 2038}, "mesh_info": {"face_index": 31062, "face_uv": [0.22732148334381513, 0.15963225956824784, 0.6130462570879405]}}, {"xyz": [0.20753020594430402, 0.0995344506356668, 0.24635482750815424], "rgb": [255, 225, 169], "semantic_id": 7, "pcd_info": {"point_index": 623}, "mesh_info": {"face_index": 31574, "face_uv": [0.6016159086517049, 0.2066307729032452, 0.19175331844505145]}}, {"xyz": [-0.2052411369451941, 0.06375739938504221, -0.2259743689070552], "rgb": [253, 226, 169], "semantic_id": 8, "pcd_info": {"point_index": 1274}, "mesh_info": {"face_index": 34063, "face_uv": [0.3803411763657595, 0.17370792347962385, 0.4459509001546146]}}, {"xyz": [-0.20141232378019353, 0.0990667072436171, 0.24918796846570523], "rgb": [254, 223, 163], "semantic_id": 9, "pcd_info": {"point_index": 1158}, "mesh_info": {"face_index": 34722, "face_uv": [0.09131903612592458, 0.8108927721759863, 0.09778819169808736]}}, {"xyz": [0.20232363700192227, -0.33123323745623146, -0.18099997419128022], "rgb": [198, 198, 198], "semantic_id": 17, "pcd_info": {"point_index": 739}, "mesh_info": {"face_index": 29620, "face_uv": [0.008169792349688789, 0.20447684662718996, 0.7873533610231217]}}, {"xyz": [0.2050983143014829, -0.3306015395378834, 0.23444639238596787], "rgb": [197, 197, 197], "semantic_id": 18, "pcd_info": {"point_index": 1726}, "mesh_info": {"face_index": 29501, "face_uv": [0.3634626273685886, 0.627348671909076, 0.00918870072233457]}}, {"xyz": [-0.2073330425890158, -0.3340834420757397, 0.23376971615552744], "rgb": [197, 197, 197], "semantic_id": 19, "pcd_info": {"point_index": 1232}, "mesh_info": {"face_index": 32467, "face_uv": [0.5690916632658889, 0.4299560686734074, 0.0009522680607022201]}}, {"xyz": [-0.2053090689309961, -0.32729000096316496, -0.1812586779283063], "rgb": [197, 197, 197], "semantic_id": 20, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 32646, "face_uv": [0.10634153117470821, 0.8755846804923126, 0.01807378833297901]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "756487465c12a5332165c54dcecaacb4", "keypoints": [{"xyz": [0.26994619957504173, 0.31092199683189403, 0.36126910275492585], "rgb": [80, 114, 133], "semantic_id": 0, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 1893, "face_uv": [0.4998639799009796, 0.003035666557278253, 0.4971003535417426]}}, {"xyz": [-0.29544311604724083, 0.3082274256329226, 0.36794400776434355], "rgb": [80, 116, 133], "semantic_id": 1, "pcd_info": {"point_index": 765}, "mesh_info": {"face_index": 3644, "face_uv": [0.5664393016752224, 0.2573844458295579, 0.17617625249521998]}}, {"xyz": [0.20963990602760196, 0.014296023895874366, 0.3084389865398406], "rgb": [86, 122, 138], "semantic_id": 2, "pcd_info": {"point_index": 1919}, "mesh_info": {"face_index": 1484, "face_uv": [0.0037592807175550716, 0.9786472313692316, 0.01759348791321311]}}, {"xyz": [-0.22995356812288759, 0.005010153571364695, 0.3023228871204616], "rgb": [84, 120, 139], "semantic_id": 3, "pcd_info": {"point_index": 898}, "mesh_info": {"face_index": 599, "face_uv": [0.7234499006980195, 0.014740253337366995, 0.26180984596461354]}}, {"xyz": [0.2131644326830753, 0.001038589655728006, -0.1088680140702285], "rgb": [81, 118, 136], "semantic_id": 4, "pcd_info": {"point_index": 59}, "mesh_info": {"face_index": 649, "face_uv": [0.9472660112069387, 0.04484423693623703, 0.007889751856823793]}}, {"xyz": [-0.22900922961828202, -0.007552328956289545, -0.11176600307226181], "rgb": [89, 124, 143], "semantic_id": 5, "pcd_info": {"point_index": 1445}, "mesh_info": {"face_index": 791, "face_uv": [0.9791264092361448, 0.006375685555671718, 0.014497905208183394]}}, {"xyz": [0.28246574066901936, 0.12931927289880873, -0.11444118324347252], "rgb": [81, 111, 132], "semantic_id": 6, "pcd_info": {"point_index": 1292}, "mesh_info": {"face_index": 1186, "face_uv": [0.6172362064515552, 0.25768264438325855, 0.12508114916518526]}}, {"xyz": [0.2746181223556722, 0.1358016768379735, 0.29195707489885037], "rgb": [77, 113, 132], "semantic_id": 7, "pcd_info": {"point_index": 1678}, "mesh_info": {"face_index": 1442, "face_uv": [0.03922350292938014, 0.4290814133894053, 0.5316950836812148]}}, {"xyz": [-0.29233824983502177, 0.12547611130137248, -0.11530941918236359], "rgb": [85, 122, 140], "semantic_id": 8, "pcd_info": {"point_index": 1267}, "mesh_info": {"face_index": 2850, "face_uv": [0.15483616468430508, 0.7379545240185992, 0.10720931129709561]}}, {"xyz": [-0.29423699684749915, 0.1365759321935056, 0.302523975853648], "rgb": [76, 113, 129], "semantic_id": 9, "pcd_info": {"point_index": 766}, "mesh_info": {"face_index": 1730, "face_uv": [0.01407648845781944, 0.5155318606274483, 0.4703916509147329]}}, {"xyz": [0.2555810794275462, -0.28436899185180653, -0.10247062227752168], "rgb": [67, 37, 13], "semantic_id": 17, "pcd_info": {"point_index": 1286}, "mesh_info": {"face_index": 4115, "face_uv": [0.35393438144843287, 0.630465860184365, 0.015599758367201755]}}, {"xyz": [0.26198819727943523, -0.28436899185180664, 0.3149295965227896], "rgb": [67, 37, 13], "semantic_id": 18, "pcd_info": {"point_index": 1086}, "mesh_info": {"face_index": 4163, "face_uv": [0.47218781001420884, 0.38650612356627484, 0.14130606641951635]}}, {"xyz": [-0.27552572348522814, -0.28436899185180653, 0.3146809275452026], "rgb": [67, 37, 13], "semantic_id": 19, "pcd_info": {"point_index": 146}, "mesh_info": {"face_index": 4091, "face_uv": [0.4801153454951051, 0.46271902938975823, 0.05716562511513632]}}, {"xyz": [-0.27708877088911543, -0.28436899185180686, -0.09896704671830128], "rgb": [67, 37, 13], "semantic_id": 20, "pcd_info": {"point_index": 1091}, "mesh_info": {"face_index": 4139, "face_uv": [0.42060015346285334, 0.48733782943974613, 0.09206201709740132]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f595abef9bc7320944b2fa2cac0778f5", "keypoints": [{"xyz": [0.22796096157047493, 0.5267577172385005, 0.14368405778498716], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1113}, "mesh_info": {"face_index": 1116, "face_uv": [0.7316829101034952, 0.02204795595863751, 0.24626913393786656]}}, {"xyz": [-0.22770677274303266, 0.5223239650783637, 0.14102215628729975], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 742}, "mesh_info": {"face_index": 2417, "face_uv": [0.2265494651880487, 0.007603707416939813, 0.7658468273950112]}}, {"xyz": [0.09583863042147825, 0.1465989947319033, 0.11148856515955718], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1822}, "mesh_info": {"face_index": 6285, "face_uv": [0.023720658847554393, 0.6476580337606129, 0.32862130739183426]}}, {"xyz": [-0.08299835876650821, 0.14659899473190308, 0.12286203454142974], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1728}, "mesh_info": {"face_index": 6600, "face_uv": [0.6266195463690164, 0.1035345281138847, 0.2698459255170989]}}, {"xyz": [0.09743977287071945, 0.14599944222880779, -0.12444101790221707], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 886}, "mesh_info": {"face_index": 5125, "face_uv": [0.0739433441164253, 0.13398583942393336, 0.7920708164596417]}}, {"xyz": [-0.0874047947640294, 0.1435564165176222, -0.129806486425307], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 430}, "mesh_info": {"face_index": 4049, "face_uv": [0.5789089723614291, 0.167769960682151, 0.2533210669564208]}}, {"xyz": [0.17294396488526573, 0.2397593179860431, -0.12112893813906722], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1777}, "mesh_info": {"face_index": 3415, "face_uv": [0.053482045835400525, 0.2593830277533729, 0.687134926411227]}}, {"xyz": [0.18368926260649424, 0.24099932638851596, 0.13138961829772433], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1131}, "mesh_info": {"face_index": 2483, "face_uv": [0.37666552411085624, 0.5951938217672028, 0.028140654121941076]}}, {"xyz": [-0.17900643103046376, 0.2381677225141594, -0.12688893298085024], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 837}, "mesh_info": {"face_index": 4384, "face_uv": [0.6654223573074548, 0.01071660676833885, 0.32386103592420684]}}, {"xyz": [-0.17981531935006728, 0.2414581893525103, 0.11993777757375268], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 3139, "face_uv": [0.010069098669563575, 0.9255265696572968, 0.06440433167314007]}}, {"xyz": [0.1994894111156113, -0.23207199573516868, -0.10445830627060104], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 17883, "face_uv": [0.21963118090642153, 0.2543055579673394, 0.52606326112624]}}, {"xyz": [0.1923598260199807, -0.23207199573516823, 0.1470344152780122], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 242}, "mesh_info": {"face_index": 17478, "face_uv": [0.3539648694827207, 0.20257896077648122, 0.44345616974079716]}}, {"xyz": [-0.2041994781086175, -0.23207199573516823, 0.14032062420863253], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 17852, "face_uv": [0.3302002331587832, 0.4319989384593311, 0.23780082838188477]}}, {"xyz": [-0.1983614329994839, -0.23207199573516868, -0.10415592271483617], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 604}, "mesh_info": {"face_index": 17569, "face_uv": [0.2587545521017538, 0.4743462155927166, 0.26689923230553053]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5f1b45295c72cdf03a4a5c95fa1b0032", "keypoints": [{"xyz": [0.18363558439705802, 0.19040792925156858, 0.13025732408257262], "rgb": [171, 171, 171], "semantic_id": 0, "pcd_info": {"point_index": 156}, "mesh_info": {"face_index": 5576, "face_uv": [0.11600661441886131, 0.5457072914255159, 0.33828609415562244]}}, {"xyz": [-0.17876625678276264, 0.1917978595839056, 0.13072164267341857], "rgb": [206, 206, 206], "semantic_id": 1, "pcd_info": {"point_index": 860}, "mesh_info": {"face_index": 5381, "face_uv": [0.5328383451068988, 0.03239669520463467, 0.4347649596884734]}}, {"xyz": [0.16007069371552796, 0.02349644709031906, 0.05543135864944393], "rgb": [190, 190, 190], "semantic_id": 2, "pcd_info": {"point_index": 1667}, "mesh_info": {"face_index": 1335, "face_uv": [0.12148187747872875, 0.07266229838114525, 0.8058558241401266]}}, {"xyz": [-0.15898023338592757, 0.0240868249259516, 0.055798438277787854], "rgb": [208, 208, 208], "semantic_id": 3, "pcd_info": {"point_index": 1085}, "mesh_info": {"face_index": 922, "face_uv": [0.0998387942874578, 0.24992856397660035, 0.6502326417359426]}}, {"xyz": [0.19994124729654728, 0.03517180264814468, -0.18396274951372038], "rgb": [231, 231, 231], "semantic_id": 4, "pcd_info": {"point_index": 100}, "mesh_info": {"face_index": 4036, "face_uv": [0.25367925964968374, 0.5419004989418745, 0.20442024140844178]}}, {"xyz": [-0.19727549334585343, 0.03299491904310625, -0.1759286459707594], "rgb": [153, 153, 153], "semantic_id": 5, "pcd_info": {"point_index": 290}, "mesh_info": {"face_index": 12099, "face_uv": [0.2875672431796661, 0.3420883577008017, 0.370344399119533]}}, {"xyz": [0.1665267556649243, -0.585363984107971, -0.21539927381037746], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1661}, "mesh_info": {"face_index": 23777, "face_uv": [0.42727928634560275, 0.45422931150098755, 0.11849140215340925]}}, {"xyz": [0.16758612286333174, -0.5853639841079712, 0.12348153943845219], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 964}, "mesh_info": {"face_index": 23716, "face_uv": [0.1099291356424968, 0.5026515736884505, 0.38741929066905273]}}, {"xyz": [-0.16702191146239875, -0.5853639841079712, 0.11855374605140351], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1528}, "mesh_info": {"face_index": 23665, "face_uv": [0.4492019221391804, 0.5330879533730821, 0.017710124487737445]}}, {"xyz": [-0.16571464046210488, -0.5853639841079712, -0.21277755846942178], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 546}, "mesh_info": {"face_index": 23604, "face_uv": [0.3558326786632416, 0.32203327701040224, 0.3221340443263561]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a91b2c89e543a4b3aa3d970c5602cd4a", "keypoints": [{"xyz": [0.1467800346066616, 0.3718482029712791, 0.10590258789621187], "rgb": [70, 130, 179], "semantic_id": 0, "pcd_info": {"point_index": 216}, "mesh_info": {"face_index": 2155, "face_uv": [0.1042258725235098, 0.01817525470091539, 0.8775988727755752]}}, {"xyz": [-0.13860633001796374, 0.37072002068319476, 0.10333014655036621], "rgb": [70, 130, 179], "semantic_id": 1, "pcd_info": {"point_index": 456}, "mesh_info": {"face_index": 2652, "face_uv": [0.24819559172219305, 0.6152317633500435, 0.13657264492781312]}}, {"xyz": [0.14759154030018365, 0.015401000156998634, 0.06756513361509064], "rgb": [95, 32, 12], "semantic_id": 2, "pcd_info": {"point_index": 435}, "mesh_info": {"face_index": 4300, "face_uv": [0.07435166448579376, 0.5796228891683495, 0.34602544634585675]}}, {"xyz": [-0.14239347345720324, 0.015401000156998634, 0.06508757522583974], "rgb": [87, 26, 7], "semantic_id": 3, "pcd_info": {"point_index": 1924}, "mesh_info": {"face_index": 4421, "face_uv": [0.1065549694340933, 0.3755846367183536, 0.5178603938475531]}}, {"xyz": [0.14881732932530878, 0.015401000156998412, -0.2165307030989999], "rgb": [87, 29, 9], "semantic_id": 4, "pcd_info": {"point_index": 124}, "mesh_info": {"face_index": 4294, "face_uv": [0.007119551801019122, 0.8724501980198641, 0.1204302501791022]}}, {"xyz": [-0.15316578118410756, 0.015401000156998634, -0.22092021185309507], "rgb": [88, 28, 10], "semantic_id": 5, "pcd_info": {"point_index": 653}, "mesh_info": {"face_index": 4424, "face_uv": [0.009154919338020134, 0.9841251559612092, 0.006719924700770744]}}, {"xyz": [0.14499205511523489, -0.37369489432626324, -0.20097327432535805], "rgb": [70, 130, 179], "semantic_id": 17, "pcd_info": {"point_index": 162}, "mesh_info": {"face_index": 3374, "face_uv": [0.2681832842178156, 0.35215113938386855, 0.37966557639831616]}}, {"xyz": [0.14886125507089953, -0.3713650349361899, 0.12667121140740098], "rgb": [70, 130, 179], "semantic_id": 18, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 1592, "face_uv": [0.33689772397822915, 0.5333289629828497, 0.12977331303892117]}}, {"xyz": [-0.14329860895460492, -0.3723961243323475, 0.12097748652762891], "rgb": [70, 130, 179], "semantic_id": 19, "pcd_info": {"point_index": 2003}, "mesh_info": {"face_index": 3312, "face_uv": [0.5754057434410096, 0.06235305853628592, 0.3622411980227046]}}, {"xyz": [-0.14269572309266204, -0.3730796828906626, -0.2074798306834767], "rgb": [70, 130, 179], "semantic_id": 20, "pcd_info": {"point_index": 1729}, "mesh_info": {"face_index": 4839, "face_uv": [0.1098553061700102, 0.47080277837726114, 0.41934191545272875]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5a460cb21fb55f639f73340130af944", "keypoints": [{"xyz": [0.39172997190144543, 0.15557010183308906, 0.12524468885284012], "rgb": [214, 205, 172], "semantic_id": 0, "pcd_info": {"point_index": 959}, "mesh_info": {"face_index": 1682, "face_uv": [0.018287081162015714, 0.007697367237574217, 0.9740155516004101]}}, {"xyz": [-0.27169632681070693, 0.15708117231272722, 0.13076991574109953], "rgb": [214, 205, 172], "semantic_id": 1, "pcd_info": {"point_index": 662}, "mesh_info": {"face_index": 1621, "face_uv": [0.06699443584789692, 0.004096887440290617, 0.9289086767118125]}}, {"xyz": [0.27706744601908195, -0.07155661097209043, 0.1058528233798608], "rgb": [213, 204, 172], "semantic_id": 2, "pcd_info": {"point_index": 1130}, "mesh_info": {"face_index": 1293, "face_uv": [0.15996052952539494, 0.010828741348431476, 0.8292107291261734]}}, {"xyz": [-0.15547023545827332, -0.07352724103287356, 0.11091777543386627], "rgb": [213, 204, 171], "semantic_id": 3, "pcd_info": {"point_index": 645}, "mesh_info": {"face_index": 1228, "face_uv": [0.12500582660827309, 0.004355319802335156, 0.8706388535893902]}}, {"xyz": [0.27764959663410743, -0.07198017579644, -0.3110317692064539], "rgb": [214, 205, 172], "semantic_id": 4, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 1243, "face_uv": [0.053768864655470754, 0.021297806783402113, 0.9249333285611281]}}, {"xyz": [-0.15318023821500665, -0.07181845425860112, -0.3201152519001238], "rgb": [213, 204, 171], "semantic_id": 5, "pcd_info": {"point_index": 638}, "mesh_info": {"face_index": 1290, "face_uv": [0.010148559420256923, 0.016199929881859018, 0.9736515106978811]}}, {"xyz": [0.39521834035812675, 0.04154570182677908, -0.3204390111672826], "rgb": [214, 205, 172], "semantic_id": 6, "pcd_info": {"point_index": 173}, "mesh_info": {"face_index": 379, "face_uv": [0.8881176559110638, 0.10271910190832029, 0.009163242180616019]}}, {"xyz": [0.3925864962495742, 0.04354540261228035, 0.12650372451989522], "rgb": [213, 204, 171], "semantic_id": 7, "pcd_info": {"point_index": 918}, "mesh_info": {"face_index": 329, "face_uv": [0.026600720465564033, 0.8140731197257266, 0.15932615980870876]}}, {"xyz": [-0.2641287887461869, 0.04488598069158023, -0.3257643806359387], "rgb": [214, 205, 172], "semantic_id": 8, "pcd_info": {"point_index": 61}, "mesh_info": {"face_index": 730, "face_uv": [0.6043579762699628, 0.005515437388469347, 0.39012658634156877]}}, {"xyz": [-0.2693819258760755, 0.0522057550501156, 0.12151579759610165], "rgb": [213, 204, 171], "semantic_id": 9, "pcd_info": {"point_index": 1602}, "mesh_info": {"face_index": 1948, "face_uv": [0.021127743373953203, 0.5658914190162434, 0.4129808376098018]}}, {"xyz": [0.3903523392996713, -0.30950843401513534, -0.32883630095374405], "rgb": [213, 205, 172], "semantic_id": 17, "pcd_info": {"point_index": 716}, "mesh_info": {"face_index": 2497, "face_uv": [0.168313456136496, 0.01184782419295955, 0.8198387196705443]}}, {"xyz": [0.3863514771084946, -0.31952300667762745, 0.2170300763657831], "rgb": [213, 204, 171], "semantic_id": 18, "pcd_info": {"point_index": 710}, "mesh_info": {"face_index": 2935, "face_uv": [0.9921008295359683, 0.006611530182194891, 0.0012876402818365637]}}, {"xyz": [-0.26268503782370606, -0.31952300667762756, 0.21403879138212933], "rgb": [214, 205, 172], "semantic_id": 19, "pcd_info": {"point_index": 1637}, "mesh_info": {"face_index": 2929, "face_uv": [0.011309169904179754, 0.987831456062799, 0.0008593740330213088]}}, {"xyz": [-0.2661596766682565, -0.3162043697871981, -0.32565953719023555], "rgb": [213, 204, 171], "semantic_id": 20, "pcd_info": {"point_index": 1608}, "mesh_info": {"face_index": 2700, "face_uv": [0.03050479683597988, 0.6360089840009914, 0.33348621916302856]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "587ee5822bb56bd07b11ae648ea92233", "keypoints": [{"xyz": [0.16909021405786706, 0.22495719834086725, 0.07162902143044647], "rgb": [182, 178, 120], "semantic_id": 0, "pcd_info": {"point_index": 1532}, "mesh_info": {"face_index": 7986, "face_uv": [0.13991015539868004, 0.4597379485679232, 0.40035189603339655]}}, {"xyz": [-0.16985537720731986, 0.22212094261583937, 0.07071481817107683], "rgb": [177, 175, 116], "semantic_id": 1, "pcd_info": {"point_index": 1163}, "mesh_info": {"face_index": 11845, "face_uv": [0.11321996518817676, 0.11008085989715165, 0.7766991749146738]}}, {"xyz": [0.11147573175883901, -0.07521242664626437, 0.009267234452194684], "rgb": [173, 171, 115], "semantic_id": 2, "pcd_info": {"point_index": 958}, "mesh_info": {"face_index": 5724, "face_uv": [0.47627205122664346, 0.4072116937524692, 0.11651625502089345]}}, {"xyz": [-0.11249777452383146, -0.07612173585655346, 0.009252256739686882], "rgb": [177, 174, 120], "semantic_id": 3, "pcd_info": {"point_index": 1401}, "mesh_info": {"face_index": 13831, "face_uv": [0.37686300351049956, 0.4521105073499752, 0.17102648913949672]}}, {"xyz": [0.1111794929565596, -0.08842345253096295, -0.2570978951834981], "rgb": [176, 173, 118], "semantic_id": 4, "pcd_info": {"point_index": 1623}, "mesh_info": {"face_index": 2090, "face_uv": [0.3264122226837529, 0.47197225645223717, 0.2016155208640102]}}, {"xyz": [-0.11275742138145654, -0.08471606851888347, -0.25608813273359954], "rgb": [172, 165, 109], "semantic_id": 5, "pcd_info": {"point_index": 1231}, "mesh_info": {"face_index": 949, "face_uv": [0.40692944128270647, 0.2899073218447403, 0.3031632368725539]}}, {"xyz": [0.11956406155505955, -0.49508699774742126, -0.287814098555047], "rgb": [179, 174, 122], "semantic_id": 17, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 4466, "face_uv": [0.7910472137749038, 0.1972654185948398, 0.011687367630256395]}}, {"xyz": [0.1531674185433256, -0.49508699774742126, 0.12929229262730968], "rgb": [182, 176, 120], "semantic_id": 18, "pcd_info": {"point_index": 22}, "mesh_info": {"face_index": 4772, "face_uv": [0.8048103046079844, 0.016882035513414443, 0.1783076598786012]}}, {"xyz": [-0.15141106072014238, -0.4950869977474214, 0.14279074712719408], "rgb": [179, 171, 114], "semantic_id": 19, "pcd_info": {"point_index": 1427}, "mesh_info": {"face_index": 15358, "face_uv": [0.5115035503731201, 0.03385912828616727, 0.45463732134071283]}}, {"xyz": [-0.12432695263585081, -0.49508699774742126, -0.2837753139408288], "rgb": [185, 169, 121], "semantic_id": 20, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 4057, "face_uv": [0.03879688961612558, 0.33109649290551957, 0.6301066174783548]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9905ba0488b0471dbfb0f09ba9f2d99", "keypoints": [{"xyz": [0.3193449715545008, 0.24975399672985077, 0.44944203530331994], "rgb": [152, 19, 15], "semantic_id": 0, "pcd_info": {"point_index": 195}, "mesh_info": {"face_index": 560, "face_uv": [0.007702720419959083, 0.018425310867834895, 0.973871968712206]}}, {"xyz": [-0.31380900740623474, 0.24816675089418017, 0.4464600749547071], "rgb": [71, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 98}, "mesh_info": {"face_index": 517, "face_uv": [0.005165681628629693, 0.9912417339331479, 0.0035925844382225856]}}, {"xyz": [0.25009079851606075, 0.03662500157952309, 0.3063292896235603], "rgb": [116, 21, 15], "semantic_id": 2, "pcd_info": {"point_index": 376}, "mesh_info": {"face_index": 275, "face_uv": [0.007892756645088426, 0.008938641703159994, 0.9831686016517514]}}, {"xyz": [-0.24201628034616268, 0.03662500157952309, 0.3028214720237723], "rgb": [81, 2, 0], "semantic_id": 3, "pcd_info": {"point_index": 1135}, "mesh_info": {"face_index": 633, "face_uv": [0.013981476228046475, 0.0015075598732873946, 0.984510963898666]}}, {"xyz": [0.2513149213728295, 0.03480423138467348, -0.16279762784571017], "rgb": [167, 12, 16], "semantic_id": 4, "pcd_info": {"point_index": 1309}, "mesh_info": {"face_index": 703, "face_uv": [0.40194079160481083, 0.0064771135628761455, 0.5915820948323143]}}, {"xyz": [-0.24276599287986758, 0.03432951988474242, -0.17804602357427646], "rgb": [139, 2, 0], "semantic_id": 5, "pcd_info": {"point_index": 878}, "mesh_info": {"face_index": 302, "face_uv": [0.21304758640161486, 0.04509782650966604, 0.7418545870887192]}}, {"xyz": [0.31505680392611385, 0.23793042243537987, -0.1781692323102999], "rgb": [130, 1, 0], "semantic_id": 6, "pcd_info": {"point_index": 914}, "mesh_info": {"face_index": 666, "face_uv": [0.2582967349310195, 0.5935931636539391, 0.14811010141504205]}}, {"xyz": [0.24826135415760464, 0.2318243587733786, 0.3099740147590637], "rgb": [80, 1, 1], "semantic_id": 7, "pcd_info": {"point_index": 1937}, "mesh_info": {"face_index": 251, "face_uv": [0.012617380928168545, 0.9158742434654386, 0.07150837560639277]}}, {"xyz": [-0.3125772442023764, 0.23968688783079162, -0.1794645684255033], "rgb": [110, 5, 0], "semantic_id": 8, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 289, "face_uv": [0.017338273327364623, 0.3224113882520427, 0.660250338420592]}}, {"xyz": [-0.24753044199702748, 0.249753996729851, 0.3024025176468197], "rgb": [210, 39, 52], "semantic_id": 9, "pcd_info": {"point_index": 87}, "mesh_info": {"face_index": 587, "face_uv": [0.028318144699147462, 0.9329357129772221, 0.03874614232363131]}}, {"xyz": [0.3217402122921341, -0.16959086715107413, -0.18732899427413918], "rgb": [62, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 446}, "mesh_info": {"face_index": 211, "face_uv": [0.10807058469301917, 0.017695059931832183, 0.8742343553751475]}}, {"xyz": [0.3255789875984192, -0.17416598246050882, 0.43144243109046365], "rgb": [143, 3, 8], "semantic_id": 18, "pcd_info": {"point_index": 1560}, "mesh_info": {"face_index": 538, "face_uv": [0.15851862188868895, 0.7097873301623482, 0.1316940479489629]}}, {"xyz": [-0.30526255517948203, -0.17354589225362932, 0.4520600140094757], "rgb": [78, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1742}, "mesh_info": {"face_index": 185, "face_uv": [0.24059593721716652, 0.006942040337982893, 0.7524620224448506]}}, {"xyz": [-0.31380900740623474, -0.1738532239910438, -0.17308001284532898], "rgb": [48, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1777}, "mesh_info": {"face_index": 105, "face_uv": [0.14930333849881214, 0.7994343882147822, 0.05126227328640564]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a08870dc5fc0c8aca19799a9cde9e06f", "keypoints": [{"xyz": [0.20787033213296185, 0.32223400473594666, 0.12991603411300562], "rgb": [201, 208, 218], "semantic_id": 0, "pcd_info": {"point_index": 1641}, "mesh_info": {"face_index": 198, "face_uv": [0.44440495637319877, 0.06818371619375393, 0.48741132743304727]}}, {"xyz": [-0.23343545140184557, 0.32223400473594666, 0.12086117015610948], "rgb": [203, 210, 220], "semantic_id": 1, "pcd_info": {"point_index": 724}, "mesh_info": {"face_index": 107, "face_uv": [0.31380962837308757, 0.1442298589400747, 0.5419605126868378]}}, {"xyz": [0.172289437479196, -0.09504830180809498, 0.07229028002281357], "rgb": [202, 209, 219], "semantic_id": 2, "pcd_info": {"point_index": 684}, "mesh_info": {"face_index": 139, "face_uv": [0.03227556438878641, 0.9478968890654276, 0.019827546545787778]}}, {"xyz": [-0.21040372504669613, -0.09996384504212985, 0.07185656613512037], "rgb": [207, 214, 224], "semantic_id": 3, "pcd_info": {"point_index": 95}, "mesh_info": {"face_index": 382, "face_uv": [0.7429064994487021, 0.01630632274714234, 0.24078717780415593]}}, {"xyz": [0.16624386563826082, -0.10220299661159511, -0.33984216757915253], "rgb": [205, 212, 222], "semantic_id": 4, "pcd_info": {"point_index": 2038}, "mesh_info": {"face_index": 287, "face_uv": [0.006287634071907379, 0.9816473266776002, 0.012065039250492128]}}, {"xyz": [-0.20216246903218082, -0.10619628543427817, -0.3402940034866333], "rgb": [207, 214, 224], "semantic_id": 5, "pcd_info": {"point_index": 1393}, "mesh_info": {"face_index": 2, "face_uv": [0.020732807297846826, 0.6420027277425724, 0.33726446495958073]}}, {"xyz": [0.18946446689271002, 0.07236024201469443, -0.3402940034866333], "rgb": [206, 213, 223], "semantic_id": 6, "pcd_info": {"point_index": 1290}, "mesh_info": {"face_index": 329, "face_uv": [0.5624603223870439, 0.0010251321559091107, 0.43651454545704704]}}, {"xyz": [0.1904441838218094, 0.07256499677896477, 0.08707812798936071], "rgb": [200, 207, 217], "semantic_id": 7, "pcd_info": {"point_index": 1318}, "mesh_info": {"face_index": 158, "face_uv": [0.5087366131439881, 3.1539578796434325e-06, 0.49124938130893464]}}, {"xyz": [-0.21801976053783312, 0.07113910735017348, -0.3402940034866333], "rgb": [207, 214, 224], "semantic_id": 8, "pcd_info": {"point_index": 564}, "mesh_info": {"face_index": 6, "face_uv": [0.5558528133811605, 0.002855565364759116, 0.44129162125408034]}}, {"xyz": [-0.215074923420922, 0.072564996778965, 0.07605818861959557], "rgb": [201, 208, 218], "semantic_id": 9, "pcd_info": {"point_index": 153}, "mesh_info": {"face_index": 40, "face_uv": [0.02826408054121369, 0.3655154493127608, 0.6062204701460258]}}, {"xyz": [0.1912265253788476, -0.42677199840545654, -0.32029753405921296], "rgb": [206, 213, 223], "semantic_id": 17, "pcd_info": {"point_index": 341}, "mesh_info": {"face_index": 59, "face_uv": [0.4660491020771257, 0.48356550555983685, 0.05038539236303739]}}, {"xyz": [0.1942231461627411, -0.42677199840545654, 0.1338984269381569], "rgb": [205, 212, 222], "semantic_id": 18, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 123, "face_uv": [0.3380660309607099, 0.563582080523373, 0.09835188851591702]}}, {"xyz": [-0.21882204329123922, -0.42677199840545654, 0.12746870657354376], "rgb": [204, 211, 221], "semantic_id": 19, "pcd_info": {"point_index": 226}, "mesh_info": {"face_index": 129, "face_uv": [0.4902458447644617, 0.4655693856086416, 0.04418476962689667]}}, {"xyz": [-0.220080318718811, -0.42677199840545654, -0.3197997373436756], "rgb": [203, 210, 220], "semantic_id": 20, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 251, "face_uv": [0.046410493716904776, 0.5008327008390813, 0.4527568054440139]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "32e6139951627142a087337e55e3e2e", "keypoints": [{"xyz": [0.19747399056284895, 0.23901057711888218, 0.15256603717713324], "rgb": [180, 105, 43], "semantic_id": 0, "pcd_info": {"point_index": 1303}, "mesh_info": {"face_index": 1502, "face_uv": [0.3553068174793977, 0.11607317080348399, 0.5286200117171166]}}, {"xyz": [-0.2057023382041396, 0.23591528608319434, 0.14542526339494222], "rgb": [178, 107, 44], "semantic_id": 1, "pcd_info": {"point_index": 1937}, "mesh_info": {"face_index": 3758, "face_uv": [0.20002135514255645, 0.01559648280884237, 0.7843821620485999]}}, {"xyz": [0.18197952283662616, 0.006938999984413163, 0.10230194871996146], "rgb": [175, 103, 37], "semantic_id": 2, "pcd_info": {"point_index": 236}, "mesh_info": {"face_index": 9324, "face_uv": [0.6764173443203017, 0.0017112111683575328, 0.32187144451130884]}}, {"xyz": [-0.1847390690816202, 0.0069389999844136074, 0.10266857775773253], "rgb": [178, 108, 44], "semantic_id": 3, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 9261, "face_uv": [0.6821050198932125, 0.0001212619104191319, 0.3177737181964004]}}, {"xyz": [0.17528736776110349, -0.02684032037119699, -0.23181299865245864], "rgb": [183, 112, 46], "semantic_id": 4, "pcd_info": {"point_index": 47}, "mesh_info": {"face_index": 9268, "face_uv": [0.34142350409158306, 0.03519226440449217, 0.6233842315039266]}}, {"xyz": [-0.16119630751641484, -0.01782379825810254, -0.2318129986524584], "rgb": [181, 104, 43], "semantic_id": 5, "pcd_info": {"point_index": 1065}, "mesh_info": {"face_index": 9254, "face_uv": [0.37928356289582676, 0.07770425656850707, 0.543012180535667]}}, {"xyz": [0.19436152359720016, 0.10508266676319511, -0.20946451148402034], "rgb": [168, 94, 29], "semantic_id": 6, "pcd_info": {"point_index": 1605}, "mesh_info": {"face_index": 406, "face_uv": [0.09225525430128086, 0.5234529652750275, 0.3842917804236936]}}, {"xyz": [0.20047354607587173, 0.23660858617129032, 0.14503555389120515], "rgb": [182, 107, 44], "semantic_id": 7, "pcd_info": {"point_index": 1286}, "mesh_info": {"face_index": 1366, "face_uv": [0.7449784298393817, 0.013028468966022015, 0.24199310119459694]}}, {"xyz": [-0.20158369868071324, 0.11203892020820072, -0.20396918100644656], "rgb": [168, 96, 32], "semantic_id": 8, "pcd_info": {"point_index": 489}, "mesh_info": {"face_index": 4549, "face_uv": [0.11037637840255365, 0.4550153352952137, 0.4346082863022323]}}, {"xyz": [-0.20427546103246386, 0.2318012614402667, 0.13101169533047452], "rgb": [181, 111, 48], "semantic_id": 9, "pcd_info": {"point_index": 2010}, "mesh_info": {"face_index": 3759, "face_uv": [0.27013781694514577, 0.06093544498319014, 0.6689267380716646]}}, {"xyz": [0.25265932156091236, -0.3565590793837665, -0.2636044516010535], "rgb": [183, 105, 41], "semantic_id": 17, "pcd_info": {"point_index": 378}, "mesh_info": {"face_index": 3387, "face_uv": [0.36780643037703303, 0.5678941075272512, 0.06429946209571644]}}, {"xyz": [0.25784966547321303, -0.35410792811681957, 0.2510899260850623], "rgb": [174, 97, 38], "semantic_id": 18, "pcd_info": {"point_index": 1421}, "mesh_info": {"face_index": 12741, "face_uv": [0.06553370839975267, 0.5045008298133994, 0.4299654617868473]}}, {"xyz": [-0.25071983039345397, -0.3585702132767339, 0.249146543809149], "rgb": [181, 111, 47], "semantic_id": 19, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 10920, "face_uv": [0.840104276113713, 0.10047830494211972, 0.05941741894416748]}}, {"xyz": [-0.25424693410941046, -0.35668681504656563, -0.26390602407643293], "rgb": [180, 104, 42], "semantic_id": 20, "pcd_info": {"point_index": 247}, "mesh_info": {"face_index": 6604, "face_uv": [0.43332012107027307, 0.10930836758718232, 0.45737151134254517]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1015e71a0d21b127de03ab2a27ba7531", "keypoints": [{"xyz": [0.08464482313165989, 0.44120565468898537, 0.22478032035489104], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1388}, "mesh_info": {"face_index": 9639, "face_uv": [0.13775718325378328, 0.7635219342215382, 0.09872088252467918]}}, {"xyz": [-0.07849765817882393, 0.4432725183642068, 0.2282038576615073], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 879}, "mesh_info": {"face_index": 9678, "face_uv": [0.40355842529686364, 0.4136447825323325, 0.18279679217080333]}}, {"xyz": [0.20490849396930988, 0.0979243957826822, 0.09405411973676547], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 600}, "mesh_info": {"face_index": 6183, "face_uv": [0.1091944288333051, 0.6438646189319539, 0.24694095223474088]}}, {"xyz": [-0.20230195202848344, 0.09013272246318516, 0.07376452671747336], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 2032}, "mesh_info": {"face_index": 6315, "face_uv": [0.12696430552804266, 0.4967435572503058, 0.37629213722165344]}}, {"xyz": [0.1642530033790454, 0.07459380044754937, -0.2013936874933392], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 22}, "mesh_info": {"face_index": 5614, "face_uv": [0.0006061670470405887, 0.047074101673164837, 0.9523197312797949]}}, {"xyz": [-0.16707755726946616, 0.07856994711407883, -0.1934931540871273], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1763}, "mesh_info": {"face_index": 8221, "face_uv": [0.03457122713181413, 0.040550110814598264, 0.9248786620535876]}}, {"xyz": [0.16572639235040082, -0.29667975063061247, -0.1870551864144792], "rgb": [84, 75, 65], "semantic_id": 17, "pcd_info": {"point_index": 618}, "mesh_info": {"face_index": 5174, "face_uv": [0.3192289602005388, 0.5116221468211325, 0.169148892978329]}}, {"xyz": [0.16560724947143782, -0.29615217301917685, 0.1470109483716085], "rgb": [79, 70, 60], "semantic_id": 18, "pcd_info": {"point_index": 460}, "mesh_info": {"face_index": 4780, "face_uv": [0.40080420593010263, 0.3589586589097228, 0.24023713516017445]}}, {"xyz": [-0.16414687203467704, -0.29705936063342664, 0.14472976960820008], "rgb": [79, 70, 61], "semantic_id": 19, "pcd_info": {"point_index": 222}, "mesh_info": {"face_index": 4516, "face_uv": [0.08537285630555268, 0.48148759839573557, 0.43313954529871135]}}, {"xyz": [-0.16722460596777017, -0.2965587485772756, -0.18581108110766736], "rgb": [82, 73, 63], "semantic_id": 20, "pcd_info": {"point_index": 1669}, "mesh_info": {"face_index": 4977, "face_uv": [0.3542411697103881, 0.2256739442157735, 0.4200848860738386]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "263f629d385be2b1601104cd2d998272", "keypoints": [{"xyz": [0.2487767177521941, 0.22474603997400622, 0.18060518758498234], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1667}, "mesh_info": {"face_index": 1817, "face_uv": [0.12950192530881885, 0.01635097595772882, 0.8541470987334538]}}, {"xyz": [-0.22809806227374346, 0.22461296517210383, 0.18044738670140936], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 763}, "mesh_info": {"face_index": 1837, "face_uv": [0.545137437025759, 0.04003200968781701, 0.41483055328642193]}}, {"xyz": [0.23976538282765036, -0.04338203580844624, 0.09095866594901003], "rgb": [85, 85, 85], "semantic_id": 2, "pcd_info": {"point_index": 1761}, "mesh_info": {"face_index": 546, "face_uv": [0.3606011002779808, 0.20013831585802955, 0.43926058386398253]}}, {"xyz": [-0.2364667054112582, -0.040438170005216545, 0.08115169126892852], "rgb": [85, 85, 85], "semantic_id": 3, "pcd_info": {"point_index": 2024}, "mesh_info": {"face_index": 151, "face_uv": [0.14369171244645665, 0.5492565812451088, 0.3070517063084218]}}, {"xyz": [0.23544299602508545, -0.014920508035406677, -0.22233390744671477], "rgb": [242, 242, 242], "semantic_id": 4, "pcd_info": {"point_index": 843}, "mesh_info": {"face_index": 2159, "face_uv": [0.07261662561260009, 0.137218978295203, 0.7901643960921969]}}, {"xyz": [-0.21938534228487755, -0.004617643241865199, -0.22739913454572513], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1806}, "mesh_info": {"face_index": 2320, "face_uv": [0.014202285972636942, 0.6276832784549561, 0.3581144355724064]}}, {"xyz": [0.2439954442610735, -0.38958099484443665, -0.24056518456464837], "rgb": [86, 86, 86], "semantic_id": 17, "pcd_info": {"point_index": 838}, "mesh_info": {"face_index": 861, "face_uv": [0.16920734148421807, 0.39600171493149466, 0.43479094358428727]}}, {"xyz": [0.2525283334122572, -0.38672998547554016, 0.34100086022047227], "rgb": [86, 86, 86], "semantic_id": 18, "pcd_info": {"point_index": 1756}, "mesh_info": {"face_index": 1409, "face_uv": [0.20890220919044689, 0.5064654138622945, 0.2846323769472586]}}, {"xyz": [-0.23723746421538527, -0.38672998547553994, 0.34794301361492314], "rgb": [85, 85, 85], "semantic_id": 19, "pcd_info": {"point_index": 1536}, "mesh_info": {"face_index": 511, "face_uv": [0.30140690804098724, 0.5135683432330591, 0.18502474872595304]}}, {"xyz": [-0.2364535719880433, -0.38958099484443665, -0.23521723169396735], "rgb": [86, 86, 86], "semantic_id": 20, "pcd_info": {"point_index": 403}, "mesh_info": {"face_index": 1056, "face_uv": [0.2629691880172917, 0.5498646946149608, 0.1871661173677475]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b8e5ce05c382b9a3f51f77a6d7299806", "keypoints": [{"xyz": [0.20362738365662236, 0.3635916462532536, 0.26515641354921793], "rgb": [255, 204, 49], "semantic_id": 0, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 872, "face_uv": [0.26910493813009634, 0.3761542104322421, 0.35474085143766176]}}, {"xyz": [-0.20233086611932977, 0.36410322724654076, 0.26266260033451094], "rgb": [255, 204, 49], "semantic_id": 1, "pcd_info": {"point_index": 307}, "mesh_info": {"face_index": 528, "face_uv": [0.5109495262604254, 0.41138532561862223, 0.07766514812095239]}}, {"xyz": [0.18829875734383617, 0.030936927322398278, 0.212488773966794], "rgb": [255, 204, 49], "semantic_id": 2, "pcd_info": {"point_index": 1866}, "mesh_info": {"face_index": 896, "face_uv": [0.0057857869773036, 0.2861994672681048, 0.7080147457545927]}}, {"xyz": [-0.181448238728241, 0.03558972069577804, 0.21449502644623641], "rgb": [254, 203, 48], "semantic_id": 3, "pcd_info": {"point_index": 313}, "mesh_info": {"face_index": 646, "face_uv": [0.047195812988805416, 0.2837300370521643, 0.6690741499590294]}}, {"xyz": [0.17801455123860582, 0.01264452354365575, -0.12982037429032744], "rgb": [255, 204, 49], "semantic_id": 4, "pcd_info": {"point_index": 1477}, "mesh_info": {"face_index": 1092, "face_uv": [0.03470867429896576, 0.5102031572123925, 0.45508816848870737]}}, {"xyz": [-0.18614582709651817, 0.006785002732540679, -0.13879195232558694], "rgb": [255, 204, 49], "semantic_id": 5, "pcd_info": {"point_index": 1744}, "mesh_info": {"face_index": 3047, "face_uv": [0.44752731301571985, 0.39085725951905687, 0.1616154274652251]}}, {"xyz": [0.18630530354465866, -0.38933199644088745, -0.1763561565275269], "rgb": [255, 204, 49], "semantic_id": 17, "pcd_info": {"point_index": 1127}, "mesh_info": {"face_index": 1637, "face_uv": [0.36982526034443236, 0.14783049779081311, 0.48234424186475455]}}, {"xyz": [0.18436712433371055, -0.38072382058418164, 0.3100739709443681], "rgb": [255, 204, 49], "semantic_id": 18, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 975, "face_uv": [0.2803601451403046, 0.4173817527923172, 0.3022581020673792]}}, {"xyz": [-0.18662115002916524, -0.38107922280122164, 0.30868201094187164], "rgb": [255, 204, 49], "semantic_id": 19, "pcd_info": {"point_index": 656}, "mesh_info": {"face_index": 594, "face_uv": [0.017091626367044883, 0.48491880441092755, 0.497989569222028]}}, {"xyz": [-0.19099550921733344, -0.3881026410775952, -0.17663348174524163], "rgb": [255, 204, 49], "semantic_id": 20, "pcd_info": {"point_index": 339}, "mesh_info": {"face_index": 4214, "face_uv": [0.661098569843988, 0.3348226945659315, 0.004078735590081211]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9619f0c887f8d879d79b19c7c4f0e293", "keypoints": [{"xyz": [0.24995897839871462, 0.2876043951521515, 0.17592524645787355], "rgb": [101, 62, 87], "semantic_id": 0, "pcd_info": {"point_index": 966}, "mesh_info": {"face_index": 3973, "face_uv": [0.3329227144908259, 0.5176343337173136, 0.14944295179186085]}}, {"xyz": [-0.2510074639407401, 0.29205874568847845, 0.1784375095219617], "rgb": [81, 42, 67], "semantic_id": 1, "pcd_info": {"point_index": 761}, "mesh_info": {"face_index": 6327, "face_uv": [0.7167411858160356, 0.2260218820087248, 0.05723693217523966]}}, {"xyz": [0.2515708957483389, 0.047703198193352114, 0.09918861370798848], "rgb": [118, 75, 102], "semantic_id": 2, "pcd_info": {"point_index": 923}, "mesh_info": {"face_index": 4163, "face_uv": [0.00800402828617722, 0.980167581811158, 0.01182838990266339]}}, {"xyz": [-0.26024687826358217, 0.04700296555938144, 0.10017317612095011], "rgb": [83, 43, 69], "semantic_id": 3, "pcd_info": {"point_index": 614}, "mesh_info": {"face_index": 7548, "face_uv": [0.1877321979950911, 0.7984899301618213, 0.013777871843084344]}}, {"xyz": [0.24985566643656687, 0.037253556580484404, -0.2503033855397665], "rgb": [84, 44, 70], "semantic_id": 4, "pcd_info": {"point_index": 1088}, "mesh_info": {"face_index": 4647, "face_uv": [0.45848774975827716, 0.4276314177229126, 0.11388083251881052]}}, {"xyz": [-0.25240731888583606, 0.038532429921663724, -0.24993142413433667], "rgb": [100, 61, 84], "semantic_id": 5, "pcd_info": {"point_index": 994}, "mesh_info": {"face_index": 6929, "face_uv": [0.6998583557830856, 0.1326864194961838, 0.16745522472073163]}}, {"xyz": [0.2806971257848063, -0.298989125321769, -0.20941377962246288], "rgb": [168, 168, 168], "semantic_id": 17, "pcd_info": {"point_index": 1358}, "mesh_info": {"face_index": 215, "face_uv": [0.21017763564803799, 0.3399746136496838, 0.44984775070227834]}}, {"xyz": [0.28081088799999954, -0.29177203317244227, 0.28381533438573797], "rgb": [177, 177, 177], "semantic_id": 18, "pcd_info": {"point_index": 1121}, "mesh_info": {"face_index": 419, "face_uv": [0.08509400204198315, 0.36803592982274236, 0.5468700681352746]}}, {"xyz": [-0.29089906134852367, -0.2949881231811302, 0.27784689323035244], "rgb": [153, 153, 153], "semantic_id": 19, "pcd_info": {"point_index": 900}, "mesh_info": {"face_index": 3710, "face_uv": [0.20639608236118012, 0.5516020084155795, 0.24200190922324022]}}, {"xyz": [-0.28400467577226984, -0.2966634577585332, -0.210145757902079], "rgb": [178, 178, 178], "semantic_id": 20, "pcd_info": {"point_index": 1366}, "mesh_info": {"face_index": 3606, "face_uv": [0.04630258334967517, 0.5753942595273862, 0.3783031571229392]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "59b79461f64a41c3d225e12279334514", "keypoints": [{"xyz": [0.24895135444882827, 0.1583150029182434, 0.15100270348422706], "rgb": [247, 246, 246], "semantic_id": 0, "pcd_info": {"point_index": 1037}, "mesh_info": {"face_index": 2775, "face_uv": [0.9341549862508916, 0.021463771601142736, 0.04438124214796575]}}, {"xyz": [-0.25223833436906395, 0.15831500291824363, 0.15646208176143195], "rgb": [247, 246, 246], "semantic_id": 1, "pcd_info": {"point_index": 107}, "mesh_info": {"face_index": 783, "face_uv": [0.6114398422092655, 0.0085438622433851, 0.3800162955473509]}}, {"xyz": [0.2213572938046376, -0.15229831747564848, 0.08674182918232516], "rgb": [247, 246, 246], "semantic_id": 2, "pcd_info": {"point_index": 421}, "mesh_info": {"face_index": 2197, "face_uv": [0.10458175247646613, 0.015677979836692477, 0.8797402676868432]}}, {"xyz": [-0.21505849297348012, -0.15211590189439006, 0.08305087506741685], "rgb": [247, 246, 246], "semantic_id": 3, "pcd_info": {"point_index": 1029}, "mesh_info": {"face_index": 195, "face_uv": [0.6839146399580375, 0.04368721437405919, 0.27239814566790355]}}, {"xyz": [0.20889105962077587, -0.16640504368915754, -0.2721640649911833], "rgb": [246, 245, 245], "semantic_id": 4, "pcd_info": {"point_index": 960}, "mesh_info": {"face_index": 2795, "face_uv": [0.7423102345097339, 0.07111228970188026, 0.1865774757883786]}}, {"xyz": [-0.22046083201091202, -0.16796543485188686, -0.27476320544409183], "rgb": [247, 246, 246], "semantic_id": 5, "pcd_info": {"point_index": 189}, "mesh_info": {"face_index": 1762, "face_uv": [0.0196643272872589, 0.5728006371354043, 0.40753503557744347]}}, {"xyz": [0.25151806940207405, 0.02426699921488762, -0.2763821434138777], "rgb": [247, 246, 246], "semantic_id": 6, "pcd_info": {"point_index": 338}, "mesh_info": {"face_index": 3238, "face_uv": [0.41751923598473295, 0.5814901894994257, 0.00099057451584146]}}, {"xyz": [0.25398165415071194, 0.024266999214887397, 0.09918422527395622], "rgb": [246, 245, 245], "semantic_id": 7, "pcd_info": {"point_index": 1972}, "mesh_info": {"face_index": 2229, "face_uv": [0.03484938466944512, 0.28589215974225485, 0.6792584555882911]}}, {"xyz": [-0.25005759105791314, 0.02426699921488762, -0.2744091162554456], "rgb": [247, 246, 246], "semantic_id": 8, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 1236, "face_uv": [0.006055761668377812, 0.5029361246858067, 0.4910081136458154]}}, {"xyz": [-0.25161752935082016, 0.02426699921488784, 0.10067216192797473], "rgb": [247, 246, 246], "semantic_id": 9, "pcd_info": {"point_index": 188}, "mesh_info": {"face_index": 227, "face_uv": [0.5559002653780923, 0.4130702049359691, 0.031029529685947743]}}, {"xyz": [0.24882327886989736, -0.5131160020828247, -0.26412001196447366], "rgb": [57, 57, 57], "semantic_id": 17, "pcd_info": {"point_index": 663}, "mesh_info": {"face_index": 2012, "face_uv": [0.47756355652224086, 0.47503785072863947, 0.04739859274911964]}}, {"xyz": [0.2538901976477429, -0.5131160020828247, 0.22264435221851958], "rgb": [58, 58, 58], "semantic_id": 18, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 2043, "face_uv": [0.18983591604248753, 0.3335053506308383, 0.4766587333266742]}}, {"xyz": [-0.24974809236305234, -0.5131160020828247, 0.22087213162805397], "rgb": [58, 58, 58], "semantic_id": 19, "pcd_info": {"point_index": 84}, "mesh_info": {"face_index": 44, "face_uv": [0.08978655994133632, 0.4929335423401839, 0.4172798977184798]}}, {"xyz": [-0.2530282290641832, -0.5131160020828247, -0.26783969004329145], "rgb": [58, 58, 58], "semantic_id": 20, "pcd_info": {"point_index": 1879}, "mesh_info": {"face_index": 12, "face_uv": [0.01204632528303692, 0.3504088094310789, 0.6375448652858842]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "be1ac2a0b4c75bb9940806ade53ef2f", "keypoints": [{"xyz": [0.1982653119670427, 0.3682007802756728, 0.12112225585193359], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1276}, "mesh_info": {"face_index": 36919, "face_uv": [0.36218137968224867, 0.37502243744882674, 0.2627961828689231]}}, {"xyz": [-0.17575711648162584, 0.3700540065765381, 0.12279461028248995], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 831}, "mesh_info": {"face_index": 36775, "face_uv": [0.25767572331783895, 0.11780460733595015, 0.624519669346211]}}, {"xyz": [0.18419723492798057, 0.06332200020551682, 0.10101758406072636], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 695}, "mesh_info": {"face_index": 37876, "face_uv": [0.12998842448085263, 0.6586735277375, 0.21133804778164753]}}, {"xyz": [-0.15404845417891688, 0.06332200020551682, 0.10445066585994067], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 2017}, "mesh_info": {"face_index": 37806, "face_uv": [0.11517695741428317, 0.8397484334527955, 0.045074609132921446]}}, {"xyz": [0.22281022902502934, 0.06332200020551687, -0.235805905858538], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 38558, "face_uv": [0.08360968325385325, 0.1691196370557103, 0.7472706796904375]}}, {"xyz": [-0.20622461709933465, 0.06072892254231532, -0.2377327170696304], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 38574, "face_uv": [0.1808754319011859, 0.07185827265756159, 0.7472662954412524]}}, {"xyz": [0.2503524963944228, 0.2857731877164009, -0.07741355643750136], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 979}, "mesh_info": {"face_index": 37517, "face_uv": [0.26023889104662873, 0.002654078826169894, 0.7371070301272011]}}, {"xyz": [0.2301231054621523, 0.28585299849510193, 0.06274306961399545], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 98}, "mesh_info": {"face_index": 37202, "face_uv": [0.24931878281945888, 0.4842649911572766, 0.2664162260232644]}}, {"xyz": [-0.23222735354639168, 0.2858529984951017, -0.07569694105133373], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 247}, "mesh_info": {"face_index": 37449, "face_uv": [0.22226704494912145, 0.22771447016697077, 0.550018484883907]}}, {"xyz": [-0.20843795801834888, 0.2858529984951017, 0.08522690232357003], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1863}, "mesh_info": {"face_index": 36876, "face_uv": [0.26964478463801306, 0.4826064685114704, 0.24774874685051582]}}, {"xyz": [0.19517434047211385, -0.31573131353607486, -0.252052364542498], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1598}, "mesh_info": {"face_index": 1098, "face_uv": [0.4798504365360616, 0.0033418316398219445, 0.5168077318241159]}}, {"xyz": [0.19341028604732724, -0.3150437173308087, 0.21849354789661724], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 9326, "face_uv": [0.0561178993646036, 0.5430470308283176, 0.4008350698070785]}}, {"xyz": [-0.17916870105040714, -0.31431429547746204, 0.22062354650099514], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1185}, "mesh_info": {"face_index": 29838, "face_uv": [0.4771125218769102, 0.03856654854523299, 0.48432092957785744]}}, {"xyz": [-0.1772753882871361, -0.3160803016095568, -0.2504301230354199], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1940}, "mesh_info": {"face_index": 17423, "face_uv": [0.434375056660076, 0.026580101702492268, 0.5390448416374318]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e29fb377ebf475c51b1a00a31bfed97b", "keypoints": [{"xyz": [0.15052863129820948, 0.43873317435044035, 0.08855800330638885], "rgb": [172, 98, 31], "semantic_id": 0, "pcd_info": {"point_index": 1285}, "mesh_info": {"face_index": 1241, "face_uv": [0.010427385092018305, 0.06989513211038904, 0.9196774827975928]}}, {"xyz": [-0.16094542201208994, 0.43634066135037186, 0.08855800330638863], "rgb": [184, 115, 52], "semantic_id": 1, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 1370, "face_uv": [0.10994499649006038, 0.03326815142553317, 0.8567868520844041]}}, {"xyz": [0.14024462785035396, -0.048255960112689955, 0.08855800330638908], "rgb": [180, 108, 43], "semantic_id": 2, "pcd_info": {"point_index": 1512}, "mesh_info": {"face_index": 1093, "face_uv": [0.03491443277241615, 0.4867116320356667, 0.4783739351919197]}}, {"xyz": [-0.14969088643281603, -0.0496935241178984, 0.08855800330638885], "rgb": [178, 107, 44], "semantic_id": 3, "pcd_info": {"point_index": 1095}, "mesh_info": {"face_index": 1407, "face_uv": [0.2722577247728757, 0.03187620030157805, 0.6958660749255463]}}, {"xyz": [0.14218429863155774, -0.06477600336074829, -0.1859942675078039], "rgb": [175, 101, 34], "semantic_id": 4, "pcd_info": {"point_index": 1878}, "mesh_info": {"face_index": 363, "face_uv": [0.3362977934539068, 0.6515398975581247, 0.012162308987968327]}}, {"xyz": [-0.1484605962971272, -0.06477600336074829, -0.18261614206080812], "rgb": [179, 106, 46], "semantic_id": 5, "pcd_info": {"point_index": 388}, "mesh_info": {"face_index": 1342, "face_uv": [0.10809925177581838, 0.5601772017752302, 0.3317235464489514]}}, {"xyz": [0.13715357052333987, -0.4400390088558199, -0.1780785825937157], "rgb": [180, 107, 43], "semantic_id": 17, "pcd_info": {"point_index": 274}, "mesh_info": {"face_index": 332, "face_uv": [0.39794773327012795, 0.5468965594310337, 0.055155707298838924]}}, {"xyz": [0.13609725611555892, -0.4400390088558199, 0.1063557627886691], "rgb": [184, 113, 47], "semantic_id": 18, "pcd_info": {"point_index": 220}, "mesh_info": {"face_index": 1171, "face_uv": [0.03048383059809315, 0.5149244539053954, 0.45459171549651195]}}, {"xyz": [-0.15090323712841958, -0.4400390088558195, 0.11137344252089926], "rgb": [182, 112, 49], "semantic_id": 19, "pcd_info": {"point_index": 1752}, "mesh_info": {"face_index": 660, "face_uv": [0.16621920275620758, 0.6991739367288895, 0.1346068605149024]}}, {"xyz": [-0.1399092269400163, -0.4400390088558199, -0.17820977711828445], "rgb": [178, 107, 44], "semantic_id": 20, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 533, "face_uv": [0.322062719537775, 0.425141082230702, 0.2527961982315235]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d66b701631851e7b4b19d2c99e22ffe0", "keypoints": [{"xyz": [0.19214650489946222, 0.3892650008201598, 0.28161890748362595], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1675}, "mesh_info": {"face_index": 1084, "face_uv": [0.6555148407659726, 0.0062557234849366546, 0.33822943574909037]}}, {"xyz": [-0.21246434989386476, 0.3892650008201598, 0.287395683874925], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 239}, "mesh_info": {"face_index": 1086, "face_uv": [0.19339644232454264, 0.0022880589578477975, 0.8043154987176092]}}, {"xyz": [0.18859704824100867, 0.04823699966073025, 0.044216099067690084], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 101}, "mesh_info": {"face_index": 1149, "face_uv": [0.6788047730036906, 0.01484117470865492, 0.3063540522876521]}}, {"xyz": [-0.21324771359373984, 0.048916343487761194, 0.02916195271010391], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 854}, "mesh_info": {"face_index": 1157, "face_uv": [0.9754598922730283, 0.00036828985617289213, 0.024171817870799524]}}, {"xyz": [0.19120185297758743, 0.025555825424028233, -0.29212187351252183], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 286}, "mesh_info": {"face_index": 1020, "face_uv": [0.8911346626115318, 0.10025195087869947, 0.008613386509769262]}}, {"xyz": [-0.2104964855274215, 0.029732398988189024, -0.28888687968512883], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 1021, "face_uv": [0.03380590795826232, 0.39326514961217285, 0.5729289424295666]}}, {"xyz": [0.21885282681034446, 0.16701619187074834, -0.1855045805483435], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1123}, "mesh_info": {"face_index": 1468, "face_uv": [0.08448992009953132, 0.5527911554719984, 0.36271892442846987]}}, {"xyz": [0.23513565289841187, 0.19999000430107128, 0.21234303923122844], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 1813, "face_uv": [0.04941160973366221, 0.9173742171765948, 0.033214173089743504]}}, {"xyz": [-0.23826621829534533, 0.1706242133328041, -0.18080279861066118], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1237}, "mesh_info": {"face_index": 1648, "face_uv": [0.2769177619947507, 0.4301134287834577, 0.29296880922179147]}}, {"xyz": [-0.253511663392354, 0.19999000430107117, 0.2226730384483312], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1938}, "mesh_info": {"face_index": 2072, "face_uv": [0.9400855039499938, 0.04249441229764797, 0.017420083752358175]}}, {"xyz": [0.2227038658713114, -0.22057279117318274, -0.19760775416902532], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 1368, "face_uv": [0.0909356284943655, 0.34929527337530897, 0.5597690981303254]}}, {"xyz": [0.2225531302757402, -0.223460735705322, 0.17577383666423785], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 258}, "mesh_info": {"face_index": 1730, "face_uv": [0.016416082485725732, 0.35312776123860085, 0.6304561562756739]}}, {"xyz": [-0.24049553820587222, -0.21124652701264546, 0.191185783685355], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1346}, "mesh_info": {"face_index": 2522, "face_uv": [0.6265675526934424, 0.08263465755807115, 0.2907977897484865]}}, {"xyz": [-0.239535630782291, -0.21755901678017825, -0.20052966855844878], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1669}, "mesh_info": {"face_index": 1590, "face_uv": [0.6021616813608331, 0.11521620067238433, 0.2826221179667825]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "42635d55c5905a682672e8af102e0b3c", "keypoints": [{"xyz": [0.15056612698216038, 0.2594153715937759, 0.07275974716938372], "rgb": [194, 194, 194], "semantic_id": 0, "pcd_info": {"point_index": 287}, "mesh_info": {"face_index": 529, "face_uv": [0.0787508638198594, 0.04101547840236413, 0.8802336577777701]}}, {"xyz": [-0.1459592161667159, 0.2570801241340317, 0.0759594446972014], "rgb": [194, 194, 194], "semantic_id": 1, "pcd_info": {"point_index": 37}, "mesh_info": {"face_index": 142, "face_uv": [0.923346566579409, 0.04871023854182292, 0.02794319487876717]}}, {"xyz": [0.14122403390112948, -0.009805746717080899, 0.03948341458958682], "rgb": [72, 98, 134], "semantic_id": 2, "pcd_info": {"point_index": 1535}, "mesh_info": {"face_index": 7779, "face_uv": [0.06276410209432104, 0.8420454300738224, 0.09519046783186051]}}, {"xyz": [-0.16377694312331287, -0.020579132590829996, 0.04604468266043371], "rgb": [194, 194, 194], "semantic_id": 3, "pcd_info": {"point_index": 1802}, "mesh_info": {"face_index": 134, "face_uv": [0.0024413405053046893, 0.8880822628571391, 0.10947639663755471]}}, {"xyz": [0.15895567357407364, -0.014411058669200338, -0.21384425307968868], "rgb": [70, 101, 145], "semantic_id": 4, "pcd_info": {"point_index": 1618}, "mesh_info": {"face_index": 8119, "face_uv": [0.1027212315258457, 0.44701394478163076, 0.4502648236925237]}}, {"xyz": [-0.14698778829878906, -0.01679391198424085, -0.23256783678456006], "rgb": [35, 57, 102], "semantic_id": 5, "pcd_info": {"point_index": 1472}, "mesh_info": {"face_index": 7406, "face_uv": [0.830239916199681, 0.11610722045901781, 0.05365286334130073]}}, {"xyz": [0.1504908607800765, -0.4522685652387839, -0.23850659478386121], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1385}, "mesh_info": {"face_index": 9150, "face_uv": [0.5659662983999678, 0.40818722726924395, 0.02584647433078866]}}, {"xyz": [0.15062144110247538, -0.45071727837881825, 0.07924345599597316], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1871}, "mesh_info": {"face_index": 8277, "face_uv": [0.4570980484948787, 0.17609616531538463, 0.36680578618973797]}}, {"xyz": [-0.15565097754316096, -0.45186069456651845, 0.09092539196259708], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1693}, "mesh_info": {"face_index": 10601, "face_uv": [0.6563462857869804, 0.15333616983917417, 0.1903175443738447]}}, {"xyz": [-0.1522018792084516, -0.44782784009886, -0.25102935257248704], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 2000}, "mesh_info": {"face_index": 9742, "face_uv": [0.16421410821006124, 0.37578925980267697, 0.45999663198726204]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e14e8241e0bb563f64810cc21086da42", "keypoints": [{"xyz": [0.24067835382536396, 0.2437083698471476, 0.1874275084187142], "rgb": [225, 225, 225], "semantic_id": 0, "pcd_info": {"point_index": 1658}, "mesh_info": {"face_index": 362, "face_uv": [0.053824874526214914, 0.8350413495683966, 0.11113377590538838]}}, {"xyz": [-0.24641749121297013, 0.2436135047272343, 0.18846752737988523], "rgb": [226, 226, 226], "semantic_id": 1, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 363, "face_uv": [0.055369945999972185, 0.11031284970358123, 0.8343172042964467]}}, {"xyz": [0.23337916110034285, -0.09301000088453293, 0.11741508195681938], "rgb": [152, 153, 151], "semantic_id": 2, "pcd_info": {"point_index": 88}, "mesh_info": {"face_index": 5, "face_uv": [0.9374998901808254, 0.04691220767813643, 0.015587902141038133]}}, {"xyz": [-0.23020053955788466, -0.09301000088453315, 0.1288875377259936], "rgb": [153, 153, 151], "semantic_id": 3, "pcd_info": {"point_index": 1777}, "mesh_info": {"face_index": 5, "face_uv": [0.013951279069098942, 0.02161846869758538, 0.964430252233318]}}, {"xyz": [0.2107721130311237, -0.09601565696653558, -0.314875990152359], "rgb": [151, 153, 150], "semantic_id": 4, "pcd_info": {"point_index": 1217}, "mesh_info": {"face_index": 9, "face_uv": [0.0182786297947692, 0.061859394590318924, 0.9198619756149119]}}, {"xyz": [-0.2147665609670976, -0.09301000088453293, -0.31322305977702547], "rgb": [154, 154, 152], "semantic_id": 5, "pcd_info": {"point_index": 362}, "mesh_info": {"face_index": 4, "face_uv": [0.9291961282221614, 0.003644275498455152, 0.06715959627938342]}}, {"xyz": [0.24981319164313992, 0.07218500226736091, -0.324764610195559], "rgb": [226, 226, 226], "semantic_id": 6, "pcd_info": {"point_index": 1700}, "mesh_info": {"face_index": 337, "face_uv": [0.42936103645218066, 0.015549426471679733, 0.5550895370761425]}}, {"xyz": [0.24156605393865477, 0.07218500226736091, 0.14990066121497037], "rgb": [226, 226, 226], "semantic_id": 7, "pcd_info": {"point_index": 1925}, "mesh_info": {"face_index": 336, "face_uv": [0.3556279357603509, 0.01868264422061963, 0.6256894200190326]}}, {"xyz": [-0.2556978675573218, 0.07218500226736069, -0.3261511960905309], "rgb": [225, 225, 225], "semantic_id": 8, "pcd_info": {"point_index": 1051}, "mesh_info": {"face_index": 516, "face_uv": [0.5397703791463812, 0.012728238006351634, 0.44750138284726704]}}, {"xyz": [-0.25020682749183876, 0.07218500226736069, 0.14796450315930443], "rgb": [226, 226, 226], "semantic_id": 9, "pcd_info": {"point_index": 354}, "mesh_info": {"face_index": 517, "face_uv": [0.5805917552770202, 0.022622008376492836, 0.396786236346487]}}, {"xyz": [0.2371249270250036, -0.3564319908618927, -0.3093255427243484], "rgb": [226, 226, 226], "semantic_id": 17, "pcd_info": {"point_index": 1513}, "mesh_info": {"face_index": 131, "face_uv": [0.128271335588637, 0.3887975506196908, 0.48293111379167225]}}, {"xyz": [0.24055124183742138, -0.35593000054359436, 0.16148274915156852], "rgb": [226, 226, 226], "semantic_id": 18, "pcd_info": {"point_index": 765}, "mesh_info": {"face_index": 288, "face_uv": [0.10044335408553183, 0.455501288020242, 0.44405535789422623]}}, {"xyz": [-0.24412640489446313, -0.35593000054359436, 0.163665153745513], "rgb": [226, 226, 226], "semantic_id": 19, "pcd_info": {"point_index": 564}, "mesh_info": {"face_index": 116, "face_uv": [0.4518310298366034, 0.4843193502877212, 0.06384961987567539]}}, {"xyz": [-0.24577111812121577, -0.3564319908618927, -0.3152017115277267], "rgb": [226, 226, 226], "semantic_id": 20, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 371, "face_uv": [0.438231074602907, 0.39807378674679816, 0.1636951386502948]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c0c823f094d972c94b3c42e318f3affc", "keypoints": [{"xyz": [0.12643523114099287, 0.2656902676129964, 0.2649687852482032], "rgb": [22, 22, 22], "semantic_id": 0, "pcd_info": {"point_index": 1823}, "mesh_info": {"face_index": 2766, "face_uv": [0.27178347374296524, 0.25367197057668806, 0.4745445556803475]}}, {"xyz": [-0.11674496740928286, 0.2636628895797164, 0.2625986720137652], "rgb": [40, 40, 40], "semantic_id": 1, "pcd_info": {"point_index": 624}, "mesh_info": {"face_index": 2147, "face_uv": [0.16170448277950572, 0.46451110961007525, 0.3737844076104194]}}, {"xyz": [0.14634184323672073, -0.03804621132528929, 0.11647350596067704], "rgb": [28, 28, 28], "semantic_id": 2, "pcd_info": {"point_index": 1720}, "mesh_info": {"face_index": 2548, "face_uv": [0.5215567388337923, 0.13957900361937842, 0.3388642575468222]}}, {"xyz": [-0.13443940451765046, -0.03674337968465102, 0.12393322414845616], "rgb": [50, 50, 50], "semantic_id": 3, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 1121, "face_uv": [0.30512748447805926, 0.6031134537074535, 0.09175906181448719]}}, {"xyz": [0.17833334425384695, -0.011094407090420644, -0.15948793797768124], "rgb": [45, 45, 45], "semantic_id": 4, "pcd_info": {"point_index": 104}, "mesh_info": {"face_index": 2368, "face_uv": [0.08775738668190335, 0.2493270090230914, 0.6629156042950041]}}, {"xyz": [-0.1690022581215878, -0.010793265299083199, -0.15892832425030806], "rgb": [66, 66, 66], "semantic_id": 5, "pcd_info": {"point_index": 1082}, "mesh_info": {"face_index": 639, "face_uv": [0.08916580191345963, 0.0340272524093424, 0.8768069456771963]}}, {"xyz": [0.21634768266239912, 0.19396114051100533, -0.05935331189181714], "rgb": [61, 61, 61], "semantic_id": 6, "pcd_info": {"point_index": 1465}, "mesh_info": {"face_index": 3351, "face_uv": [0.14926817966744207, 0.4684455849984542, 0.3822862353341033]}}, {"xyz": [0.1993155644513719, 0.18724123344886157, 0.18480937031239353], "rgb": [54, 54, 54], "semantic_id": 7, "pcd_info": {"point_index": 580}, "mesh_info": {"face_index": 3248, "face_uv": [0.4693914154057226, 0.5121956510468054, 0.01841293354747226]}}, {"xyz": [-0.19836462551713172, 0.19400704505078048, -0.06860474544556588], "rgb": [55, 55, 55], "semantic_id": 8, "pcd_info": {"point_index": 1844}, "mesh_info": {"face_index": 830, "face_uv": [0.10387857137535844, 0.7470899449825142, 0.1490314836421293]}}, {"xyz": [-0.18686212958399614, 0.18852980853958945, 0.19560205502752978], "rgb": [61, 61, 61], "semantic_id": 9, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 2332, "face_uv": [0.5792910886439945, 0.2511053413068628, 0.16960357004914284]}}, {"xyz": [0.23466655593620486, -0.3368018519571667, -0.20050808978710113], "rgb": [67, 67, 67], "semantic_id": 17, "pcd_info": {"point_index": 894}, "mesh_info": {"face_index": 3616, "face_uv": [0.11833670843489269, 0.4048304389117878, 0.4768328526533197]}}, {"xyz": [0.230960030914131, -0.3380662472300935, 0.15229143865664477], "rgb": [66, 66, 66], "semantic_id": 18, "pcd_info": {"point_index": 678}, "mesh_info": {"face_index": 6363, "face_uv": [0.0807068072189082, 0.6442615701714611, 0.27503162260963093]}}, {"xyz": [-0.23463485266880582, -0.338151538213155, 0.1531347341359334], "rgb": [45, 45, 45], "semantic_id": 19, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 8792, "face_uv": [0.1694969538092053, 0.5907166640788196, 0.23978638211197487]}}, {"xyz": [-0.24005051106349787, -0.3371744468881759, -0.19864584404844418], "rgb": [37, 37, 37], "semantic_id": 20, "pcd_info": {"point_index": 799}, "mesh_info": {"face_index": 6056, "face_uv": [0.47031638070340864, 0.14451983389495968, 0.3851637854016324]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1b4071814d1c1ae6e2367b9e27f16a71", "keypoints": [{"xyz": [0.22190318701274822, 0.23532553886237517, 0.26851000541376496], "rgb": [16, 27, 73], "semantic_id": 0, "pcd_info": {"point_index": 1261}, "mesh_info": {"face_index": 2684, "face_uv": [0.47868641187711913, 0.31803575291714953, 0.20327783520573126]}}, {"xyz": [-0.24714955648995224, 0.2402254721854773, 0.20915200483911628], "rgb": [10, 16, 67], "semantic_id": 1, "pcd_info": {"point_index": 1187}, "mesh_info": {"face_index": 2703, "face_uv": [0.1905898164034982, 0.6968881998772769, 0.11252198371922525]}}, {"xyz": [0.17827181384703844, 0.008187925045015865, 0.08145998415527456], "rgb": [22, 19, 60], "semantic_id": 2, "pcd_info": {"point_index": 449}, "mesh_info": {"face_index": 512, "face_uv": [0.08942729377136836, 0.0005662399280501046, 0.9100064663005772]}}, {"xyz": [-0.17910184444855057, 0.007888743181999613, 0.044493198755585606], "rgb": [1, 7, 2], "semantic_id": 3, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 667, "face_uv": [0.04838725561105771, 0.0007843020264010349, 0.9508284423625367]}}, {"xyz": [0.2202400019288701, 0.0038522467021896434, -0.2613417732087966], "rgb": [37, 43, 107], "semantic_id": 4, "pcd_info": {"point_index": 778}, "mesh_info": {"face_index": 1531, "face_uv": [0.740613376833196, 0.10473567648263771, 0.15465094668416568]}}, {"xyz": [-0.14421673684763475, 1.068060797160264e-05, -0.3033106877443863], "rgb": [0, 1, 16], "semantic_id": 5, "pcd_info": {"point_index": 1599}, "mesh_info": {"face_index": 459, "face_uv": [0.04179930246761045, 0.3795804131683819, 0.5786202843640076]}}, {"xyz": [0.262984094930299, 0.10868905131781958, -0.24300763764432531], "rgb": [10, 12, 50], "semantic_id": 6, "pcd_info": {"point_index": 1387}, "mesh_info": {"face_index": 133, "face_uv": [0.39288894344462116, 0.44810547031154374, 0.15900558624383454]}}, {"xyz": [0.22756502665188702, 0.11956169775755288, 0.1591082477689877], "rgb": [5, 10, 39], "semantic_id": 7, "pcd_info": {"point_index": 1043}, "mesh_info": {"face_index": 266, "face_uv": [0.5468275399282354, 0.3371809449128386, 0.11599151515892707]}}, {"xyz": [-0.1937185039072162, 0.11048193966632214, -0.28926255818854996], "rgb": [11, 11, 30], "semantic_id": 8, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 1206, "face_uv": [0.4524222331758177, 0.44177619420599973, 0.10580157261818367]}}, {"xyz": [-0.230285795271186, 0.11982684761777085, 0.10630498409332545], "rgb": [6, 7, 56], "semantic_id": 9, "pcd_info": {"point_index": 1874}, "mesh_info": {"face_index": 1802, "face_uv": [0.005748015202150668, 0.46422945343085087, 0.5300225313669981]}}, {"xyz": [0.2598752771114645, -0.27404001355171204, -0.23791173724577697], "rgb": [144, 63, 12], "semantic_id": 17, "pcd_info": {"point_index": 81}, "mesh_info": {"face_index": 30, "face_uv": [0.3754816662923382, 0.5388559419638566, 0.08566239174380513]}}, {"xyz": [0.21460160816178717, -0.2740400135517118, 0.2141895758960915], "rgb": [149, 69, 19], "semantic_id": 18, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 70, "face_uv": [0.3242322008243117, 0.5469958990721295, 0.12877190010355802]}}, {"xyz": [-0.23704894451312902, -0.27404001355171204, 0.16799882576819414], "rgb": [163, 85, 26], "semantic_id": 19, "pcd_info": {"point_index": 768}, "mesh_info": {"face_index": 15, "face_uv": [0.05368227864616571, 0.526148111033358, 0.4201696103204763]}}, {"xyz": [-0.18863368835895994, -0.27404001355171226, -0.2885689104309165], "rgb": [142, 61, 8], "semantic_id": 20, "pcd_info": {"point_index": 1828}, "mesh_info": {"face_index": 51, "face_uv": [0.22169339649950787, 0.3384633955457617, 0.4398432079547312]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c54aa12a3d8c34e2efacb264ebf1ec75", "keypoints": [{"xyz": [0.1831776709426562, 0.28510179881862063, 0.25707627079069884], "rgb": [48, 31, 23], "semantic_id": 0, "pcd_info": {"point_index": 1694}, "mesh_info": {"face_index": 1559, "face_uv": [0.5323363015206056, 0.28866683931804754, 0.1789968591613467]}}, {"xyz": [-0.18102791127845644, 0.2888218241771583, 0.2528814797646157], "rgb": [51, 34, 26], "semantic_id": 1, "pcd_info": {"point_index": 981}, "mesh_info": {"face_index": 3459, "face_uv": [0.2033060660950817, 0.5259047015541058, 0.2707892323508124]}}, {"xyz": [0.1730632516538902, -0.021021022410437018, 0.17456357587442484], "rgb": [76, 59, 51], "semantic_id": 2, "pcd_info": {"point_index": 57}, "mesh_info": {"face_index": 1343, "face_uv": [0.18880289631020222, 0.045596208019988066, 0.7656008956698062]}}, {"xyz": [-0.17384449818956468, -0.021447803176301905, 0.1757662595024898], "rgb": [80, 63, 55], "semantic_id": 3, "pcd_info": {"point_index": 735}, "mesh_info": {"face_index": 3132, "face_uv": [0.8490755250693999, 0.04476694498280799, 0.10615752994779423]}}, {"xyz": [0.1736416196232476, -0.023534398451612315, -0.27769356562759007], "rgb": [69, 52, 44], "semantic_id": 4, "pcd_info": {"point_index": 805}, "mesh_info": {"face_index": 1169, "face_uv": [0.04661013824617692, 0.5109826666927644, 0.44240719506105897]}}, {"xyz": [-0.17621735116451362, -0.025922323908206923, -0.2802368438213185], "rgb": [56, 39, 31], "semantic_id": 5, "pcd_info": {"point_index": 1898}, "mesh_info": {"face_index": 2961, "face_uv": [0.6387110347691236, 0.03879575044602964, 0.32249321478484816]}}, {"xyz": [0.21997099037154502, 0.08498245242834068, -0.2419204021517125], "rgb": [53, 36, 28], "semantic_id": 6, "pcd_info": {"point_index": 2009}, "mesh_info": {"face_index": 392, "face_uv": [0.19707486603614938, 0.268332707854499, 0.5345924261093513]}}, {"xyz": [0.23065287952171168, 0.08287237404875736, 0.2834445003219647], "rgb": [46, 29, 21], "semantic_id": 7, "pcd_info": {"point_index": 714}, "mesh_info": {"face_index": 269, "face_uv": [0.13359979600876404, 0.1701925204260583, 0.6962076835651761]}}, {"xyz": [-0.22025181210737352, 0.07378777307353657, -0.255523818894262], "rgb": [81, 63, 55], "semantic_id": 8, "pcd_info": {"point_index": 1023}, "mesh_info": {"face_index": 2203, "face_uv": [0.47147519793326953, 0.06108605888060528, 0.46743874318612566]}}, {"xyz": [-0.22366595030351732, 0.07707245368312687, 0.2942747741487831], "rgb": [72, 55, 47], "semantic_id": 9, "pcd_info": {"point_index": 1608}, "mesh_info": {"face_index": 2015, "face_uv": [0.45475662688381296, 0.3581159838709304, 0.18712738924525654]}}, {"xyz": [0.2110595668585902, -0.29121100902557373, -0.27172007361054523], "rgb": [52, 42, 33], "semantic_id": 17, "pcd_info": {"point_index": 1339}, "mesh_info": {"face_index": 1753, "face_uv": [0.5344992870112043, 0.32576724623189157, 0.13973346675690418]}}, {"xyz": [0.2165428891741062, -0.29121100902557373, 0.23356771618407923], "rgb": [52, 42, 33], "semantic_id": 18, "pcd_info": {"point_index": 1212}, "mesh_info": {"face_index": 1789, "face_uv": [0.013023787573567893, 0.3236636724755923, 0.6633125399508398]}}, {"xyz": [-0.20449267685925743, -0.29121100902557373, 0.24466865186488096], "rgb": [52, 42, 33], "semantic_id": 19, "pcd_info": {"point_index": 281}, "mesh_info": {"face_index": 3568, "face_uv": [0.03532412023612375, 0.5844448290219848, 0.38023105074189145]}}, {"xyz": [-0.21316408413728088, -0.29121100902557373, -0.2728839590761587], "rgb": [52, 42, 33], "semantic_id": 20, "pcd_info": {"point_index": 536}, "mesh_info": {"face_index": 3544, "face_uv": [0.11763693972116322, 0.29842481984905966, 0.5839382404297772]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "236f75a784ed58d62b3e9b6eb52d35df", "keypoints": [{"xyz": [0.2068154752721993, 0.3292461842523655, 0.12486308808014396], "rgb": [50, 39, 39], "semantic_id": 0, "pcd_info": {"point_index": 107}, "mesh_info": {"face_index": 237, "face_uv": [0.2676551961384766, 0.5846391492294214, 0.14770565463210186]}}, {"xyz": [-0.20411517852733327, 0.32967913190619125, 0.12166256132265862], "rgb": [50, 39, 39], "semantic_id": 1, "pcd_info": {"point_index": 669}, "mesh_info": {"face_index": 92, "face_uv": [0.4627972631867951, 0.04755591053421485, 0.4896468262789897]}}, {"xyz": [0.1552109339619327, -0.05685578240707967, 0.03025594281725863], "rgb": [50, 39, 39], "semantic_id": 2, "pcd_info": {"point_index": 1250}, "mesh_info": {"face_index": 3064, "face_uv": [0.20818913275959286, 0.6639125615973234, 0.12789830564308002]}}, {"xyz": [-0.15675988239049524, -0.05684100091457389, 0.0276905485119614], "rgb": [51, 40, 40], "semantic_id": 3, "pcd_info": {"point_index": 856}, "mesh_info": {"face_index": 3148, "face_uv": [0.9515625961717593, 0.03860452356531724, 0.009832880262927309]}}, {"xyz": [0.18464566943858543, -0.05950810311341981, -0.2210897519890046], "rgb": [51, 40, 40], "semantic_id": 4, "pcd_info": {"point_index": 396}, "mesh_info": {"face_index": 1706, "face_uv": [0.1505585802830204, 0.5307970248295572, 0.3186443948874231]}}, {"xyz": [-0.19147564585854712, -0.06464086735379071, -0.21946653847019038], "rgb": [50, 39, 39], "semantic_id": 5, "pcd_info": {"point_index": 349}, "mesh_info": {"face_index": 1597, "face_uv": [0.7975664109299186, 0.1258315145582926, 0.07660207451178841]}}, {"xyz": [0.158293456358218, -0.46555499070706363, -0.20335095823572452], "rgb": [51, 40, 40], "semantic_id": 17, "pcd_info": {"point_index": 1836}, "mesh_info": {"face_index": 3, "face_uv": [0.13014281619734244, 0.4295155991333215, 0.44034158466933637]}}, {"xyz": [0.1494153953710568, -0.4654258572998067, 0.09302575172512245], "rgb": [51, 40, 40], "semantic_id": 18, "pcd_info": {"point_index": 661}, "mesh_info": {"face_index": 665, "face_uv": [0.05215947405436784, 0.4202171705207046, 0.5276233554249277]}}, {"xyz": [-0.14487363350838758, -0.4650293791907567, 0.09612439663691365], "rgb": [51, 40, 40], "semantic_id": 19, "pcd_info": {"point_index": 1023}, "mesh_info": {"face_index": 1134, "face_uv": [0.4292661584413496, 0.5566077073755242, 0.014126134183126226]}}, {"xyz": [-0.16888351051716227, -0.4650806043462197, -0.20705860761398454], "rgb": [50, 40, 40], "semantic_id": 20, "pcd_info": {"point_index": 1289}, "mesh_info": {"face_index": 27, "face_uv": [0.06996113585746074, 0.3720128180242639, 0.5580260461182752]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "37a273cab5c24d457e871e09a3769b30", "keypoints": [{"xyz": [0.2088087477967523, 0.34760400652885437, 0.16167606834404513], "rgb": [188, 165, 128], "semantic_id": 0, "pcd_info": {"point_index": 903}, "mesh_info": {"face_index": 1024, "face_uv": [0.5243476634792795, 0.022479655798718516, 0.453172680722002]}}, {"xyz": [-0.2000828643132132, 0.34760400652885437, 0.15927195295294674], "rgb": [188, 165, 125], "semantic_id": 1, "pcd_info": {"point_index": 1709}, "mesh_info": {"face_index": 1033, "face_uv": [0.5893096468851284, 0.027886088888070253, 0.38280426422680136]}}, {"xyz": [0.20890973856939257, -0.022942626354391926, 0.08337716667682649], "rgb": [186, 168, 130], "semantic_id": 2, "pcd_info": {"point_index": 822}, "mesh_info": {"face_index": 63, "face_uv": [0.18663707840729224, 0.02224510880796256, 0.7911178127847646]}}, {"xyz": [-0.20326618381874118, -0.022531066273874023, 0.09240617393226211], "rgb": [186, 163, 122], "semantic_id": 3, "pcd_info": {"point_index": 564}, "mesh_info": {"face_index": 195, "face_uv": [0.09501331229596016, 0.020492957900478857, 0.8844937298035594]}}, {"xyz": [0.20460937590036132, -0.02361588311980367, -0.3459336629007667], "rgb": [192, 170, 130], "semantic_id": 4, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 141, "face_uv": [0.2892356334263266, 0.024641962688407237, 0.6861224038852816]}}, {"xyz": [-0.20013874936232018, -0.02369210225435392, -0.34663009283414165], "rgb": [181, 170, 137], "semantic_id": 5, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 90, "face_uv": [0.01162707557998954, 0.9604330556510646, 0.02793986876893205]}}, {"xyz": [0.23194234714293138, 0.1198740005493164, -0.3408541305016368], "rgb": [54, 54, 54], "semantic_id": 6, "pcd_info": {"point_index": 1395}, "mesh_info": {"face_index": 1054, "face_uv": [0.47094529046677974, 0.011428579989247878, 0.5176261295439724]}}, {"xyz": [0.237664834993821, 0.1198740005493164, 0.19269770516871249], "rgb": [55, 55, 55], "semantic_id": 7, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 1044, "face_uv": [0.018215488253750647, 0.6662946351699717, 0.3154898765762778]}}, {"xyz": [-0.22752375592817453, 0.1198740005493164, -0.346236868746658], "rgb": [54, 54, 54], "semantic_id": 8, "pcd_info": {"point_index": 191}, "mesh_info": {"face_index": 1359, "face_uv": [0.38885833405287196, 0.001705425616024232, 0.6094362403311039]}}, {"xyz": [-0.22769913368704411, 0.1198740005493164, 0.19318902830194912], "rgb": [55, 55, 55], "semantic_id": 9, "pcd_info": {"point_index": 1086}, "mesh_info": {"face_index": 1342, "face_uv": [0.2850436296096575, 0.6782437329677153, 0.03671263742262724]}}, {"xyz": [0.22903199228498577, -0.29020899534225464, -0.3289294674702191], "rgb": [50, 50, 50], "semantic_id": 17, "pcd_info": {"point_index": 563}, "mesh_info": {"face_index": 1134, "face_uv": [0.05396483620554084, 0.6082837647641717, 0.33775139903028756]}}, {"xyz": [0.19876069260863366, -0.29031598567962646, 0.2186664061469133], "rgb": [56, 56, 56], "semantic_id": 18, "pcd_info": {"point_index": 703}, "mesh_info": {"face_index": 1451, "face_uv": [5.323547059192025e-06, 0.4495022457449151, 0.5504924307080257]}}, {"xyz": [-0.1904692283729404, -0.29031598567962624, 0.22107877398179082], "rgb": [56, 56, 56], "semantic_id": 19, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 1142, "face_uv": [0.33198010242592313, 0.4926463426629744, 0.17537355491110168]}}, {"xyz": [-0.22133321257403238, -0.29020899534225464, -0.3232992938668278], "rgb": [49, 49, 49], "semantic_id": 20, "pcd_info": {"point_index": 590}, "mesh_info": {"face_index": 1421, "face_uv": [0.032275467869850465, 0.46678513777204755, 0.500939394358102]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "66e1329d6098499382e4e6b3ab10271", "keypoints": [{"xyz": [0.18089613640458665, 0.44485609132494375, 0.0619811701062305], "rgb": [145, 80, 38], "semantic_id": 0, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 40844, "face_uv": [0.36007079479296755, 0.4988313762509063, 0.1410978289561257]}}, {"xyz": [-0.18860876498251944, 0.446166704055476, 0.06292128773148442], "rgb": [148, 83, 41], "semantic_id": 1, "pcd_info": {"point_index": 1584}, "mesh_info": {"face_index": 22183, "face_uv": [0.8017685386137771, 0.09830175298605512, 0.0999297084001687]}}, {"xyz": [0.1917158769277525, -0.020192357137268302, 0.04844817103419752], "rgb": [169, 110, 58], "semantic_id": 2, "pcd_info": {"point_index": 73}, "mesh_info": {"face_index": 40309, "face_uv": [0.15061543246551545, 0.16587428067986962, 0.6835102868546101]}}, {"xyz": [-0.19885293813021376, -0.01712265453091444, 0.0474500116694867], "rgb": [173, 114, 58], "semantic_id": 3, "pcd_info": {"point_index": 1282}, "mesh_info": {"face_index": 21709, "face_uv": [0.1377861962407949, 0.13386033619034052, 0.7283534675688614]}}, {"xyz": [0.19277515009036833, -0.010482000187039375, -0.26308339524265323], "rgb": [131, 71, 19], "semantic_id": 4, "pcd_info": {"point_index": 1352}, "mesh_info": {"face_index": 848, "face_uv": [0.015538030090148043, 0.011142094912203686, 0.9733198749976484]}}, {"xyz": [-0.21153838986867357, -0.01048200018703943, -0.2630375805485621], "rgb": [140, 88, 30], "semantic_id": 5, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 849, "face_uv": [0.00037875416118849416, 0.9886864101729889, 0.010934835665827767]}}, {"xyz": [0.17413365905347208, -0.3390299111348556, -0.2489921173588936], "rgb": [154, 102, 47], "semantic_id": 17, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 53322, "face_uv": [0.8858680541183492, 0.046863131399134915, 0.067268814482516]}}, {"xyz": [0.17851229927025833, -0.34385401010513306, 0.06919611240448367], "rgb": [168, 113, 55], "semantic_id": 18, "pcd_info": {"point_index": 709}, "mesh_info": {"face_index": 40611, "face_uv": [0.3749443154878455, 0.5197022591888588, 0.10535342532329561]}}, {"xyz": [-0.18928094009580682, -0.3438540101051326, 0.07185029440054244], "rgb": [167, 112, 55], "semantic_id": 19, "pcd_info": {"point_index": 234}, "mesh_info": {"face_index": 22016, "face_uv": [0.04817186564213733, 0.30628280944294195, 0.6455453249149194]}}, {"xyz": [-0.18341208540503035, -0.34385401010513306, -0.24153113433095935], "rgb": [168, 113, 56], "semantic_id": 20, "pcd_info": {"point_index": 1274}, "mesh_info": {"face_index": 47284, "face_uv": [0.44904257576676804, 0.0675741672599562, 0.4833832569732757]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5c9b1a32f54b12cf81f667e2a25e0619", "keypoints": [{"xyz": [0.20873412612889208, 0.3210395862028641, 0.15670628290439526], "rgb": [97, 21, 0], "semantic_id": 0, "pcd_info": {"point_index": 590}, "mesh_info": {"face_index": 36396, "face_uv": [0.13811191917704574, 0.20741017522396643, 0.6544779055989881]}}, {"xyz": [-0.19893749076808426, 0.32247594803394497, 0.15008604376356982], "rgb": [109, 26, 0], "semantic_id": 1, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 119276, "face_uv": [0.09139980607512618, 0.8991357150120032, 0.009464478912758088]}}, {"xyz": [0.14980016602210405, -0.029176006745579075, -0.03306045844571459], "rgb": [102, 24, 3], "semantic_id": 2, "pcd_info": {"point_index": 1533}, "mesh_info": {"face_index": 13217, "face_uv": [0.42966881542532465, 0.34806735216552104, 0.22226383240915437]}}, {"xyz": [-0.15436070176007388, -0.06726136336908528, -0.01671060867203722], "rgb": [93, 17, 0], "semantic_id": 3, "pcd_info": {"point_index": 37}, "mesh_info": {"face_index": 89832, "face_uv": [0.299328912622361, 0.5954292431456379, 0.10524184423200342]}}, {"xyz": [0.21153777316692718, -0.11634744092152371, -0.3179287989319395], "rgb": [92, 14, 0], "semantic_id": 4, "pcd_info": {"point_index": 1678}, "mesh_info": {"face_index": 60088, "face_uv": [0.41868212497730717, 0.1396657612164176, 0.4416521138062745]}}, {"xyz": [-0.21747619415988345, -0.11096001473949535, -0.31809784404552843], "rgb": [97, 21, 2], "semantic_id": 5, "pcd_info": {"point_index": 804}, "mesh_info": {"face_index": 123351, "face_uv": [0.3928405865092367, 0.17876635420169668, 0.4283930592890673]}}, {"xyz": [0.18179131578839514, 0.015770068159726147, -0.3133718929944137], "rgb": [103, 25, 3], "semantic_id": 6, "pcd_info": {"point_index": 358}, "mesh_info": {"face_index": 8480, "face_uv": [0.3156654448579643, 0.16231429208481282, 0.5220202630572213]}}, {"xyz": [0.17827495859359063, 0.019843929679998817, 0.008319787163819203], "rgb": [97, 19, 0], "semantic_id": 7, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 8705, "face_uv": [0.47541219447703664, 0.05745568799418079, 0.46713211752877737]}}, {"xyz": [-0.17963396608479001, 0.01533297096600994, -0.31397789255184516], "rgb": [101, 23, 3], "semantic_id": 8, "pcd_info": {"point_index": 1737}, "mesh_info": {"face_index": 73845, "face_uv": [0.5358282148616329, 0.292787453076622, 0.17138433206174494]}}, {"xyz": [-0.19640327504233754, 0.00833288604217075, 0.01483212113075516], "rgb": [90, 15, 0], "semantic_id": 9, "pcd_info": {"point_index": 271}, "mesh_info": {"face_index": 118851, "face_uv": [0.06652112418310285, 0.04272595842216439, 0.8907529173947341]}}, {"xyz": [0.22403502518275734, -0.3188498108412239, -0.31644201278686546], "rgb": [124, 85, 56], "semantic_id": 17, "pcd_info": {"point_index": 346}, "mesh_info": {"face_index": 58642, "face_uv": [0.9330117128982257, 0.02330528319855094, 0.04368300390322401]}}, {"xyz": [0.2275506002295664, -0.31955211730005006, 0.18406200408935547], "rgb": [107, 79, 50], "semantic_id": 18, "pcd_info": {"point_index": 2046}, "mesh_info": {"face_index": 58312, "face_uv": [0.6198823179516205, 0.3284856778069937, 0.05163200424138577]}}, {"xyz": [-0.21827765023898138, -0.322611004114151, 0.18613932219386786], "rgb": [113, 81, 49], "semantic_id": 19, "pcd_info": {"point_index": 1402}, "mesh_info": {"face_index": 120457, "face_uv": [0.6991346435076375, 0.09244030990634387, 0.20842504658601863]}}, {"xyz": [-0.21396421033549784, -0.3147980548821367, -0.316442012786865], "rgb": [147, 116, 91], "semantic_id": 20, "pcd_info": {"point_index": 1847}, "mesh_info": {"face_index": 120684, "face_uv": [0.8531513477708464, 0.04841096462088291, 0.09843768760827001]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1db766ad516a6993f4b6538438a0b930", "keypoints": [{"xyz": [0.1696665555562307, 0.345137754507744, 0.24872689847238627], "rgb": [189, 187, 70], "semantic_id": 0, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 1866, "face_uv": [0.016077602557708726, 0.37555830022373854, 0.6083640972185559]}}, {"xyz": [-0.16160746179697738, 0.3417375688588068, 0.24735319615167306], "rgb": [187, 185, 65], "semantic_id": 1, "pcd_info": {"point_index": 1926}, "mesh_info": {"face_index": 1006, "face_uv": [0.48467086900138856, 0.025055227805215696, 0.49027390319339953]}}, {"xyz": [0.18805132290168144, -0.012123289591765785, 0.0938301006129949], "rgb": [187, 183, 71], "semantic_id": 2, "pcd_info": {"point_index": 1736}, "mesh_info": {"face_index": 2113, "face_uv": [0.06751195028201584, 0.8741719475266903, 0.05831610219130422]}}, {"xyz": [-0.181171249103625, -0.0055970115560382006, 0.10702723502981981], "rgb": [185, 182, 67], "semantic_id": 3, "pcd_info": {"point_index": 848}, "mesh_info": {"face_index": 1282, "face_uv": [0.913355388621098, 0.05786552405460061, 0.028779087324301192]}}, {"xyz": [0.19824118090518958, 0.028418336737650263, -0.25646870461553695], "rgb": [183, 180, 75], "semantic_id": 4, "pcd_info": {"point_index": 628}, "mesh_info": {"face_index": 518, "face_uv": [0.16622235186016496, 0.0342099629890736, 0.7995676851507624]}}, {"xyz": [-0.19483131308986057, 0.030041311547815752, -0.24957541765749314], "rgb": [187, 186, 54], "semantic_id": 5, "pcd_info": {"point_index": 669}, "mesh_info": {"face_index": 617, "face_uv": [0.11644856265956492, 0.8523432081830825, 0.03120822915757282]}}, {"xyz": [0.20464743188777582, 0.17683899402618408, -0.23331130530067168], "rgb": [184, 182, 59], "semantic_id": 6, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 1925, "face_uv": [0.7893228766607434, 0.1967623472969535, 0.013914776042303166]}}, {"xyz": [0.2238354465500764, 0.1768389940261843, 0.2227906849637668], "rgb": [187, 184, 71], "semantic_id": 7, "pcd_info": {"point_index": 303}, "mesh_info": {"face_index": 1927, "face_uv": [0.5089937870145683, 0.4779178137346443, 0.013088399250788687]}}, {"xyz": [-0.2302784069411481, 0.17683899402618408, -0.23929534813676384], "rgb": [189, 186, 74], "semantic_id": 8, "pcd_info": {"point_index": 1400}, "mesh_info": {"face_index": 466, "face_uv": [0.0011490902906314971, 0.41968212950473954, 0.5791687802046289]}}, {"xyz": [-0.2249402365004065, 0.17683899402618408, 0.22594950724568386], "rgb": [187, 183, 65], "semantic_id": 9, "pcd_info": {"point_index": 575}, "mesh_info": {"face_index": 471, "face_uv": [0.490907457088839, 0.5027428207890053, 0.006349722122155619]}}, {"xyz": [0.20873399657460553, -0.2556999921798706, -0.24315051841576607], "rgb": [180, 176, 63], "semantic_id": 17, "pcd_info": {"point_index": 1930}, "mesh_info": {"face_index": 1648, "face_uv": [0.12231955576204846, 0.6024685138646902, 0.2752119303732613]}}, {"xyz": [0.1941973231286852, -0.2556999921798706, 0.24190148600682077], "rgb": [189, 186, 70], "semantic_id": 18, "pcd_info": {"point_index": 1430}, "mesh_info": {"face_index": 1158, "face_uv": [0.2361464090016975, 0.4117270608920594, 0.3521265301062431]}}, {"xyz": [-0.18993105199013227, -0.2556999921798706, 0.24622886877933664], "rgb": [189, 185, 70], "semantic_id": 19, "pcd_info": {"point_index": 867}, "mesh_info": {"face_index": 301, "face_uv": [0.17914491866833768, 0.6947614132130717, 0.12609366811859063]}}, {"xyz": [-0.20710398106672168, -0.2556999921798706, -0.2343293355342727], "rgb": [191, 189, 66], "semantic_id": 20, "pcd_info": {"point_index": 687}, "mesh_info": {"face_index": 9, "face_uv": [0.05065387340043667, 0.41919908486741037, 0.530147041732153]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "436ed3a8e05baa0d492d9da2668ec34c", "keypoints": [{"xyz": [0.17988177121753415, 0.3466587918962163, 0.24981340530016105], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 6492, "face_uv": [0.07395635199988664, 0.426106716546387, 0.4999369314537265]}}, {"xyz": [-0.18341154300169005, 0.34617811942172705, 0.25073372546568157], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1048}, "mesh_info": {"face_index": 5299, "face_uv": [0.3574724236320232, 0.051693466155454164, 0.5908341102125219]}}, {"xyz": [0.1758327142227437, 0.018279727999535922, 0.13882119483889627], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1918}, "mesh_info": {"face_index": 6905, "face_uv": [0.39556355560606177, 0.601231622166459, 0.0032048222274790664]}}, {"xyz": [-0.17847396084428255, 0.019788740797707094, 0.14135305195785053], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1235}, "mesh_info": {"face_index": 6844, "face_uv": [0.3752219744137368, 0.4532317539212977, 0.17154627166496408]}}, {"xyz": [0.18521974984357736, 0.04268704228917386, -0.21301722200558867], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 111}, "mesh_info": {"face_index": 6165, "face_uv": [0.7137709530607024, 0.11815916626634784, 0.16806988067294656]}}, {"xyz": [-0.1985162460192334, 0.03488874668720565, -0.22869828644108425], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1527}, "mesh_info": {"face_index": 6041, "face_uv": [0.44028810166158655, 0.08008448018581026, 0.4796274181526023]}}, {"xyz": [0.21261452250135487, 0.13738058496887184, -0.18462489657298217], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1663}, "mesh_info": {"face_index": 1301, "face_uv": [0.5078357062730587, 0.15845395589345782, 0.3337103378334834]}}, {"xyz": [0.21730689142712295, 0.18822822095596625, 0.15922176717078873], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 829}, "mesh_info": {"face_index": 3355, "face_uv": [0.08248319692630399, 0.3459399671940706, 0.571576835879626]}}, {"xyz": [-0.2188878963030015, 0.12355992598444043, -0.19166201888302098], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 40}, "mesh_info": {"face_index": 1618, "face_uv": [0.9270294003762881, 0.010750208127376808, 0.0622203914963356]}}, {"xyz": [-0.22080229266669982, 0.18970799446105957, 0.15448410536005353], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 422}, "mesh_info": {"face_index": 3559, "face_uv": [0.012536945805263244, 0.5174687680139171, 0.4699942861808197]}}, {"xyz": [0.20970345668050744, -0.35805546030634217, -0.1816932699586914], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 135}, "mesh_info": {"face_index": 2597, "face_uv": [0.2559628350147584, 0.10849806291665016, 0.6355391020685913]}}, {"xyz": [0.2028189910900344, -0.37765947950059964, 0.20556173518599274], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 466}, "mesh_info": {"face_index": 884, "face_uv": [0.211936923538323, 0.021406597620129895, 0.7666564788415471]}}, {"xyz": [-0.19434844947912716, -0.3749610168046029, 0.21161426168399283], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 583}, "mesh_info": {"face_index": 652, "face_uv": [0.09817631137102652, 0.2025232777702146, 0.6993004108587644]}}, {"xyz": [-0.20933350084878688, -0.35482595969658903, -0.18301073447001143], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1454}, "mesh_info": {"face_index": 1854, "face_uv": [0.1297882001776685, 0.685693178871137, 0.18451862095119545]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "501b15f5ff2152e5f7628281ecb18112", "keypoints": [{"xyz": [0.16811117513283697, 0.3989055611646666, 0.22273012314568166], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 62}, "mesh_info": {"face_index": 6010, "face_uv": [0.060264084676098895, 0.2757054164681652, 0.6640304988557358]}}, {"xyz": [-0.1725006349236488, 0.39941127613258587, 0.22806873113049642], "rgb": [222, 199, 164], "semantic_id": 1, "pcd_info": {"point_index": 140}, "mesh_info": {"face_index": 3591, "face_uv": [0.21101940277004327, 0.4920865213982538, 0.2968940758317024]}}, {"xyz": [0.17339855119008013, -0.00548379821430145, 0.12432672497488717], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 5138, "face_uv": [0.09286477612241323, 0.05833326816954508, 0.8488019557080395]}}, {"xyz": [-0.17460984714302297, -0.009854869635619656, 0.1250343814746262], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 603, "face_uv": [0.00184584251698887, 0.1396944293451717, 0.8583869433265803]}}, {"xyz": [0.17463638640395862, -0.017565753890250835, -0.21861271211280142], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 18375, "face_uv": [0.30668400023242176, 0.15591401056480966, 0.5374019892027693]}}, {"xyz": [-0.18211786949765274, -0.012337249706882658, -0.20947190943183935], "rgb": [222, 199, 165], "semantic_id": 5, "pcd_info": {"point_index": 1088}, "mesh_info": {"face_index": 10736, "face_uv": [0.3259933972020133, 0.4603862769572991, 0.21362032584068746]}}, {"xyz": [0.22902217243145667, 0.15558627654944468, -0.1584038615224772], "rgb": [200, 118, 39], "semantic_id": 6, "pcd_info": {"point_index": 1420}, "mesh_info": {"face_index": 31346, "face_uv": [0.474874549450417, 0.2739921550935906, 0.2511332954559927]}}, {"xyz": [0.22232640046847663, 0.08335204868298418, 0.29476818067238053], "rgb": [190, 111, 35], "semantic_id": 7, "pcd_info": {"point_index": 1126}, "mesh_info": {"face_index": 32061, "face_uv": [0.14690930610732308, 0.837520089833216, 0.015570604059460362]}}, {"xyz": [-0.22349124784931812, 0.15905931488365677, -0.15200905764163763], "rgb": [201, 120, 39], "semantic_id": 8, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 35168, "face_uv": [0.09213471348266228, 0.03723179450023401, 0.8706334920171035]}}, {"xyz": [-0.2196772040968611, 0.08507853325713643, 0.29392649407358185], "rgb": [185, 107, 33], "semantic_id": 9, "pcd_info": {"point_index": 861}, "mesh_info": {"face_index": 35830, "face_uv": [0.3709523539731574, 0.4932855483888273, 0.13576209763801636]}}, {"xyz": [0.21704795443728547, -0.30534347492119274, -0.19766920268327715], "rgb": [193, 116, 44], "semantic_id": 17, "pcd_info": {"point_index": 46}, "mesh_info": {"face_index": 33278, "face_uv": [0.12697609471589896, 0.6587464488485933, 0.21427745643550694]}}, {"xyz": [0.21439232577322848, -0.30189400911331177, 0.2947788366631592], "rgb": [223, 200, 165], "semantic_id": 18, "pcd_info": {"point_index": 938}, "mesh_info": {"face_index": 29799, "face_uv": [0.015389486616112811, 0.6397954261120528, 0.3448150872718344]}}, {"xyz": [-0.21173478776660504, -0.30189400911331177, 0.29672385314169053], "rgb": [223, 200, 165], "semantic_id": 19, "pcd_info": {"point_index": 87}, "mesh_info": {"face_index": 33567, "face_uv": [0.13660480239240552, 0.7592446331770211, 0.10415056443057343]}}, {"xyz": [-0.20716672021321764, -0.29911052016202433, -0.19371940667869558], "rgb": [190, 113, 39], "semantic_id": 20, "pcd_info": {"point_index": 1035}, "mesh_info": {"face_index": 35753, "face_uv": [0.5123064650009673, 0.3368948502155458, 0.15079868478348687]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "26a5761e22185ab367d783b4714d4324", "keypoints": [{"xyz": [0.21256660282037365, 0.29920700192451477, 0.27428396614558376], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 407}, "mesh_info": {"face_index": 143, "face_uv": [0.4502357458081092, 0.5368224081093346, 0.012941846082556226]}}, {"xyz": [-0.26186096401226117, 0.29920700192451466, 0.26140916689627924], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 134, "face_uv": [0.0006464763187513236, 0.5913107865080253, 0.40804273717322304]}}, {"xyz": [0.17153453605665847, 0.044533614092686746, 0.20834499597549438], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1751}, "mesh_info": {"face_index": 153, "face_uv": [0.5628945214550712, 0.011906450955687438, 0.4251990275892413]}}, {"xyz": [-0.20904279541260662, 0.045475427597791995, 0.20834499597549438], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 963}, "mesh_info": {"face_index": 148, "face_uv": [0.576373410701035, 0.03161374064309136, 0.39201284865587355]}}, {"xyz": [0.16411157606159177, 0.05913346838159381, -0.1712127312090812], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1767}, "mesh_info": {"face_index": 121, "face_uv": [0.11565777227719587, 0.032431174382449766, 0.8519110533403547]}}, {"xyz": [-0.20485935809796083, 0.06069037697781396, -0.17025001534785078], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1885}, "mesh_info": {"face_index": 109, "face_uv": [0.4305890505533365, 0.02885721885121461, 0.5405537305954482]}}, {"xyz": [0.2142450738725426, 0.18193114796069798, -0.221007646859681], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 204}, "mesh_info": {"face_index": 163, "face_uv": [0.4562390804150916, 0.5335443728547257, 0.010216546730182997]}}, {"xyz": [0.21738397009844082, 0.18690299987792958, 0.2626689715593288], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 628}, "mesh_info": {"face_index": 176, "face_uv": [0.48105649408306894, 0.5083808022882726, 0.010562703628658007]}}, {"xyz": [-0.25698349964737427, 0.18690299987792958, -0.21318530462599988], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1531}, "mesh_info": {"face_index": 196, "face_uv": [0.487070869953265, 0.0024128566232474815, 0.5105162734234869]}}, {"xyz": [-0.24807915151672555, 0.1869029998779298, 0.2574653589411515], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1123}, "mesh_info": {"face_index": 204, "face_uv": [0.6318615197615071, 0.13050782217905182, 0.23763065805944167]}}, {"xyz": [0.21469800421283228, -0.29974400997161865, -0.17659485934354796], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 525}, "mesh_info": {"face_index": 164, "face_uv": [0.4725052644947188, 0.010890726335389171, 0.516604009169892]}}, {"xyz": [0.22010272446508847, -0.29974400997161876, 0.27846240281658863], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1861}, "mesh_info": {"face_index": 172, "face_uv": [0.4553057152677951, 0.006796731686788664, 0.5378975530454165]}}, {"xyz": [-0.25459706291732165, -0.2981429889489642, 0.2886618579510287], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 795}, "mesh_info": {"face_index": 198, "face_uv": [0.003289902106147535, 0.4551960354292924, 0.5415140624645601]}}, {"xyz": [-0.2578806231530389, -0.29974400997161876, -0.17444345968140024], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1633}, "mesh_info": {"face_index": 208, "face_uv": [0.5009465524529065, 0.0005991186062130833, 0.4984543289408807]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "91cd85647eef236490e75b1cd0f0169", "keypoints": [{"xyz": [0.12926453515687614, 0.494476909853659, 0.14152928259943803], "rgb": [53, 12, 0], "semantic_id": 0, "pcd_info": {"point_index": 496}, "mesh_info": {"face_index": 3670, "face_uv": [0.24713827201210722, 0.431129104625341, 0.3217326233625521]}}, {"xyz": [-0.14797572444396873, 0.49439904566910253, 0.14597311650965283], "rgb": [59, 16, 5], "semantic_id": 1, "pcd_info": {"point_index": 319}, "mesh_info": {"face_index": 5046, "face_uv": [0.04439389004102831, 0.7247662282791327, 0.23083988167983877]}}, {"xyz": [0.13936879740283253, 0.09037899971008323, 0.09289438835918118], "rgb": [102, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 597}, "mesh_info": {"face_index": 19854, "face_uv": [0.05125990300940246, 0.03190604621376999, 0.9168340507768301]}}, {"xyz": [-0.16360631312620222, 0.09037899971008301, 0.07631480850134592], "rgb": [102, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 253}, "mesh_info": {"face_index": 19896, "face_uv": [0.7882497079917408, 0.04443503686647915, 0.16731525514178003]}}, {"xyz": [0.1838722263638041, 0.06855499744415261, -0.27364382142231164], "rgb": [59, 14, 0], "semantic_id": 4, "pcd_info": {"point_index": 998}, "mesh_info": {"face_index": 10760, "face_uv": [0.19905888894950732, 0.007411942463544253, 0.7935291685869452]}}, {"xyz": [-0.17341413194265454, 0.08846101260605299, -0.26305100321769714], "rgb": [98, 1, 0], "semantic_id": 5, "pcd_info": {"point_index": 1160}, "mesh_info": {"face_index": 19950, "face_uv": [0.9121157026718139, 0.01922295108119585, 0.06866134624699034]}}, {"xyz": [0.1943113871522759, 0.3267329931259155, -0.19507249078582994], "rgb": [54, 13, 2], "semantic_id": 6, "pcd_info": {"point_index": 979}, "mesh_info": {"face_index": 20592, "face_uv": [0.4781806548292817, 0.4950223573643047, 0.02679698780641357]}}, {"xyz": [0.19468546245809745, 0.32673299312591575, 0.05462143635822381], "rgb": [53, 10, 0], "semantic_id": 7, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 28890, "face_uv": [0.27340846796513646, 0.6261446312209202, 0.10044690081394407]}}, {"xyz": [-0.19769100233381715, 0.3267329931259155, -0.19887205353327678], "rgb": [54, 12, 2], "semantic_id": 8, "pcd_info": {"point_index": 1493}, "mesh_info": {"face_index": 15767, "face_uv": [0.1104270436687732, 0.4409775690033624, 0.4485953873278644]}}, {"xyz": [-0.1958414336040556, 0.3267329931259155, 0.05367532667754199], "rgb": [53, 10, 0], "semantic_id": 9, "pcd_info": {"point_index": 1986}, "mesh_info": {"face_index": 20098, "face_uv": [0.6578063107470395, 0.27655500182547715, 0.06563868742748337]}}, {"xyz": [0.1917008877657776, -0.26426100730895996, -0.22298446285285412], "rgb": [255, 191, 0], "semantic_id": 17, "pcd_info": {"point_index": 1414}, "mesh_info": {"face_index": 23840, "face_uv": [0.3993706772178031, 0.3218446400921409, 0.27878468269005596]}}, {"xyz": [0.1183326361472406, -0.26426100730895996, 0.16194884197402684], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 1663, "face_uv": [0.30001315741993445, 0.3830953321531214, 0.31689151042694413]}}, {"xyz": [-0.12367289717165159, -0.26426100730895996, 0.16401567126318745], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1615}, "mesh_info": {"face_index": 27213, "face_uv": [0.06565677415223835, 0.44851162294190045, 0.4858316029058612]}}, {"xyz": [-0.19765558228397703, -0.26426100730895996, -0.2197551713567002], "rgb": [255, 191, 0], "semantic_id": 20, "pcd_info": {"point_index": 329}, "mesh_info": {"face_index": 18245, "face_uv": [0.42015417859227017, 0.08019283389870131, 0.49965298750902853]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bf9ea87a9765eed7d53b73fe621a84b4", "keypoints": [{"xyz": [0.1927239527840237, 0.2742160029530649, 0.14202180702489642], "rgb": [223, 151, 43], "semantic_id": 0, "pcd_info": {"point_index": 1771}, "mesh_info": {"face_index": 5481, "face_uv": [0.0525851932818788, 0.005365453004165531, 0.9420493537139576]}}, {"xyz": [-0.17720446984148908, 0.280542406013951, 0.14531097408271276], "rgb": [221, 149, 38], "semantic_id": 1, "pcd_info": {"point_index": 986}, "mesh_info": {"face_index": 1004, "face_uv": [0.7979554265170267, 0.09901721366129232, 0.10302735982168248]}}, {"xyz": [0.1732089760294229, -0.045204319040750285, 0.13689010963740467], "rgb": [129, 6, 6], "semantic_id": 2, "pcd_info": {"point_index": 1133}, "mesh_info": {"face_index": 574, "face_uv": [0.6206988178547523, 0.0266083257305391, 0.3526928564147071]}}, {"xyz": [-0.17135230564493203, -0.04455722934632811, 0.12003586127233867], "rgb": [209, 54, 67], "semantic_id": 3, "pcd_info": {"point_index": 1121}, "mesh_info": {"face_index": 597, "face_uv": [0.16122924444102182, 0.7651841656137048, 0.0735865899452755]}}, {"xyz": [0.1690248739201606, -0.055345851667208734, -0.206221099493761], "rgb": [246, 169, 151], "semantic_id": 4, "pcd_info": {"point_index": 312}, "mesh_info": {"face_index": 400, "face_uv": [0.6642997500329911, 0.03987737633499151, 0.2958228736320168]}}, {"xyz": [-0.16923152099118263, -0.05343584850132377, -0.20506370149505893], "rgb": [164, 3, 25], "semantic_id": 5, "pcd_info": {"point_index": 591}, "mesh_info": {"face_index": 424, "face_uv": [0.7847767315396644, 0.03401322918876782, 0.18121003927157056]}}, {"xyz": [0.18842773025021192, -0.4953010082244873, -0.2107622729656389], "rgb": [226, 226, 226], "semantic_id": 17, "pcd_info": {"point_index": 374}, "mesh_info": {"face_index": 8206, "face_uv": [0.06283539584660679, 0.5206035126982653, 0.416561091455128]}}, {"xyz": [0.1911340394358118, -0.4953010082244871, 0.1602954456063267], "rgb": [225, 225, 225], "semantic_id": 18, "pcd_info": {"point_index": 116}, "mesh_info": {"face_index": 8391, "face_uv": [0.1629642799161895, 0.6585564460517986, 0.1784792740320114]}}, {"xyz": [-0.1916481816870349, -0.4953010082244873, 0.1640309939061918], "rgb": [226, 226, 226], "semantic_id": 19, "pcd_info": {"point_index": 249}, "mesh_info": {"face_index": 8607, "face_uv": [0.0638048809927187, 0.2730967173022558, 0.6630984017050254]}}, {"xyz": [-0.18757982457825745, -0.4953010082244873, -0.2112570923206206], "rgb": [226, 226, 226], "semantic_id": 20, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 8022, "face_uv": [0.2605253049875047, 0.4763042034878076, 0.2631704915246877]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d915d2f1664bf76e71a70be9f12ce8b0", "keypoints": [{"xyz": [0.184736383214897, 0.426890847100317, 0.09596399962902047], "rgb": [203, 120, 203], "semantic_id": 0, "pcd_info": {"point_index": 1208}, "mesh_info": {"face_index": 366, "face_uv": [0.028851524265083636, 0.03635722185454887, 0.9347912538803651]}}, {"xyz": [-0.19487911901987032, 0.4282247283125994, 0.09596399962902047], "rgb": [203, 120, 203], "semantic_id": 1, "pcd_info": {"point_index": 913}, "mesh_info": {"face_index": 336, "face_uv": [0.9858588898318947, 0.007087912642163704, 0.007053197525939218]}}, {"xyz": [0.1815324706206894, -0.010649999603629334, 0.09141069836515259], "rgb": [204, 121, 204], "semantic_id": 2, "pcd_info": {"point_index": 1091}, "mesh_info": {"face_index": 114, "face_uv": [0.025519686050727845, 0.03638256316321394, 0.9380977507860792]}}, {"xyz": [-0.1824595615496242, -0.010649999603629334, 0.08125573053302237], "rgb": [204, 121, 204], "semantic_id": 3, "pcd_info": {"point_index": 1280}, "mesh_info": {"face_index": 150, "face_uv": [0.1416018734676156, 0.10423786945794662, 0.7541602570744588]}}, {"xyz": [0.17878872767550247, -0.010649999603629334, -0.284218580656193], "rgb": [204, 121, 204], "semantic_id": 4, "pcd_info": {"point_index": 1557}, "mesh_info": {"face_index": 565, "face_uv": [0.9470897829612817, 0.03654902618849489, 0.016361190850244355]}}, {"xyz": [-0.17369969449729009, -0.010649999603629112, -0.2854302269318477], "rgb": [204, 121, 204], "semantic_id": 5, "pcd_info": {"point_index": 614}, "mesh_info": {"face_index": 113, "face_uv": [0.9074570547043103, 0.03352359389364786, 0.059019351402041814]}}, {"xyz": [0.16313100172124134, -0.3790229856967926, -0.24074380665855155], "rgb": [204, 121, 204], "semantic_id": 17, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 563, "face_uv": [0.06744434504491369, 0.4495152153896686, 0.4830404395654177]}}, {"xyz": [0.16209285484721692, -0.3790229856967924, 0.10261446320992207], "rgb": [203, 120, 203], "semantic_id": 18, "pcd_info": {"point_index": 540}, "mesh_info": {"face_index": 399, "face_uv": [0.07580053372590768, 0.41917836275966075, 0.505021103514431]}}, {"xyz": [-0.1656490307784706, -0.3790229856967928, 0.1083582744107291], "rgb": [204, 121, 204], "semantic_id": 19, "pcd_info": {"point_index": 1779}, "mesh_info": {"face_index": 123, "face_uv": [0.6014700441012741, 0.2975570067350421, 0.10097294916368431]}}, {"xyz": [-0.16402471177951528, -0.3790229856967926, -0.2532079356302689], "rgb": [204, 121, 204], "semantic_id": 20, "pcd_info": {"point_index": 858}, "mesh_info": {"face_index": 242, "face_uv": [0.4329209149333804, 0.2865597037272554, 0.28051938133936416]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e9c9d998f7b0de3ca6afe5903a01a59", "keypoints": [{"xyz": [0.14447995379961884, 0.29566510424072234, 0.04263983530860233], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 641}, "mesh_info": {"face_index": 287, "face_uv": [0.48413399949150293, 0.47694051753842753, 0.03892548297006901]}}, {"xyz": [-0.14096661843579494, 0.2938676773315232, 0.03738895472076182], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 315, "face_uv": [0.39419374650970956, 0.5634141174327026, 0.04239213605758831]}}, {"xyz": [0.1435413921273263, -0.1511469930410385, 0.0007535542887281421], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 35, "face_uv": [0.03875432772772104, 0.02816735519115677, 0.9330783170811222]}}, {"xyz": [-0.13768939537583752, -0.1511469930410385, -0.00257852510532508], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1642}, "mesh_info": {"face_index": 291, "face_uv": [0.9119254364785866, 0.04769204762401391, 0.040382515897399586]}}, {"xyz": [0.1451877483160389, -0.1511469930410385, -0.2525917517781601], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 502}, "mesh_info": {"face_index": 28, "face_uv": [0.9339458110897427, 0.037850794204357566, 0.028203394705899686]}}, {"xyz": [-0.13657281142470573, -0.1511469930410385, -0.25454743927123524], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1554}, "mesh_info": {"face_index": 267, "face_uv": [0.9602194170883988, 0.03064314491958361, 0.00913743799201735]}}, {"xyz": [0.12308227882188259, -0.5312950015068055, -0.23058915052628698], "rgb": [164, 144, 104], "semantic_id": 17, "pcd_info": {"point_index": 1946}, "mesh_info": {"face_index": 9, "face_uv": [0.017410949171505204, 0.48125788768355265, 0.5013311631449423]}}, {"xyz": [0.1352906460475961, -0.5312950015068054, 0.03912968570708643], "rgb": [58, 51, 29], "semantic_id": 18, "pcd_info": {"point_index": 124}, "mesh_info": {"face_index": 4, "face_uv": [0.46286820904398324, 0.48121598836698903, 0.05591580258902774]}}, {"xyz": [-0.12768696398516197, -0.5312950015068054, 0.0422410716365159], "rgb": [58, 49, 40], "semantic_id": 19, "pcd_info": {"point_index": 1870}, "mesh_info": {"face_index": 6, "face_uv": [0.5098452901867104, 0.46424724968242786, 0.02590746013086174]}}, {"xyz": [-0.12805944408852435, -0.5312950015068053, -0.23244223542759196], "rgb": [54, 52, 45], "semantic_id": 20, "pcd_info": {"point_index": 211}, "mesh_info": {"face_index": 3, "face_uv": [0.5299643887965796, 0.46628876152903703, 0.003746849674383197]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fbe64bd927721467dff2bb0129eed40f", "keypoints": [{"xyz": [0.10494378220093808, 0.38622014768207824, 0.18402810973954267], "rgb": [29, 29, 29], "semantic_id": 0, "pcd_info": {"point_index": 398}, "mesh_info": {"face_index": 1991, "face_uv": [0.21155733764121512, 0.7225098476937043, 0.0659328146650815]}}, {"xyz": [-0.1115091209754411, 0.3843514437713007, 0.18099059145399327], "rgb": [29, 29, 29], "semantic_id": 1, "pcd_info": {"point_index": 1127}, "mesh_info": {"face_index": 4250, "face_uv": [0.5437451804973166, 0.13181359932835973, 0.3244412201743238]}}, {"xyz": [0.21259077816237143, 0.10856988972776627, 0.061658948180076334], "rgb": [28, 28, 28], "semantic_id": 2, "pcd_info": {"point_index": 2019}, "mesh_info": {"face_index": 3138, "face_uv": [0.021658276593683235, 0.620187840112751, 0.35815388329356235]}}, {"xyz": [-0.20110229508574945, 0.1098379210810072, 0.07094788479726222], "rgb": [28, 28, 28], "semantic_id": 3, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 1137, "face_uv": [0.00644988929282856, 0.5375420834993202, 0.4560080272078501]}}, {"xyz": [0.17902580870195517, 0.08500278091078906, -0.197261491032085], "rgb": [28, 28, 28], "semantic_id": 4, "pcd_info": {"point_index": 1648}, "mesh_info": {"face_index": 333, "face_uv": [0.23275503502791245, 0.1723001033722006, 0.5949448615998868]}}, {"xyz": [-0.16875922313849756, 0.08533442743198649, -0.20442070451720207], "rgb": [28, 28, 28], "semantic_id": 5, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 2880, "face_uv": [0.09082444497904399, 0.3869929531839945, 0.5221826018369606]}}, {"xyz": [0.1715951918933874, -0.3506779968738557, -0.20405396898659167], "rgb": [17, 14, 10], "semantic_id": 17, "pcd_info": {"point_index": 272}, "mesh_info": {"face_index": 8185, "face_uv": [0.018316694950524928, 0.09971371812784248, 0.881969586921633]}}, {"xyz": [0.1745100425337785, -0.3506779968738556, 0.1357132649143547], "rgb": [17, 14, 10], "semantic_id": 18, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 7674, "face_uv": [0.5537392538330874, 0.20771464576887635, 0.23854610039803623]}}, {"xyz": [-0.1672863991060636, -0.3506779968738556, 0.13318751744928514], "rgb": [17, 14, 10], "semantic_id": 19, "pcd_info": {"point_index": 501}, "mesh_info": {"face_index": 7779, "face_uv": [0.12364672415226449, 0.7813597463149284, 0.09499352953280708]}}, {"xyz": [-0.16417284665029783, -0.35043308014763286, -0.21225591881705946], "rgb": [17, 14, 10], "semantic_id": 20, "pcd_info": {"point_index": 1157}, "mesh_info": {"face_index": 8269, "face_uv": [0.3411060185507183, 0.30420441658548886, 0.35468956486379327]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a7200578bd7bea065dc3653f8341633a", "keypoints": [{"xyz": [0.1768534453331791, 0.28139426488444164, 0.13892857575094686], "rgb": [102, 55, 29], "semantic_id": 0, "pcd_info": {"point_index": 355}, "mesh_info": {"face_index": 7179, "face_uv": [0.043306070347369975, 0.16430738271189382, 0.7923865469407368]}}, {"xyz": [-0.17233997817161342, 0.28183090376938913, 0.13546038817716682], "rgb": [118, 71, 39], "semantic_id": 1, "pcd_info": {"point_index": 158}, "mesh_info": {"face_index": 6732, "face_uv": [0.5359612382746869, 0.2180169234387241, 0.2460218382865896]}}, {"xyz": [0.1699421383737172, 0.0657892879292239, 0.05970737295122186], "rgb": [126, 68, 30], "semantic_id": 2, "pcd_info": {"point_index": 35}, "mesh_info": {"face_index": 6028, "face_uv": [0.015954529382731654, 0.16167943412222668, 0.8223660364950415]}}, {"xyz": [-0.17445413748918928, 0.06582098392009006, 0.05802780395145557], "rgb": [89, 50, 27], "semantic_id": 3, "pcd_info": {"point_index": 628}, "mesh_info": {"face_index": 5776, "face_uv": [0.8611867390095552, 0.021274526043529127, 0.11753873494691587]}}, {"xyz": [0.17050525125884058, 0.062451903830495814, -0.24500331079748727], "rgb": [122, 73, 39], "semantic_id": 4, "pcd_info": {"point_index": 1329}, "mesh_info": {"face_index": 5932, "face_uv": [0.018973538563023053, 0.02803929823102047, 0.9529871632059586]}}, {"xyz": [-0.17599507049229618, 0.06250881105357098, -0.24396400739064006], "rgb": [137, 82, 35], "semantic_id": 5, "pcd_info": {"point_index": 349}, "mesh_info": {"face_index": 5766, "face_uv": [0.6578212377560396, 0.022265192151163855, 0.3199135700927946]}}, {"xyz": [0.21038851164611627, -0.5023560599346963, -0.2571641089477796], "rgb": [114, 69, 36], "semantic_id": 17, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 1935, "face_uv": [0.5377485951531256, 0.4335091626466163, 0.028742242200257753]}}, {"xyz": [0.2084859635394395, -0.502509160068362, 0.15036534983371014], "rgb": [136, 76, 31], "semantic_id": 18, "pcd_info": {"point_index": 1154}, "mesh_info": {"face_index": 1770, "face_uv": [0.2875059131567566, 0.3198495311525103, 0.39264455569073303]}}, {"xyz": [-0.2083719873667192, -0.5024749298096425, 0.14914274107120268], "rgb": [138, 77, 32], "semantic_id": 19, "pcd_info": {"point_index": 648}, "mesh_info": {"face_index": 3800, "face_uv": [0.3289802485296347, 0.3452616486919206, 0.32575810277844464]}}, {"xyz": [-0.2034965251994641, -0.5028672870014004, -0.25764988508880726], "rgb": [115, 70, 38], "semantic_id": 20, "pcd_info": {"point_index": 1741}, "mesh_info": {"face_index": 3960, "face_uv": [0.5102102567660196, 0.05398055858744476, 0.4358091846465361]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "19e2321df1141bf3b76e29c9c43bc7aa", "keypoints": [{"xyz": [0.11640029880124592, 0.23227787137726438, 0.04170683533563668], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 42145, "face_uv": [0.35077567312790386, 0.4263205870190519, 0.22290373985304796]}}, {"xyz": [-0.12839596410319243, 0.22628001516678714, 0.04176050315629887], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 876}, "mesh_info": {"face_index": 42763, "face_uv": [0.01605635507058241, 0.854129240881649, 0.12981440404776806]}}, {"xyz": [0.13019896418150298, -0.14126793481368638, -0.0019561811786463768], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 590}, "mesh_info": {"face_index": 41298, "face_uv": [0.45160696352506474, 0.4659523993575934, 0.08244063711733916]}}, {"xyz": [-0.12995089604297738, -0.14232900738716125, -0.016444045171410515], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 33454, "face_uv": [0.7247355739531803, 0.2281013861836285, 0.047163039863191134]}}, {"xyz": [0.1382724633136986, -0.14232898096457236, -0.28572730479841324], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 631}, "mesh_info": {"face_index": 33385, "face_uv": [0.012887354137451311, 0.013134740235376658, 0.9739779056271728]}}, {"xyz": [-0.145374976767146, -0.14232900738716103, -0.28199015830797675], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1284}, "mesh_info": {"face_index": 32696, "face_uv": [0.8688186350508352, 0.008690218204205045, 0.12249114674495815]}}, {"xyz": [0.17750270171724525, -0.547526737539825, -0.34571591757571196], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 628}, "mesh_info": {"face_index": 35140, "face_uv": [0.1452700125585298, 0.7581192381076945, 0.09661074933377573]}}, {"xyz": [0.17973619646570899, -0.5450241877331856, 0.04895611489517315], "rgb": [69, 69, 69], "semantic_id": 18, "pcd_info": {"point_index": 1300}, "mesh_info": {"face_index": 34189, "face_uv": [0.21830700697197752, 0.07068759364663846, 0.7110053993813832]}}, {"xyz": [-0.1856171954502246, -0.5399525955276125, 0.04352977073843578], "rgb": [70, 70, 70], "semantic_id": 19, "pcd_info": {"point_index": 1755}, "mesh_info": {"face_index": 46625, "face_uv": [0.21879707639263188, 0.23492194729430982, 0.5462809763130585]}}, {"xyz": [-0.18022160569051032, -0.5475490093231201, -0.3402793095125125], "rgb": [175, 175, 175], "semantic_id": 20, "pcd_info": {"point_index": 53}, "mesh_info": {"face_index": 36735, "face_uv": [0.2315623070142707, 0.3410173939635842, 0.42742029902214507]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "78cf0ebb875de8dfba18ade30e563d37", "keypoints": [{"xyz": [0.15922830390293916, 0.40339148387813695, 0.21825335945967228], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1581}, "mesh_info": {"face_index": 67038, "face_uv": [0.41023407921013966, 0.135217719180132, 0.4545482016097285]}}, {"xyz": [-0.14777357353761933, 0.4071470296376588, 0.21696360044802554], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 998}, "mesh_info": {"face_index": 66481, "face_uv": [0.3160091503100564, 0.6749980599737221, 0.008992789716217706]}}, {"xyz": [0.1830845682512242, 0.1189406312303743, 0.16631618437625195], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 782}, "mesh_info": {"face_index": 67341, "face_uv": [0.053870804750326975, 0.44956392737704576, 0.4965652678726272]}}, {"xyz": [-0.16883267388504192, 0.11517887378426817, 0.1591420902283205], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1519}, "mesh_info": {"face_index": 68543, "face_uv": [0.13357721700431394, 0.032278849777894296, 0.8341439332177931]}}, {"xyz": [0.19391599575604535, 0.09043998714236812, -0.17424749093875103], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 477}, "mesh_info": {"face_index": 68012, "face_uv": [0.47117450748577944, 0.22780363096313702, 0.30102186155108496]}}, {"xyz": [-0.18560374872729074, 0.09038031467028385, -0.1746115220644946], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 76}, "mesh_info": {"face_index": 66164, "face_uv": [0.05645893106333411, 0.5451375093952906, 0.39840355954137496]}}, {"xyz": [0.24442580062360514, -0.3094268185135806, -0.1940803418369219], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1741}, "mesh_info": {"face_index": 17637, "face_uv": [0.00042108920991459404, 0.4369369534233384, 0.5626419573667476]}}, {"xyz": [0.22858659788739435, -0.308542684386728, 0.2184016717971078], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1675}, "mesh_info": {"face_index": 14078, "face_uv": [0.2857624213873951, 0.6289692856302994, 0.08526829298230694]}}, {"xyz": [-0.2218819843626828, -0.30031351382110394, 0.22275491602104913], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 129}, "mesh_info": {"face_index": 6407, "face_uv": [0.14398092715182423, 0.38196878049220906, 0.47405029235596774]}}, {"xyz": [-0.23233024800907287, -0.30756667656615555, -0.1931478326604994], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 497}, "mesh_info": {"face_index": 2462, "face_uv": [0.31703257448031547, 0.5736132361938674, 0.109354189325817]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "79f86911bc86222a4e5aa1f8c960ae63", "keypoints": [{"xyz": [0.14187229682377128, 0.40177549996465045, 0.09932519534076001], "rgb": [67, 35, 21], "semantic_id": 0, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 374, "face_uv": [0.7585871348937008, 0.08490813610396818, 0.15650472900233314]}}, {"xyz": [-0.1546110162807453, 0.40317995686542873, 0.09941117197088678], "rgb": [67, 35, 21], "semantic_id": 1, "pcd_info": {"point_index": 1506}, "mesh_info": {"face_index": 298, "face_uv": [0.09103624023744014, 0.2832614802532891, 0.6257022795092716]}}, {"xyz": [0.15033837165609237, 0.14506599307060242, 0.06605005438984979], "rgb": [31, 93, 119], "semantic_id": 2, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 714, "face_uv": [0.00018742894671223523, 0.9432469987963248, 0.0565655722569629]}}, {"xyz": [-0.14912742097739154, 0.1450659930706023, 0.06575517221928273], "rgb": [109, 196, 205], "semantic_id": 3, "pcd_info": {"point_index": 735}, "mesh_info": {"face_index": 715, "face_uv": [0.009395912905590447, 0.05782031660623324, 0.9327837704881755]}}, {"xyz": [0.16936028953761126, 0.13197015202171003, -0.2059204134922341], "rgb": [169, 179, 67], "semantic_id": 4, "pcd_info": {"point_index": 981}, "mesh_info": {"face_index": 710, "face_uv": [0.8227587304988978, 0.04012730205565415, 0.13711396744544813]}}, {"xyz": [-0.1702808942866911, 0.13453695122539688, -0.20369258419998515], "rgb": [112, 134, 67], "semantic_id": 5, "pcd_info": {"point_index": 1164}, "mesh_info": {"face_index": 706, "face_uv": [0.3385028827404882, 0.030761997321096347, 0.6307351199384157]}}, {"xyz": [0.15904426882586123, -0.4597710072994232, -0.184400552644652], "rgb": [76, 43, 28], "semantic_id": 17, "pcd_info": {"point_index": 986}, "mesh_info": {"face_index": 135, "face_uv": [0.07203499485217119, 0.44171196079957437, 0.48625304434825445]}}, {"xyz": [0.13995215494372806, -0.459771007299423, 0.09537483607281813], "rgb": [67, 34, 17], "semantic_id": 18, "pcd_info": {"point_index": 699}, "mesh_info": {"face_index": 19, "face_uv": [0.3440361625105124, 0.6008525891288786, 0.05511124836060852]}}, {"xyz": [-0.13851292448805474, -0.4597710072994232, 0.09467371205534658], "rgb": [67, 34, 18], "semantic_id": 19, "pcd_info": {"point_index": 1532}, "mesh_info": {"face_index": 504, "face_uv": [0.1654327832268603, 0.45695553867828903, 0.3776116780948507]}}, {"xyz": [-0.15876641544581035, -0.4597710072994232, -0.18685836125012278], "rgb": [77, 44, 29], "semantic_id": 20, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 589, "face_uv": [0.09531290197554299, 0.5361395724391862, 0.3685475255852708]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fa0eb1bb05ebe3f2dd3adf3090c701f7", "keypoints": [{"xyz": [0.27269182231150024, 0.09974728777042552, 0.12220150955530457], "rgb": [114, 96, 89], "semantic_id": 0, "pcd_info": {"point_index": 1829}, "mesh_info": {"face_index": 1411, "face_uv": [0.272766151523964, 0.3386989748419306, 0.38853487363410627]}}, {"xyz": [-0.28526246285862467, 0.10199790584321589, 0.12287248094736908], "rgb": [114, 96, 89], "semantic_id": 1, "pcd_info": {"point_index": 1312}, "mesh_info": {"face_index": 2526, "face_uv": [0.04297333193375816, 0.2640804478052232, 0.6929462202610216]}}, {"xyz": [0.14822055557442132, 0.01814906128396121, -0.024797813266479896], "rgb": [113, 95, 88], "semantic_id": 2, "pcd_info": {"point_index": 2014}, "mesh_info": {"face_index": 122, "face_uv": [0.0809447458103332, 0.11718194948698396, 0.8018733047026814]}}, {"xyz": [-0.18602163697356652, -0.045165309412016796, 0.0319736316655852], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1559}, "mesh_info": {"face_index": 5880, "face_uv": [0.4503574533288546, 0.1562144363544126, 0.39342811031673275]}}, {"xyz": [0.1672304743375018, -0.045248899012843014, -0.2577507076877815], "rgb": [192, 184, 181], "semantic_id": 4, "pcd_info": {"point_index": 397}, "mesh_info": {"face_index": 4105, "face_uv": [0.5473299778524675, 0.44567602137912254, 0.006994000768412935]}}, {"xyz": [-0.18029803122815924, -0.04483253767436768, -0.24548207037181302], "rgb": [153, 140, 135], "semantic_id": 5, "pcd_info": {"point_index": 731}, "mesh_info": {"face_index": 4246, "face_uv": [0.6837829685977849, 0.034738303529504716, 0.28147872787271955]}}, {"xyz": [0.32591650200453615, 0.09959642863127982, -0.24810735425171576], "rgb": [114, 96, 89], "semantic_id": 6, "pcd_info": {"point_index": 1394}, "mesh_info": {"face_index": 3291, "face_uv": [0.2773361672594235, 0.7063873901296327, 0.016276442610944852]}}, {"xyz": [0.3100628693082733, 0.1003969053315601, 0.06868634515068495], "rgb": [113, 95, 88], "semantic_id": 7, "pcd_info": {"point_index": 2016}, "mesh_info": {"face_index": 1087, "face_uv": [0.2126115839125334, 0.5328462742307076, 0.2545421418567583]}}, {"xyz": [-0.3420033962998496, 0.09895137518629538, -0.24355010561230445], "rgb": [114, 96, 89], "semantic_id": 8, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 8077, "face_uv": [0.06936170655141481, 0.03146765391544056, 0.8991706395331446]}}, {"xyz": [-0.31609887003006737, 0.10260402323058648, 0.062492609366047114], "rgb": [114, 96, 89], "semantic_id": 9, "pcd_info": {"point_index": 81}, "mesh_info": {"face_index": 2786, "face_uv": [0.2698185363360769, 0.0010419675997122458, 0.7291394960642111]}}, {"xyz": [0.19357357813190873, -0.23896575628163463, -0.2524169981479645], "rgb": [114, 96, 89], "semantic_id": 17, "pcd_info": {"point_index": 1542}, "mesh_info": {"face_index": 836, "face_uv": [0.07276568104629295, 0.6496355821528161, 0.2775987368008909]}}, {"xyz": [0.1920694705733328, -0.2553661681936057, 0.041706968807802836], "rgb": [114, 96, 89], "semantic_id": 18, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 1012, "face_uv": [0.21009350231298465, 0.009644472846864451, 0.7802620248401511]}}, {"xyz": [-0.2015261477304594, -0.25705651504340876, 0.05124880528971559], "rgb": [114, 96, 89], "semantic_id": 19, "pcd_info": {"point_index": 1672}, "mesh_info": {"face_index": 7319, "face_uv": [0.654762409331608, 0.11469319455288851, 0.23054439611550365]}}, {"xyz": [-0.2092391313715652, -0.24133934580908045, -0.2524169981479645], "rgb": [114, 96, 89], "semantic_id": 20, "pcd_info": {"point_index": 872}, "mesh_info": {"face_index": 1775, "face_uv": [0.062308041210143654, 0.16357147786068169, 0.7741204809291746]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5d8736041ded1ac7de03ab2a27ba7531", "keypoints": [{"xyz": [0.13096707928745982, 0.4532048058944469, 0.14696760143016524], "rgb": [164, 74, 39], "semantic_id": 0, "pcd_info": {"point_index": 1089}, "mesh_info": {"face_index": 5586, "face_uv": [0.2049277476637385, 0.4396440786376807, 0.3554281736985806]}}, {"xyz": [-0.130078208084055, 0.45339321839036084, 0.1438972733343123], "rgb": [133, 43, 8], "semantic_id": 1, "pcd_info": {"point_index": 917}, "mesh_info": {"face_index": 2243, "face_uv": [0.2417659858164149, 0.014840621871790891, 0.743393392311794]}}, {"xyz": [0.13727372765113163, 0.04641414875602101, 0.10422393667843521], "rgb": [170, 80, 46], "semantic_id": 2, "pcd_info": {"point_index": 618}, "mesh_info": {"face_index": 37105, "face_uv": [0.18165641198152108, 0.09315821444298536, 0.7251853735754942]}}, {"xyz": [-0.14037663500217873, 0.04553738501546212, 0.10457747878780599], "rgb": [168, 78, 41], "semantic_id": 3, "pcd_info": {"point_index": 199}, "mesh_info": {"face_index": 36927, "face_uv": [0.18749236822737872, 0.343331276347995, 0.46917635542462643]}}, {"xyz": [0.1783099026919148, 0.07334936438495054, -0.27664677347628586], "rgb": [135, 45, 11], "semantic_id": 4, "pcd_info": {"point_index": 985}, "mesh_info": {"face_index": 36201, "face_uv": [0.2416322029492058, 0.7403470309495761, 0.018020766101218375]}}, {"xyz": [-0.1848566797510724, 0.07827145604357999, -0.26254370024636475], "rgb": [177, 86, 53], "semantic_id": 5, "pcd_info": {"point_index": 461}, "mesh_info": {"face_index": 36170, "face_uv": [0.43339921364737666, 0.24303837325556246, 0.3235624130970613]}}, {"xyz": [0.2171962110978133, 0.2579779063191636, -0.29408084812028484], "rgb": [83, 73, 64], "semantic_id": 6, "pcd_info": {"point_index": 809}, "mesh_info": {"face_index": 47771, "face_uv": [0.02152918843118307, 0.43123956279472736, 0.547231248774089]}}, {"xyz": [0.16938202338952182, 0.25797724608385564, 0.16312313990921445], "rgb": [147, 147, 147], "semantic_id": 7, "pcd_info": {"point_index": 2023}, "mesh_info": {"face_index": 47793, "face_uv": [0.18685620894078997, 0.7976466436022372, 0.015497147456972725]}}, {"xyz": [-0.22147568694163913, 0.2579779381446641, -0.2976717526864975], "rgb": [85, 76, 67], "semantic_id": 8, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 47746, "face_uv": [0.5450827442868281, 0.013559885510810993, 0.4413573702023604]}}, {"xyz": [-0.16348248868454135, 0.2579775531533042, 0.17227030397274656], "rgb": [84, 75, 66], "semantic_id": 9, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 47802, "face_uv": [0.12709191426566702, 0.03425560354846393, 0.8386524821858695]}}, {"xyz": [0.1717277404353737, -0.2769258135188526, -0.2420815024456514], "rgb": [145, 55, 19], "semantic_id": 17, "pcd_info": {"point_index": 1287}, "mesh_info": {"face_index": 12350, "face_uv": [0.16408848928191833, 0.14832058347629556, 0.6875909272417863]}}, {"xyz": [0.13080949693620147, -0.2801077932226552, 0.16625011817692814], "rgb": [153, 63, 29], "semantic_id": 18, "pcd_info": {"point_index": 1443}, "mesh_info": {"face_index": 22819, "face_uv": [0.9647751199708877, 0.015507040657490288, 0.01971783937162243]}}, {"xyz": [-0.1328904510583855, -0.28009651610403563, 0.16690944250912354], "rgb": [144, 53, 23], "semantic_id": 19, "pcd_info": {"point_index": 269}, "mesh_info": {"face_index": 8107, "face_uv": [0.8795910190962243, 0.009602517995416204, 0.11080646290836013]}}, {"xyz": [-0.18354500416958866, -0.2765710100291563, -0.24138085274011842], "rgb": [162, 71, 38], "semantic_id": 20, "pcd_info": {"point_index": 359}, "mesh_info": {"face_index": 27738, "face_uv": [0.36725046767474123, 0.2805838161658857, 0.3521657161593733]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b8049c767cb298745dca6305fb9f97ca", "keypoints": [{"xyz": [0.18133042378863928, 0.43513092656728114, 0.12631851315544695], "rgb": [210, 150, 74], "semantic_id": 0, "pcd_info": {"point_index": 1544}, "mesh_info": {"face_index": 464, "face_uv": [0.2595408741450481, 0.0888076690672211, 0.6516514567877305]}}, {"xyz": [-0.19525812923914654, 0.43248128193772106, 0.12237963192711332], "rgb": [210, 150, 74], "semantic_id": 1, "pcd_info": {"point_index": 1016}, "mesh_info": {"face_index": 1016, "face_uv": [0.42290108113729263, 0.05780347415728733, 0.5192954447054198]}}, {"xyz": [0.21310582580190612, -0.000635251858636332, 0.06655034467983056], "rgb": [227, 189, 140], "semantic_id": 2, "pcd_info": {"point_index": 342}, "mesh_info": {"face_index": 539, "face_uv": [0.04059789085493938, 0.366494073533655, 0.5929080356114094]}}, {"xyz": [-0.21809352526808998, 0.0039007581536919522, 0.07067226662488801], "rgb": [216, 163, 97], "semantic_id": 3, "pcd_info": {"point_index": 1239}, "mesh_info": {"face_index": 536, "face_uv": [0.6145161633398296, 0.2611482341325003, 0.12433560252767152]}}, {"xyz": [0.2158923069000582, -0.027856630742214672, -0.2734390960580142], "rgb": [221, 174, 116], "semantic_id": 4, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 616, "face_uv": [0.08172613969773736, 0.7712459017424407, 0.14702795855982237]}}, {"xyz": [-0.21326618076629308, -0.02478775281859802, -0.2684142042526696], "rgb": [226, 187, 137], "semantic_id": 5, "pcd_info": {"point_index": 1698}, "mesh_info": {"face_index": 566, "face_uv": [0.5562736473185811, 0.34892607382882235, 0.09480027885259676]}}, {"xyz": [0.18155230085486432, -0.2659328339784972, -0.24265231042314195], "rgb": [211, 151, 75], "semantic_id": 17, "pcd_info": {"point_index": 1687}, "mesh_info": {"face_index": 1178, "face_uv": [0.5788529987986538, 0.0883048725420266, 0.3328421286593199]}}, {"xyz": [0.19699078637595027, -0.2678291062676561, 0.20189577102697487], "rgb": [211, 151, 75], "semantic_id": 18, "pcd_info": {"point_index": 1972}, "mesh_info": {"face_index": 972, "face_uv": [0.10105940596198784, 0.053319657502279155, 0.8456209365357337]}}, {"xyz": [-0.19161090940190922, -0.2650280276512169, 0.21919111573465977], "rgb": [211, 151, 75], "semantic_id": 19, "pcd_info": {"point_index": 1670}, "mesh_info": {"face_index": 952, "face_uv": [0.005317021267629314, 0.9339315460862009, 0.06075143264617087]}}, {"xyz": [-0.1925822630215913, -0.2673096615031041, -0.2340530463312962], "rgb": [211, 151, 75], "semantic_id": 20, "pcd_info": {"point_index": 1203}, "mesh_info": {"face_index": 1181, "face_uv": [0.4098340371711333, 0.06386726551239887, 0.5262986973164686]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8e945aa01bbacf7c3fbe480a485feffd", "keypoints": [{"xyz": [0.16699751963239665, 0.29439299004685315, 0.07029040248961049], "rgb": [172, 97, 37], "semantic_id": 0, "pcd_info": {"point_index": 1859}, "mesh_info": {"face_index": 250, "face_uv": [0.2164427480713785, 0.5666060392171227, 0.21695121271149953]}}, {"xyz": [-0.15547322614404432, 0.2943704849796416, 0.06066172497455269], "rgb": [177, 106, 46], "semantic_id": 1, "pcd_info": {"point_index": 1399}, "mesh_info": {"face_index": 121, "face_uv": [0.21529386692504923, 0.5641331153254906, 0.2205730177494612]}}, {"xyz": [0.1707525912573828, -0.04776682044018177, 0.028560999780893548], "rgb": [179, 104, 40], "semantic_id": 2, "pcd_info": {"point_index": 1188}, "mesh_info": {"face_index": 47, "face_uv": [0.8428836930289153, 0.02304734824343315, 0.13406895872765945]}}, {"xyz": [-0.15891022786661976, -0.050335001200437546, 0.02727061095243255], "rgb": [139, 118, 75], "semantic_id": 3, "pcd_info": {"point_index": 728}, "mesh_info": {"face_index": 455, "face_uv": [0.986941906552707, 0.004398275512326112, 0.008659817934966922]}}, {"xyz": [0.16768145899562512, -0.05700359657036835, -0.2315489947795868], "rgb": [121, 99, 61], "semantic_id": 4, "pcd_info": {"point_index": 937}, "mesh_info": {"face_index": 426, "face_uv": [0.10467109294654008, 0.015207963860560716, 0.8801209431928992]}}, {"xyz": [-0.15924120523854907, -0.060409784426445845, -0.23154899477958657], "rgb": [98, 78, 32], "semantic_id": 5, "pcd_info": {"point_index": 308}, "mesh_info": {"face_index": 421, "face_uv": [0.8418649636142626, 0.004840333221598282, 0.15329470316413818]}}, {"xyz": [0.13729932768604022, -0.5449600219726562, -0.20125650103183704], "rgb": [179, 106, 39], "semantic_id": 17, "pcd_info": {"point_index": 2023}, "mesh_info": {"face_index": 1, "face_uv": [0.557107493410642, 0.416909810969036, 0.02598269562032194]}}, {"xyz": [0.14017253661049778, -0.5449600219726565, 0.05037164137521988], "rgb": [166, 93, 31], "semantic_id": 18, "pcd_info": {"point_index": 1417}, "mesh_info": {"face_index": 252, "face_uv": [0.11068606749399035, 0.29614709160368674, 0.5931668409023233]}}, {"xyz": [-0.12374906285827095, -0.5449600219726562, 0.07813496678555529], "rgb": [178, 106, 46], "semantic_id": 19, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 277, "face_uv": [0.21652094513218206, 0.3268796754925957, 0.4565993793752222]}}, {"xyz": [-0.1153130452493141, -0.5449600219726562, -0.20563776231647116], "rgb": [178, 109, 45], "semantic_id": 20, "pcd_info": {"point_index": 1130}, "mesh_info": {"face_index": 258, "face_uv": [0.02270631119068293, 0.6436826884125075, 0.3336110003968095]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e18776689e00c8b84f871aa82358858b", "keypoints": [{"xyz": [0.25172787569254934, 0.26529209005629195, 0.1593428188069201], "rgb": [255, 165, 0], "semantic_id": 0, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 522, "face_uv": [0.085724015676339, 0.4974664960799929, 0.41680948824366815]}}, {"xyz": [-0.25817474944046803, 0.2538217599452891, 0.14713660285303487], "rgb": [254, 164, 0], "semantic_id": 1, "pcd_info": {"point_index": 1929}, "mesh_info": {"face_index": 179, "face_uv": [0.04794914391051298, 0.6017130623397656, 0.35033779374972096]}}, {"xyz": [0.2703073896231848, -0.06735499948263168, 0.1096663388196783], "rgb": [255, 165, 0], "semantic_id": 2, "pcd_info": {"point_index": 777}, "mesh_info": {"face_index": 70, "face_uv": [0.002693535121726251, 0.9722698467276281, 0.025036618150645822]}}, {"xyz": [-0.2469682229043495, -0.06735499948263174, 0.11586920439741233], "rgb": [255, 165, 0], "semantic_id": 3, "pcd_info": {"point_index": 939}, "mesh_info": {"face_index": 561, "face_uv": [0.968184537509312, 0.00349784001022346, 0.02831762248046516]}}, {"xyz": [0.18739646246551978, -0.06735499948263166, -0.17875437507479464], "rgb": [254, 164, 0], "semantic_id": 4, "pcd_info": {"point_index": 1897}, "mesh_info": {"face_index": 55, "face_uv": [0.929423158376165, 0.009592712900147791, 0.060984128723686935]}}, {"xyz": [-0.17348763514991944, -0.06849064497303389, -0.18285528166125564], "rgb": [254, 164, 0], "semantic_id": 5, "pcd_info": {"point_index": 343}, "mesh_info": {"face_index": 21, "face_uv": [0.9674151970442114, 0.01622388459621321, 0.01636091835957333]}}, {"xyz": [0.23394212932615185, 0.04857902211373705, -0.19100115657993244], "rgb": [255, 165, 0], "semantic_id": 6, "pcd_info": {"point_index": 679}, "mesh_info": {"face_index": 36, "face_uv": [0.04036815336374493, 0.2557717166816805, 0.7038601299545746]}}, {"xyz": [0.23183412909916298, 0.059142318062034405, 0.11674600094556786], "rgb": [254, 164, 0], "semantic_id": 7, "pcd_info": {"point_index": 1201}, "mesh_info": {"face_index": 287, "face_uv": [0.012118374932522085, 0.9859790972596024, 0.0019025278078735354]}}, {"xyz": [-0.22143391906952134, 0.0483621049492694, -0.19222742435596607], "rgb": [255, 165, 0], "semantic_id": 8, "pcd_info": {"point_index": 1453}, "mesh_info": {"face_index": 89, "face_uv": [0.2893699394713491, 0.014977163551324581, 0.6956528969773264]}}, {"xyz": [-0.2228347351830894, 0.05621353128431317, 0.11073499376820983], "rgb": [254, 164, 0], "semantic_id": 9, "pcd_info": {"point_index": 1723}, "mesh_info": {"face_index": 740, "face_uv": [0.2151472222598935, 0.020143315699504914, 0.7647094620406013]}}, {"xyz": [0.2250984375860578, -0.38619500398635864, -0.16233493911020913], "rgb": [255, 165, 0], "semantic_id": 17, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 1, "face_uv": [0.36213385068716486, 0.3781570944156175, 0.25970905489721763]}}, {"xyz": [0.23465045115572755, -0.38619500398635864, 0.1941068588553535], "rgb": [255, 165, 0], "semantic_id": 18, "pcd_info": {"point_index": 49}, "mesh_info": {"face_index": 99, "face_uv": [0.5797158098779038, 0.13919325479532896, 0.28109093532676727]}}, {"xyz": [-0.21762516537929177, -0.38619500398635864, 0.19414335712353142], "rgb": [255, 165, 0], "semantic_id": 19, "pcd_info": {"point_index": 1490}, "mesh_info": {"face_index": 139, "face_uv": [0.2598661914280963, 0.28968005086538545, 0.45045375770651824]}}, {"xyz": [-0.22965784171375994, -0.38619500398635864, -0.16439985989710673], "rgb": [255, 165, 0], "semantic_id": 20, "pcd_info": {"point_index": 761}, "mesh_info": {"face_index": 114, "face_uv": [0.4311346184086595, 0.3700229078440817, 0.1988424737472588]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b72342e210414024e3e472a115551ec9", "keypoints": [{"xyz": [0.2650232533664353, 0.2573303737462511, 0.22971759542293846], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 425, "face_uv": [0.18654565287373204, 0.012804769171601052, 0.8006495779546667]}}, {"xyz": [-0.2679156356003155, 0.2574794239453159, 0.23434963140281484], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 2001}, "mesh_info": {"face_index": 421, "face_uv": [0.5648724118418265, 0.011302535542594668, 0.42382505261557873]}}, {"xyz": [0.16114286016442836, -0.1300293272591022, 0.10071653825285898], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 392}, "mesh_info": {"face_index": 549, "face_uv": [0.9006299908965515, 0.01855116596898451, 0.08081884313446645]}}, {"xyz": [-0.16639470340724388, -0.13038022145791195, 0.09980721057370179], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1418}, "mesh_info": {"face_index": 140, "face_uv": [0.04079373630665612, 0.9378957631651578, 0.021310500528186525]}}, {"xyz": [0.16015764013295264, -0.13510781912618988, -0.22271600365638733], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1096}, "mesh_info": {"face_index": 60, "face_uv": [0.9780002080272122, 0.021455639593736274, 0.0005441523790514646]}}, {"xyz": [-0.16524544120619294, -0.13215481046765612, -0.2227160036563871], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1330}, "mesh_info": {"face_index": 668, "face_uv": [0.9007956483622187, 0.08846270891106667, 0.010741642726713657]}}, {"xyz": [0.26225793902327543, -0.060570407121420894, -0.24154700338840485], "rgb": [142, 75, 44], "semantic_id": 6, "pcd_info": {"point_index": 1012}, "mesh_info": {"face_index": 811, "face_uv": [0.04736340650129977, 0.3566575443224737, 0.5959790491762266]}}, {"xyz": [0.24927375512680505, -0.034678306344690935, 0.10630595177559665], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 342}, "mesh_info": {"face_index": 733, "face_uv": [0.2678301740799569, 0.7306655673284409, 0.0015042585916033413]}}, {"xyz": [-0.2588448433098598, -0.06583609197617868, -0.24154700338840474], "rgb": [141, 93, 40], "semantic_id": 8, "pcd_info": {"point_index": 1361}, "mesh_info": {"face_index": 491, "face_uv": [0.7961122082577134, 0.06192558936778571, 0.14196220237450044]}}, {"xyz": [-0.2592367747525561, -0.03727743589860699, 0.10683000087738037], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1807}, "mesh_info": {"face_index": 251, "face_uv": [0.7301673592140528, 0.1524884978035524, 0.11734414298239469]}}, {"xyz": [0.26529013825171127, -0.366355001926422, -0.22076369229256265], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 157, "face_uv": [0.9835065840765699, 0.012316062088265394, 0.004177353835164409]}}, {"xyz": [0.2691213148552476, -0.3663550019264221, 0.24087745347909761], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 32}, "mesh_info": {"face_index": 157, "face_uv": [0.0027501009167221393, 0.005300591198179672, 0.9919493078850982]}}, {"xyz": [-0.2721090331790666, -0.3663550019264221, 0.23801072686145686], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 525}, "mesh_info": {"face_index": 112, "face_uv": [0.9821916003184793, 0.0036237825931403705, 0.014184617088380272]}}, {"xyz": [-0.2700068238289503, -0.3658162973601189, -0.22271600365638733], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1074}, "mesh_info": {"face_index": 61, "face_uv": [0.003969556079126152, 0.9885571941726579, 0.007473249748216055]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4a50449de8e26e82eacb498394990f0d", "keypoints": [{"xyz": [0.18768863311115996, 0.5632676265189537, 0.1517022452592076], "rgb": [254, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 1668}, "mesh_info": {"face_index": 60, "face_uv": [0.02436151233917328, 0.9006618178154224, 0.07497666984540262]}}, {"xyz": [-0.17408157122024737, 0.5682049316775275, 0.15104294734773194], "rgb": [254, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 1843}, "mesh_info": {"face_index": 26, "face_uv": [0.15416807299573665, 0.08926791298988863, 0.7565640140143732]}}, {"xyz": [0.17933488301604178, 0.21361686801764468, 0.08986719021001771], "rgb": [255, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 628, "face_uv": [0.9392527942261751, 0.024341272162012737, 0.03640593361181252]}}, {"xyz": [-0.16929200911988168, 0.22055239267815097, 0.10038769456981987], "rgb": [254, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 48}, "mesh_info": {"face_index": 633, "face_uv": [0.8086795570466006, 0.030047802579494538, 0.16127264037390457]}}, {"xyz": [0.1817293036438064, 0.21081000566482544, -0.22021228927028175], "rgb": [255, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1431}, "mesh_info": {"face_index": 625, "face_uv": [0.017846677636023343, 0.028392498063252246, 0.9537608243007244]}}, {"xyz": [-0.1785849808642592, 0.21081000566482522, -0.2214948694658888], "rgb": [254, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1054}, "mesh_info": {"face_index": 626, "face_uv": [0.004754468607411999, 0.9757255150973392, 0.019520016295247803]}}, {"xyz": [0.16802414654694975, -0.15881599485874176, -0.20600441308660367], "rgb": [255, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 105}, "mesh_info": {"face_index": 1108, "face_uv": [0.3297749052320331, 0.4047912657497572, 0.26543382901820967]}}, {"xyz": [0.15657187423433636, -0.15881599485874154, 0.1325058702916213], "rgb": [254, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1254}, "mesh_info": {"face_index": 603, "face_uv": [0.3397874719964082, 0.3114448947558704, 0.34876763324772003]}}, {"xyz": [-0.15556442266086767, -0.15881599485874198, 0.14129401858551627], "rgb": [255, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 565}, "mesh_info": {"face_index": 367, "face_uv": [0.054221068544125825, 0.3274531512365391, 0.6183257802193365]}}, {"xyz": [-0.14903371813587876, -0.15881599485874176, -0.1993474235090621], "rgb": [255, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 824}, "mesh_info": {"face_index": 346, "face_uv": [0.23937637312966561, 0.4056291865476344, 0.3549944403227001]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a5d21835219c8fed19fb4103277a6b93", "keypoints": [{"xyz": [0.3750284585566277, 0.1812099856286098, 0.15523961440251027], "rgb": [161, 73, 19], "semantic_id": 0, "pcd_info": {"point_index": 374}, "mesh_info": {"face_index": 25857, "face_uv": [0.2353180628530837, 0.26440067659059646, 0.5002812605563213]}}, {"xyz": [-0.38983165860392344, 0.18015966915233217, 0.1605939106557123], "rgb": [164, 74, 19], "semantic_id": 1, "pcd_info": {"point_index": 1892}, "mesh_info": {"face_index": 58172, "face_uv": [0.08399016482438873, 0.5700223114564642, 0.34598752371914715]}}, {"xyz": [0.338433097533255, -0.04067792817820959, 0.04487322571226304], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 501}, "mesh_info": {"face_index": 792, "face_uv": [0.2918954679240695, 0.286034718113579, 0.42206981396235216]}}, {"xyz": [-0.34188009712098444, -0.028655080812995837, 0.013986083337333977], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 1704}, "mesh_info": {"face_index": 47473, "face_uv": [0.23129735861826758, 0.7503952039755356, 0.018307437406194657]}}, {"xyz": [0.3388904554275064, -0.016900738354238942, -0.2671373643905828], "rgb": [223, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 146}, "mesh_info": {"face_index": 15092, "face_uv": [0.011616891810867625, 0.9306218143370663, 0.05776129385206604]}}, {"xyz": [-0.34529619769521025, -0.020823468783438548, -0.26789059428455597], "rgb": [222, 199, 164], "semantic_id": 5, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 49341, "face_uv": [0.047815338271109085, 0.09146138473380097, 0.8607232769950892]}}, {"xyz": [0.3664746269907104, 0.0585850117605341, -0.2786768597974607], "rgb": [178, 80, 20], "semantic_id": 6, "pcd_info": {"point_index": 180}, "mesh_info": {"face_index": 80653, "face_uv": [0.47948861480337873, 0.012430217388609591, 0.5080811678080117]}}, {"xyz": [0.36289934678761737, 0.07356118395833955, 0.12820357970155216], "rgb": [155, 69, 18], "semantic_id": 7, "pcd_info": {"point_index": 618}, "mesh_info": {"face_index": 74266, "face_uv": [0.2061231255877132, 0.4184654768444416, 0.37541139756784525]}}, {"xyz": [-0.376260410731601, 0.06037248462922479, -0.279309342131962], "rgb": [177, 80, 19], "semantic_id": 8, "pcd_info": {"point_index": 800}, "mesh_info": {"face_index": 69773, "face_uv": [0.1535283898731746, 0.39154579037280784, 0.45492581975401725]}}, {"xyz": [-0.37360986534046814, 0.07387406396577378, 0.1271125968623572], "rgb": [154, 68, 18], "semantic_id": 9, "pcd_info": {"point_index": 672}, "mesh_info": {"face_index": 63401, "face_uv": [0.532804337608027, 0.3863435378331268, 0.08085212455884867]}}, {"xyz": [0.3654740981088846, -0.25773799419403076, -0.22856136885609996], "rgb": [162, 75, 20], "semantic_id": 17, "pcd_info": {"point_index": 420}, "mesh_info": {"face_index": 89159, "face_uv": [0.341440865186595, 0.30248895471806714, 0.3560701800953379]}}, {"xyz": [0.3700858051705011, -0.25773799419403076, 0.09368409134388614], "rgb": [179, 81, 19], "semantic_id": 18, "pcd_info": {"point_index": 602}, "mesh_info": {"face_index": 86376, "face_uv": [0.03170175315949623, 0.7119052906094844, 0.25639295623101926]}}, {"xyz": [-0.37786956651080494, -0.2577379941940309, 0.10013465645035258], "rgb": [174, 78, 19], "semantic_id": 19, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 71112, "face_uv": [0.4673743223219827, 0.34587424240583997, 0.1867514352721778]}}, {"xyz": [-0.3700999510480203, -0.25773799419403076, -0.22896595209208895], "rgb": [161, 75, 20], "semantic_id": 20, "pcd_info": {"point_index": 479}, "mesh_info": {"face_index": 71795, "face_uv": [0.27598896599702516, 0.32544404606597477, 0.39856698793700013]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6f37fb57f3da696265ba78ad9601cf1b", "keypoints": [{"xyz": [0.18250756505711552, 0.21762347332790455, 0.12353623776440459], "rgb": [24, 23, 29], "semantic_id": 0, "pcd_info": {"point_index": 1061}, "mesh_info": {"face_index": 1406, "face_uv": [0.0002527695168790439, 0.3136234918990698, 0.6861237385840512]}}, {"xyz": [-0.18802904335785844, 0.2153786430989688, 0.12662223192691446], "rgb": [28, 27, 33], "semantic_id": 1, "pcd_info": {"point_index": 1377}, "mesh_info": {"face_index": 6857, "face_uv": [0.07756386801265755, 0.06107081135508648, 0.8613653206322559]}}, {"xyz": [0.1137560292898987, -0.10298656047354826, -0.008906109327061706], "rgb": [24, 23, 29], "semantic_id": 2, "pcd_info": {"point_index": 1779}, "mesh_info": {"face_index": 2527, "face_uv": [0.4830179115651142, 0.17298318778352975, 0.34399890065135685]}}, {"xyz": [-0.1262708282054974, -0.10662984348842786, -0.02625436393964775], "rgb": [23, 22, 28], "semantic_id": 3, "pcd_info": {"point_index": 1608}, "mesh_info": {"face_index": 5517, "face_uv": [0.05657329789131824, 0.7954626895773974, 0.1479640125312848]}}, {"xyz": [0.17554243384166734, -0.11632200243815105, -0.3455689071749135], "rgb": [31, 29, 37], "semantic_id": 4, "pcd_info": {"point_index": 1967}, "mesh_info": {"face_index": 750, "face_uv": [0.14609371034796034, 0.5068247326963632, 0.34708155695567916]}}, {"xyz": [-0.17690252006991813, -0.11592057575071246, -0.343649490598847], "rgb": [32, 30, 38], "semantic_id": 5, "pcd_info": {"point_index": 1815}, "mesh_info": {"face_index": 4989, "face_uv": [0.024654602645769075, 0.561619534524246, 0.41372586282998425]}}, {"xyz": [0.18345734366092808, -0.0451425563701493, -0.2822010022174217], "rgb": [21, 20, 25], "semantic_id": 6, "pcd_info": {"point_index": 1257}, "mesh_info": {"face_index": 2916, "face_uv": [0.15441022150233186, 0.8106634287962223, 0.03492634970144617]}}, {"xyz": [0.18212222635023106, 0.05194307026389566, -0.053634543459527895], "rgb": [22, 21, 28], "semantic_id": 7, "pcd_info": {"point_index": 1}, "mesh_info": {"face_index": 1323, "face_uv": [0.10062365290501733, 0.10244882831555469, 0.7969275187794291]}}, {"xyz": [-0.1867482953145927, -0.024268471381672763, -0.27482193555243534], "rgb": [24, 23, 29], "semantic_id": 8, "pcd_info": {"point_index": 346}, "mesh_info": {"face_index": 6438, "face_uv": [0.04906426262883349, 0.35444327231736145, 0.5964924650538048]}}, {"xyz": [-0.18203429287234763, 0.03692730624252416, -0.07545589908470385], "rgb": [25, 24, 30], "semantic_id": 9, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 5735, "face_uv": [0.3829760762772038, 0.09672622899303826, 0.5202976947297637]}}, {"xyz": [0.1881008012987423, -0.501415235005058, -0.27399735175405193], "rgb": [226, 227, 230], "semantic_id": 17, "pcd_info": {"point_index": 448}, "mesh_info": {"face_index": 4227, "face_uv": [0.005877075822717016, 0.49103882986285413, 0.5030840943144278]}}, {"xyz": [0.18734516206940394, -0.502997098336545, 0.10738905794665304], "rgb": [223, 224, 226], "semantic_id": 18, "pcd_info": {"point_index": 308}, "mesh_info": {"face_index": 4217, "face_uv": [0.21276306979097337, 0.5458217505044571, 0.24141517970456994]}}, {"xyz": [-0.19037673403124608, -0.49953243485121485, 0.10191673276202629], "rgb": [224, 225, 228], "semantic_id": 19, "pcd_info": {"point_index": 1831}, "mesh_info": {"face_index": 8441, "face_uv": [0.398492964567461, 0.5886603156471997, 0.012846719785338766]}}, {"xyz": [-0.18630440512158752, -0.5023128074751505, -0.27396945627473857], "rgb": [225, 226, 229], "semantic_id": 20, "pcd_info": {"point_index": 1614}, "mesh_info": {"face_index": 8482, "face_uv": [0.002554202143825539, 0.3999838479705962, 0.5974619498855779]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5a52b62f564eb7e117b431cae0dd70ed", "keypoints": [{"xyz": [0.14728833332871466, 0.41380993044905134, 0.1780235013062572], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1568}, "mesh_info": {"face_index": 19931, "face_uv": [0.2896329675586515, 0.6345537734599984, 0.07581325898135063]}}, {"xyz": [-0.14773159309471878, 0.41376962399217754, 0.17848303242018887], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1188}, "mesh_info": {"face_index": 19632, "face_uv": [0.022991186841888025, 0.6432825137243473, 0.33372629943376475]}}, {"xyz": [0.17337268242088733, 0.054057679516739565, 0.11135492987832707], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1079}, "mesh_info": {"face_index": 17091, "face_uv": [0.22984229917337268, 0.6652529338956655, 0.10490476693095029]}}, {"xyz": [-0.17908133552362204, 0.057637776888568304, 0.1196810847277584], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 39}, "mesh_info": {"face_index": 15446, "face_uv": [0.11968516285201913, 0.8320461843925467, 0.04826865275543444]}}, {"xyz": [0.17937405713051485, 0.07864936620181906, -0.20051144116559494], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1213}, "mesh_info": {"face_index": 17810, "face_uv": [0.49872884631407494, 0.49554088501311955, 0.005730268672806717]}}, {"xyz": [-0.18079791141182947, 0.07406294969562144, -0.2071348522784341], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1244}, "mesh_info": {"face_index": 17509, "face_uv": [0.5855416385387401, 0.03673031445002023, 0.3777280470112397]}}, {"xyz": [0.21989116709209816, 0.1989024264792636, -0.005484830079011571], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1013}, "mesh_info": {"face_index": 101, "face_uv": [0.2225470046401369, 0.16399131243926357, 0.613461682920599]}}, {"xyz": [0.2206156228716161, 0.22722636831019716, 0.14028114866846444], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1302}, "mesh_info": {"face_index": 754, "face_uv": [0.019775858088546927, 0.6166829296564823, 0.3635412122549704]}}, {"xyz": [-0.2222277578354957, 0.21393528595685574, -0.004010070246333597], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 8380, "face_uv": [0.08128702359850691, 0.5714386925565113, 0.34727428384498155]}}, {"xyz": [-0.2210945808037739, 0.2265385147292267, 0.14001411708698908], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1016}, "mesh_info": {"face_index": 8294, "face_uv": [0.021936975864704673, 0.5327851349931927, 0.4452778891421018]}}, {"xyz": [0.2269640752777861, -0.34930547229377384, -0.19340054209643703], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1863}, "mesh_info": {"face_index": 7467, "face_uv": [0.2787727940516382, 0.4317112196730394, 0.28951598627532354]}}, {"xyz": [0.22844388306075536, -0.3362423998081998, 0.20090136369499645], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 2017}, "mesh_info": {"face_index": 2666, "face_uv": [0.3404055366971022, 0.17015472817546531, 0.4894397351274326]}}, {"xyz": [-0.2337197231147204, -0.3391932703976418, 0.19951740466268225], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 390}, "mesh_info": {"face_index": 10950, "face_uv": [0.23984165260354035, 0.15793986833454385, 0.6022184790619157]}}, {"xyz": [-0.23075636870666655, -0.3500232687445267, -0.19321945738535246], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 7612, "face_uv": [0.7730540490889093, 0.12646418600665907, 0.10048176490443159]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c0e5edb2602a7bbbab3d781e4dcb85cd", "keypoints": [{"xyz": [0.14689962224971967, 0.2768591048629192, 0.127904721113284], "rgb": [63, 40, 24], "semantic_id": 0, "pcd_info": {"point_index": 1334}, "mesh_info": {"face_index": 11483, "face_uv": [0.11060301161968408, 0.20794904044734344, 0.6814479479329738]}}, {"xyz": [-0.1637441639026472, 0.27481868150898264, 0.11795136938744744], "rgb": [56, 30, 12], "semantic_id": 1, "pcd_info": {"point_index": 657}, "mesh_info": {"face_index": 1196, "face_uv": [0.16140520905466976, 0.1912647980565216, 0.6473299928888074]}}, {"xyz": [0.12689467779374092, 0.02909648069939197, 0.10356944668436752], "rgb": [72, 43, 25], "semantic_id": 2, "pcd_info": {"point_index": 1125}, "mesh_info": {"face_index": 9718, "face_uv": [0.5707354586639675, 0.3539511243639276, 0.07531341697210558]}}, {"xyz": [-0.13169803381820513, 0.02575384088108368, 0.1011803739535524], "rgb": [63, 43, 26], "semantic_id": 3, "pcd_info": {"point_index": 1290}, "mesh_info": {"face_index": 4708, "face_uv": [0.654057516098302, 0.04430744971995496, 0.3016350341817425]}}, {"xyz": [0.15989272181874775, 0.025534000247716904, -0.1836882602163945], "rgb": [80, 54, 31], "semantic_id": 4, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 26476, "face_uv": [0.9945109260476411, 0.0029346118503866003, 0.002554462101972264]}}, {"xyz": [-0.16678306388470066, 0.02503770770574376, -0.1809147147407324], "rgb": [67, 40, 22], "semantic_id": 5, "pcd_info": {"point_index": 1449}, "mesh_info": {"face_index": 33078, "face_uv": [0.38995538099394805, 0.15596480731138848, 0.45407981169466505]}}, {"xyz": [0.16411472671533572, -0.4296164611157838, -0.2050551954793907], "rgb": [39, 39, 39], "semantic_id": 17, "pcd_info": {"point_index": 1374}, "mesh_info": {"face_index": 38815, "face_uv": [0.4203315917681244, 0.4457291010926754, 0.13393930713920005]}}, {"xyz": [0.1850045350757618, -0.42899543601208956, 0.13222960267962514], "rgb": [177, 177, 177], "semantic_id": 18, "pcd_info": {"point_index": 564}, "mesh_info": {"face_index": 37989, "face_uv": [0.2672118877010621, 0.3143079259089507, 0.4184801863899874]}}, {"xyz": [-0.16798525951775117, -0.42969941793220023, 0.16510190717770779], "rgb": [176, 176, 176], "semantic_id": 19, "pcd_info": {"point_index": 1426}, "mesh_info": {"face_index": 37341, "face_uv": [0.018359668411981077, 0.5863252622162534, 0.3953150693717653]}}, {"xyz": [-0.1956351579223711, -0.4252781832627508, -0.18209667308881344], "rgb": [40, 40, 40], "semantic_id": 20, "pcd_info": {"point_index": 1112}, "mesh_info": {"face_index": 39101, "face_uv": [0.438874256372284, 0.47446798348440894, 0.08665776014330714]}}, {"xyz": [-0.0037018482568080407, -0.14024936926264875, -0.013032242216550305], "rgb": [177, 177, 177], "semantic_id": 15, "pcd_info": {"point_index": 1868}, "mesh_info": {"face_index": 40739, "face_uv": [0.08580995275402409, 0.11801031363022146, 0.7961797336157657]}}, {"xyz": [-0.011555741766200826, -0.30389937131977285, 0.004309992612202995], "rgb": [177, 177, 177], "semantic_id": 16, "pcd_info": {"point_index": 1941}, "mesh_info": {"face_index": 40899, "face_uv": [0.6538212105436573, 0.13286879928554135, 0.21330999017080157]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": [{"kp_indexes": [6, 7, 8, 9], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "263cb748cb81e69cc329e2758ab09ecb", "keypoints": [{"xyz": [0.1770331909433535, 0.24994564544984688, 0.029523000121116638], "rgb": [109, 107, 75], "semantic_id": 0, "pcd_info": {"point_index": 653}, "mesh_info": {"face_index": 28, "face_uv": [0.012100858125919283, 0.0028301575316648153, 0.9850689843424159]}}, {"xyz": [-0.18178834573266256, 0.25070944395681083, 0.029523000121116638], "rgb": [183, 149, 61], "semantic_id": 1, "pcd_info": {"point_index": 348}, "mesh_info": {"face_index": 28, "face_uv": [0.007208884215361144, 0.9860914209507652, 0.006699694833874007]}}, {"xyz": [0.17426715123900305, 0.09570199996232986, 0.02503150863960424], "rgb": [183, 143, 55], "semantic_id": 2, "pcd_info": {"point_index": 1045}, "mesh_info": {"face_index": 112, "face_uv": [0.01040980205234116, 0.9833812801142368, 0.0062089178334221815]}}, {"xyz": [-0.18388417941864477, 0.0970422813527333, 0.029523000121116416], "rgb": [190, 153, 85], "semantic_id": 3, "pcd_info": {"point_index": 126}, "mesh_info": {"face_index": 27, "face_uv": [0.008584229394119403, 0.00816546759308717, 0.9832503030127857]}}, {"xyz": [0.17717996862664392, 0.09570199996232986, -0.23764075934161033], "rgb": [183, 143, 55], "semantic_id": 4, "pcd_info": {"point_index": 116}, "mesh_info": {"face_index": 112, "face_uv": [0.0024279497610529407, 0.011482110026515587, 0.9860899402124308]}}, {"xyz": [-0.1833473224477794, 0.09493550102004167, -0.2407439947128296], "rgb": [191, 154, 87], "semantic_id": 5, "pcd_info": {"point_index": 2023}, "mesh_info": {"face_index": 26, "face_uv": [0.0014181169627977155, 0.009480506449493513, 0.9891013765877088]}}, {"xyz": [0.17557970041402887, -0.5199423380433774, -0.2407439947128296], "rgb": [194, 181, 159], "semantic_id": 17, "pcd_info": {"point_index": 1831}, "mesh_info": {"face_index": 24, "face_uv": [0.00021807643451156778, 0.9488194579908747, 0.05096246557461369]}}, {"xyz": [0.1744458948893272, -0.5200589895248413, 0.12117871676179028], "rgb": [232, 227, 224], "semantic_id": 18, "pcd_info": {"point_index": 649}, "mesh_info": {"face_index": 119, "face_uv": [0.03245076581589666, 0.9247316748457882, 0.04281755933831508]}}, {"xyz": [-0.1822483761250963, -0.5200589895248413, 0.12123486280031193], "rgb": [163, 158, 161], "semantic_id": 19, "pcd_info": {"point_index": 438}, "mesh_info": {"face_index": 114, "face_uv": [0.9036604686633791, 0.03184511078103633, 0.0644944205555845]}}, {"xyz": [-0.1796002786696212, -0.5200589895248411, -0.23617991631425317], "rgb": [212, 204, 186], "semantic_id": 20, "pcd_info": {"point_index": 1611}, "mesh_info": {"face_index": 91, "face_uv": [0.13819346857218662, 0.11043817445373963, 0.7513683569740733]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a4942597dbfd1e683ee344f731525f3c", "keypoints": [{"xyz": [0.18622503975591542, 0.4591209888458252, 0.16506886815517852], "rgb": [119, 87, 54], "semantic_id": 0, "pcd_info": {"point_index": 1781}, "mesh_info": {"face_index": 220, "face_uv": [0.015858308218493253, 0.39375764315091155, 0.5903840486305951]}}, {"xyz": [-0.19307400286197662, 0.45643585372494755, 0.1666240422946189], "rgb": [119, 87, 54], "semantic_id": 1, "pcd_info": {"point_index": 1172}, "mesh_info": {"face_index": 217, "face_uv": [0.5138756859702206, 0.05349622628724591, 0.43262808774253353]}}, {"xyz": [0.18684303344479136, 0.1037693154393533, 0.1333056209598974], "rgb": [119, 87, 54], "semantic_id": 2, "pcd_info": {"point_index": 1449}, "mesh_info": {"face_index": 227, "face_uv": [0.06609599256927232, 0.9196491658339361, 0.014254841596794438]}}, {"xyz": [-0.19163584468178962, 0.11175131704267405, 0.13963856781237183], "rgb": [119, 87, 54], "semantic_id": 3, "pcd_info": {"point_index": 1280}, "mesh_info": {"face_index": 210, "face_uv": [0.7674760855859704, 0.003731492214508096, 0.2287924221995236]}}, {"xyz": [0.19128128458464316, 0.09126748442103627, -0.22707599401474], "rgb": [119, 87, 54], "semantic_id": 4, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 345, "face_uv": [0.2215467345809243, 0.002739210143630698, 0.775714055275445]}}, {"xyz": [-0.19227122217408354, 0.09433601631750779, -0.22707599401474], "rgb": [119, 87, 54], "semantic_id": 5, "pcd_info": {"point_index": 1765}, "mesh_info": {"face_index": 342, "face_uv": [0.4382550542242835, 0.002082921008341476, 0.559662024767375]}}, {"xyz": [0.22023788707252176, -0.3290359440787529, -0.21902909012368432], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1419}, "mesh_info": {"face_index": 574, "face_uv": [0.04240319426384707, 0.8511151519908459, 0.10648165374530696]}}, {"xyz": [0.22041448903869487, -0.3326389020649818, 0.16571660548350986], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 692, "face_uv": [0.2030260090192462, 0.4313762773461114, 0.36559771363464233]}}, {"xyz": [-0.21707220724479626, -0.33068450038926667, 0.1604183949662502], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1824}, "mesh_info": {"face_index": 622, "face_uv": [0.6652221785782823, 0.18383219813293689, 0.15094562328878028]}}, {"xyz": [-0.22007598661897249, -0.3264679829392867, -0.21236775488184023], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 818}, "mesh_info": {"face_index": 476, "face_uv": [0.044045689957920804, 0.5250935705545215, 0.4308607394875581]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a122cf5d1e23e88d72a5c49c981e6593", "keypoints": [{"xyz": [0.20471850989192206, 0.3154054595001219, 0.18506910272168642], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 195}, "mesh_info": {"face_index": 3413, "face_uv": [0.6319666483352379, 0.028604708118599238, 0.33942864354616287]}}, {"xyz": [-0.20097338294335368, 0.3129494989322974, 0.17986013100703224], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1933}, "mesh_info": {"face_index": 1518, "face_uv": [0.1432432879691722, 0.415886192005496, 0.44087052002533234]}}, {"xyz": [0.2014451405988142, -0.04104293643624857, -0.0283223527725186], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 887}, "mesh_info": {"face_index": 1364, "face_uv": [0.014886249176136256, 0.8526746872898849, 0.13243906353397875]}}, {"xyz": [-0.19997634073242176, -0.04159302894979422, -0.027622080938272564], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 3254, "face_uv": [0.18734437381653538, 0.012619901735224832, 0.8000357244482411]}}, {"xyz": [0.20300352176958347, -0.07530376188900956, -0.27242093446642146], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1122}, "mesh_info": {"face_index": 1903, "face_uv": [0.0811006062564941, 0.5374118125397155, 0.38148758120379206]}}, {"xyz": [-0.20295117020867698, -0.08234051626729588, -0.27594389662874885], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 1950, "face_uv": [0.08270309094597349, 0.3156390246259909, 0.6016578844280354]}}, {"xyz": [0.1814312288815889, -0.4616627712232173, -0.2592302165899171], "rgb": [198, 198, 198], "semantic_id": 17, "pcd_info": {"point_index": 1898}, "mesh_info": {"face_index": 4206, "face_uv": [0.1897604652314499, 0.27191643805346877, 0.5383230967150815]}}, {"xyz": [0.18728507789237736, -0.4619925841660917, 0.11776271666914684], "rgb": [198, 198, 198], "semantic_id": 18, "pcd_info": {"point_index": 1041}, "mesh_info": {"face_index": 4517, "face_uv": [0.2266070007024941, 0.5733988336011459, 0.1999941656963603]}}, {"xyz": [-0.18030170325574546, -0.4618918300612793, 0.12541271808486032], "rgb": [197, 197, 197], "semantic_id": 19, "pcd_info": {"point_index": 1544}, "mesh_info": {"face_index": 4059, "face_uv": [0.16029995834238597, 0.5651138313625244, 0.27458621029508895]}}, {"xyz": [-0.18801536602813462, -0.46187830648241457, -0.2510643094855391], "rgb": [198, 198, 198], "semantic_id": 20, "pcd_info": {"point_index": 164}, "mesh_info": {"face_index": 4620, "face_uv": [0.3093588207530504, 0.0876731451763268, 0.6029680340706236]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b7fbbd8cdd2b0b27a37bacfe19b0d747", "keypoints": [{"xyz": [0.15559204388266884, 0.321791576446414, 0.04906899854540825], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 34}, "mesh_info": {"face_index": 266, "face_uv": [0.5866255083131372, 0.34048641632208715, 0.07288807536477569]}}, {"xyz": [-0.1705415246735269, 0.32815552066180753, 0.04906899854540825], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 326}, "mesh_info": {"face_index": 328, "face_uv": [0.3074303962779908, 0.21522425888909583, 0.4773453448329134]}}, {"xyz": [0.15749632146985865, -0.0632380023598671, 0.039504207844503536], "rgb": [0, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1215}, "mesh_info": {"face_index": 14, "face_uv": [0.42050432162066603, 0.35208656587997705, 0.22740911249935689]}}, {"xyz": [-0.16445648535819318, -0.0632380023598671, 0.04408427042707119], "rgb": [0, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 1338}, "mesh_info": {"face_index": 97, "face_uv": [0.18261383429973863, 0.0449393697620236, 0.7724467959382377]}}, {"xyz": [0.14743434506466008, -0.06323800235986687, -0.26060301728332336], "rgb": [0, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 214}, "mesh_info": {"face_index": 296, "face_uv": [0.020794384545894672, 0.6961725827338433, 0.2830330327202585]}}, {"xyz": [-0.16835592115414694, -0.0632380023598671, -0.2601996282730096], "rgb": [0, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 22, "face_uv": [0.9607419191434258, 0.030749571322654982, 0.00850850953391922]}}, {"xyz": [0.1524338829911649, -0.5264419913291931, -0.250365879445226], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1461}, "mesh_info": {"face_index": 544, "face_uv": [0.06903560718198366, 0.5459618265150498, 0.38500256630296664]}}, {"xyz": [0.15391646630077674, -0.5236960053443909, 0.06754773055956728], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1491}, "mesh_info": {"face_index": 212, "face_uv": [0.09989786458518578, 0.4554628954628572, 0.44463923995195703]}}, {"xyz": [-0.1669588459997371, -0.5214070081710815, 0.06317645413521983], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 239, "face_uv": [0.23810191931179925, 0.17377351761021037, 0.5881245630779904]}}, {"xyz": [-0.1613410908290835, -0.5278149843215942, -0.2539537963328064], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1116}, "mesh_info": {"face_index": 476, "face_uv": [0.5203092009090379, 0.39646918606191717, 0.08322161302904496]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ca2294ffc664a55afab1bffbdecd7709", "keypoints": [{"xyz": [0.13900467612209108, 0.49214964275199446, 0.162221596060806], "rgb": [178, 102, 40], "semantic_id": 0, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 65, "face_uv": [0.008360548745243387, 0.011420265062784015, 0.9802191861919722]}}, {"xyz": [-0.14186737446997538, 0.4883692967068757, 0.16169909078936429], "rgb": [181, 106, 44], "semantic_id": 1, "pcd_info": {"point_index": 1432}, "mesh_info": {"face_index": 64, "face_uv": [0.9820889986090519, 0.003997400765052086, 0.013913600625896614]}}, {"xyz": [0.1511562923484646, 0.10331945647975527, 0.10847894403949843], "rgb": [180, 106, 41], "semantic_id": 2, "pcd_info": {"point_index": 1337}, "mesh_info": {"face_index": 64, "face_uv": [0.009320838912847303, 0.9829006923309562, 0.007778468756193618]}}, {"xyz": [-0.1516872181732132, 0.09915100038051616, 0.09810000274875197], "rgb": [164, 88, 26], "semantic_id": 3, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 19, "face_uv": [0.0202025806926154, 0.13184984743697387, 0.8479475718704121]}}, {"xyz": [0.18221792820254684, 0.07386495326752646, -0.22017599642276764], "rgb": [180, 105, 40], "semantic_id": 4, "pcd_info": {"point_index": 914}, "mesh_info": {"face_index": 21, "face_uv": [0.9321358516701866, 0.005346389371716963, 0.06251775895809634]}}, {"xyz": [-0.17850666580336572, 0.07326655982633384, -0.22017599642276786], "rgb": [177, 103, 40], "semantic_id": 5, "pcd_info": {"point_index": 1128}, "mesh_info": {"face_index": 20, "face_uv": [0.04580518524050322, 0.010720611222923651, 0.9434742035365742]}}, {"xyz": [0.1311661127445285, -0.33728917065279085, -0.1891549974679949], "rgb": [183, 108, 44], "semantic_id": 17, "pcd_info": {"point_index": 1360}, "mesh_info": {"face_index": 7, "face_uv": [0.5231115250732229, 0.47465495545001085, 0.0022335194767673632]}}, {"xyz": [0.12782425514268964, -0.33815567396075963, 0.15289635885469455], "rgb": [180, 104, 41], "semantic_id": 18, "pcd_info": {"point_index": 636}, "mesh_info": {"face_index": 55, "face_uv": [0.45636810218504037, 0.5432677356033875, 0.0003641622115705091]}}, {"xyz": [-0.12989135328152324, -0.3383049964904785, 0.1551989813037471], "rgb": [180, 104, 42], "semantic_id": 19, "pcd_info": {"point_index": 731}, "mesh_info": {"face_index": 33, "face_uv": [0.5034514699139977, 0.05732776124073378, 0.4392207688452685]}}, {"xyz": [-0.12929065405730675, -0.33634117319554946, -0.18774800002574898], "rgb": [183, 107, 44], "semantic_id": 20, "pcd_info": {"point_index": 1925}, "mesh_info": {"face_index": 42, "face_uv": [0.004789298946139433, 0.5185691060473151, 0.47664159500654424]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7a5e63ee142a424c5f6d0af6de791c3", "keypoints": [{"xyz": [0.11721360517242373, 0.4658510088920593, 0.07740752100220183], "rgb": [178, 103, 41], "semantic_id": 0, "pcd_info": {"point_index": 447}, "mesh_info": {"face_index": 125, "face_uv": [0.3902494537758134, 0.213638245981868, 0.39611230024231864]}}, {"xyz": [-0.11724440621028948, 0.46422898769378673, 0.08222646110794196], "rgb": [169, 96, 38], "semantic_id": 1, "pcd_info": {"point_index": 1387}, "mesh_info": {"face_index": 61, "face_uv": [0.5816368639445437, 0.28723780168743007, 0.13112533436802654]}}, {"xyz": [0.12165580295232134, -0.04058200120925881, 0.06273999181370415], "rgb": [188, 113, 48], "semantic_id": 2, "pcd_info": {"point_index": 289}, "mesh_info": {"face_index": 90, "face_uv": [0.028981123746090368, 0.2696099035720119, 0.7014089726818924]}}, {"xyz": [-0.1293821297031419, -0.04058200120925903, 0.06960486268843469], "rgb": [171, 93, 36], "semantic_id": 3, "pcd_info": {"point_index": 1837}, "mesh_info": {"face_index": 86, "face_uv": [0.007275466439865797, 0.987552712836157, 0.00517182072397724]}}, {"xyz": [0.14069866122104632, -0.04058200120925903, -0.19527536464778328], "rgb": [168, 94, 31], "semantic_id": 4, "pcd_info": {"point_index": 1245}, "mesh_info": {"face_index": 86, "face_uv": [0.017657801235162168, 0.011269670315968297, 0.9710725284488697]}}, {"xyz": [-0.14087926360075342, -0.043909597702430636, -0.19833299517631553], "rgb": [172, 98, 40], "semantic_id": 5, "pcd_info": {"point_index": 693}, "mesh_info": {"face_index": 80, "face_uv": [0.8594883566141448, 0.021415966498345124, 0.11909567688751127]}}, {"xyz": [0.11387273999166635, -0.4397369921207428, -0.16205592440142497], "rgb": [183, 106, 44], "semantic_id": 17, "pcd_info": {"point_index": 927}, "mesh_info": {"face_index": 146, "face_uv": [0.47194913400675437, 0.4731256916975443, 0.05492517429570126]}}, {"xyz": [0.11099209401857876, -0.4397369921207428, 0.08712623662397587], "rgb": [184, 114, 53], "semantic_id": 18, "pcd_info": {"point_index": 814}, "mesh_info": {"face_index": 106, "face_uv": [0.41643389098722117, 0.5156211542648356, 0.06794495474794329]}}, {"xyz": [-0.12037075868309013, -0.4397369921207428, 0.0914835026554609], "rgb": [183, 111, 53], "semantic_id": 19, "pcd_info": {"point_index": 1145}, "mesh_info": {"face_index": 0, "face_uv": [0.32122319048874415, 0.5748664423663343, 0.10391036714492147]}}, {"xyz": [-0.10682593579968441, -0.4397369921207426, -0.15863651594779615], "rgb": [184, 110, 48], "semantic_id": 20, "pcd_info": {"point_index": 475}, "mesh_info": {"face_index": 155, "face_uv": [0.29189124240137126, 0.4967690346748321, 0.21133972292379613]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9f9c83f3014f19c79e4965f0106e00d9", "keypoints": [{"xyz": [0.1838461093303732, 0.3476647481415476, 0.12650585272846251], "rgb": [146, 82, 38], "semantic_id": 0, "pcd_info": {"point_index": 1618}, "mesh_info": {"face_index": 5146, "face_uv": [0.21518436375631192, 0.6017993732259834, 0.18301626301770482]}}, {"xyz": [-0.20287654539227362, 0.34832732036301195, 0.13187079612736063], "rgb": [148, 83, 41], "semantic_id": 1, "pcd_info": {"point_index": 1447}, "mesh_info": {"face_index": 3256, "face_uv": [0.6532559132752929, 0.32767260588224967, 0.019071480842457512]}}, {"xyz": [0.21063534894171176, 0.051870738104147995, 0.13170599937438987], "rgb": [151, 85, 40], "semantic_id": 2, "pcd_info": {"point_index": 1226}, "mesh_info": {"face_index": 4877, "face_uv": [0.44780237170667686, 0.052758399261168966, 0.49943922903215565]}}, {"xyz": [-0.22329221553494072, 0.05211167821531659, 0.13170599937438943], "rgb": [152, 85, 40], "semantic_id": 3, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 4129, "face_uv": [0.14739463687589235, 0.1740112835704768, 0.6785940795536293]}}, {"xyz": [0.20902100245053207, 0.04077157033104395, -0.29795956926750056], "rgb": [138, 74, 29], "semantic_id": 4, "pcd_info": {"point_index": 909}, "mesh_info": {"face_index": 999, "face_uv": [0.32562604840804343, 0.012035977732827196, 0.6623379738591293]}}, {"xyz": [-0.2211068116478726, 0.04334954201160368, -0.2956324068111722], "rgb": [161, 94, 49], "semantic_id": 5, "pcd_info": {"point_index": 1938}, "mesh_info": {"face_index": 245, "face_uv": [0.009630308177327709, 0.09693389455225962, 0.8934357972704128]}}, {"xyz": [0.19143351702106132, -0.35278800129890453, -0.2613086568093421], "rgb": [146, 81, 34], "semantic_id": 17, "pcd_info": {"point_index": 110}, "mesh_info": {"face_index": 2434, "face_uv": [0.08811713011544567, 0.17879267414174305, 0.7330901957428116]}}, {"xyz": [0.18921980785736242, -0.3527880012989044, 0.13960862172874217], "rgb": [160, 93, 49], "semantic_id": 18, "pcd_info": {"point_index": 1297}, "mesh_info": {"face_index": 3355, "face_uv": [0.3556065003268661, 0.037875664647601226, 0.6065178350255327]}}, {"xyz": [-0.20324803656796187, -0.3527880012989042, 0.14032599340270827], "rgb": [163, 95, 47], "semantic_id": 19, "pcd_info": {"point_index": 318}, "mesh_info": {"face_index": 2806, "face_uv": [0.2980007875401688, 0.6290975557805514, 0.07290165667927923]}}, {"xyz": [-0.20588190501128278, -0.3527880012989042, -0.25439221255977845], "rgb": [150, 85, 39], "semantic_id": 20, "pcd_info": {"point_index": 1738}, "mesh_info": {"face_index": 1481, "face_uv": [0.5409914628862974, 0.08762791436938151, 0.37138062274432043]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cf0d80feb2f6f71d9df508b37e4a3518", "keypoints": [{"xyz": [0.22576840433000256, 0.47564962923175025, 0.14315628884585574], "rgb": [147, 147, 147], "semantic_id": 0, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 407, "face_uv": [0.2043972872376575, 0.006626534002193391, 0.7889761787601494]}}, {"xyz": [-0.17427292020906926, 0.47577494846157076, 0.14120373188974217], "rgb": [164, 164, 164], "semantic_id": 1, "pcd_info": {"point_index": 1740}, "mesh_info": {"face_index": 484, "face_uv": [0.6865008794255998, 0.01911041919536218, 0.294388701379038]}}, {"xyz": [0.22131665418519622, 0.07625302927322575, 0.1390649974346161], "rgb": [155, 155, 155], "semantic_id": 2, "pcd_info": {"point_index": 1829}, "mesh_info": {"face_index": 1084, "face_uv": [0.0013076011755039471, 0.9888309415760386, 0.00986145724845768]}}, {"xyz": [-0.17899345959842103, 0.07289132303787471, 0.13285104006980508], "rgb": [154, 154, 154], "semantic_id": 3, "pcd_info": {"point_index": 530}, "mesh_info": {"face_index": 435, "face_uv": [0.012506882250503998, 0.22862723976791696, 0.7588658779815781]}}, {"xyz": [0.2220338155262754, 0.06964812458005602, -0.2639588154085051], "rgb": [165, 165, 165], "semantic_id": 4, "pcd_info": {"point_index": 1488}, "mesh_info": {"face_index": 39, "face_uv": [0.7616673329647852, 0.005664050213362965, 0.23266861682185472]}}, {"xyz": [-0.1761324193169702, 0.06781648855375791, -0.2644101097736815], "rgb": [170, 170, 170], "semantic_id": 5, "pcd_info": {"point_index": 109}, "mesh_info": {"face_index": 166, "face_uv": [0.9468067986114657, 0.011274612405436826, 0.04191858898309887]}}, {"xyz": [0.22289280835776115, -0.33748673930693296, -0.26369958009319866], "rgb": [237, 237, 237], "semantic_id": 17, "pcd_info": {"point_index": 1512}, "mesh_info": {"face_index": 89, "face_uv": [0.0020728903320112882, 0.2326292225254123, 0.7652978871425763]}}, {"xyz": [0.22315638156969309, -0.33759568768140236, 0.1402658947023325], "rgb": [156, 156, 156], "semantic_id": 18, "pcd_info": {"point_index": 154}, "mesh_info": {"face_index": 131, "face_uv": [0.00031423509500336927, 0.49703868972434745, 0.5026470751806488]}}, {"xyz": [-0.1819749593115067, -0.33520822062963185, 0.13977502197375363], "rgb": [237, 237, 237], "semantic_id": 19, "pcd_info": {"point_index": 934}, "mesh_info": {"face_index": 480, "face_uv": [0.26875501940767316, 0.014530702387868756, 0.7167142782044579]}}, {"xyz": [-0.18134165906506133, -0.3363577792508179, -0.25929274458582563], "rgb": [238, 238, 238], "semantic_id": 20, "pcd_info": {"point_index": 1771}, "mesh_info": {"face_index": 498, "face_uv": [0.4738884565810665, 0.010076779347552925, 0.5160347640713807]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ccf29f02bfc1ba51a9ebe4a5a40bc728", "keypoints": [{"xyz": [0.22276685764393658, 0.2406509965658188, 0.11998123885021217], "rgb": [177, 103, 39], "semantic_id": 0, "pcd_info": {"point_index": 305}, "mesh_info": {"face_index": 221, "face_uv": [0.5806342132967491, 0.009857310132426952, 0.4095084765708239]}}, {"xyz": [-0.2747619409112876, 0.2406509965658188, 0.11904367737303223], "rgb": [179, 109, 45], "semantic_id": 1, "pcd_info": {"point_index": 1053}, "mesh_info": {"face_index": 222, "face_uv": [0.039646839790116066, 0.6086261339370658, 0.3517270262728181]}}, {"xyz": [0.23961009257479016, -0.09428600221872308, 0.09875655290920538], "rgb": [176, 101, 38], "semantic_id": 2, "pcd_info": {"point_index": 1878}, "mesh_info": {"face_index": 75, "face_uv": [0.6739680982497382, 0.22071585562941165, 0.10531604612084776]}}, {"xyz": [-0.3042793442093983, -0.0948840007185936, 0.09654558883236508], "rgb": [182, 108, 46], "semantic_id": 3, "pcd_info": {"point_index": 718}, "mesh_info": {"face_index": 67, "face_uv": [0.44621118304398055, 0.5220869943760704, 0.03170182257994901]}}, {"xyz": [0.2369708712658093, -0.09428600221872327, -0.19504296679372124], "rgb": [172, 98, 36], "semantic_id": 4, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 102, "face_uv": [0.7519813809103051, 0.002181375024219627, 0.24583724406547502]}}, {"xyz": [-0.2886430900616896, -0.09682567109145143, -0.19550800323486328], "rgb": [167, 95, 33], "semantic_id": 5, "pcd_info": {"point_index": 798}, "mesh_info": {"face_index": 8, "face_uv": [0.8138625913590286, 0.04194306830574575, 0.14419434033522557]}}, {"xyz": [0.2506161497367596, 0.06588599830865882, -0.19816946809117586], "rgb": [171, 97, 35], "semantic_id": 6, "pcd_info": {"point_index": 773}, "mesh_info": {"face_index": 220, "face_uv": [0.013102825924795265, 0.5015514578992359, 0.4853457161759721]}}, {"xyz": [0.25744742460603953, 0.0658859983086586, 0.13175396321112642], "rgb": [173, 96, 34], "semantic_id": 7, "pcd_info": {"point_index": 605}, "mesh_info": {"face_index": 218, "face_uv": [0.02246554737430981, 0.3709756365004776, 0.6065588161252127]}}, {"xyz": [-0.3069672959697133, 0.06588599830865882, -0.19940044323137385], "rgb": [176, 103, 42], "semantic_id": 8, "pcd_info": {"point_index": 1850}, "mesh_info": {"face_index": 168, "face_uv": [0.5280707174466137, 0.009107995150652713, 0.46282128740273687]}}, {"xyz": [-0.30167086724026454, 0.0658859983086586, 0.13655399223626263], "rgb": [180, 104, 42], "semantic_id": 9, "pcd_info": {"point_index": 1062}, "mesh_info": {"face_index": 166, "face_uv": [0.08583658256514294, 0.42923830913360483, 0.48492510830125235]}}, {"xyz": [0.19837905569346023, -0.42922401428222656, -0.17087425606737067], "rgb": [180, 108, 46], "semantic_id": 17, "pcd_info": {"point_index": 999}, "mesh_info": {"face_index": 1, "face_uv": [0.459670597434978, 0.47320291578359464, 0.0671264867814274]}}, {"xyz": [0.1941563943344107, -0.42922401428222634, 0.11606789097937556], "rgb": [180, 103, 43], "semantic_id": 18, "pcd_info": {"point_index": 1467}, "mesh_info": {"face_index": 225, "face_uv": [0.5519986124545941, 0.3874854596340925, 0.06051592791131283]}}, {"xyz": [-0.25784574780685854, -0.42922401428222656, 0.11829978154927918], "rgb": [179, 102, 41], "semantic_id": 19, "pcd_info": {"point_index": 1410}, "mesh_info": {"face_index": 238, "face_uv": [0.6114527989940861, 0.35046559762756785, 0.03808160337834616]}}, {"xyz": [-0.24795888492597784, -0.4292240142822268, -0.17003533467400922], "rgb": [173, 99, 38], "semantic_id": 20, "pcd_info": {"point_index": 1956}, "mesh_info": {"face_index": 56, "face_uv": [0.4753250366668776, 0.3450958882017288, 0.17957907513139415]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d274fc14092387c1e17e1cb731e2fa4f", "keypoints": [{"xyz": [0.17251000704295813, 0.40640801191329956, 0.0875045700079365], "rgb": [138, 86, 31], "semantic_id": 0, "pcd_info": {"point_index": 213}, "mesh_info": {"face_index": 1579, "face_uv": [0.06736827522795619, 0.5482784751248726, 0.38435324964717116]}}, {"xyz": [-0.1684106545746334, 0.40640801191329956, 0.08742076719251943], "rgb": [137, 90, 38], "semantic_id": 1, "pcd_info": {"point_index": 884}, "mesh_info": {"face_index": 1607, "face_uv": [0.07917886706322755, 0.3720232398863532, 0.5487978930504193]}}, {"xyz": [0.170011265301408, -0.008849999867379665, 0.06602406129711391], "rgb": [130, 86, 48], "semantic_id": 2, "pcd_info": {"point_index": 458}, "mesh_info": {"face_index": 1371, "face_uv": [0.013596218479416604, 0.038246035369886265, 0.9481577461506969]}}, {"xyz": [-0.16779082219485053, -0.008849999867379887, 0.06429883430518563], "rgb": [163, 107, 56], "semantic_id": 3, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 1371, "face_uv": [0.019157358710854066, 0.9679313405567116, 0.012911300732459514]}}, {"xyz": [0.17169502790218988, -0.011941017365929119, -0.2575316773697346], "rgb": [146, 96, 40], "semantic_id": 4, "pcd_info": {"point_index": 1193}, "mesh_info": {"face_index": 1486, "face_uv": [0.6142937686837207, 0.03361205172883532, 0.35209417958744105]}}, {"xyz": [-0.1678498469828879, -0.011463296955275482, -0.2561011626451275], "rgb": [143, 91, 40], "semantic_id": 5, "pcd_info": {"point_index": 1386}, "mesh_info": {"face_index": 1485, "face_uv": [0.6058538631380503, 0.03190621379802374, 0.3622399230639304]}}, {"xyz": [0.12849041694683344, -0.42410799860954285, -0.24345865199849406], "rgb": [143, 89, 38], "semantic_id": 17, "pcd_info": {"point_index": 1294}, "mesh_info": {"face_index": 727, "face_uv": [0.014331959226883424, 0.43237743367139875, 0.5532906071017178]}}, {"xyz": [0.13587607547846164, -0.42410799860954285, 0.04339601157032144], "rgb": [145, 90, 38], "semantic_id": 18, "pcd_info": {"point_index": 405}, "mesh_info": {"face_index": 1050, "face_uv": [0.4828059891184893, 0.4253362262357308, 0.09185778464577989]}}, {"xyz": [-0.1273044080922674, -0.42410799860954285, 0.04627869282704555], "rgb": [145, 90, 39], "semantic_id": 19, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 898, "face_uv": [0.46165851289021265, 0.5044519589832713, 0.033889528126515994]}}, {"xyz": [-0.12823608445984386, -0.42410799860954285, -0.2430837210211271], "rgb": [144, 89, 38], "semantic_id": 20, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 1222, "face_uv": [0.4539325218834482, 0.5134969968182628, 0.03257048129828906]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "38afa26a419ea3abed040525648fc6d7", "keypoints": [{"xyz": [0.17618230418455366, 0.4757283059842856, 0.07937021362523078], "rgb": [173, 102, 39], "semantic_id": 0, "pcd_info": {"point_index": 2027}, "mesh_info": {"face_index": 524, "face_uv": [0.02672752484528478, 0.8659746953259403, 0.10729777982877521]}}, {"xyz": [-0.17626080176630418, 0.478118706874868, 0.07870935009030688], "rgb": [174, 96, 38], "semantic_id": 1, "pcd_info": {"point_index": 82}, "mesh_info": {"face_index": 28, "face_uv": [0.0069758146758138045, 0.16073765523909636, 0.8322865300850875]}}, {"xyz": [0.18075035572754067, 0.06392999738454797, 0.06266092602771534], "rgb": [175, 101, 40], "semantic_id": 2, "pcd_info": {"point_index": 2009}, "mesh_info": {"face_index": 491, "face_uv": [0.30267498215143096, 0.040199749613362416, 0.6571252682352031]}}, {"xyz": [-0.17846070715050777, 0.06392999738454819, 0.058356931344300644], "rgb": [185, 114, 54], "semantic_id": 3, "pcd_info": {"point_index": 29}, "mesh_info": {"face_index": 594, "face_uv": [0.1717467853374989, 0.06867158779608049, 0.7595816268664205]}}, {"xyz": [0.1716456078927443, 0.06392999738454819, -0.21161954698883845], "rgb": [180, 108, 49], "semantic_id": 4, "pcd_info": {"point_index": 920}, "mesh_info": {"face_index": 1085, "face_uv": [0.015409920093880347, 0.9401716785960288, 0.04441840131009077]}}, {"xyz": [-0.17028818948878907, 0.06392999738454797, -0.20878360900750326], "rgb": [180, 105, 47], "semantic_id": 5, "pcd_info": {"point_index": 461}, "mesh_info": {"face_index": 588, "face_uv": [0.01750751316595762, 0.9181866970752732, 0.06430578975876575]}}, {"xyz": [0.170274808263424, -0.28302401304244995, -0.17385076153269502], "rgb": [179, 104, 43], "semantic_id": 17, "pcd_info": {"point_index": 1514}, "mesh_info": {"face_index": 517, "face_uv": [0.5273498032862244, 0.4446036361685912, 0.028046560545184354]}}, {"xyz": [0.17465934115242387, -0.28365299105644204, 0.08777463058178081], "rgb": [181, 105, 46], "semantic_id": 18, "pcd_info": {"point_index": 1240}, "mesh_info": {"face_index": 1229, "face_uv": [0.4016688236314473, 0.47313738457055476, 0.12519379179799717]}}, {"xyz": [-0.16823407387157427, -0.28302401304244995, 0.08624343300715032], "rgb": [178, 103, 43], "semantic_id": 19, "pcd_info": {"point_index": 714}, "mesh_info": {"face_index": 345, "face_uv": [0.4927181373210737, 0.5038565531245822, 0.0034253095543441223]}}, {"xyz": [-0.1752354690321274, -0.28302401304244995, -0.17116378694661843], "rgb": [178, 104, 42], "semantic_id": 20, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 748, "face_uv": [0.1490175739053706, 0.46740971855876096, 0.3835727075358684]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1196ffab55e431e11b17743c18fb63dc", "keypoints": [{"xyz": [0.2270480418358588, 0.2538854112060974, 0.07405199855566025], "rgb": [106, 75, 70], "semantic_id": 0, "pcd_info": {"point_index": 1991}, "mesh_info": {"face_index": 1163, "face_uv": [0.08984890400810551, 0.028899256294175824, 0.8812518396977187]}}, {"xyz": [-0.23449002906884522, 0.2557185954124649, 0.07405199855566025], "rgb": [64, 44, 40], "semantic_id": 1, "pcd_info": {"point_index": 547}, "mesh_info": {"face_index": 2242, "face_uv": [0.021331045154779932, 0.845846910416315, 0.13282204442890497]}}, {"xyz": [0.17592316409884512, -0.008775110231859617, 0.04779056336242493], "rgb": [91, 58, 52], "semantic_id": 2, "pcd_info": {"point_index": 561}, "mesh_info": {"face_index": 1937, "face_uv": [0.029792589938624426, 0.9363792527792957, 0.03382815728208076]}}, {"xyz": [-0.15994937294544392, -0.010121928448827866, 0.050881010264934634], "rgb": [73, 47, 42], "semantic_id": 3, "pcd_info": {"point_index": 1152}, "mesh_info": {"face_index": 916, "face_uv": [0.904424858510781, 0.0561338547589302, 0.0394412867302801]}}, {"xyz": [0.17144558860526204, -0.008793064900900593, -0.32104350713911267], "rgb": [94, 54, 44], "semantic_id": 4, "pcd_info": {"point_index": 2021}, "mesh_info": {"face_index": 938, "face_uv": [0.9149544819214723, 0.042844722274783455, 0.04220079580373706]}}, {"xyz": [-0.16319623298569025, -0.010134948061233828, -0.3164672617008013], "rgb": [104, 65, 57], "semantic_id": 5, "pcd_info": {"point_index": 1007}, "mesh_info": {"face_index": 1903, "face_uv": [0.03044362541728732, 0.9460689013673111, 0.02348747321538403]}}, {"xyz": [0.2452944537029051, 0.09902498411843608, -0.33872899413108826], "rgb": [78, 50, 44], "semantic_id": 6, "pcd_info": {"point_index": 46}, "mesh_info": {"face_index": 2145, "face_uv": [0.22759536725269267, 0.39028608899230227, 0.38211854375500504]}}, {"xyz": [0.24668521823028572, 0.1012716636315385, 0.04864361242307669], "rgb": [96, 56, 49], "semantic_id": 7, "pcd_info": {"point_index": 973}, "mesh_info": {"face_index": 499, "face_uv": [0.14813738659635972, 0.7355283187131182, 0.11633429469052145]}}, {"xyz": [-0.23683628613783225, 0.11020626805902545, -0.33872899413108826], "rgb": [119, 75, 64], "semantic_id": 8, "pcd_info": {"point_index": 1782}, "mesh_info": {"face_index": 2157, "face_uv": [0.11721683424467902, 0.6251086641841777, 0.25767450157114324]}}, {"xyz": [-0.236332097587088, 0.11050648022939957, 0.0508705402487728], "rgb": [75, 50, 48], "semantic_id": 9, "pcd_info": {"point_index": 1077}, "mesh_info": {"face_index": 1138, "face_uv": [0.19479882049376254, 0.26024327573673195, 0.5449579037695071]}}, {"xyz": [0.17868228850165263, -0.2806830108165739, -0.3307451320062011], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1372}, "mesh_info": {"face_index": 1, "face_uv": [0.5575891390800986, 0.35482267574236787, 0.08758818517753285]}}, {"xyz": [0.17050227606412516, -0.28068301081657365, 0.17708880360126122], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1038}, "mesh_info": {"face_index": 73, "face_uv": [0.22237010245412367, 0.5181904818288591, 0.2594394157170157]}}, {"xyz": [-0.17145964552869145, -0.2806830108165741, 0.17332541447186314], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1443}, "mesh_info": {"face_index": 51, "face_uv": [0.07924213412322084, 0.35093622623844334, 0.5698216396383359]}}, {"xyz": [-0.17163373510397764, -0.2806830108165741, -0.32956343484819084], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 25, "face_uv": [0.5626876998098136, 0.40734023440804706, 0.02997206578213939]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "55b00797abf243c3cce5160f0c502ac3", "keypoints": [{"xyz": [0.17957905535874322, 0.3532880295986758, 0.15335581623815753], "rgb": [101, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 137}, "mesh_info": {"face_index": 5922, "face_uv": [0.31039980306185594, 0.5048530629361163, 0.18474713400202694]}}, {"xyz": [-0.16550645491675733, 0.3541349514007117, 0.14869965489239567], "rgb": [102, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 987}, "mesh_info": {"face_index": 4502, "face_uv": [0.47926875703192096, 0.31874877734681234, 0.20198246562127273]}}, {"xyz": [0.18169183339240375, -0.042838827137183955, 0.0009653274717529303], "rgb": [101, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1330}, "mesh_info": {"face_index": 2931, "face_uv": [0.02386399257940573, 0.969485834709383, 0.006650172711210543]}}, {"xyz": [-0.1812790091748713, -0.042525291616112015, -0.010547012453178795], "rgb": [102, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 827}, "mesh_info": {"face_index": 2920, "face_uv": [0.9162520415420687, 0.04555749426637824, 0.03819046419155312]}}, {"xyz": [0.18220622942164372, -0.055128893777767904, -0.31455581738717964], "rgb": [102, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1584}, "mesh_info": {"face_index": 3041, "face_uv": [0.3746920222924437, 0.1427503192035212, 0.4825576585040351]}}, {"xyz": [-0.1730356909606348, -0.05350630116938648, -0.31374456288643815], "rgb": [101, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 6}, "mesh_info": {"face_index": 3046, "face_uv": [0.4774520980792351, 0.033134716613723886, 0.48941318530704053]}}, {"xyz": [0.2097687571394708, 0.08858667100518647, -0.3006474025462784], "rgb": [101, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 718}, "mesh_info": {"face_index": 3707, "face_uv": [0.4251437922185715, 0.5640370065481448, 0.010819201233283612]}}, {"xyz": [0.213645196528448, 0.11931714652938274, 0.10790006839127675], "rgb": [101, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 883}, "mesh_info": {"face_index": 3704, "face_uv": [0.5952352282254337, 0.02027789590658077, 0.3844868758679847]}}, {"xyz": [-0.21672413800011417, 0.07258224640480426, -0.3033634034186198], "rgb": [102, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 222}, "mesh_info": {"face_index": 818, "face_uv": [0.15062917752927873, 0.20034079125364077, 0.6490300312170805]}}, {"xyz": [-0.21278323650591213, 0.11963982705314868, 0.11378818566284106], "rgb": [102, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 1401}, "mesh_info": {"face_index": 739, "face_uv": [0.7879331913719977, 0.20552347310821673, 0.006543335519786415]}}, {"xyz": [0.20891848322487044, -0.3304907148422629, -0.2638912705245322], "rgb": [101, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 747}, "mesh_info": {"face_index": 6078, "face_uv": [0.044799661297134065, 0.48480115436395055, 0.4703991843389144]}}, {"xyz": [0.23233961388928082, -0.33301802215456566, 0.10947188904563088], "rgb": [101, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1493}, "mesh_info": {"face_index": 3054, "face_uv": [0.08434803179945953, 0.8247619279137922, 0.09089004028674759]}}, {"xyz": [-0.21199222902529863, -0.33231589074110196, 0.12321035514600864], "rgb": [101, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1084}, "mesh_info": {"face_index": 110, "face_uv": [0.1979156799897508, 0.08627009616367359, 0.7158142238465752]}}, {"xyz": [-0.20565569242163978, -0.32989226821774303, -0.2521516232566574], "rgb": [102, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1400}, "mesh_info": {"face_index": 6110, "face_uv": [0.09616530403184256, 0.6124654992968219, 0.29136919667133565]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e388792a151735e57597e1f94410131a", "keypoints": [{"xyz": [0.09156921667974963, 0.37123830049409845, 0.10568179550069123], "rgb": [174, 174, 174], "semantic_id": 0, "pcd_info": {"point_index": 212}, "mesh_info": {"face_index": 51691, "face_uv": [0.059536628825055636, 0.17156277688543997, 0.7689005942895021]}}, {"xyz": [-0.10322979120588893, 0.36793620429526197, 0.10634658907680827], "rgb": [174, 174, 174], "semantic_id": 1, "pcd_info": {"point_index": 1867}, "mesh_info": {"face_index": 61765, "face_uv": [0.19741014064150988, 0.28433213382906725, 0.5182577255294222]}}, {"xyz": [0.1259592973423112, -0.02111410687073123, 0.0663752901357304], "rgb": [174, 174, 174], "semantic_id": 2, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 46285, "face_uv": [0.4231720104246929, 0.09644860621427748, 0.4803793833610288]}}, {"xyz": [-0.12884767526439164, -0.02337555436379768, 0.06554885021668722], "rgb": [174, 174, 174], "semantic_id": 3, "pcd_info": {"point_index": 991}, "mesh_info": {"face_index": 51083, "face_uv": [0.1508081747043728, 0.6531682626399012, 0.1960235626557222]}}, {"xyz": [0.18680337160644991, -0.03067573852033667, -0.24082714793663818], "rgb": [88, 92, 87], "semantic_id": 4, "pcd_info": {"point_index": 1963}, "mesh_info": {"face_index": 31385, "face_uv": [0.2066529070443094, 0.4839966594316779, 0.30935043352401326]}}, {"xyz": [-0.18301841165842112, -0.024848637075498337, -0.24236103803946119], "rgb": [55, 60, 55], "semantic_id": 5, "pcd_info": {"point_index": 253}, "mesh_info": {"face_index": 24430, "face_uv": [0.1043979755004072, 0.10675664385137552, 0.7888453806482167]}}, {"xyz": [0.18354005078879684, -0.39373000269636615, -0.23963666151796081], "rgb": [175, 175, 175], "semantic_id": 17, "pcd_info": {"point_index": 687}, "mesh_info": {"face_index": 17179, "face_uv": [0.23602866709853879, 0.20480407808316006, 0.5591672548183013]}}, {"xyz": [0.1666797055771789, -0.39180211682394983, 0.10425741027979446], "rgb": [175, 175, 175], "semantic_id": 18, "pcd_info": {"point_index": 1586}, "mesh_info": {"face_index": 64, "face_uv": [0.4889878214284853, 0.04224602245459672, 0.46876615611691824]}}, {"xyz": [-0.16131302693917315, -0.39209211676335665, 0.1090004160179877], "rgb": [174, 174, 174], "semantic_id": 19, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 5767, "face_uv": [0.08487906561702234, 0.32266095336379114, 0.5924599810191863]}}, {"xyz": [-0.1813132785883308, -0.3937546728387713, -0.23625657086273416], "rgb": [175, 175, 175], "semantic_id": 20, "pcd_info": {"point_index": 290}, "mesh_info": {"face_index": 11476, "face_uv": [0.1712054837735635, 0.8244854008953504, 0.004309115331086463]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c86cfe147872280463626070a93463cf", "keypoints": [{"xyz": [0.18548488309511904, 0.37719748323853564, 0.07027466974336316], "rgb": [147, 84, 40], "semantic_id": 0, "pcd_info": {"point_index": 776}, "mesh_info": {"face_index": 33, "face_uv": [0.06779160766794383, 0.923947960107359, 0.008260432224699618]}}, {"xyz": [-0.1865513734644135, 0.38272889479089445, 0.07084389047371586], "rgb": [148, 77, 34], "semantic_id": 1, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 21, "face_uv": [0.005038906379817409, 0.12995491393897599, 0.8650061796812073]}}, {"xyz": [0.18374209113961396, -0.0031076117951118754, 0.03134400025010109], "rgb": [155, 87, 40], "semantic_id": 2, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 87, "face_uv": [0.07203388709790987, 0.11909775046716019, 0.8088683624349299]}}, {"xyz": [-0.18964830800612964, -0.010064586399615827, 0.031344000250101145], "rgb": [150, 80, 33], "semantic_id": 3, "pcd_info": {"point_index": 408}, "mesh_info": {"face_index": 12, "face_uv": [0.2347742796088051, 0.006964827039050612, 0.7582608933521462]}}, {"xyz": [0.18528231320849006, -0.013434675288560682, -0.2763569951057434], "rgb": [151, 86, 42], "semantic_id": 4, "pcd_info": {"point_index": 1195}, "mesh_info": {"face_index": 77, "face_uv": [0.9905465191019206, 0.00780789202421193, 0.0016455888738674278]}}, {"xyz": [-0.1865309386746714, -0.01303000003099447, -0.27552936026909114], "rgb": [157, 93, 49], "semantic_id": 5, "pcd_info": {"point_index": 270}, "mesh_info": {"face_index": 85, "face_uv": [0.9828952889699336, 0.002689737274643275, 0.01441497375542733]}}, {"xyz": [0.17279949051190976, -0.4535390138626094, -0.24940639589312563], "rgb": [151, 81, 36], "semantic_id": 17, "pcd_info": {"point_index": 435}, "mesh_info": {"face_index": 172, "face_uv": [0.6106278670599823, 0.33435571000508424, 0.055016422934932446]}}, {"xyz": [0.1697368670746496, -0.4535390138626103, 0.06285141850989863], "rgb": [153, 88, 44], "semantic_id": 18, "pcd_info": {"point_index": 26}, "mesh_info": {"face_index": 155, "face_uv": [0.2430544664677433, 0.22196226746016187, 0.5349832660720958]}}, {"xyz": [-0.19201700389385223, -0.4487850036531837, 0.033935616371189414], "rgb": [160, 96, 50], "semantic_id": 19, "pcd_info": {"point_index": 734}, "mesh_info": {"face_index": 5, "face_uv": [0.06060861776154976, 0.0033882198669423495, 0.9360031623715079]}}, {"xyz": [-0.1652832378283367, -0.44054444257664493, -0.27635699510574385], "rgb": [157, 89, 43], "semantic_id": 20, "pcd_info": {"point_index": 1038}, "mesh_info": {"face_index": 79, "face_uv": [0.6349936383684401, 0.3397114460475148, 0.025294915584046698]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "507a5974b24dce2ee1fc1bfd241d8d6a", "keypoints": [{"xyz": [0.19754340801404469, 0.3132799063614865, 0.047522232348381266], "rgb": [29, 51, 51], "semantic_id": 0, "pcd_info": {"point_index": 1421}, "mesh_info": {"face_index": 947, "face_uv": [0.16564249285433924, 0.06730583426271212, 0.7670516728829487]}}, {"xyz": [-0.19882538015034298, 0.31397567928624315, 0.04726933328447791], "rgb": [28, 50, 50], "semantic_id": 1, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 1176, "face_uv": [0.10597382061822058, 0.8616849363834529, 0.03234124299832582]}}, {"xyz": [0.1518761689433689, -0.04996397003971764, 0.00237028314931087], "rgb": [28, 50, 50], "semantic_id": 2, "pcd_info": {"point_index": 1645}, "mesh_info": {"face_index": 260, "face_uv": [0.03151091789305528, 0.9357106145679034, 0.03277846753904089]}}, {"xyz": [-0.15333709421601227, -0.06673400104045868, -0.000978101742131643], "rgb": [75, 80, 93], "semantic_id": 3, "pcd_info": {"point_index": 399}, "mesh_info": {"face_index": 1483, "face_uv": [0.7312704899994785, 0.2684853986324656, 0.00024411136805601533]}}, {"xyz": [0.1815468798285309, -0.0814202180507595, -0.3084553329931543], "rgb": [75, 80, 93], "semantic_id": 4, "pcd_info": {"point_index": 1465}, "mesh_info": {"face_index": 1635, "face_uv": [0.18337295458537078, 0.5612132321379837, 0.25541381327664675]}}, {"xyz": [-0.1790981422744239, -0.07183792685807677, -0.3098388968358119], "rgb": [75, 80, 93], "semantic_id": 5, "pcd_info": {"point_index": 402}, "mesh_info": {"face_index": 1648, "face_uv": [0.6933317290348696, 0.28380377721052885, 0.02286449375460217]}}, {"xyz": [0.15648075550409177, -0.44678598642349243, -0.27704790626411435], "rgb": [28, 51, 51], "semantic_id": 17, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 1864, "face_uv": [0.44824855162050026, 0.3845669528619033, 0.1671844955175964]}}, {"xyz": [0.18399677816904844, -0.4455656449779244, 0.08575790443623676], "rgb": [28, 50, 50], "semantic_id": 18, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 9, "face_uv": [0.15281888632846924, 0.21198752794424927, 0.6351935857272812]}}, {"xyz": [-0.18394046783980864, -0.44528416021362793, 0.08690463907393264], "rgb": [28, 50, 50], "semantic_id": 19, "pcd_info": {"point_index": 1103}, "mesh_info": {"face_index": 477, "face_uv": [0.13542124988943052, 0.14943685177709262, 0.7151418983334767]}}, {"xyz": [-0.16415549131979562, -0.44678598642349243, -0.2799976129586088], "rgb": [29, 51, 51], "semantic_id": 20, "pcd_info": {"point_index": 1461}, "mesh_info": {"face_index": 1848, "face_uv": [0.45000987435030987, 0.42601262651178545, 0.12397749913790472]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "70230673214644cc7954eb05bbab463f", "keypoints": [{"xyz": [0.1926980066913231, 0.29429358473698486, 0.04436900094151497], "rgb": [163, 153, 145], "semantic_id": 0, "pcd_info": {"point_index": 1953}, "mesh_info": {"face_index": 141, "face_uv": [0.011530130562891327, 0.1025179243830477, 0.8859519450540609]}}, {"xyz": [-0.1974889795595327, 0.2963186080912593, 0.04436900094151497], "rgb": [163, 153, 144], "semantic_id": 1, "pcd_info": {"point_index": 1665}, "mesh_info": {"face_index": 112, "face_uv": [0.04034616585116095, 0.9448211425531539, 0.014832691595685158]}}, {"xyz": [0.18086698043907792, -0.035599324475047434, 0.04436900094151497], "rgb": [163, 153, 144], "semantic_id": 2, "pcd_info": {"point_index": 1693}, "mesh_info": {"face_index": 105, "face_uv": [0.4621288046916762, 0.5113724603023085, 0.026498735006015045]}}, {"xyz": [-0.18381677002424884, -0.034466335980255725, 0.04436900094151497], "rgb": [163, 153, 145], "semantic_id": 3, "pcd_info": {"point_index": 1020}, "mesh_info": {"face_index": 174, "face_uv": [0.026497133834233206, 0.4860489267661543, 0.4874539393996125]}}, {"xyz": [0.19064604429704765, -0.05018396552809079, -0.3620080053806305], "rgb": [163, 153, 145], "semantic_id": 4, "pcd_info": {"point_index": 1200}, "mesh_info": {"face_index": 249, "face_uv": [0.8171687729393846, 0.027371013544303727, 0.15546021351631162]}}, {"xyz": [-0.198508307123135, -0.0435339994728563, -0.35850021622655803], "rgb": [162, 152, 144], "semantic_id": 5, "pcd_info": {"point_index": 358}, "mesh_info": {"face_index": 202, "face_uv": [0.9772668256371944, 0.00863185933135676, 0.01410131503144389]}}, {"xyz": [0.19020056417032394, -0.47129899263381936, -0.3366777570533854], "rgb": [162, 152, 144], "semantic_id": 17, "pcd_info": {"point_index": 1307}, "mesh_info": {"face_index": 313, "face_uv": [0.3217105813577588, 0.4078535842349756, 0.27043583440726504]}}, {"xyz": [0.18743162794378726, -0.4712989926338196, 0.09790429697594061], "rgb": [163, 153, 145], "semantic_id": 18, "pcd_info": {"point_index": 776}, "mesh_info": {"face_index": 267, "face_uv": [0.08359215115373449, 0.2515732592132929, 0.6648345896329726]}}, {"xyz": [-0.17967634756331285, -0.47129899263381936, 0.11255965030678183], "rgb": [162, 152, 144], "semantic_id": 19, "pcd_info": {"point_index": 1866}, "mesh_info": {"face_index": 319, "face_uv": [0.1770221568134289, 0.40581991485711355, 0.4171579283294571]}}, {"xyz": [-0.18166054539503743, -0.4712989926338198, -0.3463638630144404], "rgb": [163, 153, 145], "semantic_id": 20, "pcd_info": {"point_index": 573}, "mesh_info": {"face_index": 346, "face_uv": [0.5364562861481491, 0.36571385760531494, 0.09782985624653633]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "956063d67b939431f56aa11cd5e0c3e", "keypoints": [{"xyz": [0.21369533416318576, 0.4828516354059143, 0.12009900063276335], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1873}, "mesh_info": {"face_index": 4, "face_uv": [0.9404539116768835, 0.044428888924742074, 0.01511719939837813]}}, {"xyz": [-0.21403379044894644, 0.47749095120271096, 0.12009900063276335], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1691}, "mesh_info": {"face_index": 10, "face_uv": [0.00046800913002788584, 0.02882575616622551, 0.9707062347037503]}}, {"xyz": [0.2201621567156804, 0.11578860253126178, 0.12009900063276313], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 245, "face_uv": [0.014168414719317853, 0.9695825435840477, 0.016249041696636348]}}, {"xyz": [-0.22331648774919793, 0.1129040320097301, 0.12009900063276291], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 40}, "mesh_info": {"face_index": 10, "face_uv": [0.984746690471563, 0.008713268825466434, 0.006540040702970523]}}, {"xyz": [0.22969760973017728, 0.1104310005903244, -0.2446172437443319], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1474}, "mesh_info": {"face_index": 26, "face_uv": [0.9771064548445986, 0.013136212821837318, 0.009757332333564024]}}, {"xyz": [-0.22571820666964737, 0.1104310005903244, -0.24626078013455], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 19, "face_uv": [0.005179515813704606, 0.9913109336143897, 0.003509550571905787]}}, {"xyz": [0.20220693280272456, -0.20687900483608201, -0.22709303187049001], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 510}, "mesh_info": {"face_index": 161, "face_uv": [0.11389613353909163, 0.3732500759242738, 0.5128537905366324]}}, {"xyz": [0.21264426970489064, -0.20687900483608246, 0.18088855601393472], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 165}, "mesh_info": {"face_index": 104, "face_uv": [0.17957903931688168, 0.36488263816366817, 0.4555383225194502]}}, {"xyz": [-0.22229881071924842, -0.20687900483608246, 0.18873503825287802], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 70}, "mesh_info": {"face_index": 815, "face_uv": [0.21322109667704342, 0.6574887102124599, 0.1292901931104965]}}, {"xyz": [-0.20792373119289215, -0.20687900483608246, -0.2163380854353609], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1847}, "mesh_info": {"face_index": 590, "face_uv": [0.31421083614291206, 0.30861008198836004, 0.37717908186872795]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "25957008f839ef647abe6643657b8aec", "keypoints": [{"xyz": [0.16438978011884123, 0.29240287737820836, 0.1304583729981093], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1851}, "mesh_info": {"face_index": 936, "face_uv": [0.5633571090432101, 0.4082489792699628, 0.028393911686827363]}}, {"xyz": [-0.19379367882671023, 0.29249362004031676, 0.13114829708152823], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1059}, "mesh_info": {"face_index": 1048, "face_uv": [0.5728143695533517, 0.28186601043307025, 0.14531962001357795]}}, {"xyz": [0.16025853458062533, -0.08170600235462189, 0.09825035077613908], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 51}, "mesh_info": {"face_index": 1812, "face_uv": [0.06764756658342833, 0.6939110096547634, 0.2384414237618082]}}, {"xyz": [-0.1978721697238078, -0.08170600235462189, 0.0999418537364708], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1085}, "mesh_info": {"face_index": 1822, "face_uv": [0.4809100444494613, 0.24193672118027573, 0.27715323437026307]}}, {"xyz": [0.1795251979222504, -0.09075243877339312, -0.24197213220002212], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 163}, "mesh_info": {"face_index": 3120, "face_uv": [0.02080594004867329, 0.0801530310519936, 0.8990410288993322]}}, {"xyz": [-0.21530811043256942, -0.0908148061047982, -0.24225277145730262], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 994}, "mesh_info": {"face_index": 3122, "face_uv": [0.019264774558092185, 0.9266615792479714, 0.05407364619392968]}}, {"xyz": [0.16260938384633147, -0.519388020038605, -0.19332387065979245], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1383}, "mesh_info": {"face_index": 1082, "face_uv": [0.043249319691518406, 0.47790429506371174, 0.4788463852447703]}}, {"xyz": [0.162681601680462, -0.5193880200386047, 0.13493094657526652], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 832, "face_uv": [0.477134493910644, 0.44680823237036693, 0.07605727371898907]}}, {"xyz": [-0.20233832710880856, -0.519388020038605, 0.13134055449398352], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 265}, "mesh_info": {"face_index": 945, "face_uv": [0.3702721832783823, 0.468083150367231, 0.16164466635438715]}}, {"xyz": [-0.19968419484258118, -0.5193880200386047, -0.19363510963788427], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 1057, "face_uv": [0.4331856858728511, 0.5147179273048864, 0.05209638682226242]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4efde5d7dfad17354f13c1c9631f2b03", "keypoints": [{"xyz": [0.18090204809579014, 0.225386215434556, 0.02922929859526846], "rgb": [70, 38, 17], "semantic_id": 0, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 624, "face_uv": [0.20376801562139982, 0.6920820329175549, 0.1041499514610487]}}, {"xyz": [-0.19339605128558035, 0.2400109011887194, 0.028999000787734985], "rgb": [66, 34, 14], "semantic_id": 1, "pcd_info": {"point_index": 802}, "mesh_info": {"face_index": 227, "face_uv": [0.11557480622899499, 0.040353692340258, 0.844071501430747]}}, {"xyz": [0.17784349370909824, -0.22880307816444317, 0.02922743811677897], "rgb": [151, 136, 119], "semantic_id": 2, "pcd_info": {"point_index": 1119}, "mesh_info": {"face_index": 618, "face_uv": [0.03670499030515371, 0.1322078506140913, 0.8310871590807433]}}, {"xyz": [-0.20190417858183973, -0.2126676114899863, 0.02899900078773454], "rgb": [160, 144, 124], "semantic_id": 3, "pcd_info": {"point_index": 493}, "mesh_info": {"face_index": 222, "face_uv": [0.044007811982513224, 0.7508117673571487, 0.20518042066032283]}}, {"xyz": [0.20243537890960098, -0.23431800305843353, -0.34392389072934115], "rgb": [253, 233, 188], "semantic_id": 4, "pcd_info": {"point_index": 1410}, "mesh_info": {"face_index": 13, "face_uv": [0.010343848530613648, 0.8606301327509006, 0.1290260187184857]}}, {"xyz": [-0.21923570952306487, -0.2343180030584333, -0.3449537193152946], "rgb": [254, 235, 185], "semantic_id": 5, "pcd_info": {"point_index": 1319}, "mesh_info": {"face_index": 37, "face_uv": [0.008542493934002483, 0.2129847264386265, 0.77847277962737]}}, {"xyz": [0.18630057827345758, -0.4862129986286161, -0.3304808313551252], "rgb": [76, 44, 24], "semantic_id": 17, "pcd_info": {"point_index": 730}, "mesh_info": {"face_index": 1045, "face_uv": [0.4501171812999147, 0.47731568066002883, 0.07256713804005599]}}, {"xyz": [0.19921393994331682, -0.4862129986286161, 0.050490542394401317], "rgb": [68, 37, 16], "semantic_id": 18, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 1074, "face_uv": [0.13786821322028886, 0.2543156614548513, 0.6078161253248594]}}, {"xyz": [-0.2177446483054909, -0.4862129986286161, 0.04917574203013145], "rgb": [70, 39, 19], "semantic_id": 19, "pcd_info": {"point_index": 1572}, "mesh_info": {"face_index": 1065, "face_uv": [0.16700264025006561, 0.6692558321911449, 0.16374152755878907]}}, {"xyz": [-0.2039463476008605, -0.4862129986286161, -0.32441271941015215], "rgb": [77, 46, 25], "semantic_id": 20, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 1054, "face_uv": [0.22950272615066464, 0.2660284263400036, 0.5044688475093313]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2ab2ec342a3b2a45c242632b2a8c3129", "keypoints": [{"xyz": [0.30824380513430405, 0.24439900103968715, 0.21064393213825516], "rgb": [156, 71, 19], "semantic_id": 0, "pcd_info": {"point_index": 1701}, "mesh_info": {"face_index": 54501, "face_uv": [0.18982222227335607, 0.47526862256671465, 0.33490915515993075]}}, {"xyz": [-0.30840330151546014, 0.2418150486779802, 0.20890498156329684], "rgb": [159, 70, 18], "semantic_id": 1, "pcd_info": {"point_index": 713}, "mesh_info": {"face_index": 59123, "face_uv": [0.23278308070095133, 0.6940096382650902, 0.07320728103395785]}}, {"xyz": [0.2520104434024935, -0.017298550981519334, 0.0384184074520626], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1139}, "mesh_info": {"face_index": 15512, "face_uv": [0.3284609522994242, 0.4208981545965928, 0.25064089310398296]}}, {"xyz": [-0.2464277361727555, -0.014916628775421548, 0.03376895940906777], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 17798, "face_uv": [0.0328329796580716, 0.9611574658291672, 0.0060095545127304955]}}, {"xyz": [0.2600799305447373, 0.016833213365426425, -0.3143154820522991], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 1697}, "mesh_info": {"face_index": 45147, "face_uv": [0.08478730559429694, 0.7308817869079298, 0.18433090749777126]}}, {"xyz": [-0.2660798886327814, 0.0016360829394452825, -0.3138415979038348], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 1713}, "mesh_info": {"face_index": 36746, "face_uv": [0.06715093161606112, 0.7072913489337357, 0.22555771945020475]}}, {"xyz": [0.2805954441748222, 0.09972019612909189, -0.3289363472995832], "rgb": [177, 81, 19], "semantic_id": 6, "pcd_info": {"point_index": 1524}, "mesh_info": {"face_index": 49984, "face_uv": [0.13112126243627162, 0.40374447637960503, 0.4651342611841236]}}, {"xyz": [0.28500949612576615, 0.11074521105029755, 0.18113563443263914], "rgb": [155, 68, 19], "semantic_id": 7, "pcd_info": {"point_index": 1140}, "mesh_info": {"face_index": 46968, "face_uv": [0.412230871439395, 0.5048682294323242, 0.08290089912828084]}}, {"xyz": [-0.2849930172398569, 0.1044999219104803, -0.3260838871303008], "rgb": [168, 78, 20], "semantic_id": 8, "pcd_info": {"point_index": 1476}, "mesh_info": {"face_index": 30259, "face_uv": [0.533918999763947, 0.39536365349085034, 0.07071734674520429]}}, {"xyz": [-0.2995563880636406, 0.11490329760446294, 0.18353411554937704], "rgb": [172, 81, 19], "semantic_id": 9, "pcd_info": {"point_index": 234}, "mesh_info": {"face_index": 59648, "face_uv": [0.23311472159517324, 0.3502511874640861, 0.4166340909407397]}}, {"xyz": [0.2871439165871712, -0.2969840693399667, -0.28224413075731203], "rgb": [168, 79, 20], "semantic_id": 17, "pcd_info": {"point_index": 1423}, "mesh_info": {"face_index": 41967, "face_uv": [0.105930767661198, 0.7963140623135613, 0.09775517002524022]}}, {"xyz": [0.3100948882487711, -0.30116985273080527, 0.13743770845368403], "rgb": [169, 78, 19], "semantic_id": 18, "pcd_info": {"point_index": 2003}, "mesh_info": {"face_index": 40923, "face_uv": [0.03188781793912612, 0.27477083861273965, 0.6933413434481337]}}, {"xyz": [-0.2915969836732958, -0.3016839921474457, 0.14730433488594263], "rgb": [167, 75, 19], "semantic_id": 19, "pcd_info": {"point_index": 1127}, "mesh_info": {"face_index": 24144, "face_uv": [0.42064352617606066, 0.24351716832343728, 0.33583930550050217]}}, {"xyz": [-0.2895128225457792, -0.29908844011549646, -0.28201062030599355], "rgb": [166, 80, 20], "semantic_id": 20, "pcd_info": {"point_index": 814}, "mesh_info": {"face_index": 26737, "face_uv": [0.04732106027451729, 0.9506720716379833, 0.0020068680874996735]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d8892d8a902616b1669e5c8c05e138e9", "keypoints": [{"xyz": [0.45783710881068784, 0.16057899594306946, 0.08287742572176571], "rgb": [132, 0, 23], "semantic_id": 0, "pcd_info": {"point_index": 1061}, "mesh_info": {"face_index": 596, "face_uv": [0.8715214351058697, 0.037053901938509, 0.09142466295562128]}}, {"xyz": [-0.45273794804300493, 0.15956530055365803, 0.0804930031299591], "rgb": [97, 2, 6], "semantic_id": 1, "pcd_info": {"point_index": 1511}, "mesh_info": {"face_index": 297, "face_uv": [0.006800175854822348, 0.8265864021123595, 0.16661342203281834]}}, {"xyz": [0.4065780755376575, 0.005437000188976526, 0.07336212257768238], "rgb": [115, 80, 15], "semantic_id": 2, "pcd_info": {"point_index": 1725}, "mesh_info": {"face_index": 668, "face_uv": [0.013560119961430384, 0.9810475460183156, 0.005392334020254072]}}, {"xyz": [-0.405427710037754, 0.005437000188976526, 0.06893671642915522], "rgb": [193, 33, 63], "semantic_id": 3, "pcd_info": {"point_index": 646}, "mesh_info": {"face_index": 642, "face_uv": [0.017494337849504722, 0.040014620132172815, 0.9424910420183225]}}, {"xyz": [0.4182694922552197, -0.003615983611604534, -0.12021099776029587], "rgb": [202, 5, 46], "semantic_id": 4, "pcd_info": {"point_index": 1615}, "mesh_info": {"face_index": 88, "face_uv": [0.027282084995658637, 0.5793712510453539, 0.39334666395898743]}}, {"xyz": [-0.40595638707773074, 0.004744957468836297, -0.12333104152297025], "rgb": [136, 2, 20], "semantic_id": 5, "pcd_info": {"point_index": 514}, "mesh_info": {"face_index": 643, "face_uv": [0.9829323326504177, 0.01289822566965391, 0.0041694416799289025]}}, {"xyz": [0.4337845173702318, 0.025404350017927735, -0.12021099776029587], "rgb": [179, 9, 27], "semantic_id": 6, "pcd_info": {"point_index": 1246}, "mesh_info": {"face_index": 51, "face_uv": [0.08698867031114203, 0.43868596549999245, 0.47432536418886545]}}, {"xyz": [0.4300965718461135, 0.037610236966034494, 0.06865771535868959], "rgb": [226, 53, 80], "semantic_id": 7, "pcd_info": {"point_index": 1549}, "mesh_info": {"face_index": 177, "face_uv": [0.6119492578877259, 0.043038886030007883, 0.3450118560822697]}}, {"xyz": [-0.4432684863009986, 0.024136875377693157, -0.11929199844598748], "rgb": [225, 96, 143], "semantic_id": 8, "pcd_info": {"point_index": 683}, "mesh_info": {"face_index": 247, "face_uv": [0.3948306234208445, 0.10151844660135746, 0.5036509299777961]}}, {"xyz": [-0.4358210604094519, 0.03775675968716041, 0.06782480952178993], "rgb": [201, 31, 56], "semantic_id": 9, "pcd_info": {"point_index": 1444}, "mesh_info": {"face_index": 461, "face_uv": [0.3405986658707768, 0.05192024536710614, 0.6074810887621146]}}, {"xyz": [0.4309165256691442, -0.11812396728448762, -0.12021099776029565], "rgb": [129, 7, 49], "semantic_id": 17, "pcd_info": {"point_index": 1931}, "mesh_info": {"face_index": 68, "face_uv": [0.01977515928692, 0.9408688626831858, 0.03935597802989253]}}, {"xyz": [0.418749531376136, -0.1200076868338831, 0.12104861634023553], "rgb": [193, 30, 10], "semantic_id": 18, "pcd_info": {"point_index": 595}, "mesh_info": {"face_index": 412, "face_uv": [0.013177935793621122, 0.8914112671192576, 0.09541079708712144]}}, {"xyz": [-0.41165732350427026, -0.11251187694966103, 0.1263660043478012], "rgb": [212, 12, 63], "semantic_id": 19, "pcd_info": {"point_index": 883}, "mesh_info": {"face_index": 528, "face_uv": [0.062189599295756307, 0.9367918774207604, 0.001018523283483326]}}, {"xyz": [-0.435916990041733, -0.11700713520621867, -0.11166538780888793], "rgb": [251, 97, 125], "semantic_id": 20, "pcd_info": {"point_index": 538}, "mesh_info": {"face_index": 387, "face_uv": [0.03864236045939482, 0.03768588251076874, 0.923671757029837]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bfbc5e6ebe1813a5d9fad8aba2c312b7", "keypoints": [{"xyz": [0.22301064295425255, 0.22524770685617646, 0.1890700746915932], "rgb": [175, 156, 105], "semantic_id": 0, "pcd_info": {"point_index": 879}, "mesh_info": {"face_index": 17, "face_uv": [0.5586890092207886, 0.10385518511885186, 0.33745580566035976]}}, {"xyz": [-0.23123767727316524, 0.22316727952324567, 0.1866114727857764], "rgb": [174, 155, 104], "semantic_id": 1, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 109, "face_uv": [0.3866825824878263, 0.19928519056239402, 0.4140322269497768]}}, {"xyz": [0.25540284543281633, -0.06664495015065741, 0.016504419848303975], "rgb": [49, 45, 45], "semantic_id": 2, "pcd_info": {"point_index": 646}, "mesh_info": {"face_index": 2536, "face_uv": [0.0025939161812252066, 0.8535426621380197, 0.14386342168075641]}}, {"xyz": [-0.25240638106056695, -0.06609911621459286, 0.01881340093244699], "rgb": [48, 44, 44], "semantic_id": 3, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 2149, "face_uv": [0.794110239969478, 0.07824519593433359, 0.12764456409618663]}}, {"xyz": [0.2349041550024321, -0.019792359000631032, -0.335628067163813], "rgb": [175, 156, 105], "semantic_id": 4, "pcd_info": {"point_index": 1014}, "mesh_info": {"face_index": 319, "face_uv": [0.3970473378479431, 0.0068845408758213345, 0.5960681212762391]}}, {"xyz": [-0.23651862483481634, -0.019824036270361445, -0.34126848819470323], "rgb": [174, 155, 104], "semantic_id": 5, "pcd_info": {"point_index": 749}, "mesh_info": {"face_index": 426, "face_uv": [0.1079460224856771, 0.2017381788948953, 0.6903157986194222]}}, {"xyz": [0.18630908207024188, -0.34223899245262146, -0.33904903542790266], "rgb": [175, 156, 105], "semantic_id": 17, "pcd_info": {"point_index": 240}, "mesh_info": {"face_index": 819, "face_uv": [0.02738861700053892, 0.46906478974771826, 0.5035465932517428]}}, {"xyz": [0.20891977938514128, -0.33987463812795005, 0.1966927547598637], "rgb": [174, 155, 104], "semantic_id": 18, "pcd_info": {"point_index": 623}, "mesh_info": {"face_index": 1068, "face_uv": [0.46712766295843017, 0.22202727834490513, 0.31084505869666407]}}, {"xyz": [-0.2351599277001446, -0.32717976136213744, 0.19313806110580423], "rgb": [174, 155, 104], "semantic_id": 19, "pcd_info": {"point_index": 980}, "mesh_info": {"face_index": 1085, "face_uv": [0.15488518987082509, 0.8415744182004689, 0.003540391928705931]}}, {"xyz": [-0.2280956322389548, -0.331807898110434, -0.3315212908412123], "rgb": [175, 156, 105], "semantic_id": 20, "pcd_info": {"point_index": 15}, "mesh_info": {"face_index": 806, "face_uv": [0.33196621428570533, 0.5307455790696917, 0.13728820664460326]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "af34090f13146fef15afaa91253fa857", "keypoints": [{"xyz": [0.15337920370458402, 0.38327311337943937, 0.14499154707783668], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 43}, "mesh_info": {"face_index": 4298, "face_uv": [0.28533854633216904, 0.23133452213492522, 0.48332693153290474]}}, {"xyz": [-0.15371428408151233, 0.37210166296885094, 0.14427690672095161], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 374}, "mesh_info": {"face_index": 2568, "face_uv": [0.7387269933986996, 0.09431030745996374, 0.16696269914133674]}}, {"xyz": [0.12032138435346384, 0.10674746662146672, 0.08398798523534678], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 602}, "mesh_info": {"face_index": 3203, "face_uv": [0.034601304012146734, 0.5778879636440022, 0.38751073234384886]}}, {"xyz": [-0.12097225656633054, 0.10816110893062314, 0.0699309993582895], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 209}, "mesh_info": {"face_index": 5854, "face_uv": [0.13187573194438046, 0.5214273527470893, 0.3466969153085301]}}, {"xyz": [0.09764433368959158, 0.10866152950865704, -0.1423329308944722], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1146}, "mesh_info": {"face_index": 6410, "face_uv": [0.36717734995163814, 0.1386828732165589, 0.49413977683180205]}}, {"xyz": [-0.11523593079343297, 0.10529748584398835, -0.1276293818656209], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 907}, "mesh_info": {"face_index": 6120, "face_uv": [0.5642519349159688, 0.20987098454070668, 0.22587708054332561]}}, {"xyz": [0.14486318725965724, -0.4675176789923341, -0.1694000458336751], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 791}, "mesh_info": {"face_index": 21336, "face_uv": [0.5750232850187289, 0.17641130368740518, 0.24856541129386622]}}, {"xyz": [0.13926128531413184, -0.4689230999980185, 0.1183591595213491], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1554}, "mesh_info": {"face_index": 11086, "face_uv": [0.2726603232622743, 0.37103913665188815, 0.3563005400858375]}}, {"xyz": [-0.14272041796509638, -0.4673667776328576, 0.12303446668730592], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1255}, "mesh_info": {"face_index": 21465, "face_uv": [0.025776629473696112, 0.5073271057558388, 0.4668962647704653]}}, {"xyz": [-0.1347373472128337, -0.46982575424110995, -0.16541513226110027], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1350}, "mesh_info": {"face_index": 20897, "face_uv": [0.91794732363253, 0.05910865344515404, 0.022944022922316055]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8cfbde91dc175e2ea54b9afa882a89ed", "keypoints": [{"xyz": [0.18828418284422954, 0.4016920483764205, 0.18046784103674074], "rgb": [104, 101, 96], "semantic_id": 0, "pcd_info": {"point_index": 128}, "mesh_info": {"face_index": 1543, "face_uv": [0.23854283740625343, 0.7393422793208461, 0.022114883272900544]}}, {"xyz": [-0.1909136395556957, 0.39653803799981713, 0.18036029930459796], "rgb": [122, 114, 107], "semantic_id": 1, "pcd_info": {"point_index": 1717}, "mesh_info": {"face_index": 1383, "face_uv": [0.5645585708214782, 0.20510162712260027, 0.23033980205592147]}}, {"xyz": [0.2017394437266611, 0.04914956707568763, 0.10564449198232817], "rgb": [205, 205, 205], "semantic_id": 2, "pcd_info": {"point_index": 1538}, "mesh_info": {"face_index": 1279, "face_uv": [0.19701428110623548, 0.40531733415288906, 0.3976683847408704]}}, {"xyz": [-0.20173867244742838, 0.04883699864149116, 0.10020421939349583], "rgb": [208, 208, 208], "semantic_id": 3, "pcd_info": {"point_index": 763}, "mesh_info": {"face_index": 571, "face_uv": [0.0050903867955872885, 0.3647919375557032, 0.6301176756487141]}}, {"xyz": [0.1947378499914147, 0.07040409801078118, -0.268857375639506], "rgb": [113, 108, 102], "semantic_id": 4, "pcd_info": {"point_index": 1073}, "mesh_info": {"face_index": 179, "face_uv": [0.5657538298435825, 0.40098637786079183, 0.03325979229562581]}}, {"xyz": [-0.19959828713685676, 0.070614823470175, -0.2687823512922508], "rgb": [127, 118, 111], "semantic_id": 5, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 89, "face_uv": [0.03360698064761072, 0.5887727981284784, 0.37762022122391087]}}, {"xyz": [0.20693421411131677, -0.3155943245019003, -0.2788807207665813], "rgb": [152, 152, 152], "semantic_id": 17, "pcd_info": {"point_index": 246}, "mesh_info": {"face_index": 1018, "face_uv": [0.5796936422052126, 0.14654860263928213, 0.2737577551555056]}}, {"xyz": [0.19836195012798374, -0.3251349925994872, 0.12894663984973703], "rgb": [175, 175, 175], "semantic_id": 18, "pcd_info": {"point_index": 714}, "mesh_info": {"face_index": 193, "face_uv": [0.023224642074090356, 0.7980509137831249, 0.17872444414278443]}}, {"xyz": [-0.19773331546003242, -0.3251349925994873, 0.13270020437535784], "rgb": [169, 169, 169], "semantic_id": 19, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 410, "face_uv": [0.3628577899951977, 0.24576161191706566, 0.3913805980877366]}}, {"xyz": [-0.20211673378568917, -0.30790949289934877, -0.2896762907510897], "rgb": [157, 157, 157], "semantic_id": 20, "pcd_info": {"point_index": 1799}, "mesh_info": {"face_index": 772, "face_uv": [0.4779622579997422, 0.12463181939576998, 0.39740592260448787]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "40cee2893781b47f50f9fc0e2c94dd76", "keypoints": [{"xyz": [0.4539259970188141, 0.05741853214258441, 0.12785309727411626], "rgb": [200, 114, 55], "semantic_id": 2, "pcd_info": {"point_index": 612}, "mesh_info": {"face_index": 15990, "face_uv": [0.5529629653568777, 0.3549381803491602, 0.09209885429396203]}}, {"xyz": [-0.4550360143184661, 0.05927500278068787, 0.1278185809284787], "rgb": [194, 103, 45], "semantic_id": 3, "pcd_info": {"point_index": 1145}, "mesh_info": {"face_index": 16008, "face_uv": [0.40817400976209123, 0.4874824268563087, 0.10434356338159982]}}, {"xyz": [0.4438818901055957, 0.06469267658490196, -0.13453103852668136], "rgb": [215, 174, 147], "semantic_id": 4, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 16805, "face_uv": [0.27020977034204346, 0.20763865174241317, 0.5221515779155437]}}, {"xyz": [-0.4415855014415918, 0.04692162220634297, -0.11086157738942409], "rgb": [29, 29, 29], "semantic_id": 5, "pcd_info": {"point_index": 351}, "mesh_info": {"face_index": 18176, "face_uv": [0.19130934185910858, 0.170986635698955, 0.6377040224419368]}}, {"xyz": [0.4368981767448861, -0.16324900090694427, -0.12189593567051865], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 1888}, "mesh_info": {"face_index": 14591, "face_uv": [0.32208241379451746, 0.5108630660895255, 0.16705452011595717]}}, {"xyz": [0.4269829270709694, -0.16324900090694427, 0.11567001754433437], "rgb": [29, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 645}, "mesh_info": {"face_index": 9779, "face_uv": [0.25594474161573916, 0.7260976958140003, 0.01795756257026061]}}, {"xyz": [-0.4296719641618728, -0.16324900090694427, 0.11642509278470803], "rgb": [29, 29, 29], "semantic_id": 19, "pcd_info": {"point_index": 692}, "mesh_info": {"face_index": 4527, "face_uv": [0.17934399376807222, 0.6958234608902636, 0.12483254534166412]}}, {"xyz": [-0.43820509675564917, -0.16324900090694427, -0.12002630936586126], "rgb": [29, 29, 29], "semantic_id": 20, "pcd_info": {"point_index": 1764}, "mesh_info": {"face_index": 21971, "face_uv": [0.006545138797993635, 0.5083012617871807, 0.4851535994148257]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 7]}, {"kp_indexes": [5, 6]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cc1dac5070d0bb7d5c43d2b61614d0d0", "keypoints": [{"xyz": [0.17982023940164726, 0.3405129909515382, 0.16632581850694028], "rgb": [194, 129, 43], "semantic_id": 0, "pcd_info": {"point_index": 628}, "mesh_info": {"face_index": 126, "face_uv": [0.21747294009635, 0.42315699433605053, 0.35937006556759976]}}, {"xyz": [-0.20831227484964404, 0.3405129909515381, 0.17694674941324884], "rgb": [191, 129, 43], "semantic_id": 1, "pcd_info": {"point_index": 743}, "mesh_info": {"face_index": 59, "face_uv": [0.31959128621101857, 0.32623698495299225, 0.3541717288359892]}}, {"xyz": [0.17482605633901518, -0.024693588633878716, 0.14839200675487518], "rgb": [191, 123, 38], "semantic_id": 2, "pcd_info": {"point_index": 321}, "mesh_info": {"face_index": 159, "face_uv": [0.11217309218839429, 0.5136000020726005, 0.37422690573900497]}}, {"xyz": [-0.19512973104861986, -0.025953391937551418, 0.14839200675487518], "rgb": [195, 131, 40], "semantic_id": 3, "pcd_info": {"point_index": 2045}, "mesh_info": {"face_index": 35, "face_uv": [0.45185348756979316, 0.5153716979169413, 0.0327748145132654]}}, {"xyz": [0.16408966718594997, -0.0314110067139004, -0.22052582869239057], "rgb": [60, 53, 42], "semantic_id": 4, "pcd_info": {"point_index": 1695}, "mesh_info": {"face_index": 949, "face_uv": [0.19679448277521597, 0.5770199529052313, 0.2261855643195536]}}, {"xyz": [-0.18925622231304376, -0.02678421861418756, -0.21267517749658937], "rgb": [90, 85, 79], "semantic_id": 5, "pcd_info": {"point_index": 1666}, "mesh_info": {"face_index": 1471, "face_uv": [0.580188350867184, 0.41712356733941663, 0.0026880817933982236]}}, {"xyz": [0.18040405966190584, -0.4553230106830597, -0.18419124551444893], "rgb": [191, 125, 40], "semantic_id": 17, "pcd_info": {"point_index": 182}, "mesh_info": {"face_index": 182, "face_uv": [0.19164476063235317, 0.5139740993695832, 0.29438113999806365]}}, {"xyz": [0.17530383987582038, -0.45532301068306014, 0.1795205768314505], "rgb": [198, 132, 48], "semantic_id": 18, "pcd_info": {"point_index": 889}, "mesh_info": {"face_index": 160, "face_uv": [0.417278231938216, 0.2655062775449339, 0.3172154905168511]}}, {"xyz": [-0.210715668070628, -0.4553230106830597, 0.16680773091974027], "rgb": [196, 131, 41], "semantic_id": 19, "pcd_info": {"point_index": 1240}, "mesh_info": {"face_index": 25, "face_uv": [0.21326059244617063, 0.43452795166252184, 0.3522114558913076]}}, {"xyz": [-0.20630788309936857, -0.45532301068306014, -0.17407283920829186], "rgb": [193, 123, 32], "semantic_id": 20, "pcd_info": {"point_index": 664}, "mesh_info": {"face_index": 0, "face_uv": [0.591730605053994, 0.2752310986127305, 0.1330382963332766]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5019265bd6215c9ed54fd46ccb781717", "keypoints": [{"xyz": [0.1940680876296026, 0.3136071938725844, 0.16212937168063662], "rgb": [154, 88, 41], "semantic_id": 0, "pcd_info": {"point_index": 1542}, "mesh_info": {"face_index": 502, "face_uv": [0.2573765943582445, 0.37874822987748447, 0.36387517576427103]}}, {"xyz": [-0.19503275434319076, 0.31590225711942876, 0.15866171801082668], "rgb": [154, 87, 43], "semantic_id": 1, "pcd_info": {"point_index": 40}, "mesh_info": {"face_index": 582, "face_uv": [0.17256660206534474, 0.3348758213578288, 0.4925575765768263]}}, {"xyz": [0.18855203318469949, -0.06945075200755446, 0.08305159741143443], "rgb": [150, 83, 38], "semantic_id": 2, "pcd_info": {"point_index": 1035}, "mesh_info": {"face_index": 204, "face_uv": [0.5126253169694537, 0.3703852370343351, 0.1169894459962104]}}, {"xyz": [-0.18416099895425503, -0.07075999677181222, 0.07034723243267839], "rgb": [155, 89, 47], "semantic_id": 3, "pcd_info": {"point_index": 2026}, "mesh_info": {"face_index": 367, "face_uv": [0.01845569817430538, 0.17068388436170037, 0.8108604174639911]}}, {"xyz": [0.18243094592457754, -0.07455543766110129, -0.27303236220864746], "rgb": [151, 84, 42], "semantic_id": 4, "pcd_info": {"point_index": 1681}, "mesh_info": {"face_index": 148, "face_uv": [0.03888220153575618, 0.9079977910911626, 0.05312000737308393]}}, {"xyz": [-0.17368005756228164, -0.08437847118526909, -0.2752742289714883], "rgb": [160, 99, 61], "semantic_id": 5, "pcd_info": {"point_index": 454}, "mesh_info": {"face_index": 1425, "face_uv": [0.5743058159263379, 0.07508278769982223, 0.35061139637386846]}}, {"xyz": [0.1888797361415971, -0.46682900190353394, -0.28057279324418877], "rgb": [153, 86, 42], "semantic_id": 17, "pcd_info": {"point_index": 26}, "mesh_info": {"face_index": 840, "face_uv": [0.09296135030742989, 0.3852889522715142, 0.5217496974210559]}}, {"xyz": [0.1873587803338438, -0.4668290019035338, 0.1350181058937705], "rgb": [152, 84, 37], "semantic_id": 18, "pcd_info": {"point_index": 1082}, "mesh_info": {"face_index": 379, "face_uv": [0.3902806452252778, 0.3161168811321581, 0.2936024736425638]}}, {"xyz": [-0.19284182412271955, -0.4668290019035338, 0.13127281192223317], "rgb": [154, 87, 40], "semantic_id": 19, "pcd_info": {"point_index": 1757}, "mesh_info": {"face_index": 1118, "face_uv": [0.08385507605821248, 0.43451788873365266, 0.48162703520813466]}}, {"xyz": [-0.19461843772704512, -0.46682900190353394, -0.27888070857098446], "rgb": [156, 91, 46], "semantic_id": 20, "pcd_info": {"point_index": 563}, "mesh_info": {"face_index": 1029, "face_uv": [0.1657999730707793, 0.35371866892785914, 0.48048135800136155]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4a12589099b05c51e13b3410f3683610", "keypoints": [{"xyz": [0.22502349715535405, 0.4887639880180359, 0.12471367963412808], "rgb": [153, 86, 44], "semantic_id": 0, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 86, "face_uv": [0.4401721244423108, 0.030089163034534214, 0.529738712523155]}}, {"xyz": [-0.2125853068449283, 0.4887639880180359, 0.12237766225120399], "rgb": [146, 83, 39], "semantic_id": 1, "pcd_info": {"point_index": 236}, "mesh_info": {"face_index": 72, "face_uv": [0.5360033611471303, 0.025512266246377525, 0.4384843726064921]}}, {"xyz": [0.22718865421375778, 0.03808499872684479, 0.0589067117609241], "rgb": [152, 84, 41], "semantic_id": 2, "pcd_info": {"point_index": 1757}, "mesh_info": {"face_index": 43, "face_uv": [0.029878618672359736, 0.02541656227182742, 0.9447048190558127]}}, {"xyz": [-0.21265947478513542, 0.03808499872684479, 0.06546894615208565], "rgb": [145, 77, 30], "semantic_id": 3, "pcd_info": {"point_index": 1743}, "mesh_info": {"face_index": 43, "face_uv": [0.01191569162219706, 0.9746477947397922, 0.013436513638010938]}}, {"xyz": [0.23244890823180436, 0.03808499872684479, -0.2893940461279467], "rgb": [157, 91, 41], "semantic_id": 4, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 43, "face_uv": [0.9832888037612767, 0.014064468047829135, 0.0026467281908941257]}}, {"xyz": [-0.21657531740051345, 0.03808499872684479, -0.2917226799594521], "rgb": [157, 89, 44], "semantic_id": 5, "pcd_info": {"point_index": 392}, "mesh_info": {"face_index": 33, "face_uv": [0.010336983257515015, 0.01690146995662486, 0.97276154678586]}}, {"xyz": [0.189828949477914, -0.2665979862213135, -0.23734574030175334], "rgb": [154, 88, 41], "semantic_id": 17, "pcd_info": {"point_index": 580}, "mesh_info": {"face_index": 61, "face_uv": [0.5438522685922778, 0.3783660750972096, 0.07778165631051259]}}, {"xyz": [0.19489887877295045, -0.2665979862213135, 0.13051928682056224], "rgb": [157, 89, 42], "semantic_id": 18, "pcd_info": {"point_index": 435}, "mesh_info": {"face_index": 92, "face_uv": [0.28716013478110647, 0.6048146302952895, 0.10802523492360405]}}, {"xyz": [-0.20471391805519876, -0.2665979862213135, 0.1443009687955844], "rgb": [153, 86, 41], "semantic_id": 19, "pcd_info": {"point_index": 1917}, "mesh_info": {"face_index": 70, "face_uv": [0.014742244517145005, 0.22536773533063467, 0.7598900201522203]}}, {"xyz": [-0.17508905934914867, -0.2665979862213135, -0.23948314525109915], "rgb": [153, 85, 40], "semantic_id": 20, "pcd_info": {"point_index": 1827}, "mesh_info": {"face_index": 12, "face_uv": [0.330777560743821, 0.34956597872506395, 0.31965646053111507]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "821c88bc79af232bf2acefc3b3178108", "keypoints": [{"xyz": [0.15521623555548586, 0.19347837920813005, 0.016478925354380725], "rgb": [148, 104, 62], "semantic_id": 0, "pcd_info": {"point_index": 1960}, "mesh_info": {"face_index": 569, "face_uv": [0.08386827141648824, 0.43447506036554223, 0.4816566682179694]}}, {"xyz": [-0.14762236034179396, 0.20506721458544752, 0.01285747894991171], "rgb": [155, 102, 53], "semantic_id": 1, "pcd_info": {"point_index": 1122}, "mesh_info": {"face_index": 82, "face_uv": [0.10405680773562516, 0.318414221185417, 0.5775289710789584]}}, {"xyz": [0.14687767741467136, -0.213701993227005, -0.005803811099041767], "rgb": [155, 104, 61], "semantic_id": 2, "pcd_info": {"point_index": 1182}, "mesh_info": {"face_index": 80, "face_uv": [0.029391116597919365, 0.9476749428804914, 0.022933940521589275]}}, {"xyz": [-0.1475842545576528, -0.21370199322700478, -0.004982017411416684], "rgb": [160, 111, 71], "semantic_id": 3, "pcd_info": {"point_index": 951}, "mesh_info": {"face_index": 80, "face_uv": [0.026623071988525062, 0.050171449521044915, 0.923205478490429]}}, {"xyz": [0.15513397526987327, -0.213701993227005, -0.27828415449279054], "rgb": [160, 107, 64], "semantic_id": 4, "pcd_info": {"point_index": 1798}, "mesh_info": {"face_index": 74, "face_uv": [0.05281436020897063, 0.027160323200842856, 0.9200253165901865]}}, {"xyz": [-0.15261044218227696, -0.21370199322700478, -0.2816485192126602], "rgb": [160, 111, 71], "semantic_id": 5, "pcd_info": {"point_index": 1665}, "mesh_info": {"face_index": 80, "face_uv": [0.9585178169142007, 0.034851910858898924, 0.006630272226899265]}}, {"xyz": [0.1466070058498773, -0.6074090003967284, -0.28087175736382153], "rgb": [160, 113, 66], "semantic_id": 17, "pcd_info": {"point_index": 1472}, "mesh_info": {"face_index": 199, "face_uv": [0.39904433135748657, 0.46849955923135717, 0.13245610941115615]}}, {"xyz": [0.1483442520567857, -0.6074090003967285, 0.0171465118450376], "rgb": [133, 84, 46], "semantic_id": 18, "pcd_info": {"point_index": 1556}, "mesh_info": {"face_index": 526, "face_uv": [0.003955004704841113, 0.47855015318978933, 0.5174948421053696]}}, {"xyz": [-0.15075374375134662, -0.6074090003967285, 0.019487076701564826], "rgb": [153, 104, 63], "semantic_id": 19, "pcd_info": {"point_index": 80}, "mesh_info": {"face_index": 43, "face_uv": [0.5538442672901482, 0.40511020113319024, 0.04104553157666158]}}, {"xyz": [-0.14775160249715377, -0.6074090003967284, -0.2808921289364491], "rgb": [144, 100, 58], "semantic_id": 20, "pcd_info": {"point_index": 733}, "mesh_info": {"face_index": 114, "face_uv": [0.3984234169961896, 0.49661377853615535, 0.10496280446765485]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "44854046021846f219fb4103277a6b93", "keypoints": [{"xyz": [0.2179412188091323, 0.24317139326681947, 0.13050289811379134], "rgb": [222, 199, 164], "semantic_id": 0, "pcd_info": {"point_index": 607}, "mesh_info": {"face_index": 9521, "face_uv": [0.04526645631340129, 0.9174260555024856, 0.03730748818411258]}}, {"xyz": [-0.22475688279259615, 0.2458387908517522, 0.13995759807214414], "rgb": [222, 199, 164], "semantic_id": 1, "pcd_info": {"point_index": 2012}, "mesh_info": {"face_index": 12048, "face_uv": [0.06937452278482414, 0.9046113704257709, 0.026014106789404627]}}, {"xyz": [0.22509415160444768, -0.026045833599239177, 0.023589015206280983], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 86, "face_uv": [0.1685201619640592, 0.7015090402167486, 0.12997079781919987]}}, {"xyz": [-0.2180729653532834, -0.023950074956478273, 0.0244066025933396], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 868}, "mesh_info": {"face_index": 6475, "face_uv": [0.08111405872378132, 0.7119902975159229, 0.20689564376029346]}}, {"xyz": [0.22367145603540056, -0.032084837604857586, -0.36297215778636804], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 1214}, "mesh_info": {"face_index": 576, "face_uv": [0.1891538775045917, 0.1608163759540692, 0.6500297465413392]}}, {"xyz": [-0.21756620750077543, -0.02903955142745307, -0.3595189398337586], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 279}, "mesh_info": {"face_index": 2953, "face_uv": [0.19969517441049994, 0.23691419652855195, 0.5633906290609494]}}, {"xyz": [0.2682139795338356, 0.10977927279569322, -0.3808747151631793], "rgb": [223, 200, 165], "semantic_id": 6, "pcd_info": {"point_index": 1485}, "mesh_info": {"face_index": 17384, "face_uv": [0.4493852950642491, 0.036686808810319764, 0.5139278961254313]}}, {"xyz": [0.268862592905154, 0.11527585810964092, 0.1710349591290305], "rgb": [222, 199, 164], "semantic_id": 7, "pcd_info": {"point_index": 1175}, "mesh_info": {"face_index": 18552, "face_uv": [0.2712030010639987, 0.21000822777260653, 0.5187887711633938]}}, {"xyz": [-0.27188473042079986, 0.11541644769283654, -0.3746684756154563], "rgb": [223, 200, 165], "semantic_id": 8, "pcd_info": {"point_index": 1607}, "mesh_info": {"face_index": 15835, "face_uv": [0.45600227792098214, 0.01924949727844703, 0.5247482248005721]}}, {"xyz": [-0.2668886656756214, 0.11550469494767412, 0.17056831766996058], "rgb": [222, 199, 164], "semantic_id": 9, "pcd_info": {"point_index": 1266}, "mesh_info": {"face_index": 14658, "face_uv": [0.16318095141554642, 0.4401510396947423, 0.39666800888971027]}}, {"xyz": [0.27377097241923454, -0.2973160147666931, -0.3308863405409672], "rgb": [198, 198, 198], "semantic_id": 17, "pcd_info": {"point_index": 1400}, "mesh_info": {"face_index": 13911, "face_uv": [0.367954784173771, 0.44755854285421287, 0.1844866729720163]}}, {"xyz": [0.25588883907219784, -0.2973160147666931, 0.12182711755889675], "rgb": [198, 198, 198], "semantic_id": 18, "pcd_info": {"point_index": 1487}, "mesh_info": {"face_index": 13138, "face_uv": [0.475098088499903, 0.46226045336905885, 0.0626414581310382]}}, {"xyz": [-0.26203740332886283, -0.2973160147666931, 0.15944212684393388], "rgb": [198, 198, 198], "semantic_id": 19, "pcd_info": {"point_index": 898}, "mesh_info": {"face_index": 13638, "face_uv": [0.2672482110464155, 0.03359499634384556, 0.699156792609739]}}, {"xyz": [-0.2699101960934551, -0.2973160147666929, -0.33701259443018405], "rgb": [197, 197, 197], "semantic_id": 20, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 13400, "face_uv": [0.48385673421623915, 0.11468237245927058, 0.4014608933244896]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "450b4a6b6afa6280d5a910bf1c23bf18", "keypoints": [{"xyz": [0.16025003906559016, 0.4383768054790411, 0.07687755125769125], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1659}, "mesh_info": {"face_index": 4926, "face_uv": [0.2882356846604849, 0.006109788251949666, 0.7056545270875649]}}, {"xyz": [-0.15960600025806965, 0.43995088334407817, 0.073044288353448], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1594}, "mesh_info": {"face_index": 4340, "face_uv": [0.5616375979584624, 0.3794371517119169, 0.05892525032962047]}}, {"xyz": [0.1647140594433906, -0.03964913675430859, 0.0497681777317166], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 25}, "mesh_info": {"face_index": 90, "face_uv": [0.028087653464496497, 0.9040000839976167, 0.06791226253788778]}}, {"xyz": [-0.15976748721941986, -0.03715556601831649, 0.04694389371048069], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1432}, "mesh_info": {"face_index": 321, "face_uv": [0.6291434514426147, 0.33658330840345607, 0.03427324015392923]}}, {"xyz": [0.18317139043374847, -0.05508657954667706, -0.21536657638408513], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 2036}, "mesh_info": {"face_index": 5631, "face_uv": [0.148460405878919, 0.006952063227581489, 0.8445875308935001]}}, {"xyz": [-0.17390604429428635, -0.06508433480394449, -0.21718792663806652], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 482}, "mesh_info": {"face_index": 5639, "face_uv": [0.48520075980936833, 0.490805112855068, 0.02399412733556399]}}, {"xyz": [0.16658319879164396, -0.40370601415634155, -0.19890833262814267], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 17}, "mesh_info": {"face_index": 1730, "face_uv": [0.47167282921230747, 0.4294173455403952, 0.09890982524729731]}}, {"xyz": [0.16833898038356115, -0.40370601415634155, 0.05058905155536819], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 443}, "mesh_info": {"face_index": 4164, "face_uv": [0.46363368602751637, 0.47539885421766903, 0.060967459754814574]}}, {"xyz": [-0.1669504975545164, -0.40370601415634155, 0.04940158177621751], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 175}, "mesh_info": {"face_index": 3355, "face_uv": [0.08268029449334038, 0.48083958476361344, 0.43648012074304615]}}, {"xyz": [-0.16193862713005164, -0.40370601415634155, -0.20012969526704405], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1833}, "mesh_info": {"face_index": 2541, "face_uv": [0.005549005857932718, 0.6155915746304242, 0.37885941951164304]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "30d93191cb91f8ece6c5cd45aa112726", "keypoints": [{"xyz": [0.18710268901700833, 0.4643663352739227, 0.15464428569065514], "rgb": [75, 29, 18], "semantic_id": 0, "pcd_info": {"point_index": 807}, "mesh_info": {"face_index": 14222, "face_uv": [0.11381349447045173, 0.7130286553007356, 0.17315785022881655]}}, {"xyz": [-0.1960510015487671, 0.4627077752620954, 0.15965009798738516], "rgb": [76, 29, 21], "semantic_id": 1, "pcd_info": {"point_index": 2035}, "mesh_info": {"face_index": 6964, "face_uv": [0.1604768234925831, 0.008803557143638884, 0.830719619363778]}}, {"xyz": [0.1925621832941351, 0.04895648731024438, 0.09215154674637249], "rgb": [72, 29, 24], "semantic_id": 2, "pcd_info": {"point_index": 1003}, "mesh_info": {"face_index": 11686, "face_uv": [0.057291215815524606, 0.27894283004744647, 0.6637659541370401]}}, {"xyz": [-0.19154864954396245, 0.05074807927003033, 0.09392721961998807], "rgb": [83, 36, 26], "semantic_id": 3, "pcd_info": {"point_index": 1338}, "mesh_info": {"face_index": 7063, "face_uv": [0.004515317506684966, 0.10106635713185065, 0.8944183253614607]}}, {"xyz": [0.18649060145676793, 0.00668116341752556, -0.2919444240510658], "rgb": [70, 25, 19], "semantic_id": 4, "pcd_info": {"point_index": 1461}, "mesh_info": {"face_index": 15557, "face_uv": [0.2937163501462597, 0.6872782208121279, 0.019005429041613724]}}, {"xyz": [-0.1926396374446679, 0.007328254240193011, -0.2917591429454969], "rgb": [65, 18, 12], "semantic_id": 5, "pcd_info": {"point_index": 175}, "mesh_info": {"face_index": 1928, "face_uv": [0.10372535406083705, 0.055168655087477675, 0.8411059908516854]}}, {"xyz": [0.180223041548946, -0.3057541424475406, -0.28149966761818956], "rgb": [84, 34, 27], "semantic_id": 17, "pcd_info": {"point_index": 1546}, "mesh_info": {"face_index": 10561, "face_uv": [0.03671074577321348, 0.42360288856632866, 0.5396863656604576]}}, {"xyz": [0.19415447018425575, -0.29328578011933215, 0.11206394498128835], "rgb": [84, 32, 22], "semantic_id": 18, "pcd_info": {"point_index": 840}, "mesh_info": {"face_index": 12813, "face_uv": [0.7026592125782046, 0.057750317247971576, 0.23959047017382382]}}, {"xyz": [-0.1899313167204944, -0.2932640016078949, 0.12003409820809963], "rgb": [76, 29, 23], "semantic_id": 19, "pcd_info": {"point_index": 1294}, "mesh_info": {"face_index": 2373, "face_uv": [0.16910731339745683, 0.03313380564135807, 0.7977588809611851]}}, {"xyz": [-0.17485294554901337, -0.3005109286535257, -0.2853312684671985], "rgb": [80, 31, 23], "semantic_id": 20, "pcd_info": {"point_index": 1865}, "mesh_info": {"face_index": 1503, "face_uv": [0.18036936177354734, 0.19654780807906944, 0.6230828301473831]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9e08476e458e21519fb4103277a6b93", "keypoints": [{"xyz": [0.21403576728913642, 0.24567853504391923, 0.20216203899094087], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 1230}, "mesh_info": {"face_index": 27260, "face_uv": [0.06509975561944964, 0.8434791679506138, 0.09142107642993903]}}, {"xyz": [-0.20667362340601078, 0.24865078808377872, 0.2039281491440914], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1743}, "mesh_info": {"face_index": 29602, "face_uv": [0.3849615621392332, 0.12830712768369312, 0.4867313101770762]}}, {"xyz": [0.20558952459187907, -0.038005586497193766, 0.1286496664576433], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 1283}, "mesh_info": {"face_index": 33993, "face_uv": [0.2584358183620272, 0.4465937595587264, 0.2949704220792213]}}, {"xyz": [-0.20452026264323986, -0.039880554539593494, 0.13299663788342486], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 834}, "mesh_info": {"face_index": 35708, "face_uv": [0.16568684500205147, 0.05544369395908217, 0.7788694610388678]}}, {"xyz": [0.2077896288955629, -0.04307776858859258, -0.24838479822601056], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 708}, "mesh_info": {"face_index": 33969, "face_uv": [0.9115720331201035, 0.05614071706957168, 0.03228724981032709]}}, {"xyz": [-0.20390999633726614, -0.04455995381278588, -0.24998465210166176], "rgb": [222, 199, 164], "semantic_id": 5, "pcd_info": {"point_index": 1530}, "mesh_info": {"face_index": 34600, "face_uv": [0.24068351593689707, 0.05554203129863414, 0.7037744527644675]}}, {"xyz": [0.24770108657567336, 0.11563805295598062, -0.23016997152723295], "rgb": [158, 71, 19], "semantic_id": 6, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 2965, "face_uv": [0.14429985445953122, 0.3707500186676265, 0.4849501268728425]}}, {"xyz": [0.23417797760881232, 0.1302685697878272, 0.15051568883316158], "rgb": [166, 78, 19], "semantic_id": 7, "pcd_info": {"point_index": 489}, "mesh_info": {"face_index": 1294, "face_uv": [0.12283947623270196, 0.3024535139991923, 0.5747070097681052]}}, {"xyz": [-0.23193197909389796, 0.08658480472561991, -0.26158835978116635], "rgb": [175, 80, 20], "semantic_id": 8, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 18047, "face_uv": [0.2931427326225824, 0.25057305393899665, 0.4562842134384197]}}, {"xyz": [-0.2293742115714391, 0.1290909945964811, 0.11153226450178622], "rgb": [154, 70, 18], "semantic_id": 9, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 15222, "face_uv": [0.09375401453656365, 0.851536554506009, 0.05470943095742566]}}, {"xyz": [0.22899833588966562, -0.44045498967170715, -0.2606092290445687], "rgb": [159, 70, 19], "semantic_id": 17, "pcd_info": {"point_index": 1304}, "mesh_info": {"face_index": 6660, "face_uv": [0.3384480306590538, 0.4968812841301299, 0.16467068521081632]}}, {"xyz": [0.2245246657238526, -0.4444343680867697, 0.21201637853771593], "rgb": [162, 73, 20], "semantic_id": 18, "pcd_info": {"point_index": 1175}, "mesh_info": {"face_index": 5244, "face_uv": [0.692048173645342, 0.2663605344689165, 0.04159129188574157]}}, {"xyz": [-0.23957721673767873, -0.4424496344644817, 0.22144496885183085], "rgb": [161, 73, 19], "semantic_id": 19, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 18500, "face_uv": [0.40957571944643884, 0.03503516365619736, 0.555389116897363]}}, {"xyz": [-0.22448513333019426, -0.4401715125435963, -0.2514605632944575], "rgb": [155, 69, 18], "semantic_id": 20, "pcd_info": {"point_index": 584}, "mesh_info": {"face_index": 26557, "face_uv": [0.13775480058402967, 0.21703498004861568, 0.6452102193673555]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "41ce60d5443c203eb31c248b8665b2e7", "keypoints": [{"xyz": [0.21163751998315886, 0.27346010602384063, 0.07644395244264385], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1433}, "mesh_info": {"face_index": 57, "face_uv": [0.4772560007825654, 0.3633858133612207, 0.1593581858562131]}}, {"xyz": [-0.22136524863581664, 0.27116734703854184, 0.07617031120614967], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1955}, "mesh_info": {"face_index": 299, "face_uv": [0.2076972218766326, 0.2729737877642999, 0.5193289903590671]}}, {"xyz": [0.19961726227677226, -0.08458100259304069, 0.026490892091341867], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1910}, "mesh_info": {"face_index": 49, "face_uv": [0.02159028140987333, 0.05257705607660193, 0.9258326625135274]}}, {"xyz": [-0.2127440743302253, -0.08458100259304069, 0.020757628133522388], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 676}, "mesh_info": {"face_index": 224, "face_uv": [0.0016592572283975122, 0.9614044249985179, 0.03693631777308727]}}, {"xyz": [0.2127574911694851, -0.08458100259304069, -0.3316798452425161], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1515}, "mesh_info": {"face_index": 48, "face_uv": [0.01970605523132454, 0.9763834661436919, 0.003910478624986063]}}, {"xyz": [-0.21856509557460743, -0.08458100259304047, -0.33386589592518895], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 342}, "mesh_info": {"face_index": 48, "face_uv": [0.013854726299854955, 0.02576628439557871, 0.960378989304566]}}, {"xyz": [0.17453029752612623, -0.41711801290512085, -0.30449222319932767], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1458}, "mesh_info": {"face_index": 176, "face_uv": [0.06802836337576296, 0.36561634900900836, 0.5663552876152287]}}, {"xyz": [0.18530726663221622, -0.41711801290512107, 0.08238118628427357], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1396}, "mesh_info": {"face_index": 94, "face_uv": [0.4260780597672853, 0.4636631673160202, 0.110258772916695]}}, {"xyz": [-0.2007674419551786, -0.41711801290512085, 0.08756785082070484], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 296}, "mesh_info": {"face_index": 127, "face_uv": [0.6388684122275741, 0.35766955068503953, 0.0034620370873863077]}}, {"xyz": [-0.19646050147243954, -0.41711801290512085, -0.30368697426776814], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 850}, "mesh_info": {"face_index": 32, "face_uv": [0.4437516332850266, 0.4952504731929869, 0.06099789352198654]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1986eeb9bb594bf9a6d7a9f3c5f7bb41", "keypoints": [{"xyz": [0.12516165525961495, 0.22063331189341262, 0.12104226464863332], "rgb": [254, 216, 140], "semantic_id": 0, "pcd_info": {"point_index": 1365}, "mesh_info": {"face_index": 2216, "face_uv": [0.15591029950047275, 0.1413627199980533, 0.7027269805014781]}}, {"xyz": [-0.12266713827609085, 0.2258693896504569, 0.12164334604870075], "rgb": [254, 202, 113], "semantic_id": 1, "pcd_info": {"point_index": 1355}, "mesh_info": {"face_index": 1385, "face_uv": [0.9872968040851566, 0.0028290989330113326, 0.009874096981831369]}}, {"xyz": [0.1262860319446132, -0.18950576693117793, 0.08703723643383321], "rgb": [254, 219, 154], "semantic_id": 2, "pcd_info": {"point_index": 444}, "mesh_info": {"face_index": 182, "face_uv": [0.20310538644968643, 0.646049093818961, 0.1508455197313534]}}, {"xyz": [-0.126364537343671, -0.18614920154373027, 0.08325744321885487], "rgb": [255, 63, 0], "semantic_id": 3, "pcd_info": {"point_index": 1046}, "mesh_info": {"face_index": 3063, "face_uv": [0.24464410621609792, 0.021951536210542362, 0.7334043575733606]}}, {"xyz": [0.1734136525470371, -0.18535746122693153, -0.26942229244535554], "rgb": [255, 63, 0], "semantic_id": 4, "pcd_info": {"point_index": 1973}, "mesh_info": {"face_index": 4980, "face_uv": [0.1916235756752285, 0.05004569353618681, 0.7583307307886077]}}, {"xyz": [-0.15429295030941537, -0.18548579179367275, -0.28883491867744615], "rgb": [254, 62, 0], "semantic_id": 5, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 5614, "face_uv": [0.22218943331624605, 0.4116441749879688, 0.3661663916957678]}}, {"xyz": [0.16095447325641232, -0.5711259841918945, -0.2525055882974546], "rgb": [238, 192, 114], "semantic_id": 17, "pcd_info": {"point_index": 1846}, "mesh_info": {"face_index": 1080, "face_uv": [0.5790392412709873, 0.29835473737103213, 0.12260602135798056]}}, {"xyz": [0.10109660444691815, -0.5711259841918945, 0.0918402880478244], "rgb": [237, 192, 112], "semantic_id": 18, "pcd_info": {"point_index": 50}, "mesh_info": {"face_index": 114, "face_uv": [0.27384176591182485, 0.019666896620157116, 0.7064913374680181]}}, {"xyz": [-0.12425193662764533, -0.5711259841918945, 0.08708089979319245], "rgb": [252, 203, 134], "semantic_id": 19, "pcd_info": {"point_index": 205}, "mesh_info": {"face_index": 606, "face_uv": [0.04211983295489942, 0.009279169081061666, 0.948600997964039]}}, {"xyz": [-0.1600351680495533, -0.5711259841918945, -0.25703014428770865], "rgb": [246, 204, 130], "semantic_id": 20, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 2, "face_uv": [0.22527301245521827, 0.4669878592455685, 0.3077391282992132]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2fc6eef6605be9a4550584dfc8970d11", "keypoints": [{"xyz": [0.12854953688496457, 0.19742433269077553, 0.05470449412786027], "rgb": [151, 99, 59], "semantic_id": 0, "pcd_info": {"point_index": 1663}, "mesh_info": {"face_index": 9775, "face_uv": [0.0928243663845372, 0.8959911827206596, 0.011184450894787083]}}, {"xyz": [-0.1290306053762933, 0.20515175800400853, 0.06005812009250677], "rgb": [154, 103, 60], "semantic_id": 1, "pcd_info": {"point_index": 1733}, "mesh_info": {"face_index": 15336, "face_uv": [0.45618989845507074, 0.33505075380546095, 0.208759347739469]}}, {"xyz": [0.15280294641539235, -0.1289759180369392, 0.019147849063356093], "rgb": [159, 106, 62], "semantic_id": 2, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 15801, "face_uv": [0.6242064078759642, 0.013531423815780349, 0.3622621683082531]}}, {"xyz": [-0.15215914145404016, -0.1272645214959902, 0.02055497714165666], "rgb": [154, 102, 58], "semantic_id": 3, "pcd_info": {"point_index": 1005}, "mesh_info": {"face_index": 17036, "face_uv": [0.3382073073277465, 0.32646491144103706, 0.3353277812312145]}}, {"xyz": [0.15752111296120155, -0.1372403808142661, -0.31927826446439145], "rgb": [147, 97, 56], "semantic_id": 4, "pcd_info": {"point_index": 1123}, "mesh_info": {"face_index": 16385, "face_uv": [0.3086662119831518, 0.29913605943062493, 0.39219772858622265]}}, {"xyz": [-0.1546752140771241, -0.13617903524465158, -0.31817185432120887], "rgb": [151, 101, 59], "semantic_id": 5, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 17632, "face_uv": [0.3272340674540504, 0.5104953946248089, 0.16227053792114168]}}, {"xyz": [0.16662321419519055, -0.5388730168342595, -0.3579001648536032], "rgb": [166, 116, 67], "semantic_id": 17, "pcd_info": {"point_index": 1471}, "mesh_info": {"face_index": 16581, "face_uv": [0.22571149185046202, 0.21448229172011535, 0.5598062164294234]}}, {"xyz": [0.19542856522299, -0.5388730168342595, 0.1360021928729782], "rgb": [161, 108, 64], "semantic_id": 18, "pcd_info": {"point_index": 617}, "mesh_info": {"face_index": 16699, "face_uv": [0.2281016621534264, 0.33282374180935076, 0.43907459603722365]}}, {"xyz": [-0.18900908777263448, -0.538873016834259, 0.14235564501110254], "rgb": [164, 111, 67], "semantic_id": 19, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 17940, "face_uv": [0.4293235981056878, 0.3007266029302338, 0.2699497989640784]}}, {"xyz": [-0.1753933955265612, -0.538873016834259, -0.3683571889238234], "rgb": [156, 107, 62], "semantic_id": 20, "pcd_info": {"point_index": 459}, "mesh_info": {"face_index": 17841, "face_uv": [0.318931366869265, 0.38300805874049, 0.298060574390245]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fa8f7c225d3b9f1def4a09e7eb872bd9", "keypoints": [{"xyz": [0.17430623391493766, 0.5171156166220701, 0.1781083120785758], "rgb": [230, 237, 223], "semantic_id": 0, "pcd_info": {"point_index": 297}, "mesh_info": {"face_index": 179, "face_uv": [0.9437533995863868, 0.025661098352029416, 0.03058550206158442]}}, {"xyz": [-0.15766535965244025, 0.5155920538060859, 0.17798642514056584], "rgb": [230, 237, 223], "semantic_id": 1, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 166, "face_uv": [0.0033770159807028468, 0.025758462012584485, 0.9708645220067125]}}, {"xyz": [0.16845056990738344, 0.11610798061828143, 0.09628640894991292], "rgb": [230, 237, 223], "semantic_id": 2, "pcd_info": {"point_index": 132}, "mesh_info": {"face_index": 208, "face_uv": [0.0472306993982074, 0.8744996000366536, 0.07826970056513972]}}, {"xyz": [-0.15045255922499157, 0.116174129992197, 0.09485302192946254], "rgb": [230, 237, 223], "semantic_id": 3, "pcd_info": {"point_index": 245}, "mesh_info": {"face_index": 197, "face_uv": [0.8244473752902443, 0.12929119560246177, 0.046261429107294846]}}, {"xyz": [0.17383149964680794, 0.13121417036952399, -0.23104875744965647], "rgb": [229, 236, 222], "semantic_id": 4, "pcd_info": {"point_index": 2038}, "mesh_info": {"face_index": 208, "face_uv": [0.03193497251707487, 0.008815242907138341, 0.9592497845757865]}}, {"xyz": [-0.15493883527153562, 0.1291259290267055, -0.2343820035457611], "rgb": [231, 237, 224], "semantic_id": 5, "pcd_info": {"point_index": 1385}, "mesh_info": {"face_index": 215, "face_uv": [0.017639053144617153, 0.03350882752275099, 0.9488521193326318]}}, {"xyz": [0.17493831198181048, -0.30213505302896204, -0.21352900564670563], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 2004}, "mesh_info": {"face_index": 61, "face_uv": [0.016267562183590427, 0.5143061635418127, 0.4694262742745969]}}, {"xyz": [0.17229288445536706, -0.30628612332049254, 0.1613840013742447], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 17, "face_uv": [0.6125606879439066, 0.004921791937514924, 0.38251752011857837]}}, {"xyz": [-0.15945039127854205, -0.3033235355145598, 0.1613840013742449], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 783}, "mesh_info": {"face_index": 74, "face_uv": [0.6386276582987552, 0.3489648630307626, 0.012407478670483531]}}, {"xyz": [-0.15724468179871376, -0.303289642023439, -0.21352900564670585], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 661}, "mesh_info": {"face_index": 54, "face_uv": [0.545255857740891, 0.013187960186214135, 0.4415561820728959]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5c247c042e5fa6077b712dacb1db0737", "keypoints": [{"xyz": [0.2041373286135734, 0.4150093600908135, 0.12865599989891052], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 131}, "mesh_info": {"face_index": 792, "face_uv": [0.014032863241622793, 0.00875673005664678, 0.9772104067017302]}}, {"xyz": [-0.20287142897447333, 0.4110951514505282, 0.12865599989891052], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 462, "face_uv": [0.050716096241804384, 0.91327581276145, 0.03600809099674549]}}, {"xyz": [0.2067914298206672, -0.08520840181068934, 0.13395516684403996], "rgb": [128, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1823}, "mesh_info": {"face_index": 213, "face_uv": [0.03415491182297707, 0.0010131733000269378, 0.9648319148769968]}}, {"xyz": [-0.20391265918278603, -0.08235365767741132, 0.1290093511435484], "rgb": [127, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 1728}, "mesh_info": {"face_index": 1, "face_uv": [0.006829500827105434, 0.8628658496279674, 0.13030464954492563]}}, {"xyz": [0.20519333347312244, -0.08619300276041031, -0.28089265415963693], "rgb": [137, 19, 19], "semantic_id": 4, "pcd_info": {"point_index": 995}, "mesh_info": {"face_index": 186, "face_uv": [0.005544219122801553, 0.07543519350649, 0.9190205873707084]}}, {"xyz": [-0.2049432340562848, -0.08470880506535683, -0.2787397985420563], "rgb": [127, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1864}, "mesh_info": {"face_index": 177, "face_uv": [0.9437995779777231, 0.003187685345766972, 0.05301273667650819]}}, {"xyz": [0.19210229384083888, -0.37178099155426025, -0.27502995377383566], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1304}, "mesh_info": {"face_index": 690, "face_uv": [0.1113880499383567, 0.5398845838419087, 0.34872736621973455]}}, {"xyz": [0.20487784287358302, -0.3661406622027159, 0.11812900006771099], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1689}, "mesh_info": {"face_index": 751, "face_uv": [0.020649958044071128, 0.5482658759910596, 0.43108416596487015]}}, {"xyz": [-0.19712143257745707, -0.37178099155426025, 0.12588650851897554], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 689}, "mesh_info": {"face_index": 358, "face_uv": [0.09605381146277506, 0.2979073596706013, 0.6060388288666236]}}, {"xyz": [-0.19105376844831867, -0.37178099155426025, -0.2736079626432313], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1076}, "mesh_info": {"face_index": 696, "face_uv": [0.018346700461385437, 0.4055053737459935, 0.5761479257926211]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9e5e03508b204754c2b64c0adffbe398", "keypoints": [{"xyz": [0.16552799449848452, 0.41901542842912093, 0.06340840984422491], "rgb": [207, 170, 108], "semantic_id": 0, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 1030, "face_uv": [0.2808019556023516, 0.7012789427414401, 0.0179191016562088]}}, {"xyz": [-0.16417277800819552, 0.41706300584741635, 0.062265559554252725], "rgb": [209, 171, 109], "semantic_id": 1, "pcd_info": {"point_index": 674}, "mesh_info": {"face_index": 431, "face_uv": [0.28485413035748336, 0.5069370140831335, 0.20820885555938173]}}, {"xyz": [0.16316669270685924, -0.012504631675087197, -0.020459405788828988], "rgb": [211, 173, 110], "semantic_id": 2, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 312, "face_uv": [0.3472989389035147, 0.4918613316322921, 0.16083972946418107]}}, {"xyz": [-0.16639429568696049, -0.013166000135242939, -0.02961909234627158], "rgb": [192, 152, 89], "semantic_id": 3, "pcd_info": {"point_index": 1707}, "mesh_info": {"face_index": 272, "face_uv": [0.0016614182503636044, 0.013866519615021161, 0.9844720621346152]}}, {"xyz": [0.1681265983545101, -0.014567216036086128, -0.3847920000553131], "rgb": [195, 156, 91], "semantic_id": 4, "pcd_info": {"point_index": 821}, "mesh_info": {"face_index": 791, "face_uv": [0.9365254867366996, 0.05722285116577604, 0.00625166209752442]}}, {"xyz": [-0.16667144384754265, -0.013166000135242939, -0.3806597774754974], "rgb": [179, 135, 70], "semantic_id": 5, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 272, "face_uv": [0.9754881803958397, 0.013058080886896008, 0.01145373871726409]}}, {"xyz": [0.16175924142503809, -0.38863301277160645, -0.3690049251766161], "rgb": [197, 157, 94], "semantic_id": 17, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 673, "face_uv": [0.20838978541783781, 0.40477641961057104, 0.3868337949715912]}}, {"xyz": [0.1571599453736052, -0.38863301277160645, -0.024383406581765188], "rgb": [203, 164, 102], "semantic_id": 18, "pcd_info": {"point_index": 1323}, "mesh_info": {"face_index": 37, "face_uv": [0.23102505156679043, 0.5926024235911993, 0.17637252484201021]}}, {"xyz": [-0.15670221179442698, -0.38863301277160645, -0.015358746318795857], "rgb": [196, 157, 94], "semantic_id": 19, "pcd_info": {"point_index": 768}, "mesh_info": {"face_index": 46, "face_uv": [0.4521526590648864, 0.410062964842828, 0.1377843760922856]}}, {"xyz": [-0.15985146216369583, -0.38657356026898915, -0.3847920000553129], "rgb": [198, 159, 94], "semantic_id": 20, "pcd_info": {"point_index": 976}, "mesh_info": {"face_index": 204, "face_uv": [0.5386720184413724, 0.0066397751781322855, 0.45468820638049484]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5822ae77b06bea3091da37ff8bdd2524", "keypoints": [{"xyz": [0.18526534785498341, 0.5892390012741089, 0.18411311540326697], "rgb": [152, 152, 152], "semantic_id": 0, "pcd_info": {"point_index": 1463}, "mesh_info": {"face_index": 98, "face_uv": [0.05159739657403008, 0.4646614943418408, 0.48374110908412915]}}, {"xyz": [-0.20115118681346816, 0.5892390012741089, 0.18214469959957674], "rgb": [121, 121, 121], "semantic_id": 1, "pcd_info": {"point_index": 892}, "mesh_info": {"face_index": 123, "face_uv": [0.4193492211345259, 0.5695563472268911, 0.011094431638583088]}}, {"xyz": [0.18254991007738453, 0.12038599699735619, 0.11446082543014141], "rgb": [111, 111, 111], "semantic_id": 2, "pcd_info": {"point_index": 1535}, "mesh_info": {"face_index": 28, "face_uv": [0.05818407646625317, 0.8959689527942114, 0.045846970739533636]}}, {"xyz": [-0.1830688633246369, 0.12038599699735619, 0.10743861656719728], "rgb": [206, 206, 206], "semantic_id": 3, "pcd_info": {"point_index": 1454}, "mesh_info": {"face_index": 39, "face_uv": [0.8239934546969931, 0.12105087054881276, 0.0549556747541924]}}, {"xyz": [0.18910176406209472, 0.12038599699735641, -0.2440439309497249], "rgb": [101, 101, 101], "semantic_id": 4, "pcd_info": {"point_index": 1243}, "mesh_info": {"face_index": 28, "face_uv": [0.042291624334267246, 0.027056087866741248, 0.9306522877989915]}}, {"xyz": [-0.18766195357135507, 0.12038599699735641, -0.24662547609151586], "rgb": [226, 226, 226], "semantic_id": 5, "pcd_info": {"point_index": 88}, "mesh_info": {"face_index": 28, "face_uv": [0.9561855178081274, 0.02079916171673954, 0.02301532047513298]}}, {"xyz": [0.15914908963425484, -0.1911650002002716, -0.21264258105254719], "rgb": [175, 175, 175], "semantic_id": 17, "pcd_info": {"point_index": 1729}, "mesh_info": {"face_index": 1, "face_uv": [0.30737662012709205, 0.6142850271257095, 0.0783383527471984]}}, {"xyz": [0.16162718601223308, -0.1911650002002715, 0.18425033644267197], "rgb": [151, 151, 151], "semantic_id": 18, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 107, "face_uv": [0.032411456942018545, 0.5450358991093008, 0.42255264394868003]}}, {"xyz": [-0.1808887106034529, -0.19116500020027183, 0.19749302271353464], "rgb": [203, 203, 203], "semantic_id": 19, "pcd_info": {"point_index": 935}, "mesh_info": {"face_index": 131, "face_uv": [0.06454667267138745, 0.2584471714436261, 0.6770061558849876]}}, {"xyz": [-0.17978484169198888, -0.1911650002002716, -0.220941020117901], "rgb": [128, 128, 128], "semantic_id": 20, "pcd_info": {"point_index": 309}, "mesh_info": {"face_index": 94, "face_uv": [0.39517622734038876, 0.4945228705315472, 0.11030090212806398]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "41660fd9cba4d5b72f4413c96d686e51", "keypoints": [{"xyz": [0.14886416242584294, 0.1837912742214991, 0.002626580115943078], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 192}, "mesh_info": {"face_index": 2002, "face_uv": [0.6057990428248583, 0.005051870575148801, 0.38914908659999287]}}, {"xyz": [-0.1406553406568581, 0.1857902944570058, 0.0011723385347943704], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1312}, "mesh_info": {"face_index": 223, "face_uv": [0.42180738953612495, 0.09381781048216328, 0.48437479998171173]}}, {"xyz": [0.1370771165453532, -0.13077999651432037, -0.03327673054962471], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 617}, "mesh_info": {"face_index": 1803, "face_uv": [0.9235049729077992, 0.037047398610455966, 0.039447628481744795]}}, {"xyz": [-0.12850394716971197, -0.13077999651432037, -0.03166105087704396], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1422}, "mesh_info": {"face_index": 155, "face_uv": [0.9535612026582092, 0.030169473206828886, 0.016269324134961814]}}, {"xyz": [0.14105990339198998, -0.13077999651432037, -0.24636086463328807], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1450}, "mesh_info": {"face_index": 1803, "face_uv": [0.03011734820927551, 0.9441435289856804, 0.0257391228050442]}}, {"xyz": [-0.12949335117515326, -0.1307799965143206, -0.24364754449714976], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 2044}, "mesh_info": {"face_index": 1771, "face_uv": [0.8895596337009828, 0.0674070362713005, 0.043033330027718336]}}, {"xyz": [0.18044387313470484, -0.019797999411821587, -0.21226205891472863], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 275}, "mesh_info": {"face_index": 537, "face_uv": [0.43449539311499186, 0.05967903009052273, 0.5058255767944967]}}, {"xyz": [0.1705115952212825, 0.012876678952878251, -0.024574000388383865], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 300}, "mesh_info": {"face_index": 445, "face_uv": [0.15968233266094745, 0.499979394541448, 0.3403382727976045]}}, {"xyz": [-0.17722462219212182, -0.019797999411821365, -0.21516925972510847], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 878}, "mesh_info": {"face_index": 239, "face_uv": [0.45435276253130613, 0.04511389522150452, 0.5005333422471894]}}, {"xyz": [-0.17153911389579385, -0.019797999411821365, -0.029855051921558684], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1077}, "mesh_info": {"face_index": 163, "face_uv": [0.45758584388975565, 0.029768168496605345, 0.512645987613639]}}, {"xyz": [0.1240316195222586, -0.5050439834594727, -0.24154057577799437], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 318}, "mesh_info": {"face_index": 1929, "face_uv": [0.10899815455703206, 0.37161185303803485, 0.5193899924049331]}}, {"xyz": [0.11970988421462107, -0.5, -0.008966199786605678], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 601}, "mesh_info": {"face_index": 1789, "face_uv": [0.04213620048330752, 0.35050866845451173, 0.6073551310621808]}}, {"xyz": [-0.11330915597205125, -0.5050439834594727, 0.0024729374828948714], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1756}, "mesh_info": {"face_index": 1, "face_uv": [0.5693189646538971, 0.3925994814443143, 0.03808155390178861]}}, {"xyz": [-0.1236045446187741, -0.5050439834594727, -0.23838987672447084], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1039}, "mesh_info": {"face_index": 1801, "face_uv": [0.0878073218655176, 0.5631292611145375, 0.34906341701994487]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "33fa27b08aee4432e8f8c11a24c52ebb", "keypoints": [{"xyz": [0.14989472595007236, 0.3308138335784816, 0.15255781689308523], "rgb": [254, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 375}, "mesh_info": {"face_index": 19189, "face_uv": [0.09514983028100132, 0.5938793959095424, 0.3109707738094555]}}, {"xyz": [-0.16917898599665956, 0.3317676586671372, 0.15260837926802107], "rgb": [255, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 631}, "mesh_info": {"face_index": 22055, "face_uv": [0.29025514584377304, 0.34070258913720375, 0.36904226501902365]}}, {"xyz": [0.16839752412463718, -0.0194712083222901, 0.1383875218533659], "rgb": [182, 182, 182], "semantic_id": 2, "pcd_info": {"point_index": 95}, "mesh_info": {"face_index": 1789, "face_uv": [0.5292117624034953, 0.19729767351301694, 0.273490564083488]}}, {"xyz": [-0.18108002453263383, -0.01793299987912156, 0.13502652648274616], "rgb": [181, 181, 181], "semantic_id": 3, "pcd_info": {"point_index": 1858}, "mesh_info": {"face_index": 15767, "face_uv": [0.06857911039923983, 0.2684027544048635, 0.6630181351958844]}}, {"xyz": [0.1812780136205581, -0.012351858422802175, -0.2423847457735857], "rgb": [255, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1088}, "mesh_info": {"face_index": 5033, "face_uv": [0.17930868380441084, 0.08676365086445686, 0.733927665331135]}}, {"xyz": [-0.19689895744563907, -0.018633998763561088, -0.24528136641314502], "rgb": [255, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1937}, "mesh_info": {"face_index": 4549, "face_uv": [0.1955950594546015, 0.02704248318852752, 0.7773624573568718]}}, {"xyz": [0.2248921724642702, 0.1563978295495989, -0.21814228960651066], "rgb": [112, 112, 112], "semantic_id": 6, "pcd_info": {"point_index": 333}, "mesh_info": {"face_index": 17711, "face_uv": [0.5048161596498372, 0.019355955651239848, 0.4758278846989215]}}, {"xyz": [0.21110742983531897, 0.15853279614059756, 0.05668554775690804], "rgb": [45, 45, 45], "semantic_id": 7, "pcd_info": {"point_index": 344}, "mesh_info": {"face_index": 16296, "face_uv": [0.5908985758561116, 0.3987220462684456, 0.010379377875446901]}}, {"xyz": [-0.24085047446714428, 0.15678809252374704, -0.2220482764692877], "rgb": [182, 182, 182], "semantic_id": 8, "pcd_info": {"point_index": 945}, "mesh_info": {"face_index": 1229, "face_uv": [0.0847923663569699, 0.35037834225502795, 0.5648292913880026]}}, {"xyz": [-0.23366163403420415, 0.15959845615649115, 0.05182692902499342], "rgb": [45, 45, 45], "semantic_id": 9, "pcd_info": {"point_index": 562}, "mesh_info": {"face_index": 16144, "face_uv": [0.5990771040541236, 0.36993112182660987, 0.03099177411926663]}}, {"xyz": [0.20395444668625523, -0.39267006312382824, -0.23131270182946428], "rgb": [44, 44, 44], "semantic_id": 17, "pcd_info": {"point_index": 77}, "mesh_info": {"face_index": 14206, "face_uv": [0.05390506905469154, 0.32386969778313585, 0.6222252331621719]}}, {"xyz": [0.1889069542433604, -0.39045365853184166, 0.20962693544724442], "rgb": [44, 44, 44], "semantic_id": 18, "pcd_info": {"point_index": 487}, "mesh_info": {"face_index": 14997, "face_uv": [0.1640747968026043, 0.3208708417505705, 0.5150543614468233]}}, {"xyz": [-0.20880238412990026, -0.3923515986104984, 0.21817740836058963], "rgb": [45, 45, 45], "semantic_id": 19, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 9893, "face_uv": [0.05931226422053827, 0.6571813666255627, 0.2835063691538997]}}, {"xyz": [-0.2230750399978966, -0.39324446358412257, -0.24519235382569482], "rgb": [45, 45, 45], "semantic_id": 20, "pcd_info": {"point_index": 1246}, "mesh_info": {"face_index": 10882, "face_uv": [0.33517215742524203, 0.1429819117179946, 0.5218459308567636]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "73fee38797aeced4de03ab2a27ba7531", "keypoints": [{"xyz": [0.09057285394182249, 0.3353891192982932, 0.17466906924745196], "rgb": [242, 242, 242], "semantic_id": 0, "pcd_info": {"point_index": 900}, "mesh_info": {"face_index": 6003, "face_uv": [0.5685819524774371, 0.1518936988552867, 0.27952434866728165]}}, {"xyz": [-0.07977419041632489, 0.33152411246241964, 0.1802740036484365], "rgb": [242, 242, 242], "semantic_id": 1, "pcd_info": {"point_index": 1394}, "mesh_info": {"face_index": 13048, "face_uv": [0.007207364195556978, 0.7042554437298659, 0.28853719207457795]}}, {"xyz": [0.16391077174653929, 0.013393560729864529, 0.10241772860757559], "rgb": [242, 242, 242], "semantic_id": 2, "pcd_info": {"point_index": 9}, "mesh_info": {"face_index": 16611, "face_uv": [0.18790086298126227, 0.2872448848395406, 0.5248542521791971]}}, {"xyz": [-0.15862391601111078, 0.0037759102743739614, 0.10498925047817509], "rgb": [242, 242, 242], "semantic_id": 3, "pcd_info": {"point_index": 138}, "mesh_info": {"face_index": 1861, "face_uv": [0.1429333680283887, 0.14945274213933094, 0.7076138898322809]}}, {"xyz": [0.16923916137096556, -0.014369862234296038, -0.22370666722011534], "rgb": [242, 242, 242], "semantic_id": 4, "pcd_info": {"point_index": 247}, "mesh_info": {"face_index": 19401, "face_uv": [0.2402505722968304, 0.25840341394705396, 0.501346013756123]}}, {"xyz": [-0.18640143600971437, -0.013866847652602265, -0.21162626413266428], "rgb": [242, 242, 242], "semantic_id": 5, "pcd_info": {"point_index": 1302}, "mesh_info": {"face_index": 3629, "face_uv": [0.6684143395842459, 0.24204248005415885, 0.08954318036159632]}}, {"xyz": [0.17355057559914583, -0.40003630233055976, -0.2135381361046439], "rgb": [81, 74, 66], "semantic_id": 17, "pcd_info": {"point_index": 799}, "mesh_info": {"face_index": 24826, "face_uv": [0.31374959236715416, 0.4085765142614484, 0.27767389337139853]}}, {"xyz": [0.16978595756377363, -0.40306385395973887, 0.11244773477394882], "rgb": [82, 73, 64], "semantic_id": 18, "pcd_info": {"point_index": 75}, "mesh_info": {"face_index": 24381, "face_uv": [0.19112614878617634, 0.14749880437929955, 0.6613750468345235]}}, {"xyz": [-0.16183718099163552, -0.40366848178860226, 0.11379162868744791], "rgb": [84, 74, 65], "semantic_id": 19, "pcd_info": {"point_index": 1352}, "mesh_info": {"face_index": 24128, "face_uv": [0.23432753265658224, 0.2126524943933466, 0.5530199729500713]}}, {"xyz": [-0.16234905118453735, -0.403671641079856, -0.2063604020075629], "rgb": [78, 69, 60], "semantic_id": 20, "pcd_info": {"point_index": 1988}, "mesh_info": {"face_index": 24614, "face_uv": [0.1928551545984756, 0.09500952736348355, 0.7121353180380405]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2d701c588b3bbbc458c88d30f502a452", "keypoints": [{"xyz": [0.17674368618799752, 0.21188281953846744, 0.13328663202611313], "rgb": [111, 111, 111], "semantic_id": 0, "pcd_info": {"point_index": 174}, "mesh_info": {"face_index": 2124, "face_uv": [0.01226122297769536, 0.36021281264780386, 0.6275259643744968]}}, {"xyz": [-0.1771801197420527, 0.20818534100847286, 0.12809567321500648], "rgb": [112, 112, 112], "semantic_id": 1, "pcd_info": {"point_index": 313}, "mesh_info": {"face_index": 1960, "face_uv": [0.5472092902995959, 0.36797247705650155, 0.0848182326439032]}}, {"xyz": [0.17247899865421035, 0.017440583276451704, 0.07401567226655459], "rgb": [112, 112, 112], "semantic_id": 2, "pcd_info": {"point_index": 616}, "mesh_info": {"face_index": 2432, "face_uv": [0.76441731325867, 0.19841629905203204, 0.0371663876892985]}}, {"xyz": [-0.17218793488844464, 0.01575916134755584, 0.0687015967305028], "rgb": [112, 112, 112], "semantic_id": 3, "pcd_info": {"point_index": 1650}, "mesh_info": {"face_index": 2317, "face_uv": [0.23166595408673007, 0.5095087546479247, 0.25882529126535164]}}, {"xyz": [0.19647856988163515, 0.029463230879760882, -0.16356379850022207], "rgb": [58, 58, 99], "semantic_id": 4, "pcd_info": {"point_index": 182}, "mesh_info": {"face_index": 13300, "face_uv": [0.05719337207418463, 0.1560552799067563, 0.7867513480190585]}}, {"xyz": [-0.19248879906147673, 0.03341534626316589, -0.16835536227337844], "rgb": [59, 59, 100], "semantic_id": 5, "pcd_info": {"point_index": 1284}, "mesh_info": {"face_index": 12787, "face_uv": [0.8459010326557913, 0.1377411564640778, 0.016357810880132276]}}, {"xyz": [0.15257673505966385, -0.5462880134582517, -0.2034347371354157], "rgb": [62, 62, 62], "semantic_id": 17, "pcd_info": {"point_index": 1310}, "mesh_info": {"face_index": 12040, "face_uv": [0.0847503702253861, 0.5590501474902506, 0.35619948228436293]}}, {"xyz": [0.1352361034172007, -0.546288013458252, 0.13421742828610428], "rgb": [63, 63, 63], "semantic_id": 18, "pcd_info": {"point_index": 867}, "mesh_info": {"face_index": 12316, "face_uv": [0.18386434358117276, 0.7204303992945796, 0.09570525712424757]}}, {"xyz": [-0.1284787799219872, -0.546288013458252, 0.13547936226528778], "rgb": [63, 63, 63], "semantic_id": 19, "pcd_info": {"point_index": 144}, "mesh_info": {"face_index": 12216, "face_uv": [0.02160709733588745, 0.9061210677800767, 0.07227183488403587]}}, {"xyz": [-0.14963383643060638, -0.5462880134582522, -0.20599830547806525], "rgb": [63, 63, 63], "semantic_id": 20, "pcd_info": {"point_index": 219}, "mesh_info": {"face_index": 12123, "face_uv": [0.7450439114817927, 0.09702285594862918, 0.15793323256957847]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4231883e92a3c1a21c62d11641ffbd35", "keypoints": [{"xyz": [0.15825712721720783, 0.4803999960422516, 0.012520647412392893], "rgb": [255, 204, 49], "semantic_id": 0, "pcd_info": {"point_index": 1168}, "mesh_info": {"face_index": 199, "face_uv": [0.06040613652525944, 0.07445228235995693, 0.8651415811147837]}}, {"xyz": [-0.15824567729961891, 0.4803999960422515, 0.018268512901112643], "rgb": [254, 203, 48], "semantic_id": 1, "pcd_info": {"point_index": 1413}, "mesh_info": {"face_index": 393, "face_uv": [0.13789758226766957, 0.8263896390386546, 0.035712778693675624]}}, {"xyz": [0.13413804640852348, 0.07084882684739324, 0.055345550924561726], "rgb": [254, 190, 0], "semantic_id": 2, "pcd_info": {"point_index": 1033}, "mesh_info": {"face_index": 2510, "face_uv": [0.7124415369689318, 0.01719540769799225, 0.2703630553330696]}}, {"xyz": [-0.13008629902609864, 0.06799888715449054, 0.06465917134266785], "rgb": [254, 190, 0], "semantic_id": 3, "pcd_info": {"point_index": 1335}, "mesh_info": {"face_index": 2062, "face_uv": [0.08629251287746208, 0.008559750067674463, 0.9051477370548631]}}, {"xyz": [0.16965831908443058, 0.037103955904923325, -0.23175510019582246], "rgb": [254, 203, 48], "semantic_id": 4, "pcd_info": {"point_index": 1408}, "mesh_info": {"face_index": 42, "face_uv": [0.9677990086517566, 0.01601394338730674, 0.01618704796093573]}}, {"xyz": [-0.17415262050149152, 0.036628601129471305, -0.23223042212377187], "rgb": [255, 204, 49], "semantic_id": 5, "pcd_info": {"point_index": 31}, "mesh_info": {"face_index": 44, "face_uv": [0.015811708029891687, 0.08639432267551227, 0.8977939692945963]}}, {"xyz": [0.14458929148417676, -0.34045401215553284, -0.19865905861122338], "rgb": [255, 204, 49], "semantic_id": 17, "pcd_info": {"point_index": 74}, "mesh_info": {"face_index": 1204, "face_uv": [0.4298272180125262, 0.43217447973432116, 0.13799830225315257]}}, {"xyz": [0.141261255999933, -0.34045401215553284, 0.07345832736909219], "rgb": [255, 204, 49], "semantic_id": 18, "pcd_info": {"point_index": 386}, "mesh_info": {"face_index": 2004, "face_uv": [0.5684838044902839, 0.028025571940538976, 0.40349062356917714]}}, {"xyz": [-0.15553695982546145, -0.3404540121555324, 0.06193979387526022], "rgb": [254, 203, 48], "semantic_id": 19, "pcd_info": {"point_index": 1690}, "mesh_info": {"face_index": 1606, "face_uv": [0.04912478959174435, 0.4920754633606277, 0.45879974704762666]}}, {"xyz": [-0.13965989975242155, -0.34045401215553284, -0.19442602552730404], "rgb": [255, 204, 49], "semantic_id": 20, "pcd_info": {"point_index": 1593}, "mesh_info": {"face_index": 804, "face_uv": [0.2893586676055401, 0.25581280311083915, 0.4548285292836208]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8f0deb6b599006a22cc460e9d064e57d", "keypoints": [{"xyz": [0.27029535157000895, 0.3506611778534239, 0.35231512411874066], "rgb": [24, 14, 5], "semantic_id": 0, "pcd_info": {"point_index": 416}, "mesh_info": {"face_index": 47623, "face_uv": [0.005132386822100216, 0.784213069581738, 0.21065454359616098]}}, {"xyz": [-0.27431323184732254, 0.3516147697429446, 0.35928291182291316], "rgb": [18, 10, 4], "semantic_id": 1, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 48049, "face_uv": [0.07369967597342827, 0.4925568347662478, 0.4337434892603239]}}, {"xyz": [0.22771864684551008, 0.0913408116089569, 0.22203466620916423], "rgb": [238, 238, 238], "semantic_id": 2, "pcd_info": {"point_index": 1648}, "mesh_info": {"face_index": 34231, "face_uv": [0.24963946322533312, 0.6600133427915876, 0.09034719398307839]}}, {"xyz": [-0.22773099310324313, 0.09904895630890742, 0.2201185651495372], "rgb": [234, 234, 234], "semantic_id": 3, "pcd_info": {"point_index": 749}, "mesh_info": {"face_index": 39447, "face_uv": [0.29959663371314105, 0.2592164412401333, 0.4411869250467266]}}, {"xyz": [0.23042775694036513, 0.022297000512480736, -0.19800817962513295], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 348}, "mesh_info": {"face_index": 50710, "face_uv": [0.18013078168947863, 0.8025241484445541, 0.01734506986596711]}}, {"xyz": [-0.23159032065214294, 0.022297000512480625, -0.1935592373721844], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1938}, "mesh_info": {"face_index": 50713, "face_uv": [0.6757552005190365, 0.3101685791291616, 0.014076220351796936]}}, {"xyz": [0.25770871006073, 0.20495378277172627, -0.1200637922917378], "rgb": [16, 9, 2], "semantic_id": 6, "pcd_info": {"point_index": 1591}, "mesh_info": {"face_index": 45611, "face_uv": [0.3956546693667535, 0.1155572840007133, 0.48878804663253195]}}, {"xyz": [0.25747181816679077, 0.22679563179744178, 0.2419113431391633], "rgb": [20, 11, 7], "semantic_id": 7, "pcd_info": {"point_index": 123}, "mesh_info": {"face_index": 46877, "face_uv": [0.33514682105432375, 0.5029301828511079, 0.16192299609456912]}}, {"xyz": [-0.25676435734494424, 0.21055055450182003, -0.11533783322275826], "rgb": [22, 12, 6], "semantic_id": 8, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 49472, "face_uv": [0.525107468756816, 0.39468126203825904, 0.08021126920492516]}}, {"xyz": [-0.26341947509619806, 0.2209152147525575, 0.22414240232313953], "rgb": [22, 14, 8], "semantic_id": 9, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 49174, "face_uv": [0.7075645301975401, 0.10065469194016201, 0.19178077786229863]}}, {"xyz": [0.2563919171246819, -0.16971612643836811, -0.21690970080272676], "rgb": [17, 9, 5], "semantic_id": 17, "pcd_info": {"point_index": 21}, "mesh_info": {"face_index": 49808, "face_uv": [0.46517670609687284, 0.19256205751981417, 0.3422612363833127]}}, {"xyz": [0.2672039779696338, -0.1774892951961249, 0.3022614101888259], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 741}, "mesh_info": {"face_index": 47298, "face_uv": [0.20910960025841388, 0.0069276407922277405, 0.7839627589493576]}}, {"xyz": [-0.26246650229614915, -0.1753255679031236, 0.30210265996575303], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 59}, "mesh_info": {"face_index": 47347, "face_uv": [0.5340844223555252, 0.43432192356669735, 0.031593654077777776]}}, {"xyz": [-0.25567452261777274, -0.17809699475765228, -0.21103400345943824], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1093}, "mesh_info": {"face_index": 50132, "face_uv": [0.17940925732262494, 0.4494345086954516, 0.37115623398192343]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "37c5d67f97a2231cf51f77a6d7299806", "keypoints": [{"xyz": [0.18884256114625936, 0.43476398917142767, 0.15160138982106952], "rgb": [175, 84, 28], "semantic_id": 0, "pcd_info": {"point_index": 1104}, "mesh_info": {"face_index": 16145, "face_uv": [0.6990367912265982, 0.04706714758089609, 0.2538960611925059]}}, {"xyz": [-0.18212303952540465, 0.43679071562157823, 0.15332772165445918], "rgb": [174, 83, 27], "semantic_id": 1, "pcd_info": {"point_index": 1931}, "mesh_info": {"face_index": 9286, "face_uv": [0.13200918109148949, 0.2682991357876945, 0.5996916831208157]}}, {"xyz": [0.14604847710170032, 0.0689689964056015, 0.09159700251935099], "rgb": [174, 84, 28], "semantic_id": 2, "pcd_info": {"point_index": 1293}, "mesh_info": {"face_index": 109, "face_uv": [0.7567879638633994, 0.2125029527645672, 0.0307090833720333]}}, {"xyz": [-0.13563247169740542, 0.0689689964056015, 0.09707819974441922], "rgb": [174, 84, 27], "semantic_id": 3, "pcd_info": {"point_index": 112}, "mesh_info": {"face_index": 325, "face_uv": [0.5463836884770525, 0.45132698661416926, 0.002289324908778152]}}, {"xyz": [0.14875612550343859, 0.06896899640560172, -0.17917406764838706], "rgb": [175, 84, 28], "semantic_id": 4, "pcd_info": {"point_index": 1837}, "mesh_info": {"face_index": 108, "face_uv": [0.0935504271494134, 0.8954490956189356, 0.011000477231654388]}}, {"xyz": [-0.14873130247298946, 0.0689689964056015, -0.17835617281406613], "rgb": [175, 84, 28], "semantic_id": 5, "pcd_info": {"point_index": 285}, "mesh_info": {"face_index": 340, "face_uv": [0.13786330548514367, 0.721817858077707, 0.14031883643714935]}}, {"xyz": [0.1598699524944119, -0.3637472976539018, -0.17388517886244143], "rgb": [174, 83, 27], "semantic_id": 17, "pcd_info": {"point_index": 70}, "mesh_info": {"face_index": 25442, "face_uv": [0.33592405424467087, 0.1334212630611158, 0.5306546826942131]}}, {"xyz": [0.15947442392555206, -0.36378900714071527, 0.1262631969427811], "rgb": [174, 83, 27], "semantic_id": 18, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 10903, "face_uv": [0.5093449837631968, 0.1986260768844241, 0.29202893935237834]}}, {"xyz": [-0.1616099482429196, -0.3630206220322185, 0.12967974515463182], "rgb": [174, 83, 27], "semantic_id": 19, "pcd_info": {"point_index": 1922}, "mesh_info": {"face_index": 19718, "face_uv": [0.1658638750143975, 0.3415548486017189, 0.492581276383883]}}, {"xyz": [-0.1611717385042837, -0.36397155437792517, -0.17417820752866942], "rgb": [175, 84, 28], "semantic_id": 20, "pcd_info": {"point_index": 1638}, "mesh_info": {"face_index": 12859, "face_uv": [0.23916220395629886, 0.5133983103424502, 0.2474394857012513]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9058e82b6cd496891e481c46590219a6", "keypoints": [{"xyz": [0.18864276289216494, 0.29312520216194415, 0.13815726224453195], "rgb": [72, 65, 57], "semantic_id": 0, "pcd_info": {"point_index": 1938}, "mesh_info": {"face_index": 45995, "face_uv": [0.05626765349187685, 0.5724348678225959, 0.3712974786855284]}}, {"xyz": [-0.19008832974574535, 0.29796738323275895, 0.1481065766763816], "rgb": [96, 88, 76], "semantic_id": 1, "pcd_info": {"point_index": 4}, "mesh_info": {"face_index": 46362, "face_uv": [0.5107610570732962, 0.375176591016291, 0.11406235191041252]}}, {"xyz": [0.18838943606908737, 0.01951554417323531, 0.07286621908587909], "rgb": [105, 96, 88], "semantic_id": 2, "pcd_info": {"point_index": 1620}, "mesh_info": {"face_index": 49062, "face_uv": [0.5010494528625965, 0.03894515410937989, 0.46000539302802157]}}, {"xyz": [-0.16932332515854373, 0.022280472951667907, 0.06898883677151102], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1103}, "mesh_info": {"face_index": 20097, "face_uv": [0.26744454414575347, 0.449731904772443, 0.2828235510818111]}}, {"xyz": [0.18968864555182272, 0.020951766679347283, -0.2918427123627063], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 20192, "face_uv": [0.2672330375067034, 0.193070479329506, 0.5396964831637929]}}, {"xyz": [-0.19154131586140483, 0.018464837478246565, -0.2959869750992703], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 911}, "mesh_info": {"face_index": 22274, "face_uv": [0.2778814217479292, 0.6449552508761662, 0.0771633273759043]}}, {"xyz": [0.24103691606446825, 0.11570037096845787, -0.27428940779907207], "rgb": [97, 89, 76], "semantic_id": 6, "pcd_info": {"point_index": 1034}, "mesh_info": {"face_index": 32462, "face_uv": [0.003260015112826458, 0.07897318286330791, 0.9177668020238648]}}, {"xyz": [0.2504943078941686, 0.11509921586523109, 0.2646442014601187], "rgb": [96, 88, 76], "semantic_id": 7, "pcd_info": {"point_index": 464}, "mesh_info": {"face_index": 33091, "face_uv": [0.11681242617416504, 0.14706445484728797, 0.7361231189785455]}}, {"xyz": [-0.227278023600297, 0.11550139224134526, -0.2799527234749022], "rgb": [102, 93, 84], "semantic_id": 8, "pcd_info": {"point_index": 1095}, "mesh_info": {"face_index": 12566, "face_uv": [0.22746520046192795, 0.4977897954258583, 0.27474500411221453]}}, {"xyz": [-0.2342067443597547, 0.11556130647092644, 0.2561531140458748], "rgb": [98, 90, 79], "semantic_id": 9, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 11528, "face_uv": [0.39717540890457753, 0.18410226631341964, 0.41872232478200105]}}, {"xyz": [0.22448053121125966, -0.2876800000667572, -0.23105938639626755], "rgb": [191, 191, 191], "semantic_id": 17, "pcd_info": {"point_index": 1208}, "mesh_info": {"face_index": 394, "face_uv": [0.048889834664868376, 0.01712868445494795, 0.9339814808801837]}}, {"xyz": [0.21350095256836676, -0.2876800000667572, 0.21801003903086313], "rgb": [191, 191, 191], "semantic_id": 18, "pcd_info": {"point_index": 325}, "mesh_info": {"face_index": 227, "face_uv": [0.03878937179383903, 0.8489749592571797, 0.11223566894898125]}}, {"xyz": [-0.22452797850255876, -0.2847801873526261, 0.19579918560096543], "rgb": [190, 190, 190], "semantic_id": 19, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 413, "face_uv": [0.7793280167266321, 0.12470574242597773, 0.09596624084738904]}}, {"xyz": [-0.20741138756632255, -0.2876800000667572, -0.2254966132890195], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 222}, "mesh_info": {"face_index": 474, "face_uv": [0.775330916768994, 0.10275476784639047, 0.12191431538461547]}}, {"xyz": [-0.0002584118945441749, -0.171145176471031, -0.026504301037049816], "rgb": [191, 191, 191], "semantic_id": 15, "pcd_info": {"point_index": 51}, "mesh_info": {"face_index": 145, "face_uv": [0.31964721434953836, 0.47721019982939605, 0.20314258582107314]}}, {"xyz": [-0.002851522930937378, -0.2876800000667572, -0.011506638065395647], "rgb": [191, 191, 191], "semantic_id": 16, "pcd_info": {"point_index": 175}, "mesh_info": {"face_index": 161, "face_uv": [0.15752027729072166, 0.2526184297967868, 0.5898612929124916]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "6ea2aabe267b519537b2bb75885cfc44", "keypoints": [{"xyz": [0.11729982736734766, 0.40085243148538363, 0.1632921156204059], "rgb": [188, 188, 188], "semantic_id": 0, "pcd_info": {"point_index": 1249}, "mesh_info": {"face_index": 9845, "face_uv": [0.29163081965808846, 0.22707143837527474, 0.48129774196663655]}}, {"xyz": [-0.11134010936018571, 0.40703193458082854, 0.16764857620434115], "rgb": [188, 188, 188], "semantic_id": 1, "pcd_info": {"point_index": 1520}, "mesh_info": {"face_index": 5378, "face_uv": [0.17020010432047472, 0.47688788261971826, 0.35291201305980546]}}, {"xyz": [0.14741943680194203, 0.020584513608435162, 0.05348935609814509], "rgb": [189, 189, 189], "semantic_id": 2, "pcd_info": {"point_index": 956}, "mesh_info": {"face_index": 5275, "face_uv": [0.8141918540172812, 0.16770709968588987, 0.01810104629682913]}}, {"xyz": [-0.1388497290662979, 0.022343542495716795, 0.06398323221333047], "rgb": [188, 188, 188], "semantic_id": 3, "pcd_info": {"point_index": 1427}, "mesh_info": {"face_index": 5876, "face_uv": [0.19546901291354046, 0.0545556622252808, 0.7499753248611757]}}, {"xyz": [0.14675914593012085, 0.008555319565986819, -0.2672317984948698], "rgb": [189, 189, 189], "semantic_id": 4, "pcd_info": {"point_index": 1819}, "mesh_info": {"face_index": 10919, "face_uv": [0.11856634779134187, 0.604525089260135, 0.2769085629485237]}}, {"xyz": [-0.1620952946189579, 0.001944900709423547, -0.26450340505927805], "rgb": [188, 188, 188], "semantic_id": 5, "pcd_info": {"point_index": 698}, "mesh_info": {"face_index": 5692, "face_uv": [0.5150164811642655, 0.3534686811003148, 0.1315148377354196]}}, {"xyz": [0.1488657535593876, -0.3389439880847931, -0.24737242335279275], "rgb": [175, 96, 28], "semantic_id": 17, "pcd_info": {"point_index": 344}, "mesh_info": {"face_index": 39684, "face_uv": [0.18280489012001078, 0.3061836946506158, 0.5110114152293734]}}, {"xyz": [0.16666223422220752, -0.33917099237442017, 0.16870449556422218], "rgb": [174, 97, 29], "semantic_id": 18, "pcd_info": {"point_index": 1102}, "mesh_info": {"face_index": 39740, "face_uv": [0.0017263978998758893, 0.3655316374174161, 0.632741964682708]}}, {"xyz": [-0.15968934259170675, -0.33917099237442017, 0.17527634832927896], "rgb": [181, 102, 29], "semantic_id": 19, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 39596, "face_uv": [0.002622060487247993, 0.6242414900215357, 0.37313644949121627]}}, {"xyz": [-0.15811433837212904, -0.3389439880847931, -0.24311396599781132], "rgb": [181, 102, 33], "semantic_id": 20, "pcd_info": {"point_index": 1423}, "mesh_info": {"face_index": 39521, "face_uv": [0.5005969078374622, 0.40222337272050146, 0.09717971944203628]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "90cae938e34b11a429823c412ca4576c", "keypoints": [{"xyz": [0.14281154974204377, 0.4867269992828368, 0.04673530280748685], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 711}, "mesh_info": {"face_index": 203, "face_uv": [0.40277803039439136, 0.158727482561022, 0.43849448704458643]}}, {"xyz": [-0.15489957808811694, 0.4867269992828369, 0.03935935678916251], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 401}, "mesh_info": {"face_index": 386, "face_uv": [0.011781264271794795, 0.4845016710759919, 0.5037170646522133]}}, {"xyz": [0.14312104652699084, 0.013257950445744404, 0.05645496951784745], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1628}, "mesh_info": {"face_index": 42, "face_uv": [0.2776024328097379, 0.02471559070713302, 0.6976819764831296]}}, {"xyz": [-0.15973371284664398, 0.006933283532925882, 0.06559504271111416], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1736}, "mesh_info": {"face_index": 85, "face_uv": [0.3461881231546565, 0.6533996536701142, 0.00041222317522941786]}}, {"xyz": [0.1496936971047259, 0.004534554218092013, -0.2551604389736051], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 44, "face_uv": [0.7959266550974781, 0.007489030484238086, 0.19658431441828464]}}, {"xyz": [-0.1535947698194439, 0.006259377655172926, -0.25343561725456343], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 101}, "mesh_info": {"face_index": 56, "face_uv": [0.30655840270313883, 0.4048039169871373, 0.28863768030972303]}}, {"xyz": [0.1214645779521563, -0.3519990146160127, -0.21563096589006406], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1798}, "mesh_info": {"face_index": 1205, "face_uv": [0.07615633800606439, 0.4093230188759957, 0.5145206431179402]}}, {"xyz": [0.12237046691447986, -0.3519990146160127, 0.05974975103444796], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 444}, "mesh_info": {"face_index": 1604, "face_uv": [0.4819546189854834, 0.3753073637108277, 0.14273801730368918]}}, {"xyz": [-0.11997395966331556, -0.3519990146160126, 0.061818880686566435], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 349}, "mesh_info": {"face_index": 2005, "face_uv": [0.2161220511783994, 0.21120800326762573, 0.5726699455539749]}}, {"xyz": [-0.11326702023418578, -0.3519990146160127, -0.21954322516642616], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 806, "face_uv": [0.6569357308216727, 0.2804510878814317, 0.06261318129689603]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "38444677513af4e7bc41009043d88b0", "keypoints": [{"xyz": [0.2058542087392346, 0.28997588036158256, 0.19298691024563608], "rgb": [157, 59, 51], "semantic_id": 0, "pcd_info": {"point_index": 446}, "mesh_info": {"face_index": 610, "face_uv": [0.6492276268850614, 0.013871485768401597, 0.3369008873465369]}}, {"xyz": [-0.204607658955313, 0.29621999619520195, 0.1967671178214867], "rgb": [147, 57, 53], "semantic_id": 1, "pcd_info": {"point_index": 1240}, "mesh_info": {"face_index": 646, "face_uv": [0.7909242725971947, 0.01695175921032948, 0.1921239681924758]}}, {"xyz": [0.20369764882279778, 0.0473288516070417, 0.1421422264460468], "rgb": [117, 51, 45], "semantic_id": 2, "pcd_info": {"point_index": 749}, "mesh_info": {"face_index": 553, "face_uv": [0.109438820194568, 0.01896352453331911, 0.8715976552721123]}}, {"xyz": [-0.2117870002985001, 0.05065007703044133, 0.1325487443509472], "rgb": [134, 53, 45], "semantic_id": 3, "pcd_info": {"point_index": 1453}, "mesh_info": {"face_index": 740, "face_uv": [0.5240226120315451, 0.17132214515638708, 0.30465524281206785]}}, {"xyz": [0.20446086886283665, 0.05306104485546592, -0.3179611175640149], "rgb": [111, 39, 28], "semantic_id": 4, "pcd_info": {"point_index": 1992}, "mesh_info": {"face_index": 233, "face_uv": [0.36882659203275414, 0.01716142017237887, 0.6140119877948668]}}, {"xyz": [-0.21999864336217909, 0.047324086905089824, -0.3035520017147064], "rgb": [142, 54, 47], "semantic_id": 5, "pcd_info": {"point_index": 1173}, "mesh_info": {"face_index": 1162, "face_uv": [0.13572513357696017, 0.7061306521167224, 0.15814421430631734]}}, {"xyz": [0.2667551111236294, 0.1567453279395884, -0.30264614056335437], "rgb": [155, 50, 45], "semantic_id": 6, "pcd_info": {"point_index": 1379}, "mesh_info": {"face_index": 1892, "face_uv": [0.09050776455258863, 0.6969481505746161, 0.2125440848727956]}}, {"xyz": [0.27223101258277893, 0.07970186786017308, 0.27386785890917], "rgb": [167, 62, 60], "semantic_id": 7, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 1524, "face_uv": [0.21662208823441745, 0.023452488443090207, 0.7599254233224922]}}, {"xyz": [-0.24819513079430788, 0.16083715699201562, -0.3002116198517929], "rgb": [155, 58, 55], "semantic_id": 8, "pcd_info": {"point_index": 1942}, "mesh_info": {"face_index": 1058, "face_uv": [0.6017673121579893, 0.315749565641675, 0.08248312220033546]}}, {"xyz": [-0.254314888704619, 0.09198988995958601, 0.26867288044805493], "rgb": [139, 52, 49], "semantic_id": 9, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 938, "face_uv": [0.43987528245444674, 0.2970830210342187, 0.26304169651133397]}}, {"xyz": [0.2485264395531397, -0.26310067672107396, -0.29295599460601807], "rgb": [198, 152, 71], "semantic_id": 17, "pcd_info": {"point_index": 1843}, "mesh_info": {"face_index": 1, "face_uv": [0.641088221186216, 0.08233173359850719, 0.2765800452152768]}}, {"xyz": [0.24776044068478376, -0.26808199286460876, 0.24663512270548982], "rgb": [199, 155, 81], "semantic_id": 18, "pcd_info": {"point_index": 977}, "mesh_info": {"face_index": 1432, "face_uv": [0.32929252141432147, 0.33359032371917957, 0.33711715486649896]}}, {"xyz": [-0.2511302295788256, -0.2680048950619147, 0.23640808201704666], "rgb": [197, 153, 84], "semantic_id": 19, "pcd_info": {"point_index": 965}, "mesh_info": {"face_index": 1422, "face_uv": [0.5269328979556505, 0.0012742808465713198, 0.47179282119777766]}}, {"xyz": [-0.24871409807813827, -0.26639517418283776, -0.29295599460601807], "rgb": [198, 152, 72], "semantic_id": 20, "pcd_info": {"point_index": 119}, "mesh_info": {"face_index": 1380, "face_uv": [0.3653203700351954, 0.0278799221600911, 0.6067997078047135]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e5a8500223786886995e7ab497adca70", "keypoints": [{"xyz": [0.12919759340721582, 0.5267996112135168, 0.3012509327956714], "rgb": [154, 86, 37], "semantic_id": 0, "pcd_info": {"point_index": 1904}, "mesh_info": {"face_index": 1496, "face_uv": [0.040651986734929306, 0.8805259571975371, 0.07882205606753337]}}, {"xyz": [0.13125879234606258, 0.5268260764131625, 0.3013561871360113], "rgb": [154, 86, 37], "semantic_id": 1, "pcd_info": {"point_index": 1904}, "mesh_info": {"face_index": 1499, "face_uv": [0.09516710885672157, 0.8706027843081608, 0.03423010683511767]}}, {"xyz": [0.1255085706931811, 0.12560389900427515, 0.1481306144574741], "rgb": [157, 93, 49], "semantic_id": 2, "pcd_info": {"point_index": 322}, "mesh_info": {"face_index": 1391, "face_uv": [0.9609096616545061, 0.023364464448145876, 0.015725873897346518]}}, {"xyz": [-0.1502979052131731, 0.11598884761859107, 0.12623573785966746], "rgb": [153, 90, 47], "semantic_id": 3, "pcd_info": {"point_index": 1271}, "mesh_info": {"face_index": 1391, "face_uv": [0.04553187397380095, 0.6998137613447559, 0.25465436468144015]}}, {"xyz": [0.16650522578709326, 0.11172199994325638, -0.14834727809634146], "rgb": [150, 82, 38], "semantic_id": 4, "pcd_info": {"point_index": 2028}, "mesh_info": {"face_index": 818, "face_uv": [0.46265515941856844, 0.414899242274922, 0.12244559830650956]}}, {"xyz": [-0.1354937393906013, 0.11172199994325638, -0.16983483575551261], "rgb": [154, 83, 36], "semantic_id": 5, "pcd_info": {"point_index": 1992}, "mesh_info": {"face_index": 822, "face_uv": [0.004231140577676763, 0.2296017128893301, 0.766167146532993]}}, {"xyz": [0.17065293854561697, 0.2650260031223297, -0.1291823461299081], "rgb": [146, 79, 34], "semantic_id": 6, "pcd_info": {"point_index": 1510}, "mesh_info": {"face_index": 1470, "face_uv": [0.022597336329011727, 0.009582577988479368, 0.967820085682509]}}, {"xyz": [0.14033325914684575, 0.2653746309895477, 0.2010917217028276], "rgb": [155, 91, 47], "semantic_id": 7, "pcd_info": {"point_index": 1584}, "mesh_info": {"face_index": 1400, "face_uv": [0.1419707132574252, 0.0013950138569759887, 0.8566342728855981]}}, {"xyz": [-0.1412748769242423, 0.2650260031223297, -0.14276631966667686], "rgb": [149, 82, 40], "semantic_id": 8, "pcd_info": {"point_index": 1270}, "mesh_info": {"face_index": 1578, "face_uv": [0.3133373557894424, 0.034468870834864544, 0.6521937733756931]}}, {"xyz": [-0.16491399878974092, 0.2650260031223297, 0.17117729494064468], "rgb": [145, 79, 40], "semantic_id": 9, "pcd_info": {"point_index": 1642}, "mesh_info": {"face_index": 1579, "face_uv": [0.43951190641826604, 0.024742835328619456, 0.5357452582531145]}}, {"xyz": [0.16493293257780028, -0.20790700614452362, -0.22760650743903643], "rgb": [150, 82, 37], "semantic_id": 17, "pcd_info": {"point_index": 525}, "mesh_info": {"face_index": 1664, "face_uv": [0.012589231467477015, 0.3598853577690886, 0.6275254107634344]}}, {"xyz": [0.13410572862369835, -0.20790700614452362, 0.2363573127423108], "rgb": [160, 95, 50], "semantic_id": 18, "pcd_info": {"point_index": 1309}, "mesh_info": {"face_index": 485, "face_uv": [0.45154392659619397, 0.3358080044909736, 0.21264806891283253]}}, {"xyz": [-0.15996628990663397, -0.20252199470996857, 0.20926435015011496], "rgb": [160, 96, 52], "semantic_id": 19, "pcd_info": {"point_index": 1010}, "mesh_info": {"face_index": 1970, "face_uv": [0.33043357468491585, 0.38599979462250644, 0.2835666306925777]}}, {"xyz": [-0.1315520992335466, -0.20119300484657288, -0.24051758719013003], "rgb": [150, 82, 37], "semantic_id": 20, "pcd_info": {"point_index": 356}, "mesh_info": {"face_index": 172, "face_uv": [0.03768190982015948, 0.4181046765125586, 0.5442134136672819]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4f1f4c4d1b2f6ac3cf004563556ddb36", "keypoints": [{"xyz": [0.15570242830978331, 0.3697900502204753, 0.20391796045555188], "rgb": [52, 31, 21], "semantic_id": 0, "pcd_info": {"point_index": 25}, "mesh_info": {"face_index": 2814, "face_uv": [0.3544839630731883, 0.5380693663683773, 0.10744667055843748]}}, {"xyz": [-0.16366236898135078, 0.36671226258579237, 0.2088168913090107], "rgb": [89, 65, 52], "semantic_id": 1, "pcd_info": {"point_index": 1892}, "mesh_info": {"face_index": 2831, "face_uv": [0.006131374031481986, 0.33035479199710127, 0.6635138339714174]}}, {"xyz": [0.15634483908837465, -0.051556787187754693, 0.11952706538302182], "rgb": [69, 47, 36], "semantic_id": 2, "pcd_info": {"point_index": 1896}, "mesh_info": {"face_index": 432, "face_uv": [0.05540048367395621, 0.5676197657885367, 0.37697975053750593]}}, {"xyz": [-0.16546484286825391, -0.06701187625180083, 0.12746323724817277], "rgb": [61, 41, 30], "semantic_id": 3, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 504, "face_uv": [0.7176560048981767, 0.17692271676557708, 0.10542127833624555]}}, {"xyz": [0.1512119343175412, -0.0016592259199359471, -0.29059832326038637], "rgb": [83, 63, 52], "semantic_id": 4, "pcd_info": {"point_index": 158}, "mesh_info": {"face_index": 3110, "face_uv": [0.21130061898334804, 0.05446039413766477, 0.734238986878988]}}, {"xyz": [-0.1503497313515301, -0.001000494536579355, -0.28936698028665764], "rgb": [56, 33, 24], "semantic_id": 5, "pcd_info": {"point_index": 841}, "mesh_info": {"face_index": 3127, "face_uv": [0.2459405900033919, 0.7405008996046004, 0.013558510392009296]}}, {"xyz": [0.20090861334183177, 0.0917343754696669, -0.26177545157153803], "rgb": [61, 39, 29], "semantic_id": 6, "pcd_info": {"point_index": 1081}, "mesh_info": {"face_index": 5175, "face_uv": [0.3738736636653181, 0.3046861584073595, 0.32144017792732127]}}, {"xyz": [0.20903767610773183, 0.0625956692518923, 0.23616960700915246], "rgb": [64, 43, 31], "semantic_id": 7, "pcd_info": {"point_index": 1403}, "mesh_info": {"face_index": 5910, "face_uv": [0.27381356860604916, 0.0719816523209274, 0.6542047790730228]}}, {"xyz": [-0.22228788879562522, 0.09584257166999399, -0.24722283519030586], "rgb": [50, 27, 15], "semantic_id": 8, "pcd_info": {"point_index": 332}, "mesh_info": {"face_index": 7914, "face_uv": [0.15228580645311815, 0.12951584815757852, 0.7181983453893037]}}, {"xyz": [-0.20084927186318174, 0.0626530333840345, 0.23884087656378952], "rgb": [69, 45, 33], "semantic_id": 9, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 8871, "face_uv": [0.017935599381029843, 0.9688202875316176, 0.01324411308734726]}}, {"xyz": [0.20287293550750046, -0.2872401407781009, -0.3083102474083964], "rgb": [191, 191, 191], "semantic_id": 17, "pcd_info": {"point_index": 1916}, "mesh_info": {"face_index": 3718, "face_uv": [0.43685616763868607, 0.10279887457575977, 0.46034495778555523]}}, {"xyz": [0.20839134796315742, -0.28677138944295644, 0.2555050618785118], "rgb": [191, 191, 191], "semantic_id": 18, "pcd_info": {"point_index": 1482}, "mesh_info": {"face_index": 4606, "face_uv": [0.3954001985393846, 0.3140067686526486, 0.2905930328079671]}}, {"xyz": [-0.21014401846884104, -0.28659672248952317, 0.2589321136161408], "rgb": [191, 191, 191], "semantic_id": 19, "pcd_info": {"point_index": 1001}, "mesh_info": {"face_index": 7589, "face_uv": [0.02531711205600027, 0.5223234655895483, 0.45235942235445287]}}, {"xyz": [-0.20973354465659985, -0.2872365876126324, -0.3084906530428974], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 320}, "mesh_info": {"face_index": 6576, "face_uv": [0.11031376322945681, 0.3313338235260857, 0.5583524132444584]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4a636d555b4f9492e27790b0ec8671f7", "keypoints": [{"xyz": [0.16493342180242676, 0.2202169561856675, 0.2307863178406135], "rgb": [149, 149, 149], "semantic_id": 0, "pcd_info": {"point_index": 1529}, "mesh_info": {"face_index": 199, "face_uv": [0.19224219977474907, 0.23600848882315598, 0.5717493114020952]}}, {"xyz": [-0.18121041855666628, 0.20956505843948792, 0.21401639481222642], "rgb": [149, 149, 149], "semantic_id": 1, "pcd_info": {"point_index": 1493}, "mesh_info": {"face_index": 29, "face_uv": [0.5978119439965844, 0.29169286244181153, 0.11049519356160492]}}, {"xyz": [0.24255321970222812, -0.039524699610336, 0.05867860767322575], "rgb": [216, 222, 219], "semantic_id": 2, "pcd_info": {"point_index": 35}, "mesh_info": {"face_index": 2141, "face_uv": [0.29289675494092343, 0.5251747463038272, 0.1819284987552488]}}, {"xyz": [-0.2374683490478684, -0.04635074901269909, 0.0465859648983904], "rgb": [135, 143, 159], "semantic_id": 3, "pcd_info": {"point_index": 1258}, "mesh_info": {"face_index": 2468, "face_uv": [0.27687766368540456, 0.22644681078615392, 0.49667552552844435]}}, {"xyz": [0.2535791918409179, -0.020056271951410576, -0.22315894441425793], "rgb": [148, 148, 148], "semantic_id": 4, "pcd_info": {"point_index": 1853}, "mesh_info": {"face_index": 728, "face_uv": [0.35862581411999456, 0.07217160587253822, 0.569202580007467]}}, {"xyz": [-0.2478494087218952, -0.01696348374977763, -0.23226737314978935], "rgb": [148, 148, 148], "semantic_id": 5, "pcd_info": {"point_index": 1078}, "mesh_info": {"face_index": 1411, "face_uv": [0.20208045188300258, 0.3800896671825327, 0.4178298809344643]}}, {"xyz": [0.29605118121941526, -0.2668067218473078, -0.23835416108090596], "rgb": [149, 149, 149], "semantic_id": 17, "pcd_info": {"point_index": 1189}, "mesh_info": {"face_index": 2749, "face_uv": [0.10701556896019576, 0.018302406447853557, 0.8746820245919512]}}, {"xyz": [0.2604794092659774, -0.3191886671815527, 0.26497704720315046], "rgb": [148, 148, 148], "semantic_id": 18, "pcd_info": {"point_index": 705}, "mesh_info": {"face_index": 2866, "face_uv": [0.13364167129594887, 0.4534832737233715, 0.41287505498067806]}}, {"xyz": [-0.2667283462841875, -0.32121374672048186, 0.2656212710083891], "rgb": [148, 148, 148], "semantic_id": 19, "pcd_info": {"point_index": 1970}, "mesh_info": {"face_index": 3042, "face_uv": [0.06259618081977551, 0.4905452651400252, 0.44685855404019875]}}, {"xyz": [-0.30594577260060074, -0.3062763540861022, -0.2394088014227187], "rgb": [148, 148, 148], "semantic_id": 20, "pcd_info": {"point_index": 421}, "mesh_info": {"face_index": 3279, "face_uv": [0.04339058758475745, 0.7684578707898104, 0.1881515416254316]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "22b40d884de52ca3387379bbd607d69e", "keypoints": [{"xyz": [0.11377139045659729, 0.34780130021445377, 0.19572490602290105], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 915}, "mesh_info": {"face_index": 15698, "face_uv": [0.237346997998775, 0.31971257699424666, 0.4429404250069785]}}, {"xyz": [-0.10662907929603774, 0.3572073789368033, 0.2040292384491741], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 866}, "mesh_info": {"face_index": 10963, "face_uv": [0.26961851345437576, 0.07540529669066941, 0.6549761898549552]}}, {"xyz": [0.1717292211548826, 0.06315571845444379, 0.07610447974680384], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 500}, "mesh_info": {"face_index": 10978, "face_uv": [0.13326909633580622, 0.11597640428176323, 0.7507544993824299]}}, {"xyz": [-0.17588607312741059, 0.06504192977403567, 0.0759013768811515], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1201}, "mesh_info": {"face_index": 9666, "face_uv": [0.25611714183290857, 0.17109709996425698, 0.5727857582028383]}}, {"xyz": [0.1832429624587898, 0.03942675555260755, -0.19105978754414527], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 804}, "mesh_info": {"face_index": 11221, "face_uv": [0.5671796244575289, 0.4128888079823251, 0.01993156756014505]}}, {"xyz": [-0.17180651826850854, 0.03779505353152701, -0.202777931530708], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 9821, "face_uv": [0.7757733348225211, 0.03074433043759253, 0.19348233473989276]}}, {"xyz": [0.1828296762974207, -0.38192200660705566, -0.20940283426112266], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 651}, "mesh_info": {"face_index": 3022, "face_uv": [0.3636163335027594, 0.24561294054571806, 0.39077072595152257]}}, {"xyz": [0.18243950242956214, -0.38192200660705566, 0.1620436139432151], "rgb": [29, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 1584}, "mesh_info": {"face_index": 3265, "face_uv": [0.04602420085514742, 0.41513838115139207, 0.5388374179934605]}}, {"xyz": [-0.18123814681877112, -0.38192200660705566, 0.16206780471850524], "rgb": [29, 29, 29], "semantic_id": 19, "pcd_info": {"point_index": 210}, "mesh_info": {"face_index": 2876, "face_uv": [0.2783357582542943, 0.45664595258649704, 0.2650182891592086]}}, {"xyz": [-0.1832101232574117, -0.38192200660705566, -0.20473310133158945], "rgb": [29, 29, 29], "semantic_id": 20, "pcd_info": {"point_index": 1204}, "mesh_info": {"face_index": 2685, "face_uv": [0.05886526227182983, 0.5966127881093106, 0.34452194961885957]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bc92651fd7cd9ca8cf68feb7ddf815ce", "keypoints": [{"xyz": [0.15989409836623414, 0.3140140898347603, 0.19529507495201825], "rgb": [102, 51, 0], "semantic_id": 0, "pcd_info": {"point_index": 196}, "mesh_info": {"face_index": 4571, "face_uv": [0.01852820164839273, 0.731136933240869, 0.25033486511073827]}}, {"xyz": [-0.15460084019031162, 0.3156946837775235, 0.20048355951505847], "rgb": [102, 51, 0], "semantic_id": 1, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 4888, "face_uv": [0.6980720492505965, 0.05034347416141148, 0.251584476587992]}}, {"xyz": [0.15610881548908717, -0.04589714575616255, 0.11183890854943246], "rgb": [102, 51, 0], "semantic_id": 2, "pcd_info": {"point_index": 1768}, "mesh_info": {"face_index": 3491, "face_uv": [0.40080398941251305, 0.5187140486034172, 0.0804819619840719]}}, {"xyz": [-0.16075930924567813, -0.049844251792537486, 0.10942603175344523], "rgb": [102, 51, 0], "semantic_id": 3, "pcd_info": {"point_index": 118}, "mesh_info": {"face_index": 3755, "face_uv": [0.587825754522349, 0.39209670220146603, 0.02007754327618724]}}, {"xyz": [0.15979306036529195, -0.07257749700317023, -0.202167588917729], "rgb": [102, 51, 0], "semantic_id": 4, "pcd_info": {"point_index": 1560}, "mesh_info": {"face_index": 3458, "face_uv": [0.13316278458389236, 0.27768042106872615, 0.5891567943473831]}}, {"xyz": [-0.15469935022940057, -0.07058961816206, -0.19904154519553896], "rgb": [102, 51, 0], "semantic_id": 5, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 3785, "face_uv": [0.8461909350424698, 0.05894096811177232, 0.09486809684576974]}}, {"xyz": [0.15822896648868495, -0.4095570147037507, -0.2290849572899729], "rgb": [102, 51, 0], "semantic_id": 17, "pcd_info": {"point_index": 531}, "mesh_info": {"face_index": 2761, "face_uv": [0.32239156599499497, 0.41417530175590084, 0.26343313224910453]}}, {"xyz": [0.15956273819057182, -0.4095570147037506, 0.15884556069903943], "rgb": [101, 50, 0], "semantic_id": 18, "pcd_info": {"point_index": 1286}, "mesh_info": {"face_index": 3294, "face_uv": [0.2155205027730325, 0.7022198916757999, 0.08225960555116758]}}, {"xyz": [-0.15809793815901063, -0.4095450043678286, 0.15706703246807596], "rgb": [102, 51, 0], "semantic_id": 19, "pcd_info": {"point_index": 213}, "mesh_info": {"face_index": 3514, "face_uv": [0.3087093823893884, 0.6444462253623553, 0.04684439224825689]}}, {"xyz": [-0.15628857715142064, -0.4095450043678286, -0.23163577146223932], "rgb": [102, 51, 0], "semantic_id": 20, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 2694, "face_uv": [0.6721165814064685, 0.19764123637324796, 0.130242182220284]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3e2375ff9e7af8002861ed753d5b88a1", "keypoints": [{"xyz": [0.1713807936268105, 0.3781059980392456, 0.1352690618131254], "rgb": [231, 13, 7], "semantic_id": 0, "pcd_info": {"point_index": 145}, "mesh_info": {"face_index": 55, "face_uv": [0.38285788100788976, 0.6134469996932066, 0.0036951192989036893]}}, {"xyz": [-0.17182052001806736, 0.3781059980392456, 0.13244874877529755], "rgb": [223, 2, 6], "semantic_id": 1, "pcd_info": {"point_index": 1284}, "mesh_info": {"face_index": 689, "face_uv": [0.31778375286478916, 0.36124765762198885, 0.32096858951322194]}}, {"xyz": [0.17083473119379997, -0.019175000488757865, 0.1175279144929201], "rgb": [228, 6, 2], "semantic_id": 2, "pcd_info": {"point_index": 1213}, "mesh_info": {"face_index": 191, "face_uv": [0.03973574207366745, 0.9548126122440282, 0.0054516456822924705]}}, {"xyz": [-0.16482058487675133, -0.012323419840134742, 0.11867599934339501], "rgb": [219, 1, 0], "semantic_id": 3, "pcd_info": {"point_index": 471}, "mesh_info": {"face_index": 368, "face_uv": [0.47724021639154635, 0.01724618261132455, 0.5055136009971273]}}, {"xyz": [0.18414266638408083, -0.019175000488758087, -0.2574624360881287], "rgb": [139, 2, 3], "semantic_id": 4, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 713, "face_uv": [0.10299297402762708, 0.028750486605903337, 0.8682565393664697]}}, {"xyz": [-0.1856908058310841, -0.019175000488758087, -0.2531290930366999], "rgb": [225, 6, 2], "semantic_id": 5, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 712, "face_uv": [0.8303504761318414, 0.023097129127481585, 0.14655239474067713]}}, {"xyz": [0.16268707075056887, -0.43812501430511475, -0.23532497439233127], "rgb": [227, 6, 5], "semantic_id": 17, "pcd_info": {"point_index": 372}, "mesh_info": {"face_index": 541, "face_uv": [0.4128534747344863, 0.498604504045674, 0.08854202121983974]}}, {"xyz": [0.1693314440582725, -0.43812501430511475, 0.14457779787930125], "rgb": [232, 5, 5], "semantic_id": 18, "pcd_info": {"point_index": 1745}, "mesh_info": {"face_index": 0, "face_uv": [0.4023582012156735, 0.5661615893255615, 0.03148020945876506]}}, {"xyz": [-0.16712741517419294, -0.4381250143051145, 0.14761451028259337], "rgb": [227, 11, 12], "semantic_id": 19, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 425, "face_uv": [0.13724241362043688, 0.3322910102992436, 0.530466576080319]}}, {"xyz": [-0.16360822775815434, -0.4381250143051145, -0.2341469268810892], "rgb": [221, 11, 5], "semantic_id": 20, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 708, "face_uv": [0.4492670463940524, 0.47421332886848483, 0.07651962473746228]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8709db708ec617ec8b5d4279936d177a", "keypoints": [{"xyz": [0.1820856410460561, 0.49445098638534546, 0.12771506869613436], "rgb": [0, 255, 0], "semantic_id": 0, "pcd_info": {"point_index": 1707}, "mesh_info": {"face_index": 107, "face_uv": [0.5717136984710476, 0.0484203868773046, 0.3798659146516479]}}, {"xyz": [-0.1737170662082447, 0.4904620051383972, 0.11770423924165421], "rgb": [0, 254, 0], "semantic_id": 1, "pcd_info": {"point_index": 1709}, "mesh_info": {"face_index": 67, "face_uv": [0.4969370297357851, 0.170912463004777, 0.33215050725943784]}}, {"xyz": [0.2325507704658767, 0.03408962052562936, 0.1393493814675637], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 314}, "mesh_info": {"face_index": 1580, "face_uv": [0.38410972126934323, 0.0192522922580521, 0.596637986472602]}}, {"xyz": [-0.21834799647331238, 0.03129191203706205, 0.13816040081116335], "rgb": [255, 133, 10], "semantic_id": 3, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 1589, "face_uv": [0.09317385374279596, 0.04086509300738508, 0.865961053249819]}}, {"xyz": [0.22160694439809314, 0.03052037464999524, -0.16226856946752966], "rgb": [0, 254, 0], "semantic_id": 4, "pcd_info": {"point_index": 679}, "mesh_info": {"face_index": 1403, "face_uv": [0.8857043174695658, 0.003052684602785165, 0.11124299792764872]}}, {"xyz": [-0.18338068906415878, 0.03523846976164691, -0.17354264236980632], "rgb": [0, 254, 0], "semantic_id": 5, "pcd_info": {"point_index": 491}, "mesh_info": {"face_index": 1018, "face_uv": [0.8184810553992825, 0.014115589210227328, 0.16740335539048962]}}, {"xyz": [0.18973492223824795, -0.3196600079536437, -0.12906661375208112], "rgb": [0, 254, 0], "semantic_id": 17, "pcd_info": {"point_index": 1283}, "mesh_info": {"face_index": 921, "face_uv": [0.53753968098114, 0.17546196920355003, 0.28699834981530964]}}, {"xyz": [0.1797366445938693, -0.3196600079536438, 0.11738367256532925], "rgb": [0, 255, 0], "semantic_id": 18, "pcd_info": {"point_index": 1607}, "mesh_info": {"face_index": 145, "face_uv": [0.1486556503438824, 0.5267369814219516, 0.324607368234166]}}, {"xyz": [-0.1750844345742047, -0.3196600079536437, 0.1295647867511509], "rgb": [0, 254, 0], "semantic_id": 19, "pcd_info": {"point_index": 937}, "mesh_info": {"face_index": 70, "face_uv": [0.09718978234080902, 0.46946846322220964, 0.433341754436981]}}, {"xyz": [-0.17402838981432983, -0.3196600079536436, -0.12764581317167994], "rgb": [0, 254, 0], "semantic_id": 20, "pcd_info": {"point_index": 432}, "mesh_info": {"face_index": 844, "face_uv": [0.05374825525573488, 0.5097663223847241, 0.43648542235954035]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "60186a5e4e1aee8daf8fee88d245152b", "keypoints": [{"xyz": [0.09645761642492418, 0.32564132683917746, 0.06551499664783478], "rgb": [57, 57, 57], "semantic_id": 0, "pcd_info": {"point_index": 2037}, "mesh_info": {"face_index": 186, "face_uv": [0.005396096967290083, 0.39508541978148765, 0.5995184832512221]}}, {"xyz": [-0.1010546518701675, 0.32590198516845703, 0.0712788457225777], "rgb": [186, 186, 186], "semantic_id": 1, "pcd_info": {"point_index": 397}, "mesh_info": {"face_index": 14, "face_uv": [0.04454814723692845, 0.03920843864370888, 0.9162434141193627]}}, {"xyz": [0.09306381720528795, 0.1383495061309431, 0.06938000023365021], "rgb": [186, 186, 186], "semantic_id": 2, "pcd_info": {"point_index": 1852}, "mesh_info": {"face_index": 403, "face_uv": [0.1422957827255274, 0.6534111493685479, 0.20429306790592464]}}, {"xyz": [-0.101311455332157, 0.13724499940872192, 0.06414453362577643], "rgb": [58, 58, 58], "semantic_id": 3, "pcd_info": {"point_index": 1131}, "mesh_info": {"face_index": 465, "face_uv": [0.09401388329314286, 0.1462854238991561, 0.759700692807701]}}, {"xyz": [0.1263572714584642, 0.13339336296601656, -0.18328499794006348], "rgb": [58, 58, 58], "semantic_id": 4, "pcd_info": {"point_index": 1078}, "mesh_info": {"face_index": 470, "face_uv": [0.15947487230850083, 0.028682257229814004, 0.8118428704616852]}}, {"xyz": [-0.13406565366657636, 0.12859039921700977, -0.18328499794006348], "rgb": [58, 58, 58], "semantic_id": 5, "pcd_info": {"point_index": 674}, "mesh_info": {"face_index": 478, "face_uv": [0.6416610754973059, 0.008592589302725169, 0.34974633519996895]}}, {"xyz": [0.11814611286255472, -0.5867204287110904, -0.16288989156154043], "rgb": [186, 186, 186], "semantic_id": 17, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 376, "face_uv": [0.11082640776243669, 0.0077045305997343865, 0.8814690616378289]}}, {"xyz": [0.10450499950891312, -0.5860675352000432, 0.07468500284607216], "rgb": [186, 186, 186], "semantic_id": 18, "pcd_info": {"point_index": 670}, "mesh_info": {"face_index": 412, "face_uv": [0.2010540798947732, 0.006629759793738412, 0.7923161603114923]}}, {"xyz": [-0.08820996011072846, -0.5869367967750341, 0.0732520413917861], "rgb": [186, 186, 186], "semantic_id": 19, "pcd_info": {"point_index": 970}, "mesh_info": {"face_index": 448, "face_uv": [0.41686145855453766, 0.005682909531460179, 0.5774556319140063]}}, {"xyz": [-0.0985594322618688, -0.58572217696764, -0.16222942284607256], "rgb": [186, 186, 186], "semantic_id": 20, "pcd_info": {"point_index": 1350}, "mesh_info": {"face_index": 341, "face_uv": [0.979521745802681, 0.009119994545650467, 0.011358259651669613]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c7dcd3fdd4ccb7563dce8e6b691b2a29", "keypoints": [{"xyz": [0.26209263855281545, 0.2656148520343825, 0.0058759758339006485], "rgb": [92, 0, 126], "semantic_id": 0, "pcd_info": {"point_index": 774}, "mesh_info": {"face_index": 98, "face_uv": [0.9219474014400066, 0.003916440948955207, 0.07413615761103855]}}, {"xyz": [-0.2590473160072887, 0.259420600325584, 0.008667548945926695], "rgb": [140, 6, 169], "semantic_id": 1, "pcd_info": {"point_index": 1907}, "mesh_info": {"face_index": 125, "face_uv": [0.17713942704283328, 0.02569046207686435, 0.7971701108803002]}}, {"xyz": [0.25250847635811663, -0.0027696165481456703, 0.012847637777636978], "rgb": [246, 241, 248], "semantic_id": 2, "pcd_info": {"point_index": 7}, "mesh_info": {"face_index": 100, "face_uv": [0.024900606725412146, 0.052659015773517996, 0.9224403775010683]}}, {"xyz": [-0.2515385583942991, -0.017750000581145287, 0.01194567730386531], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1020}, "mesh_info": {"face_index": 133, "face_uv": [0.12805255464747703, 0.0035405505894593806, 0.8684068947630637]}}, {"xyz": [0.2563970631776774, -0.017750000581145176, -0.3365456004195406], "rgb": [72, 1, 81], "semantic_id": 4, "pcd_info": {"point_index": 1662}, "mesh_info": {"face_index": 156, "face_uv": [0.8620570322908876, 0.016419082118475176, 0.12152388559063096]}}, {"xyz": [-0.2527460615131303, -0.01879540824336201, -0.33769801259040855], "rgb": [115, 0, 147], "semantic_id": 5, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 177, "face_uv": [0.11025180970965658, 0.8669290805736165, 0.022819109716727664]}}, {"xyz": [0.26511600613594044, -0.433189525803529, -0.33089128279115504], "rgb": [162, 4, 201], "semantic_id": 17, "pcd_info": {"point_index": 15}, "mesh_info": {"face_index": 128, "face_uv": [0.004300878505409058, 0.28221839869195836, 0.7134807228026323]}}, {"xyz": [0.2626474315987658, -0.45394998788833574, 0.05938806792244122], "rgb": [165, 79, 202], "semantic_id": 18, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 234, "face_uv": [0.4970540244565955, 0.26031551662822816, 0.24263045891517535]}}, {"xyz": [-0.2573407353468542, -0.4539499878883366, 0.054839658115568235], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 71, "face_uv": [0.8862684944589934, 0.096366343748356, 0.017365161792651636]}}, {"xyz": [-0.26402185539371986, -0.42182231557907013, -0.3376980125904083], "rgb": [133, 3, 156], "semantic_id": 20, "pcd_info": {"point_index": 346}, "mesh_info": {"face_index": 181, "face_uv": [0.16674388722953837, 0.8009774653948015, 0.03227864737566009]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f3499b524c5dbbefa23949c21eddef76", "keypoints": [{"xyz": [0.16470109868135965, 0.37873178597876, 0.05612002794401594], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 122}, "mesh_info": {"face_index": 813, "face_uv": [0.24700867109059507, 0.6480569367230704, 0.10493439218633353]}}, {"xyz": [-0.15475109396054987, 0.3806126679431527, 0.05756292682178499], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 520}, "mesh_info": {"face_index": 712, "face_uv": [0.2720517582540371, 0.30904108613630954, 0.41890715560965247]}}, {"xyz": [0.15540613580980617, -0.06314944723423888, 0.05392400175333023], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 750, "face_uv": [0.03172231151854852, 0.3292449820454228, 0.6390327064360288]}}, {"xyz": [-0.16442919619135143, -0.07183200072998541, 0.05392400175333023], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 719}, "mesh_info": {"face_index": 638, "face_uv": [0.012363347161313962, 0.35900549646868757, 0.6286311563699984]}}, {"xyz": [0.16780678302619983, -0.08206529553327058, -0.18633659022647975], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 24}, "mesh_info": {"face_index": 1217, "face_uv": [0.30892786262174415, 0.03926642195267445, 0.6518057154255821]}}, {"xyz": [-0.17544525732127908, -0.08481872558401482, -0.18822429254275863], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 119}, "mesh_info": {"face_index": 1168, "face_uv": [0.30864621036670337, 0.0226753427518583, 0.6686784468814372]}}, {"xyz": [0.15831647010363264, -0.49043708939560915, -0.1793140023946762], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 839}, "mesh_info": {"face_index": 202, "face_uv": [0.02006529455404553, 0.4290677976717029, 0.5508669077742515]}}, {"xyz": [0.16256315614085443, -0.4928604752377077, 0.05392400175333045], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 875, "face_uv": [0.41139378473852745, 0.5747267201588732, 0.01387949510260342]}}, {"xyz": [-0.1582526205191916, -0.4958000672710494, 0.05392400175333023], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1099}, "mesh_info": {"face_index": 899, "face_uv": [0.422765404602868, 0.5708585388602958, 0.006376056536836135]}}, {"xyz": [-0.1610455248491574, -0.49174655895673614, -0.1793140023946762], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 621}, "mesh_info": {"face_index": 626, "face_uv": [0.016722815633771062, 0.4750635043917793, 0.5082136799744497]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1a6f615e8b1b5ae4dbbc9440457e303e", "keypoints": [{"xyz": [0.20466769671004398, 0.24183399975299835, 0.13702619948206526], "rgb": [57, 57, 57], "semantic_id": 0, "pcd_info": {"point_index": 12}, "mesh_info": {"face_index": 2730, "face_uv": [0.6211191953796055, 0.22101337090941128, 0.15786743371098325]}}, {"xyz": [-0.20504908643047404, 0.24183399975299835, 0.13829118186494005], "rgb": [58, 58, 58], "semantic_id": 1, "pcd_info": {"point_index": 859}, "mesh_info": {"face_index": 3337, "face_uv": [0.02218844027972438, 0.7170535623649208, 0.26075799735535493]}}, {"xyz": [0.1993371871033832, -0.09835733159736182, 0.1035449358294902], "rgb": [57, 57, 57], "semantic_id": 2, "pcd_info": {"point_index": 426}, "mesh_info": {"face_index": 2914, "face_uv": [0.5381689641715189, 0.32955904167232264, 0.13227199415615765]}}, {"xyz": [-0.19653551840748046, -0.09438387009908489, 0.10358131693753103], "rgb": [57, 57, 57], "semantic_id": 3, "pcd_info": {"point_index": 385}, "mesh_info": {"face_index": 3531, "face_uv": [0.17738251860973167, 0.29639509003799924, 0.5262223913522631]}}, {"xyz": [0.21808210963832197, -0.10822378528182464, -0.27398240316718114], "rgb": [82, 89, 87], "semantic_id": 4, "pcd_info": {"point_index": 211}, "mesh_info": {"face_index": 273, "face_uv": [0.8585748266392152, 0.010532952621889117, 0.13089222073889492]}}, {"xyz": [-0.21659895067514573, -0.10978585979173672, -0.2747681842147196], "rgb": [104, 110, 110], "semantic_id": 5, "pcd_info": {"point_index": 163}, "mesh_info": {"face_index": 260, "face_uv": [0.771562730435001, 0.1414645818888446, 0.08697268767615449]}}, {"xyz": [0.2408429844733717, 0.09069098820406185, -0.18748410287548767], "rgb": [58, 58, 58], "semantic_id": 6, "pcd_info": {"point_index": 299}, "mesh_info": {"face_index": 1706, "face_uv": [0.573341956576902, 0.14995240817035854, 0.2767056352527394]}}, {"xyz": [0.22166793634396786, 0.08439925217910993, 0.13416725538252205], "rgb": [58, 58, 58], "semantic_id": 7, "pcd_info": {"point_index": 1378}, "mesh_info": {"face_index": 1909, "face_uv": [0.46664196588824675, 0.062030359410252416, 0.47132767470150166]}}, {"xyz": [-0.22932408749305744, 0.09696794390893881, -0.17923629586348905], "rgb": [57, 57, 57], "semantic_id": 8, "pcd_info": {"point_index": 1061}, "mesh_info": {"face_index": 1196, "face_uv": [0.17153821655511223, 0.6125567099099868, 0.2159050735348998]}}, {"xyz": [-0.2196796558735214, 0.08236226310677575, 0.13854294153879376], "rgb": [58, 58, 58], "semantic_id": 9, "pcd_info": {"point_index": 979}, "mesh_info": {"face_index": 836, "face_uv": [0.4122839172001064, 0.1769897732666734, 0.4107263095332221]}}, {"xyz": [0.21280954144379427, -0.4948437733665978, -0.27904247438896224], "rgb": [58, 58, 58], "semantic_id": 17, "pcd_info": {"point_index": 41}, "mesh_info": {"face_index": 3565, "face_uv": [0.1297226619024226, 0.2642921254728775, 0.6059852126247003]}}, {"xyz": [0.2030822037083589, -0.4952479898929596, 0.15360255324378905], "rgb": [58, 58, 58], "semantic_id": 18, "pcd_info": {"point_index": 1168}, "mesh_info": {"face_index": 2866, "face_uv": [0.20893494187767378, 0.21004593057744986, 0.5810191275448764]}}, {"xyz": [-0.20170944698695822, -0.4952479898929596, 0.15197010991026028], "rgb": [58, 58, 58], "semantic_id": 19, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 3457, "face_uv": [0.15382059488669306, 0.7164272100442961, 0.12975219506901087]}}, {"xyz": [-0.21497301150919143, -0.4950744464146404, -0.2772651363887897], "rgb": [58, 58, 58], "semantic_id": 20, "pcd_info": {"point_index": 404}, "mesh_info": {"face_index": 3324, "face_uv": [0.14277901683389238, 0.2080872777631469, 0.649133705402961]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c043285da4600e168a5e49d8f4867e8f", "keypoints": [{"xyz": [0.20610287032184668, 0.42840243025760705, -0.023809251494196104], "rgb": [161, 111, 68], "semantic_id": 0, "pcd_info": {"point_index": 705}, "mesh_info": {"face_index": 181, "face_uv": [0.04400458904634168, 0.15715774223460435, 0.7988376687190559]}}, {"xyz": [-0.1527433849036029, 0.428831799320453, -0.023105128626200955], "rgb": [160, 109, 65], "semantic_id": 1, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 142, "face_uv": [0.03768457575365615, 0.7430374497114473, 0.21927797453489054]}}, {"xyz": [0.210890993475914, -0.04894713829908848, -0.022600018147326595], "rgb": [164, 115, 74], "semantic_id": 2, "pcd_info": {"point_index": 1766}, "mesh_info": {"face_index": 23, "face_uv": [0.9309172959892774, 0.006841502591170001, 0.062241201419552625]}}, {"xyz": [-0.14899651257103463, -0.035880139062532734, -0.02269554549993863], "rgb": [163, 111, 66], "semantic_id": 3, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 152, "face_uv": [0.18383136222058108, 0.00097773383332406, 0.8151909039460975]}}, {"xyz": [0.2053236989126958, -0.04745600000023831, -0.3008731158385449], "rgb": [166, 116, 70], "semantic_id": 4, "pcd_info": {"point_index": 1890}, "mesh_info": {"face_index": 165, "face_uv": [0.08781221662314227, 0.12068913505424074, 0.7914986483226146]}}, {"xyz": [-0.15207970300671986, -0.04958895179224587, -0.30616098642349243], "rgb": [155, 107, 68], "semantic_id": 5, "pcd_info": {"point_index": 605}, "mesh_info": {"face_index": 162, "face_uv": [0.005351749167002588, 0.022079103676503044, 0.9725691471564945]}}, {"xyz": [0.17641397228724848, -0.4007149934768677, -0.2694556458906899], "rgb": [165, 115, 73], "semantic_id": 17, "pcd_info": {"point_index": 251}, "mesh_info": {"face_index": 182, "face_uv": [0.44850495540570057, 0.5088534442636913, 0.042641600330608154]}}, {"xyz": [0.1799019155654638, -0.4007149934768679, 0.029685315467155467], "rgb": [154, 108, 64], "semantic_id": 18, "pcd_info": {"point_index": 442}, "mesh_info": {"face_index": 32, "face_uv": [0.5323179402753028, 0.43371199209676536, 0.03397006762793242]}}, {"xyz": [-0.13236739844485867, -0.4007149934768677, 0.03877520809012171], "rgb": [162, 115, 68], "semantic_id": 19, "pcd_info": {"point_index": 229}, "mesh_info": {"face_index": 40, "face_uv": [0.4011178909652583, 0.5782368779068054, 0.020645231127936228]}}, {"xyz": [-0.13218754044298758, -0.4007149934768677, -0.28471499752871726], "rgb": [169, 121, 77], "semantic_id": 20, "pcd_info": {"point_index": 1240}, "mesh_info": {"face_index": 42, "face_uv": [0.42990481220408894, 0.2869643334493734, 0.28313085434653756]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "32f007e84efcb9d12cba66dc6aeabcd4", "keypoints": [{"xyz": [0.12682615042710255, 0.48815319864676154, 0.1863400154514307], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 108}, "mesh_info": {"face_index": 1828, "face_uv": [0.05463160958624547, 0.6240124684965779, 0.3213559219171767]}}, {"xyz": [-0.12300527758959981, 0.48676567187178177, 0.1918248599724196], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 3200, "face_uv": [0.24354597220700752, 0.19559562557251986, 0.5608584022204728]}}, {"xyz": [0.1250004673224971, 0.0033561520371447884, 0.04931642515145045], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1896}, "mesh_info": {"face_index": 5297, "face_uv": [0.2481094456789616, 0.024144339472375466, 0.7277462148486783]}}, {"xyz": [-0.11810455476290889, 0.00379135284215959, 0.0468977203743723], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1943}, "mesh_info": {"face_index": 5333, "face_uv": [0.07398007812153277, 0.032651500034204486, 0.8933684218442365]}}, {"xyz": [0.14413001291734662, 0.050626714543456464, -0.2133980138651919], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1391}, "mesh_info": {"face_index": 5307, "face_uv": [0.9106863860105435, 0.0518264297558328, 0.03748718423361309]}}, {"xyz": [-0.14256718674626823, 0.05170538689434645, -0.21939292457751972], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 2003}, "mesh_info": {"face_index": 5306, "face_uv": [0.953965022235364, 0.030740901473511505, 0.015294076291105659]}}, {"xyz": [0.14503013069487586, -0.16560229958800066, -0.28177879305508247], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 54, "face_uv": [0.5922858892118024, 0.30191900515779807, 0.10579510563039911]}}, {"xyz": [0.12911618669959873, -0.2290212546771202, 0.014710523347203797], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1388}, "mesh_info": {"face_index": 241, "face_uv": [0.26062188523670005, 0.5847185412416883, 0.1546595735216123]}}, {"xyz": [-0.14242852218314628, -0.22879204847020018, -0.015735373038100353], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 651}, "mesh_info": {"face_index": 808, "face_uv": [0.3006979519177356, 0.13123365317515778, 0.5680683949071069]}}, {"xyz": [-0.15097851872998258, -0.17472579314926784, -0.2617818193369354], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 43}, "mesh_info": {"face_index": 643, "face_uv": [0.18804331994964993, 0.5948920084121402, 0.2170646716382101]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "41aa5dba48b7a3f683257865d0a50551", "keypoints": [{"xyz": [0.4157818825352564, 0.11308479198772525, 0.11176657997429279], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 485}, "mesh_info": {"face_index": 3614, "face_uv": [0.3875545422405785, 0.034703456906006944, 0.5777420008534147]}}, {"xyz": [-0.38054600358009316, 0.10737542740174419, 0.10963006688152627], "rgb": [148, 126, 102], "semantic_id": 1, "pcd_info": {"point_index": 244}, "mesh_info": {"face_index": 3520, "face_uv": [0.29897597519762226, 0.3270365530521109, 0.3739874717502663]}}, {"xyz": [0.3195980813099909, -0.07828305410137282, 0.07696325465589271], "rgb": [129, 51, 23], "semantic_id": 2, "pcd_info": {"point_index": 1283}, "mesh_info": {"face_index": 1866, "face_uv": [0.48586361062472416, 0.010759079212976596, 0.5033773101622948]}}, {"xyz": [-0.28911600126743353, -0.0804089978337289, 0.07593641819053332], "rgb": [130, 49, 20], "semantic_id": 3, "pcd_info": {"point_index": 529}, "mesh_info": {"face_index": 384, "face_uv": [0.014898825862834782, 0.02915556788049866, 0.9559456062566679]}}, {"xyz": [0.32699999987041173, -0.08455215038005093, -0.24209100008010864], "rgb": [113, 68, 38], "semantic_id": 4, "pcd_info": {"point_index": 848}, "mesh_info": {"face_index": 4401, "face_uv": [0.015799434053811227, 0.6392727982487639, 0.34492776769742484]}}, {"xyz": [-0.29477839962507507, -0.08327889275260891, -0.24005915456151228], "rgb": [128, 50, 25], "semantic_id": 5, "pcd_info": {"point_index": 785}, "mesh_info": {"face_index": 194, "face_uv": [0.13024116841463765, 0.14491933548517796, 0.7248394961001836]}}, {"xyz": [0.4048193674109164, -0.026777545305101902, -0.24853740993896234], "rgb": [114, 60, 30], "semantic_id": 6, "pcd_info": {"point_index": 405}, "mesh_info": {"face_index": 2702, "face_uv": [0.022670563673186567, 0.22987943534222366, 0.7474500009845897]}}, {"xyz": [0.36949590069782545, 0.00694673157269432, 0.029846973599003235], "rgb": [119, 88, 36], "semantic_id": 7, "pcd_info": {"point_index": 1924}, "mesh_info": {"face_index": 3151, "face_uv": [0.41287059077454, 0.5683078055838606, 0.01882160364160383]}}, {"xyz": [-0.3787708677977687, -0.031119234489517478, -0.24209100008010864], "rgb": [142, 113, 78], "semantic_id": 8, "pcd_info": {"point_index": 28}, "mesh_info": {"face_index": 3275, "face_uv": [0.14569491036216572, 0.8359850399306589, 0.018320049707175413]}}, {"xyz": [-0.33844763024096375, 0.014666223520958477, 0.038942629971283504], "rgb": [90, 62, 24], "semantic_id": 9, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 3111, "face_uv": [0.04876620513689117, 0.6503084484335732, 0.3009253464295357]}}, {"xyz": [0.40441288162774514, -0.2450293030952963, -0.24209100008010864], "rgb": [159, 89, 68], "semantic_id": 17, "pcd_info": {"point_index": 843}, "mesh_info": {"face_index": 4419, "face_uv": [0.8151625982645552, 0.17314565630978623, 0.011691745425658599]}}, {"xyz": [0.40628701448440563, -0.24709765272252704, 0.15144202774193638], "rgb": [153, 85, 65], "semantic_id": 18, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 4475, "face_uv": [0.8342728954464292, 0.1645532999600597, 0.0011738045935112797]}}, {"xyz": [-0.3805460035800935, -0.2461053657532466, 0.1504698592885353], "rgb": [160, 107, 88], "semantic_id": 19, "pcd_info": {"point_index": 1930}, "mesh_info": {"face_index": 4481, "face_uv": [1.652259163945713e-05, 0.7189932181673833, 0.28099025924097754]}}, {"xyz": [-0.376369428018575, -0.24952100217342377, -0.2405113134523557], "rgb": [133, 52, 24], "semantic_id": 20, "pcd_info": {"point_index": 994}, "mesh_info": {"face_index": 2791, "face_uv": [0.005308083755549917, 0.00400023965235666, 0.9906916765920936]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "94b39e206f1bd77c69e31bb722067900", "keypoints": [{"xyz": [0.13312228778883917, 0.2357890009880068, 0.1659812242092188], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 611, "face_uv": [0.4609012270308804, 0.5346601653166706, 0.00443860765245008]}}, {"xyz": [-0.2545050855522053, 0.2357890009880066, 0.15956569415905897], "rgb": [226, 225, 221], "semantic_id": 1, "pcd_info": {"point_index": 1956}, "mesh_info": {"face_index": 545, "face_uv": [0.4520552560275296, 0.5390866518879394, 0.00885809208453118]}}, {"xyz": [0.13128279840517407, -0.02737937034019966, 0.04060878336300888], "rgb": [190, 164, 113], "semantic_id": 2, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 779, "face_uv": [0.14435641715749184, 0.006871376883035596, 0.8487722059594979]}}, {"xyz": [-0.25305774078423643, -0.0272363099231685, 0.0474420003592968], "rgb": [246, 221, 171], "semantic_id": 3, "pcd_info": {"point_index": 926}, "mesh_info": {"face_index": 1399, "face_uv": [0.9530635163792328, 0.03245312882444429, 0.01448335479632292]}}, {"xyz": [0.1282607313795653, -0.0269524863133499, -0.326273970163536], "rgb": [137, 110, 62], "semantic_id": 4, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 34, "face_uv": [0.15023759223020086, 0.21472823494903528, 0.6350341728207514]}}, {"xyz": [-0.2606939971446991, -0.02574046198847535, -0.33358069437645077], "rgb": [225, 225, 221], "semantic_id": 5, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 1197, "face_uv": [0.9597167385292196, 0.023279615631466334, 0.017003645839314088]}}, {"xyz": [0.1643020720275598, -0.30145901441574097, -0.29781177167281825], "rgb": [147, 83, 35], "semantic_id": 17, "pcd_info": {"point_index": 1852}, "mesh_info": {"face_index": 281, "face_uv": [0.45004463185447535, 0.4958220429740319, 0.054133325171492684]}}, {"xyz": [0.16459873332318264, -0.30145901441574097, 0.2847674309904109], "rgb": [139, 75, 32], "semantic_id": 18, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 299, "face_uv": [0.4545802512781349, 0.5145459478269906, 0.030873800894874598]}}, {"xyz": [-0.2877981624660201, -0.30145901441574097, 0.2845514988933384], "rgb": [149, 84, 40], "semantic_id": 19, "pcd_info": {"point_index": 1761}, "mesh_info": {"face_index": 305, "face_uv": [0.41439237442606996, 0.48875536279912646, 0.09685226277480354]}}, {"xyz": [-0.2933694968180428, -0.30145901441574097, -0.293493463992632], "rgb": [166, 98, 49], "semantic_id": 20, "pcd_info": {"point_index": 1041}, "mesh_info": {"face_index": 702, "face_uv": [0.06227229212238957, 0.4381558621973525, 0.499571845680258]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e30b412be565a1026efe57da6d3d385e", "keypoints": [{"xyz": [0.13956200986670564, 0.2364704766473419, 0.2532170898749119], "rgb": [46, 39, 34], "semantic_id": 0, "pcd_info": {"point_index": 459}, "mesh_info": {"face_index": 13343, "face_uv": [0.7265961106692571, 0.17924286686261648, 0.09416102246812594]}}, {"xyz": [-0.14010020921665226, 0.23644210632076623, 0.25332207081093605], "rgb": [47, 40, 35], "semantic_id": 1, "pcd_info": {"point_index": 1194}, "mesh_info": {"face_index": 12749, "face_uv": [0.20412057321515512, 0.07779600140294858, 0.7180834253818963]}}, {"xyz": [0.15684225448210593, -0.07987663394278766, 0.07954221054307363], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1169}, "mesh_info": {"face_index": 8266, "face_uv": [0.5165614925391299, 0.007344080688505305, 0.47609442677236424]}}, {"xyz": [-0.16132030493992788, -0.07699205777505691, 0.08312095540040851], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 3811, "face_uv": [0.11057941339916144, 0.1436109820509599, 0.7458096045498762]}}, {"xyz": [0.15823739985915414, -0.0582766239983592, -0.2850978945553673], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 2012}, "mesh_info": {"face_index": 3832, "face_uv": [0.48694338933800035, 0.2747159471429231, 0.23834066351907998]}}, {"xyz": [-0.15836336087201858, -0.0573330518401185, -0.2817468553028138], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1904}, "mesh_info": {"face_index": 3907, "face_uv": [0.08924835258838444, 0.8801908788953167, 0.030560768516299984]}}, {"xyz": [0.21604013786373996, 0.018764635634336946, -0.21114123914521904], "rgb": [47, 40, 35], "semantic_id": 6, "pcd_info": {"point_index": 857}, "mesh_info": {"face_index": 368, "face_uv": [0.25938615366348394, 0.3380606429116603, 0.4025532034248565]}}, {"xyz": [0.22946416768101915, 0.027077070789849778, 0.1327137612758563], "rgb": [46, 39, 34], "semantic_id": 7, "pcd_info": {"point_index": 1458}, "mesh_info": {"face_index": 14647, "face_uv": [0.4027118171098729, 0.04529268449529696, 0.5519954983948282]}}, {"xyz": [-0.2186869673735154, 0.015899190905088068, -0.21312771048348741], "rgb": [46, 39, 34], "semantic_id": 8, "pcd_info": {"point_index": 278}, "mesh_info": {"face_index": 14114, "face_uv": [0.45467140523786587, 0.512235461542367, 0.033093133219766924]}}, {"xyz": [-0.2287861720344025, 0.026983714225517375, 0.1336172800843112], "rgb": [46, 39, 34], "semantic_id": 9, "pcd_info": {"point_index": 158}, "mesh_info": {"face_index": 12321, "face_uv": [0.5762056725376278, 0.0416181817471689, 0.38217614571520186]}}, {"xyz": [0.21887007671644754, -0.3680671450404601, -0.2545660295214355], "rgb": [47, 40, 35], "semantic_id": 17, "pcd_info": {"point_index": 291}, "mesh_info": {"face_index": 323, "face_uv": [0.0777126476848699, 0.36801927559767617, 0.5542680767174544]}}, {"xyz": [0.2186781713345562, -0.36848428722234694, 0.1655673339969941], "rgb": [47, 40, 35], "semantic_id": 18, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 667, "face_uv": [0.4363995453439876, 0.5102235295762715, 0.053376925079740976]}}, {"xyz": [-0.21773814479833398, -0.3683957875969933, 0.16935034634381632], "rgb": [46, 40, 35], "semantic_id": 19, "pcd_info": {"point_index": 665}, "mesh_info": {"face_index": 14409, "face_uv": [0.30310757851296016, 0.09880103431071025, 0.5980913871763295]}}, {"xyz": [-0.22280464147509232, -0.3682927588277486, -0.25015836976412537], "rgb": [46, 39, 34], "semantic_id": 20, "pcd_info": {"point_index": 1151}, "mesh_info": {"face_index": 14067, "face_uv": [0.14458980401701668, 0.582206931075897, 0.27320326490708596]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a682c4bf731e3af2ca6a405498436716", "keypoints": [{"xyz": [0.21772722640575637, 0.21874000132083887, 0.13756022868840612], "rgb": [138, 67, 17], "semantic_id": 0, "pcd_info": {"point_index": 601}, "mesh_info": {"face_index": 580, "face_uv": [0.3989741952050905, 0.291862293295897, 0.30916351149901233]}}, {"xyz": [-0.22493290982974345, 0.21874000132083898, 0.12572105400428235], "rgb": [138, 68, 18], "semantic_id": 1, "pcd_info": {"point_index": 1271}, "mesh_info": {"face_index": 587, "face_uv": [0.33424049176813586, 0.5981719287633043, 0.06758757946856019]}}, {"xyz": [0.19865110538532363, -0.04116399958729722, 0.04989388714714271], "rgb": [137, 67, 17], "semantic_id": 2, "pcd_info": {"point_index": 806}, "mesh_info": {"face_index": 680, "face_uv": [0.04959163744154012, 0.879429508522343, 0.07097885403611158]}}, {"xyz": [-0.2240293007210033, -0.03897170792045945, 0.05795900151133537], "rgb": [138, 68, 18], "semantic_id": 3, "pcd_info": {"point_index": 1043}, "mesh_info": {"face_index": 623, "face_uv": [0.005777328323751499, 0.013478923767146742, 0.9807437479091018]}}, {"xyz": [0.1910942826791504, -0.04116399958729744, -0.19537152944981373], "rgb": [138, 68, 18], "semantic_id": 4, "pcd_info": {"point_index": 540}, "mesh_info": {"face_index": 647, "face_uv": [0.3359856513567257, 0.19258487855599518, 0.47142947008727903]}}, {"xyz": [-0.1853318464358785, -0.04116399958729744, -0.1914165906031638], "rgb": [138, 68, 18], "semantic_id": 5, "pcd_info": {"point_index": 1481}, "mesh_info": {"face_index": 657, "face_uv": [0.008588991662997257, 0.6549308414612098, 0.33648016687579285]}}, {"xyz": [0.213204063078469, 0.028435999527573363, -0.14506185184206186], "rgb": [137, 67, 17], "semantic_id": 6, "pcd_info": {"point_index": 1070}, "mesh_info": {"face_index": 1513, "face_uv": [0.40015280353663957, 0.48822259944961316, 0.11162459701373947]}}, {"xyz": [0.20960298151890439, 0.05126500129699707, 0.049709384349177044], "rgb": [138, 68, 18], "semantic_id": 7, "pcd_info": {"point_index": 1348}, "mesh_info": {"face_index": 1474, "face_uv": [0.040967083986936076, 0.5000828941103114, 0.45895002190275247]}}, {"xyz": [-0.2084754378055503, 0.028435999527573808, -0.13892354397619888], "rgb": [138, 68, 18], "semantic_id": 8, "pcd_info": {"point_index": 593}, "mesh_info": {"face_index": 1586, "face_uv": [0.5049172741382981, 0.33161095892699144, 0.16347176693471818]}}, {"xyz": [-0.20933141644252848, 0.05629900097847007, 0.0449725220886108], "rgb": [242, 235, 230], "semantic_id": 9, "pcd_info": {"point_index": 1121}, "mesh_info": {"face_index": 1308, "face_uv": [0.10507889924261174, 0.5368886084988616, 0.3580324922585307]}}, {"xyz": [0.15378557489799025, -0.42926400899887096, -0.1262057993123301], "rgb": [138, 68, 18], "semantic_id": 17, "pcd_info": {"point_index": 563}, "mesh_info": {"face_index": 54, "face_uv": [0.038085026226377904, 0.48169214147661493, 0.48022283229700746]}}, {"xyz": [0.1373653356964986, -0.42926400899887085, 0.1465403837714203], "rgb": [138, 68, 18], "semantic_id": 18, "pcd_info": {"point_index": 1408}, "mesh_info": {"face_index": 290, "face_uv": [0.4737004902540318, 0.06185349336269231, 0.46444601638327593]}}, {"xyz": [-0.15677887128896215, -0.42926400899887085, 0.14798235731799433], "rgb": [138, 68, 18], "semantic_id": 19, "pcd_info": {"point_index": 435}, "mesh_info": {"face_index": 361, "face_uv": [0.4630689351695013, 0.23914812933574636, 0.2977829354947524]}}, {"xyz": [-0.13203491807700032, -0.42926400899887085, -0.1269566184588492], "rgb": [138, 68, 18], "semantic_id": 20, "pcd_info": {"point_index": 1934}, "mesh_info": {"face_index": 124, "face_uv": [0.2631316609445788, 0.26438416927880865, 0.47248416977661256]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2f42261a7f658407d12a1bc232f6622c", "keypoints": [{"xyz": [0.18809088206566954, 0.4379955262160831, 0.1307714367118189], "rgb": [144, 102, 57], "semantic_id": 0, "pcd_info": {"point_index": 403}, "mesh_info": {"face_index": 1486, "face_uv": [0.19106041483662733, 0.3418492473356304, 0.46709033782774245]}}, {"xyz": [-0.1812287381589281, 0.43931591103627754, 0.14591077875972225], "rgb": [151, 103, 61], "semantic_id": 1, "pcd_info": {"point_index": 1047}, "mesh_info": {"face_index": 923, "face_uv": [0.30771130260087315, 0.0593045387317254, 0.6329841586674015]}}, {"xyz": [0.19332325875266346, 0.1541450023651123, 0.10775646253249382], "rgb": [140, 96, 59], "semantic_id": 2, "pcd_info": {"point_index": 1041}, "mesh_info": {"face_index": 1734, "face_uv": [0.9464911067251974, 0.019311147392245376, 0.03419774588255728]}}, {"xyz": [-0.19403554600907047, 0.15414500236511208, 0.11332807502656395], "rgb": [135, 90, 50], "semantic_id": 3, "pcd_info": {"point_index": 644}, "mesh_info": {"face_index": 5391, "face_uv": [0.9818629395311207, 0.009560537687003802, 0.008576522781874044]}}, {"xyz": [0.20079143149249573, 0.13752399384975433, -0.2347498663565809], "rgb": [123, 78, 48], "semantic_id": 4, "pcd_info": {"point_index": 1482}, "mesh_info": {"face_index": 1661, "face_uv": [0.10544528002255302, 0.8752622176061372, 0.019292502371309656]}}, {"xyz": [-0.19623416401545632, 0.13592636412404002, -0.23751898661213688], "rgb": [133, 93, 58], "semantic_id": 5, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 1925, "face_uv": [0.2490828792747138, 0.024374351800900067, 0.7265427689243839]}}, {"xyz": [0.15530953802934394, -0.2885855031860598, -0.1940098866626943], "rgb": [128, 84, 51], "semantic_id": 17, "pcd_info": {"point_index": 1768}, "mesh_info": {"face_index": 5273, "face_uv": [0.8118268829950941, 0.1671834965287381, 0.020989620476159425]}}, {"xyz": [0.15960692337074478, -0.29427535805548577, 0.1461763720020672], "rgb": [152, 103, 66], "semantic_id": 18, "pcd_info": {"point_index": 1459}, "mesh_info": {"face_index": 5259, "face_uv": [0.06487193129660021, 0.6754522715987681, 0.25967579710463445]}}, {"xyz": [-0.16664120436160673, -0.29995447838630196, 0.1495543863408992], "rgb": [133, 91, 55], "semantic_id": 19, "pcd_info": {"point_index": 362}, "mesh_info": {"face_index": 5195, "face_uv": [0.651064955232862, 0.1963722618116129, 0.15256278295552453]}}, {"xyz": [-0.1672217090614484, -0.2995041178405149, -0.19659281386227684], "rgb": [138, 91, 53], "semantic_id": 20, "pcd_info": {"point_index": 1315}, "mesh_info": {"face_index": 5324, "face_uv": [0.2263070317190587, 0.23745774184095286, 0.5362352264399926]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "dcdb75ba399230bf98f5bccb3529a48d", "keypoints": [{"xyz": [0.22025329532799554, 0.14331284837650785, -0.05974740931486866], "rgb": [141, 75, 33], "semantic_id": 0, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 102, "face_uv": [0.4931300955406385, 0.010282474772311076, 0.49658742968704994]}}, {"xyz": [-0.09626221394229098, 0.15206393273821997, 0.0006344918486334006], "rgb": [149, 86, 47], "semantic_id": 1, "pcd_info": {"point_index": 14}, "mesh_info": {"face_index": 71, "face_uv": [0.001691559626763214, 0.6761916081417657, 0.3221168322314793]}}, {"xyz": [0.22536525068244223, -0.29949700832366966, -0.06739911780977992], "rgb": [143, 76, 35], "semantic_id": 2, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 16, "face_uv": [0.02273838523991579, 0.28313482334885254, 0.6941267914112323]}}, {"xyz": [-0.09551784128112159, -0.29949700832366943, -0.007542118164074241], "rgb": [146, 83, 42], "semantic_id": 3, "pcd_info": {"point_index": 1179}, "mesh_info": {"face_index": 56, "face_uv": [0.4022771378136439, 0.027356256881356542, 0.5703666053049996]}}, {"xyz": [0.17222550560304367, -0.29949700832366966, -0.36553213568020326], "rgb": [151, 81, 36], "semantic_id": 4, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 19, "face_uv": [0.15611617952303541, 0.2763075098206261, 0.5675763106563392]}}, {"xyz": [-0.15561884804346296, -0.29949700832366943, -0.30811344095805904], "rgb": [142, 77, 37], "semantic_id": 5, "pcd_info": {"point_index": 1728}, "mesh_info": {"face_index": 22, "face_uv": [0.6917333025541483, 0.10197039215213702, 0.20629630529371476]}}, {"xyz": [0.16604624546939584, -0.6456859707832336, -0.3549284395414164], "rgb": [148, 79, 34], "semantic_id": 17, "pcd_info": {"point_index": 1122}, "mesh_info": {"face_index": 0, "face_uv": [0.4353671175761115, 0.4027328526694588, 0.16190002975442971]}}, {"xyz": [0.22051513907746517, -0.6456859707832336, -0.041547461130076624], "rgb": [145, 78, 36], "semantic_id": 18, "pcd_info": {"point_index": 299}, "mesh_info": {"face_index": 85, "face_uv": [0.6161466391763478, 0.37866046512453455, 0.005192895699117625]}}, {"xyz": [-0.09226999837230603, -0.6456859707832334, 0.011175725788763913], "rgb": [148, 82, 42], "semantic_id": 19, "pcd_info": {"point_index": 901}, "mesh_info": {"face_index": 63, "face_uv": [0.39125529527042113, 0.38490335183986735, 0.22384135288971127]}}, {"xyz": [-0.14610978173601763, -0.6456859707832336, -0.2974178496120967], "rgb": [152, 82, 38], "semantic_id": 20, "pcd_info": {"point_index": 994}, "mesh_info": {"face_index": 34, "face_uv": [0.43748911473708796, 0.472049987824497, 0.09046089743841511]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "67d3a3eceaada710e400ee8c5c49a7eb", "keypoints": [{"xyz": [0.20213965450658633, 0.18813713965545387, 0.007350000087171793], "rgb": [117, 64, 39], "semantic_id": 0, "pcd_info": {"point_index": 249}, "mesh_info": {"face_index": 382, "face_uv": [0.08620584837096777, 0.020180454603402325, 0.89361369702563]}}, {"xyz": [-0.20556436646036597, 0.19194995852088914, 0.007350000087171571], "rgb": [128, 71, 42], "semantic_id": 1, "pcd_info": {"point_index": 2011}, "mesh_info": {"face_index": 67, "face_uv": [0.1992772743376341, 0.015022852679664044, 0.7856998729826715]}}, {"xyz": [0.19776627766626348, -0.2059199959039686, 0.0027197901098181543], "rgb": [129, 73, 46], "semantic_id": 2, "pcd_info": {"point_index": 724}, "mesh_info": {"face_index": 355, "face_uv": [0.9652857538163653, 0.020777234451409117, 0.013937011732224485]}}, {"xyz": [-0.20738710871887897, -0.2059199959039688, 0.0024765294249939895], "rgb": [126, 70, 43], "semantic_id": 3, "pcd_info": {"point_index": 1935}, "mesh_info": {"face_index": 349, "face_uv": [0.005065514718399475, 0.009603715862422708, 0.9853307694191776]}}, {"xyz": [0.20425901786584602, -0.20591999590396887, -0.3137829025091661], "rgb": [110, 56, 28], "semantic_id": 4, "pcd_info": {"point_index": 874}, "mesh_info": {"face_index": 355, "face_uv": [0.028145722475655954, 0.005238713008091927, 0.9666155645162524]}}, {"xyz": [-0.20680564308258959, -0.20591999590396887, -0.32236823176471185], "rgb": [117, 66, 39], "semantic_id": 5, "pcd_info": {"point_index": 1970}, "mesh_info": {"face_index": 17, "face_uv": [0.007542446644196403, 0.010995287984562728, 0.9814622653712411]}}, {"xyz": [0.18045976738694008, -0.535423994064331, -0.317153146966072], "rgb": [122, 67, 41], "semantic_id": 17, "pcd_info": {"point_index": 414}, "mesh_info": {"face_index": 1, "face_uv": [0.1477960301656761, 0.4890614371669546, 0.36314253266736934]}}, {"xyz": [0.17860040466440202, -0.5354239940643308, 0.0293186037068065], "rgb": [134, 77, 49], "semantic_id": 18, "pcd_info": {"point_index": 523}, "mesh_info": {"face_index": 388, "face_uv": [0.3327286387325649, 0.5240519842785233, 0.14321937698891138]}}, {"xyz": [-0.19864591444501145, -0.535423994064331, 0.02616414047869675], "rgb": [115, 59, 33], "semantic_id": 19, "pcd_info": {"point_index": 1000}, "mesh_info": {"face_index": 85, "face_uv": [0.09032763911175191, 0.6660796413912909, 0.24359271949695713]}}, {"xyz": [-0.19205951049524084, -0.5354239940643313, -0.3175321631413399], "rgb": [129, 78, 48], "semantic_id": 20, "pcd_info": {"point_index": 1563}, "mesh_info": {"face_index": 371, "face_uv": [0.36582113966432084, 0.4936381148779042, 0.14054074545777534]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d9fe499372f2156fc0d328376073b25", "keypoints": [{"xyz": [0.20762708113183626, 0.3728342221890233, 0.10586699843406677], "rgb": [91, 91, 91], "semantic_id": 0, "pcd_info": {"point_index": 1918}, "mesh_info": {"face_index": 23, "face_uv": [0.016820192765570056, 0.00941380563941541, 0.9737660015950145]}}, {"xyz": [-0.2065433636459192, 0.3703708325060656, 0.105866998434067], "rgb": [91, 91, 91], "semantic_id": 1, "pcd_info": {"point_index": 1489}, "mesh_info": {"face_index": 22, "face_uv": [0.9699578847692661, 0.018026371550863618, 0.01201574367987226]}}, {"xyz": [0.19760085724323123, 0.0868582916159969, 0.1324830055236812], "rgb": [125, 125, 125], "semantic_id": 2, "pcd_info": {"point_index": 1498}, "mesh_info": {"face_index": 63, "face_uv": [0.5273198771564489, 0.16443970992356294, 0.30824041291998494]}}, {"xyz": [-0.20111801199738555, 0.08497707104601271, 0.13248300552368164], "rgb": [196, 196, 196], "semantic_id": 3, "pcd_info": {"point_index": 1796}, "mesh_info": {"face_index": 131, "face_uv": [0.5077402011470998, 0.15900276640569205, 0.333257032447208]}}, {"xyz": [0.20807087294461513, 0.026786548876260724, -0.2665340006351471], "rgb": [228, 228, 228], "semantic_id": 4, "pcd_info": {"point_index": 486}, "mesh_info": {"face_index": 69, "face_uv": [0.8660530155592436, 0.007016616108318642, 0.1269303683324376]}}, {"xyz": [-0.2121947184666215, 0.035086868120417836, -0.2665340006351471], "rgb": [91, 91, 91], "semantic_id": 5, "pcd_info": {"point_index": 1679}, "mesh_info": {"face_index": 5, "face_uv": [0.0962930024042179, 0.004755794877999212, 0.8989512027177828]}}, {"xyz": [0.20121441864599965, -0.4213659889585236, -0.2665340006351471], "rgb": [206, 206, 206], "semantic_id": 17, "pcd_info": {"point_index": 1341}, "mesh_info": {"face_index": 66, "face_uv": [0.39155340434927643, 0.0024137007743264423, 0.6060328948763972]}}, {"xyz": [0.21163600683212302, -0.41967646881161136, 0.1516108032840994], "rgb": [229, 229, 229], "semantic_id": 18, "pcd_info": {"point_index": 1763}, "mesh_info": {"face_index": 33, "face_uv": [0.1045056912395582, 0.8844362569067781, 0.01105805185366475]}}, {"xyz": [-0.2020545156218187, -0.4223641673145413, 0.15909899771213531], "rgb": [193, 193, 193], "semantic_id": 19, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 126, "face_uv": [0.4570740694052036, 0.0001175133521963537, 0.5428084172426]}}, {"xyz": [-0.20308463171505342, -0.4213901357983727, -0.2665340006351471], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 1210}, "mesh_info": {"face_index": 134, "face_uv": [0.5816288092710136, 0.0023603280374160512, 0.41601086269157056]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2d0344ee62954b0afc4743bde9e89079", "keypoints": [{"xyz": [0.17471124292078294, 0.5480982114545851, 0.1316629946231842], "rgb": [237, 192, 119], "semantic_id": 0, "pcd_info": {"point_index": 830}, "mesh_info": {"face_index": 14, "face_uv": [0.9717077868046681, 0.006311227718498638, 0.021980985476833335]}}, {"xyz": [-0.17523594412088223, 0.5384210386765542, 0.1316629946231841], "rgb": [239, 191, 115], "semantic_id": 1, "pcd_info": {"point_index": 192}, "mesh_info": {"face_index": 14, "face_uv": [0.026323631477054132, 0.03065533492041538, 0.9430210336025296]}}, {"xyz": [0.17154135032299242, 0.15309099853038788, 0.12503594022078224], "rgb": [241, 201, 130], "semantic_id": 2, "pcd_info": {"point_index": 825}, "mesh_info": {"face_index": 135, "face_uv": [0.017773525360536488, 0.03685569462055814, 0.9453707800189053]}}, {"xyz": [-0.1701856813920452, 0.15309099853038788, 0.13001565826789452], "rgb": [235, 187, 104], "semantic_id": 3, "pcd_info": {"point_index": 876}, "mesh_info": {"face_index": 87, "face_uv": [0.03554884484007271, 0.9600330573580648, 0.0044180978018624525]}}, {"xyz": [0.17102977979922288, 0.1530909985303881, -0.22180649350795845], "rgb": [241, 201, 130], "semantic_id": 4, "pcd_info": {"point_index": 1404}, "mesh_info": {"face_index": 135, "face_uv": [0.9479926570691318, 0.03823770506502855, 0.013769637865841207]}}, {"xyz": [-0.17346096486881585, 0.15309099853038788, -0.22557536457014804], "rgb": [235, 187, 103], "semantic_id": 5, "pcd_info": {"point_index": 42}, "mesh_info": {"face_index": 80, "face_uv": [0.9269818886627463, 0.03111874720615746, 0.04189936413109614]}}, {"xyz": [0.1584619469457701, -0.2592749893665316, -0.19962272485632027], "rgb": [235, 196, 124], "semantic_id": 17, "pcd_info": {"point_index": 69}, "mesh_info": {"face_index": 133, "face_uv": [0.08510722247636401, 0.35103786320464697, 0.5638549143189898]}}, {"xyz": [0.1420664093035806, -0.2643130123615265, 0.16983571397047809], "rgb": [234, 182, 103], "semantic_id": 18, "pcd_info": {"point_index": 339}, "mesh_info": {"face_index": 44, "face_uv": [0.5565870809774975, 0.3381390545387003, 0.10527386448380219]}}, {"xyz": [-0.15269723153614567, -0.25203999876976013, 0.17693869984191762], "rgb": [252, 211, 134], "semantic_id": 19, "pcd_info": {"point_index": 1370}, "mesh_info": {"face_index": 56, "face_uv": [0.12415567768972702, 0.4703817458711469, 0.40546257643912614]}}, {"xyz": [-0.16324498148662175, -0.25627899169921853, -0.20403741252844726], "rgb": [245, 202, 130], "semantic_id": 20, "pcd_info": {"point_index": 1705}, "mesh_info": {"face_index": 36, "face_uv": [0.481865746671023, 0.30305385251337064, 0.21508040081560548]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5c8ea11840795cb5f1783a44a88d6274", "keypoints": [{"xyz": [0.16001418274708407, 0.2755635153138405, 0.15399175331905005], "rgb": [216, 199, 167], "semantic_id": 0, "pcd_info": {"point_index": 1723}, "mesh_info": {"face_index": 4494, "face_uv": [0.29575287322468363, 0.4477850107546611, 0.2564621160206552]}}, {"xyz": [-0.16445633256983025, 0.2723848988940498, 0.14275559792367776], "rgb": [216, 200, 167], "semantic_id": 1, "pcd_info": {"point_index": 1873}, "mesh_info": {"face_index": 4584, "face_uv": [0.23722311580627914, 0.567713373067554, 0.19506351112616754]}}, {"xyz": [0.12224721417605283, -0.004817918953676559, 0.07549305822567182], "rgb": [86, 86, 86], "semantic_id": 2, "pcd_info": {"point_index": 509}, "mesh_info": {"face_index": 1134, "face_uv": [0.7238289757249575, 0.005157431843802082, 0.2710135924313783]}}, {"xyz": [-0.1599020743418874, -0.02155075467340506, 0.07189455393575794], "rgb": [140, 60, 6], "semantic_id": 3, "pcd_info": {"point_index": 1257}, "mesh_info": {"face_index": 2070, "face_uv": [0.7415203624461292, 0.06951371134313389, 0.18896592621072725]}}, {"xyz": [0.1847132921835608, -0.009765019517024465, -0.25501803880687085], "rgb": [154, 67, 4], "semantic_id": 4, "pcd_info": {"point_index": 1269}, "mesh_info": {"face_index": 2033, "face_uv": [0.03078338722403537, 0.9088122867290642, 0.06040432604690966]}}, {"xyz": [-0.18838532026360577, -0.010447462069923308, -0.23608774267370958], "rgb": [129, 55, 9], "semantic_id": 5, "pcd_info": {"point_index": 1951}, "mesh_info": {"face_index": 2188, "face_uv": [0.057998210804534635, 0.9304050160145053, 0.011596773180975614]}}, {"xyz": [0.23116066797564733, 0.2353154170981202, -0.1691034744727875], "rgb": [215, 199, 166], "semantic_id": 6, "pcd_info": {"point_index": 272}, "mesh_info": {"face_index": 4867, "face_uv": [0.5398048462726015, 0.40672289953933666, 0.05347225418806115]}}, {"xyz": [0.2301859536868915, 0.24151582054615361, 0.04168606941943365], "rgb": [215, 200, 167], "semantic_id": 7, "pcd_info": {"point_index": 1950}, "mesh_info": {"face_index": 4396, "face_uv": [0.3032022724481511, 0.4552748595193493, 0.24152286803249948]}}, {"xyz": [-0.22812545539045687, 0.23521401023072763, -0.16770443360638188], "rgb": [216, 200, 167], "semantic_id": 8, "pcd_info": {"point_index": 696}, "mesh_info": {"face_index": 4669, "face_uv": [0.5680641081567317, 0.003373910957004031, 0.4285619808862645]}}, {"xyz": [-0.22080602688547019, 0.24242677918521105, 0.04475406948226299], "rgb": [216, 200, 167], "semantic_id": 9, "pcd_info": {"point_index": 1872}, "mesh_info": {"face_index": 4623, "face_uv": [0.1439516401363142, 0.4735311179035571, 0.3825172419601299]}}, {"xyz": [0.18731075469650815, -0.4148550033569336, -0.2606420325712118], "rgb": [144, 62, 5], "semantic_id": 17, "pcd_info": {"point_index": 1185}, "mesh_info": {"face_index": 5200, "face_uv": [0.15412288780001782, 0.41636726479252245, 0.42950984740745973]}}, {"xyz": [0.1597180681136952, -0.4245702238774599, 0.17553999665628195], "rgb": [138, 58, 6], "semantic_id": 18, "pcd_info": {"point_index": 1885}, "mesh_info": {"face_index": 3970, "face_uv": [0.27882666108903326, 0.517566704746003, 0.20360663416496383]}}, {"xyz": [-0.16153725924975584, -0.4241273471415906, 0.1764514002084362], "rgb": [143, 62, 6], "semantic_id": 19, "pcd_info": {"point_index": 1681}, "mesh_info": {"face_index": 3106, "face_uv": [0.36383777923202826, 0.43993091500316406, 0.19623130576480718]}}, {"xyz": [-0.1916842013740876, -0.4148550033569336, -0.26468189905535694], "rgb": [145, 63, 7], "semantic_id": 20, "pcd_info": {"point_index": 829}, "mesh_info": {"face_index": 29, "face_uv": [0.4059089507391217, 0.4379995675938736, 0.1560914816670047]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bb9efb4912a018b3c329e2758ab09ecb", "keypoints": [{"xyz": [0.2286053085547225, 0.5115489959716797, 0.17759523593492468], "rgb": [239, 128, 128], "semantic_id": 0, "pcd_info": {"point_index": 1773}, "mesh_info": {"face_index": 27, "face_uv": [0.04020670222083544, 0.45544454170756954, 0.504348756071595]}}, {"xyz": [-0.23083781888709626, 0.5115489959716797, 0.18082488952790868], "rgb": [239, 128, 128], "semantic_id": 1, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 76, "face_uv": [0.44634014509298925, 0.5083250193918966, 0.045334835515114226]}}, {"xyz": [0.2345565518133284, 0.15917199850082375, 0.12499565775775887], "rgb": [238, 127, 127], "semantic_id": 2, "pcd_info": {"point_index": 397}, "mesh_info": {"face_index": 29, "face_uv": [0.02836156963799224, 0.9689673051131196, 0.0026711252488864122]}}, {"xyz": [-0.240187959823141, 0.15917199850082397, 0.12449365876277085], "rgb": [238, 127, 127], "semantic_id": 3, "pcd_info": {"point_index": 1803}, "mesh_info": {"face_index": 20, "face_uv": [0.026724663784097435, 0.032330856224751, 0.9409444799911514]}}, {"xyz": [0.23568583849563216, 0.1591719985008242, -0.23503340176920348], "rgb": [239, 128, 128], "semantic_id": 4, "pcd_info": {"point_index": 1969}, "mesh_info": {"face_index": 88, "face_uv": [0.9359481804429662, 0.0379379400057443, 0.02611387955129095]}}, {"xyz": [-0.24323384074102353, 0.1591719985008242, -0.23758302810076254], "rgb": [239, 128, 128], "semantic_id": 5, "pcd_info": {"point_index": 1109}, "mesh_info": {"face_index": 20, "face_uv": [0.020662256025568954, 0.9686553527352691, 0.010682391239163385]}}, {"xyz": [0.1994938905181956, -0.21035599708557107, -0.2144595873803601], "rgb": [238, 127, 127], "semantic_id": 17, "pcd_info": {"point_index": 282}, "mesh_info": {"face_index": 115, "face_uv": [0.00011702590601923892, 0.437031578372722, 0.5628513957212578]}}, {"xyz": [0.21441610902189714, -0.21035599708557107, 0.1757881577304211], "rgb": [238, 127, 127], "semantic_id": 18, "pcd_info": {"point_index": 1958}, "mesh_info": {"face_index": 92, "face_uv": [0.09938862455626053, 0.49356782715905284, 0.4070435482846856]}}, {"xyz": [-0.21009140284665245, -0.2103559970855713, 0.17690018032314322], "rgb": [239, 128, 128], "semantic_id": 19, "pcd_info": {"point_index": 1807}, "mesh_info": {"face_index": 50, "face_uv": [0.057714823103676746, 0.5173330733553857, 0.4249521035409376]}}, {"xyz": [-0.1919640184728993, -0.21035599708557107, -0.21133383212038379], "rgb": [238, 127, 127], "semantic_id": 20, "pcd_info": {"point_index": 1784}, "mesh_info": {"face_index": 106, "face_uv": [0.004924881191441667, 0.5242089836309309, 0.4708661351776264]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f68b7c3a1ed7506bedd9ab1253e1a9c4", "keypoints": [{"xyz": [0.23704626195840542, 0.3017680048942568, 0.317487346624594], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1913}, "mesh_info": {"face_index": 690, "face_uv": [0.0010395371795388728, 0.13692048682841432, 0.8620399759920475]}}, {"xyz": [-0.2564448269328982, 0.3017680048942566, 0.313455919068385], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 622, "face_uv": [0.017050118472857447, 0.9482722813584011, 0.03467760016874144]}}, {"xyz": [0.181408237600789, 0.06355500221252441, 0.2661731359828341], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 555, "face_uv": [0.18843315405183825, 0.0025672077140538154, 0.808999638234108]}}, {"xyz": [-0.1934664658802422, 0.06355500221252464, 0.2570164906740957], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 556, "face_uv": [0.009089085792706708, 0.02450721895725469, 0.9664036952500421]}}, {"xyz": [0.20180175017700286, 0.054836873012660714, -0.22344599664211273], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1879}, "mesh_info": {"face_index": 356, "face_uv": [0.512527679801222, 0.09093551271828952, 0.3965368074804885]}}, {"xyz": [-0.21480342175996425, 0.059838478310956456, -0.22344599664211273], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1864}, "mesh_info": {"face_index": 159, "face_uv": [0.03600378082765078, 0.2074507829691887, 0.7565454362031605]}}, {"xyz": [0.24014910266646794, 0.3017680048942568, -0.21561131151519053], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 145, "face_uv": [0.06215547078962334, 0.9310571844740717, 0.006787344736305666]}}, {"xyz": [0.240094425297514, 0.3017680048942566, 0.3224405208379866], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1913}, "mesh_info": {"face_index": 78, "face_uv": [0.040780523625036556, 0.9565504067934005, 0.0026690695815630083]}}, {"xyz": [-0.2507903507496153, 0.30122275907818397, -0.22111044725349582], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1810}, "mesh_info": {"face_index": 74, "face_uv": [0.17560443431888528, 0.20452654976455023, 0.619869015916564]}}, {"xyz": [-0.2566625360903153, 0.30176800489425704, 0.32198423202176607], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 40, "face_uv": [0.04660795147689294, 0.9530417939568254, 0.00035025456628313273]}}, {"xyz": [0.23743654734950304, -0.33640066020908366, -0.22344599664211273], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 755}, "mesh_info": {"face_index": 906, "face_uv": [0.7418827030715396, 0.25674576822597606, 0.0013715287024844305]}}, {"xyz": [0.24147315562909097, -0.3372710049152374, 0.3216496376188419], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1780}, "mesh_info": {"face_index": 862, "face_uv": [0.021765173575133027, 0.05810698225344141, 0.9201278441714256]}}, {"xyz": [-0.25573173559584633, -0.3372710049152372, 0.31892377161405716], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 827}, "mesh_info": {"face_index": 57, "face_uv": [0.13469990070309465, 0.11782452767001146, 0.7474755716268933]}}, {"xyz": [-0.25404216509001815, -0.3372710049152374, -0.22319185949048653], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1576}, "mesh_info": {"face_index": 628, "face_uv": [0.20316165361579566, 0.005567567119321917, 0.7912707792648824]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8fed5abf598c5d113379c738ca193530", "keypoints": [{"xyz": [0.20222239729833932, 0.26154778021459446, 0.25383843298828956], "rgb": [57, 111, 254], "semantic_id": 0, "pcd_info": {"point_index": 883}, "mesh_info": {"face_index": 4460, "face_uv": [0.21274275343219257, 0.29732716505681295, 0.48993008151099393]}}, {"xyz": [-0.19394846020418505, 0.2603363141212418, 0.24641628276752836], "rgb": [57, 111, 254], "semantic_id": 1, "pcd_info": {"point_index": 507}, "mesh_info": {"face_index": 4379, "face_uv": [0.3211180547223431, 0.3805813160421844, 0.29830062923547024]}}, {"xyz": [0.1172831373196348, 0.009009989382686934, 0.17277365476589268], "rgb": [58, 112, 255], "semantic_id": 2, "pcd_info": {"point_index": 773}, "mesh_info": {"face_index": 4221, "face_uv": [0.2564683249076392, 0.42317533078326225, 0.3203563443091127]}}, {"xyz": [-0.11625622926350687, 0.007951007138268573, 0.1883714887088206], "rgb": [58, 112, 255], "semantic_id": 3, "pcd_info": {"point_index": 161}, "mesh_info": {"face_index": 1992, "face_uv": [0.05369230271039422, 0.2783847267275226, 0.6679229705620862]}}, {"xyz": [0.15052351026411842, -0.0051532557972352455, -0.11507734191988006], "rgb": [57, 111, 254], "semantic_id": 4, "pcd_info": {"point_index": 286}, "mesh_info": {"face_index": 899, "face_uv": [0.6023010926474339, 0.18995956571703793, 0.20773934163552787]}}, {"xyz": [-0.16174216737894714, -0.0017961624836766443, -0.10690016114170464], "rgb": [58, 112, 255], "semantic_id": 5, "pcd_info": {"point_index": 854}, "mesh_info": {"face_index": 3432, "face_uv": [0.38340040103110135, 0.5431548791938406, 0.07344471977505834]}}, {"xyz": [0.2510180219215834, 0.18681411137847737, -0.13109633794124487], "rgb": [58, 112, 255], "semantic_id": 6, "pcd_info": {"point_index": 413}, "mesh_info": {"face_index": 6379, "face_uv": [0.04907973807313677, 0.4772714445317476, 0.4736488173951168]}}, {"xyz": [0.24275542645804793, 0.24625974559667507, 0.1699268121292743], "rgb": [58, 112, 255], "semantic_id": 7, "pcd_info": {"point_index": 1648}, "mesh_info": {"face_index": 4661, "face_uv": [0.32812461098148954, 0.3395283498623407, 0.3323470391561698]}}, {"xyz": [-0.24454183063289886, 0.18392488649500516, -0.13315802444598845], "rgb": [58, 112, 255], "semantic_id": 8, "pcd_info": {"point_index": 151}, "mesh_info": {"face_index": 6580, "face_uv": [0.6781645121941529, 0.20655242147863442, 0.11528306632721276]}}, {"xyz": [-0.24532343426487047, 0.2438828482357891, 0.15576873696508997], "rgb": [57, 111, 254], "semantic_id": 9, "pcd_info": {"point_index": 1573}, "mesh_info": {"face_index": 4474, "face_uv": [0.8737926830911295, 8.674704242459106e-06, 0.12619864220462787]}}, {"xyz": [0.22635712260619478, -0.2933205369376919, -0.08746402803983067], "rgb": [194, 162, 113], "semantic_id": 17, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 7368, "face_uv": [0.019829213075424738, 0.9194979175457958, 0.06067286937877993]}}, {"xyz": [0.16611920397715368, -0.2976350487283139, 0.25946442921168233], "rgb": [207, 173, 117], "semantic_id": 18, "pcd_info": {"point_index": 1866}, "mesh_info": {"face_index": 7698, "face_uv": [0.39689075866690043, 0.035268052557949015, 0.5678411887751513]}}, {"xyz": [-0.1714958871254727, -0.2961545209775991, 0.2591882816218587], "rgb": [208, 173, 117], "semantic_id": 19, "pcd_info": {"point_index": 1629}, "mesh_info": {"face_index": 7831, "face_uv": [0.6832188316420905, 0.05079014168136459, 0.26599102667654495]}}, {"xyz": [-0.24459170678330344, -0.3008753220813649, -0.09722489295207981], "rgb": [177, 145, 96], "semantic_id": 20, "pcd_info": {"point_index": 1077}, "mesh_info": {"face_index": 7538, "face_uv": [0.0012965098117820996, 0.27518543726977857, 0.7235180529184396]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "402e47d9e3f825dcb9d7c2fc41e80228", "keypoints": [{"xyz": [0.15764571534129093, 0.316050279156804, 0.296244284596914], "rgb": [139, 47, 32], "semantic_id": 0, "pcd_info": {"point_index": 1743}, "mesh_info": {"face_index": 3666, "face_uv": [0.30486488940178436, 0.6704913143933128, 0.024643796204903833]}}, {"xyz": [-0.14850759937145822, 0.31710723438432786, 0.29649714310078035], "rgb": [148, 52, 37], "semantic_id": 1, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 3273, "face_uv": [0.022358482701099698, 0.49588453036563607, 0.4817569869332629]}}, {"xyz": [0.15425543971564484, -0.10485272145009594, 0.17468254364538738], "rgb": [155, 65, 52], "semantic_id": 2, "pcd_info": {"point_index": 634}, "mesh_info": {"face_index": 1087, "face_uv": [0.33016008545773534, 0.058253251603732716, 0.611586662938532]}}, {"xyz": [-0.1496742167373182, -0.09462909229420668, 0.176849478332054], "rgb": [160, 60, 49], "semantic_id": 3, "pcd_info": {"point_index": 1971}, "mesh_info": {"face_index": 1017, "face_uv": [0.0610183955833465, 0.8781006469650587, 0.06088095745159552]}}, {"xyz": [0.1732297050742976, -0.09140605518054845, -0.23120832245104217], "rgb": [174, 70, 68], "semantic_id": 4, "pcd_info": {"point_index": 1886}, "mesh_info": {"face_index": 347, "face_uv": [0.144692114063203, 0.0032695633707691503, 0.8520383225660285]}}, {"xyz": [-0.15880523595500434, -0.08167839033741842, -0.23085553296130312], "rgb": [125, 40, 19], "semantic_id": 5, "pcd_info": {"point_index": 1182}, "mesh_info": {"face_index": 347, "face_uv": [0.02295630497380975, 0.9654415017789252, 0.011602193247264983]}}, {"xyz": [0.23834159212518574, 0.09759106397524087, -0.2595456850292279], "rgb": [145, 57, 46], "semantic_id": 6, "pcd_info": {"point_index": 826}, "mesh_info": {"face_index": 2220, "face_uv": [0.27661757422012073, 0.6460338485520549, 0.07734857722782541]}}, {"xyz": [0.22173353091716205, 0.08146559068841353, 0.28093674010114555], "rgb": [129, 23, 8], "semantic_id": 7, "pcd_info": {"point_index": 924}, "mesh_info": {"face_index": 2158, "face_uv": [0.09124232006625868, 0.07326699571875629, 0.8354906842149845]}}, {"xyz": [-0.21618202104035983, 0.10336677344833467, -0.2524184708764603], "rgb": [139, 49, 40], "semantic_id": 8, "pcd_info": {"point_index": 846}, "mesh_info": {"face_index": 2688, "face_uv": [0.0860967547043518, 0.4493840589929491, 0.46451918630269906]}}, {"xyz": [-0.21483570485931425, 0.08204296685305124, 0.2697985203207749], "rgb": [131, 25, 11], "semantic_id": 9, "pcd_info": {"point_index": 2027}, "mesh_info": {"face_index": 2576, "face_uv": [0.14678042836930058, 0.0855843448552788, 0.7676352267754203]}}, {"xyz": [0.19425109655385084, -0.26466399431228615, -0.2245473336179028], "rgb": [149, 61, 48], "semantic_id": 17, "pcd_info": {"point_index": 281}, "mesh_info": {"face_index": 229, "face_uv": [0.2012757573719933, 0.2963004453833625, 0.5024237972446434]}}, {"xyz": [0.18984050474368225, -0.2646639943122866, 0.16749761669636554], "rgb": [165, 66, 48], "semantic_id": 18, "pcd_info": {"point_index": 1400}, "mesh_info": {"face_index": 252, "face_uv": [0.40876822497581167, 0.18005389263113936, 0.4111778823930498]}}, {"xyz": [-0.1874349609944923, -0.2646639943122864, 0.16891683816266284], "rgb": [165, 66, 48], "semantic_id": 19, "pcd_info": {"point_index": 1357}, "mesh_info": {"face_index": 926, "face_uv": [0.3270815205817658, 0.2319013852522171, 0.4410170941660171]}}, {"xyz": [-0.19361991045104474, -0.2633175616629883, -0.24376016523265465], "rgb": [173, 79, 61], "semantic_id": 20, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 625, "face_uv": [0.003904253744049356, 0.572509055361022, 0.4235866908949283]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b7d4357aa24126a227a7baff096e3087", "keypoints": [{"xyz": [0.17056330463035144, 0.3543127638121706, 0.09435929152026579], "rgb": [202, 200, 196], "semantic_id": 0, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 8064, "face_uv": [0.005831492293196521, 0.46253287523429826, 0.5316356324725054]}}, {"xyz": [-0.17446733323713692, 0.35393604814066093, 0.10440526328142163], "rgb": [194, 163, 98], "semantic_id": 1, "pcd_info": {"point_index": 1142}, "mesh_info": {"face_index": 1966, "face_uv": [0.8935524169045886, 0.029975808179486557, 0.07647177491592494]}}, {"xyz": [0.17328886788940195, -0.11921291412935142, 0.025328520293268708], "rgb": [202, 200, 196], "semantic_id": 2, "pcd_info": {"point_index": 579}, "mesh_info": {"face_index": 4212, "face_uv": [0.3639782259022968, 0.3123236773000003, 0.3236980967977047]}}, {"xyz": [-0.1736623425634541, -0.11230426627683787, 0.03138893406828669], "rgb": [201, 199, 195], "semantic_id": 3, "pcd_info": {"point_index": 1238}, "mesh_info": {"face_index": 2908, "face_uv": [0.19276280403939525, 0.16946885047950544, 0.637768345481099]}}, {"xyz": [0.1739729190889998, -0.09416825443677687, -0.4247064070151909], "rgb": [192, 159, 95], "semantic_id": 4, "pcd_info": {"point_index": 915}, "mesh_info": {"face_index": 2475, "face_uv": [0.4050509425174369, 0.07659474694818522, 0.5183543105343776]}}, {"xyz": [-0.17472708190623093, -0.09418971703396081, -0.42470927015692217], "rgb": [192, 158, 98], "semantic_id": 5, "pcd_info": {"point_index": 1663}, "mesh_info": {"face_index": 1929, "face_uv": [0.4203897986699127, 0.09942753830920294, 0.48018266302088464]}}, {"xyz": [0.20178221238955046, 0.01813013436960642, -0.3657835023827365], "rgb": [196, 161, 93], "semantic_id": 6, "pcd_info": {"point_index": 270}, "mesh_info": {"face_index": 2627, "face_uv": [0.11083098063810198, 0.45164839657162187, 0.4375206227902756]}}, {"xyz": [0.19780599352748726, 0.05319643522615913, 0.06378572436628871], "rgb": [195, 163, 100], "semantic_id": 7, "pcd_info": {"point_index": 2043}, "mesh_info": {"face_index": 581, "face_uv": [0.29640814835086404, 0.5270710612299465, 0.1765207904191933]}}, {"xyz": [-0.20164072203068883, 0.015851403595003255, -0.36970355170302294], "rgb": [196, 163, 98], "semantic_id": 8, "pcd_info": {"point_index": 1333}, "mesh_info": {"face_index": 983, "face_uv": [0.0014350747035721482, 0.4752839881163205, 0.5232809371801077]}}, {"xyz": [-0.20152107456207974, 0.05264356413698135, 0.06347348028751809], "rgb": [192, 157, 88], "semantic_id": 9, "pcd_info": {"point_index": 563}, "mesh_info": {"face_index": 110, "face_uv": [0.207220986012776, 0.520586295953397, 0.2721927180338276]}}, {"xyz": [0.19962634499498783, -0.3455411670561305, -0.36855603133189674], "rgb": [195, 164, 98], "semantic_id": 17, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 2504, "face_uv": [0.48607400405477236, 0.22789133229006064, 0.286034663655167]}}, {"xyz": [0.2212090045213697, -0.34675242767557857, 0.062157171866096705], "rgb": [196, 165, 100], "semantic_id": 18, "pcd_info": {"point_index": 1246}, "mesh_info": {"face_index": 2719, "face_uv": [0.17314799376150639, 0.8172027474184079, 0.009649258820084607]}}, {"xyz": [-0.22280800342559814, -0.34005147412080095, 0.05173395552710547], "rgb": [195, 161, 92], "semantic_id": 19, "pcd_info": {"point_index": 1483}, "mesh_info": {"face_index": 2554, "face_uv": [0.36322114649099785, 0.3644660706995923, 0.27231278280940985]}}, {"xyz": [-0.20317443174734207, -0.3314613853672642, -0.3805715273940784], "rgb": [194, 159, 98], "semantic_id": 20, "pcd_info": {"point_index": 1752}, "mesh_info": {"face_index": 1834, "face_uv": [0.13230395421950425, 0.4421776096630131, 0.4255184361174826]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7228d43e00af4c1e2746490e2236e9a8", "keypoints": [{"xyz": [0.18654576897150235, 0.48367899656295776, 0.1382868097864466], "rgb": [197, 161, 138], "semantic_id": 0, "pcd_info": {"point_index": 1726}, "mesh_info": {"face_index": 126, "face_uv": [0.033802401368984894, 0.5178777226689972, 0.4483198759620179]}}, {"xyz": [-0.1754095854300243, 0.48367899656295776, 0.13705649165224176], "rgb": [159, 93, 46], "semantic_id": 1, "pcd_info": {"point_index": 1577}, "mesh_info": {"face_index": 199, "face_uv": [0.03161430333902379, 0.5198621054442831, 0.44852359121669316]}}, {"xyz": [0.18640029884575138, 0.04184100031852722, 0.11216560359176742], "rgb": [167, 110, 76], "semantic_id": 2, "pcd_info": {"point_index": 1458}, "mesh_info": {"face_index": 224, "face_uv": [0.8306042332838649, 0.025762973335953045, 0.14363279338018198]}}, {"xyz": [-0.17481664224328083, 0.04184100031852722, 0.10801316659088822], "rgb": [205, 174, 152], "semantic_id": 3, "pcd_info": {"point_index": 223}, "mesh_info": {"face_index": 164, "face_uv": [0.4959445999962469, 0.03734281071563417, 0.4667125892881189]}}, {"xyz": [0.18654215549687206, 0.04184100031852678, -0.2200949070090792], "rgb": [249, 246, 244], "semantic_id": 4, "pcd_info": {"point_index": 1072}, "mesh_info": {"face_index": 91, "face_uv": [0.9149627725116244, 0.047667236530438147, 0.03736999095792683]}}, {"xyz": [-0.1776357024588611, 0.04184100031852722, -0.22063494587263294], "rgb": [251, 249, 247], "semantic_id": 5, "pcd_info": {"point_index": 452}, "mesh_info": {"face_index": 229, "face_uv": [0.03371363253862962, 0.9569037050066805, 0.009382662454689864]}}, {"xyz": [0.18382433587873645, -0.34935098886489846, -0.22269833381465268], "rgb": [154, 86, 41], "semantic_id": 17, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 1, "face_uv": [0.4682005825972052, 0.4444817862037815, 0.08731763119901277]}}, {"xyz": [0.18546704950114426, -0.34935098886489846, 0.13843495767424743], "rgb": [146, 77, 34], "semantic_id": 18, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 43, "face_uv": [0.4814094297592792, 0.4775778626259673, 0.04101270761475291]}}, {"xyz": [-0.17481863960466237, -0.3493509888648987, 0.139105610600959], "rgb": [154, 84, 41], "semantic_id": 19, "pcd_info": {"point_index": 1698}, "mesh_info": {"face_index": 211, "face_uv": [0.009645636084360344, 0.4570056825742468, 0.5333486813413929]}}, {"xyz": [-0.17417953568873124, -0.3493509888648989, -0.22201579745013583], "rgb": [152, 82, 38], "semantic_id": 20, "pcd_info": {"point_index": 496}, "mesh_info": {"face_index": 158, "face_uv": [0.048324541250011545, 0.4654191253881035, 0.4862563333618856]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "eb23621d7ac1094398e0d1738edd4f19", "keypoints": [{"xyz": [0.1527281501096328, 0.4320769906044004, 0.14630112772694157], "rgb": [117, 56, 24], "semantic_id": 0, "pcd_info": {"point_index": 2002}, "mesh_info": {"face_index": 954, "face_uv": [0.15875814811916264, 0.5974050354663948, 0.24383681641444202]}}, {"xyz": [-0.1502404525033607, 0.43207699060440086, 0.14830915430822308], "rgb": [117, 56, 23], "semantic_id": 1, "pcd_info": {"point_index": 38}, "mesh_info": {"face_index": 525, "face_uv": [0.05270286634066267, 0.48729771737255817, 0.45999941628677965]}}, {"xyz": [0.15164264202213285, -0.06851799786090829, 0.09668207747446722], "rgb": [152, 129, 120], "semantic_id": 2, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 4074, "face_uv": [0.3094266760947032, 0.01360163365775276, 0.6769716902475409]}}, {"xyz": [-0.1518322183521536, -0.06323517037940318, 0.09838516777133166], "rgb": [112, 53, 23], "semantic_id": 3, "pcd_info": {"point_index": 1748}, "mesh_info": {"face_index": 512, "face_uv": [0.12674346974953826, 0.3727123924858711, 0.5005441377645917]}}, {"xyz": [0.17665120681660573, -0.07001010868229474, -0.1975041566691602], "rgb": [153, 130, 121], "semantic_id": 4, "pcd_info": {"point_index": 196}, "mesh_info": {"face_index": 3929, "face_uv": [0.23211348721531502, 0.27692069286140225, 0.49096581992328325]}}, {"xyz": [-0.17409621424906552, -0.07161008491627785, -0.19923965171794622], "rgb": [153, 130, 121], "semantic_id": 5, "pcd_info": {"point_index": 1429}, "mesh_info": {"face_index": 3430, "face_uv": [0.5445209052838627, 0.04690997491372791, 0.4085691198024115]}}, {"xyz": [0.17924498814859452, -0.41045498847961426, -0.19608147592485803], "rgb": [136, 77, 47], "semantic_id": 17, "pcd_info": {"point_index": 250}, "mesh_info": {"face_index": 2292, "face_uv": [0.000411582807651467, 0.28979623377934544, 0.7097921834130031]}}, {"xyz": [0.1489684010504185, -0.4104549884796145, 0.15837506864305217], "rgb": [120, 60, 28], "semantic_id": 18, "pcd_info": {"point_index": 1385}, "mesh_info": {"face_index": 864, "face_uv": [0.176750046255287, 0.2732471622685402, 0.5500027914761734]}}, {"xyz": [-0.1478845214619493, -0.41045498847961426, 0.15634634340399634], "rgb": [122, 61, 29], "semantic_id": 19, "pcd_info": {"point_index": 1565}, "mesh_info": {"face_index": 419, "face_uv": [0.20469510703249819, 0.3844955524518469, 0.41080934051565493]}}, {"xyz": [-0.1748919232425457, -0.41045498847961426, -0.19362036933298254], "rgb": [126, 67, 37], "semantic_id": 20, "pcd_info": {"point_index": 1254}, "mesh_info": {"face_index": 1253, "face_uv": [0.18309264304202139, 0.3917482160705077, 0.4251591408874709]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "77e703a4baba613937f1b3cce66816ca", "keypoints": [{"xyz": [0.12897171309774041, 0.38268498713663285, 0.1947989528714087], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1095}, "mesh_info": {"face_index": 1374, "face_uv": [0.6250180629183799, 0.006208799620855168, 0.3687731374607653]}}, {"xyz": [-0.1380392096834464, 0.3836134349736378, 0.19690689493092073], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1136}, "mesh_info": {"face_index": 1174, "face_uv": [0.7777488729395798, 0.019917244011122364, 0.20233388304929747]}}, {"xyz": [0.12516982080792405, 0.0002260000037496157, 0.10592458648640513], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 969, "face_uv": [0.4492587843530367, 0.20677648623995984, 0.3439647294074948]}}, {"xyz": [-0.13621776475137085, 0.0010061025131313794, 0.09617807885466778], "rgb": [250, 249, 246], "semantic_id": 3, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 1303, "face_uv": [0.31984522302252383, 0.06734559727681683, 0.6128091797006644]}}, {"xyz": [0.11474813144560353, -0.0029116769953642097, -0.2603200078010559], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1997}, "mesh_info": {"face_index": 959, "face_uv": [0.3625336001427026, 0.2357560342965427, 0.40171036556075473]}}, {"xyz": [-0.13178468987454253, 0.001480991418034483, -0.2580635185241261], "rgb": [252, 252, 251], "semantic_id": 5, "pcd_info": {"point_index": 532}, "mesh_info": {"face_index": 1042, "face_uv": [0.46626951869806, 0.5145516184935611, 0.019178862808379233]}}, {"xyz": [0.13382109588815266, -0.3541249930858612, -0.29679593478300403], "rgb": [150, 129, 96], "semantic_id": 17, "pcd_info": {"point_index": 1415}, "mesh_info": {"face_index": 488, "face_uv": [0.4674563818358254, 0.17514979473499714, 0.3573938234291774]}}, {"xyz": [0.1442589953328875, -0.35412499308586165, 0.24399693603843886], "rgb": [130, 109, 79], "semantic_id": 18, "pcd_info": {"point_index": 566}, "mesh_info": {"face_index": 294, "face_uv": [0.24393413021982777, 0.4052057457849706, 0.3508601239952029]}}, {"xyz": [-0.15350091156060494, -0.3541249930858612, 0.23751473872882412], "rgb": [163, 141, 109], "semantic_id": 19, "pcd_info": {"point_index": 1623}, "mesh_info": {"face_index": 543, "face_uv": [0.4434042804378587, 0.05987539504215604, 0.49672032451998527]}}, {"xyz": [-0.15556621129703868, -0.35412499308586076, -0.2792387402574856], "rgb": [154, 135, 101], "semantic_id": 20, "pcd_info": {"point_index": 492}, "mesh_info": {"face_index": 776, "face_uv": [0.2669038991983633, 0.6715389438222904, 0.06155715697934508]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2bd6800d64c01d677721fafb59ea099", "keypoints": [{"xyz": [0.16500463191989234, 0.41070300340652466, 0.06522259002909653], "rgb": [151, 85, 40], "semantic_id": 0, "pcd_info": {"point_index": 1082}, "mesh_info": {"face_index": 148, "face_uv": [0.4608693178721854, 0.41690184883221304, 0.12222883329560154]}}, {"xyz": [-0.16126468936411478, 0.41070300340652466, 0.06927314304718916], "rgb": [148, 78, 32], "semantic_id": 1, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 176, "face_uv": [0.43044649462011497, 0.4165674229524517, 0.15298608242743325]}}, {"xyz": [0.16130440055810163, 0.08613099902868249, 0.04216171076331515], "rgb": [162, 94, 47], "semantic_id": 2, "pcd_info": {"point_index": 914}, "mesh_info": {"face_index": 703, "face_uv": [0.05719283552407071, 0.8638960227333711, 0.07891114174255551]}}, {"xyz": [-0.15794735345579927, 0.08613099902868271, 0.03595624334300973], "rgb": [155, 87, 43], "semantic_id": 3, "pcd_info": {"point_index": 787}, "mesh_info": {"face_index": 714, "face_uv": [0.2679622199127583, 0.2143159193559519, 0.5177218607312898]}}, {"xyz": [0.17178425034310496, 0.08613099902868271, -0.19248274984082267], "rgb": [153, 85, 40], "semantic_id": 4, "pcd_info": {"point_index": 878}, "mesh_info": {"face_index": 703, "face_uv": [0.028547078077575973, 0.02012741620678857, 0.9513255057156353]}}, {"xyz": [-0.18214859767870378, 0.08259811655006155, -0.19972071983538475], "rgb": [147, 83, 39], "semantic_id": 5, "pcd_info": {"point_index": 1798}, "mesh_info": {"face_index": 523, "face_uv": [0.942399249306037, 0.008382806142160089, 0.04921794455180177]}}, {"xyz": [0.16098966080982885, -0.3685910105705261, -0.17769538092444082], "rgb": [155, 88, 43], "semantic_id": 17, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 761, "face_uv": [0.5063908700679917, 0.4556431191851038, 0.03796601074690458]}}, {"xyz": [0.16181961364340297, -0.3685910105705261, 0.07581739936701035], "rgb": [155, 89, 44], "semantic_id": 18, "pcd_info": {"point_index": 913}, "mesh_info": {"face_index": 1742, "face_uv": [0.4265441224448581, 0.39342536249963295, 0.18003051505550888]}}, {"xyz": [-0.16344620124021428, -0.3685910105705261, 0.08188645391193575], "rgb": [154, 87, 42], "semantic_id": 19, "pcd_info": {"point_index": 2035}, "mesh_info": {"face_index": 1414, "face_uv": [0.5654464743750861, 0.4115536187896526, 0.02299990683526141]}}, {"xyz": [-0.1565299356865952, -0.3685910105705261, -0.17807059659847707], "rgb": [155, 88, 44], "semantic_id": 20, "pcd_info": {"point_index": 429}, "mesh_info": {"face_index": 1087, "face_uv": [0.32990284576101836, 0.5564139388698388, 0.1136832153691429]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1b92525f3945f486fe24b6f1cb4a9319", "keypoints": [{"xyz": [0.12660727170514413, 0.3767470453712186, 0.08509548466172602], "rgb": [149, 149, 149], "semantic_id": 0, "pcd_info": {"point_index": 1450}, "mesh_info": {"face_index": 6504, "face_uv": [0.6415092688065116, 0.29300772902273436, 0.0654830021707541]}}, {"xyz": [-0.1297646038482496, 0.374458198834806, 0.08338454803337896], "rgb": [149, 149, 149], "semantic_id": 1, "pcd_info": {"point_index": 1962}, "mesh_info": {"face_index": 526, "face_uv": [0.8957000804402154, 0.08519991277738478, 0.019100006782399873]}}, {"xyz": [0.13935440199226556, -0.07600114264528646, 0.034261236084773605], "rgb": [148, 148, 148], "semantic_id": 2, "pcd_info": {"point_index": 1382}, "mesh_info": {"face_index": 3853, "face_uv": [0.6918658327653955, 0.05601950963305458, 0.2521146576015491]}}, {"xyz": [-0.1440661278510001, -0.0861442196437543, 0.04523423701226059], "rgb": [149, 149, 149], "semantic_id": 3, "pcd_info": {"point_index": 990}, "mesh_info": {"face_index": 8311, "face_uv": [0.10165269470933126, 0.6697594317451728, 0.22858787354549734]}}, {"xyz": [0.16142097299828248, -0.08584844591945962, -0.2062063371408439], "rgb": [148, 148, 148], "semantic_id": 4, "pcd_info": {"point_index": 1569}, "mesh_info": {"face_index": 5477, "face_uv": [0.0965318337759882, 0.24910077201883496, 0.6543673942051766]}}, {"xyz": [-0.16130551242445487, -0.09009088180932323, -0.20685460580093618], "rgb": [148, 148, 148], "semantic_id": 5, "pcd_info": {"point_index": 1222}, "mesh_info": {"face_index": 10430, "face_uv": [0.0824300440376964, 0.2791521558166029, 0.6384178001457005]}}, {"xyz": [0.1603504065394682, -0.5070610046386719, -0.20069221860365954], "rgb": [118, 87, 53], "semantic_id": 17, "pcd_info": {"point_index": 1974}, "mesh_info": {"face_index": 85, "face_uv": [0.2832969755900987, 0.12994669493575697, 0.5867563294741442]}}, {"xyz": [0.1539952275667613, -0.5077509880065918, 0.0781534693706648], "rgb": [119, 87, 53], "semantic_id": 18, "pcd_info": {"point_index": 1984}, "mesh_info": {"face_index": 10892, "face_uv": [0.12088670937778398, 0.4842577635480284, 0.39485552707418753]}}, {"xyz": [-0.15030762418615837, -0.5077509880065919, 0.08025785318469601], "rgb": [119, 87, 54], "semantic_id": 19, "pcd_info": {"point_index": 1845}, "mesh_info": {"face_index": 178, "face_uv": [0.5254161393669435, 0.35257375849219397, 0.12201010214086269]}}, {"xyz": [-0.14421448979435142, -0.507061004638672, -0.19619606667620443], "rgb": [119, 87, 54], "semantic_id": 20, "pcd_info": {"point_index": 419}, "mesh_info": {"face_index": 110, "face_uv": [0.15339915386526992, 0.3934126480690437, 0.45318819806568666]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "533e0a52acd257bef27383fc5a5a711c", "keypoints": [{"xyz": [0.2699165866280087, 0.3974712918341219, 0.24741623732982843], "rgb": [249, 239, 230], "semantic_id": 0, "pcd_info": {"point_index": 498}, "mesh_info": {"face_index": 218, "face_uv": [0.48471355567901453, 0.00746055919516021, 0.5078258851258256]}}, {"xyz": [-0.2681736113431186, 0.3982670004879574, 0.2415702979504568], "rgb": [249, 239, 230], "semantic_id": 1, "pcd_info": {"point_index": 1742}, "mesh_info": {"face_index": 232, "face_uv": [0.5814686390707834, 0.017310848962129952, 0.4012205119670868]}}, {"xyz": [0.26437261537414003, 0.08936800062656403, 0.0871090516473303], "rgb": [248, 238, 229], "semantic_id": 2, "pcd_info": {"point_index": 244}, "mesh_info": {"face_index": 426, "face_uv": [0.00993590273080748, 0.7447268760593058, 0.2453372212098866]}}, {"xyz": [-0.26651873602925635, 0.08936800062656403, 0.08560314829025162], "rgb": [249, 239, 230], "semantic_id": 3, "pcd_info": {"point_index": 1776}, "mesh_info": {"face_index": 404, "face_uv": [0.8147947806793865, 0.015841469545634076, 0.16936374977497948]}}, {"xyz": [0.27086034029532796, 0.08936800062656425, -0.2656969050244765], "rgb": [249, 239, 230], "semantic_id": 4, "pcd_info": {"point_index": 1023}, "mesh_info": {"face_index": 349, "face_uv": [0.0604850716518862, 0.9338003364970963, 0.0057145918510201656]}}, {"xyz": [-0.2708997380872761, 0.08936800062656403, -0.27263431238517477], "rgb": [248, 239, 230], "semantic_id": 5, "pcd_info": {"point_index": 954}, "mesh_info": {"face_index": 286, "face_uv": [0.762203984238863, 0.0065852139327192616, 0.2312108018284177]}}, {"xyz": [0.25156562194693266, -0.20553800463676453, -0.2538442941555417], "rgb": [213, 158, 104], "semantic_id": 17, "pcd_info": {"point_index": 399}, "mesh_info": {"face_index": 470, "face_uv": [0.38676564591115764, 0.37939720257313486, 0.2338371515157075]}}, {"xyz": [0.2351793011257932, -0.20553800463676453, 0.21226844361967523], "rgb": [212, 157, 106], "semantic_id": 18, "pcd_info": {"point_index": 530}, "mesh_info": {"face_index": 144, "face_uv": [0.4234734600507282, 0.4480349414368312, 0.1284915985124406]}}, {"xyz": [-0.2337788217439731, -0.20553800463676453, 0.21127737700483165], "rgb": [212, 157, 106], "semantic_id": 19, "pcd_info": {"point_index": 1537}, "mesh_info": {"face_index": 101, "face_uv": [0.12525747960581984, 0.4850511950387559, 0.3896913253554242]}}, {"xyz": [-0.25666546178892424, -0.20553800463676453, -0.2596603368963765], "rgb": [211, 156, 102], "semantic_id": 20, "pcd_info": {"point_index": 462}, "mesh_info": {"face_index": 125, "face_uv": [0.01929883284501372, 0.40944869621465957, 0.5712524709403266]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e9371c17042131d93506b420c6bcd44", "keypoints": [{"xyz": [0.1865773237854923, 0.24204100668430306, 0.02873997180711982], "rgb": [179, 126, 60], "semantic_id": 0, "pcd_info": {"point_index": 418}, "mesh_info": {"face_index": 241546, "face_uv": [0.36759350354826914, 0.003577112388280878, 0.628829384063449]}}, {"xyz": [-0.17824245509981534, 0.2420410066843035, 0.017227317115328655], "rgb": [182, 128, 62], "semantic_id": 1, "pcd_info": {"point_index": 889}, "mesh_info": {"face_index": 236779, "face_uv": [0.47018377213449464, 0.3174028796617207, 0.2124133482037856]}}, {"xyz": [0.1768846801538364, -0.16785126191681798, 0.0012755325700417597], "rgb": [174, 125, 63], "semantic_id": 2, "pcd_info": {"point_index": 357}, "mesh_info": {"face_index": 238821, "face_uv": [0.6547211856831214, 0.07575664217011566, 0.26952217214675206]}}, {"xyz": [-0.17768094642090243, -0.18268039733536767, -0.00037363837892545604], "rgb": [175, 121, 56], "semantic_id": 3, "pcd_info": {"point_index": 186}, "mesh_info": {"face_index": 254022, "face_uv": [0.48156550746289256, 0.23855111061351292, 0.2798833819235945]}}, {"xyz": [0.1917188387353853, -0.1784970015287397, -0.3667142825716171], "rgb": [173, 116, 51], "semantic_id": 4, "pcd_info": {"point_index": 838}, "mesh_info": {"face_index": 258787, "face_uv": [0.09649899441837644, 0.4112743651540269, 0.49222664042759545]}}, {"xyz": [-0.18761936610573354, -0.17849700152874015, -0.3640175711260434], "rgb": [167, 114, 47], "semantic_id": 5, "pcd_info": {"point_index": 307}, "mesh_info": {"face_index": 256488, "face_uv": [0.0856974938642839, 0.4976244522261754, 0.416678053909542]}}, {"xyz": [0.18528559819103974, -0.5480629801750182, -0.3618712613008263], "rgb": [180, 126, 61], "semantic_id": 17, "pcd_info": {"point_index": 1834}, "mesh_info": {"face_index": 256928, "face_uv": [0.42590828733693403, 0.46895270078846335, 0.10513901187460246]}}, {"xyz": [0.1863182749068688, -0.5480629801750184, 0.025365293637530484], "rgb": [180, 126, 61], "semantic_id": 18, "pcd_info": {"point_index": 1562}, "mesh_info": {"face_index": 237358, "face_uv": [0.24928266402156798, 0.46665960258362454, 0.2840577333948076]}}, {"xyz": [-0.18049322189614786, -0.5480629801750183, 0.02603033386881004], "rgb": [180, 126, 61], "semantic_id": 19, "pcd_info": {"point_index": 1879}, "mesh_info": {"face_index": 232573, "face_uv": [0.30820307939366154, 0.45280323734366285, 0.23899368326267556]}}, {"xyz": [-0.17951506191372135, -0.5480629801750183, -0.36621219910090624], "rgb": [180, 125, 60], "semantic_id": 20, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 254640, "face_uv": [0.0974408213936339, 0.5533410862001132, 0.34921809240625284]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a1133464132d65fcfce0ccdae30f97db", "keypoints": [{"xyz": [0.22299327463467464, 0.346190744210638, 0.12393697447137741], "rgb": [99, 188, 223], "semantic_id": 0, "pcd_info": {"point_index": 248}, "mesh_info": {"face_index": 12125, "face_uv": [0.00848125336011575, 0.018232344764376466, 0.9732864018755086]}}, {"xyz": [-0.20623313296373075, 0.3461441994198836, 0.1380514089951277], "rgb": [241, 149, 37], "semantic_id": 1, "pcd_info": {"point_index": 717}, "mesh_info": {"face_index": 11766, "face_uv": [0.031326194202521085, 0.598460298051973, 0.37021350774550366]}}, {"xyz": [0.18890831265544977, 0.003855507433558669, 0.10484016049132427], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 877}, "mesh_info": {"face_index": 10196, "face_uv": [0.6959323537564855, 0.2519483776762882, 0.052119268567229544]}}, {"xyz": [-0.1917302346180767, 0.005808778407236703, 0.10778372387850665], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 883}, "mesh_info": {"face_index": 11146, "face_uv": [0.0021282917054352376, 0.9108254582657176, 0.0870462500288456]}}, {"xyz": [0.1873896969209617, -0.00894399655646061, -0.21018908382679147], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 563}, "mesh_info": {"face_index": 8748, "face_uv": [0.16659977385330613, 0.16603683915846923, 0.6673633869882272]}}, {"xyz": [-0.1976483644594803, -0.01149969365897463, -0.19946817556108898], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 9793, "face_uv": [0.6176169794292236, 0.3797388169369739, 0.0026442036338005827]}}, {"xyz": [0.23597155605125353, -0.3682909905910492, -0.23361815362406246], "rgb": [202, 209, 219], "semantic_id": 17, "pcd_info": {"point_index": 1965}, "mesh_info": {"face_index": 1634, "face_uv": [0.385456122361093, 0.30857590606651064, 0.30596797157239636]}}, {"xyz": [0.2048100092144901, -0.3682909905910494, 0.2101712594148023], "rgb": [199, 206, 216], "semantic_id": 18, "pcd_info": {"point_index": 1984}, "mesh_info": {"face_index": 3587, "face_uv": [0.14213236437356983, 0.6223933599066932, 0.23547427571973764]}}, {"xyz": [-0.2053159406367543, -0.368290990591049, 0.22470128853778892], "rgb": [199, 206, 216], "semantic_id": 19, "pcd_info": {"point_index": 1701}, "mesh_info": {"face_index": 6968, "face_uv": [0.15041634390858336, 0.1472679186930627, 0.7023157373983534]}}, {"xyz": [-0.2543350233796926, -0.3682909905910492, -0.21915497964141206], "rgb": [206, 213, 222], "semantic_id": 20, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 290, "face_uv": [0.3478287606248989, 0.32353814880947923, 0.3286330905656218]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7f4f73ad1b3f882ba14472becb07b261", "keypoints": [{"xyz": [0.21692896629266512, 0.36881453012427085, 0.218994201837581], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1080}, "mesh_info": {"face_index": 4604, "face_uv": [0.00014719571425075037, 0.8434076442999892, 0.1564451599857719]}}, {"xyz": [-0.21596951734421513, 0.37036995897920605, 0.21976778108850836], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1998}, "mesh_info": {"face_index": 4607, "face_uv": [0.9698758525501419, 0.025321305552365624, 0.004802841897484659]}}, {"xyz": [0.21864700317382812, -0.05128381544934002, -0.0376249730879389], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 822}, "mesh_info": {"face_index": 2228, "face_uv": [0.32771921851350955, 0.279266316389876, 0.3930144650966145]}}, {"xyz": [-0.21480946747970875, -0.03311495363965511, -0.042034095137630234], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 2419, "face_uv": [0.2888711039992375, 0.7036595916006955, 0.007469304400089225]}}, {"xyz": [0.21097289932596897, -0.02468646028690874, -0.26141443394393726], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1200}, "mesh_info": {"face_index": 1790, "face_uv": [0.639842974950486, 0.017506395997635087, 0.34265062905187915]}}, {"xyz": [-0.21617535289562784, -0.02842409736654465, -0.2586069703997851], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 137}, "mesh_info": {"face_index": 1799, "face_uv": [0.8491530934327919, 0.008070192313062918, 0.1427767142541448]}}, {"xyz": [0.1715170075170962, -0.3260252376279919, -0.28145079220938807], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 690}, "mesh_info": {"face_index": 826, "face_uv": [0.46717843963332367, 0.10141042459603222, 0.4314111357706448]}}, {"xyz": [0.16730435852449643, -0.3375906113062805, 0.2531760036945341], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1389}, "mesh_info": {"face_index": 800, "face_uv": [0.4615496656213415, 0.13536881560543723, 0.40308151877322035]}}, {"xyz": [-0.1685163047614351, -0.33525301116557116, 0.2498680055141449], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1756}, "mesh_info": {"face_index": 1716, "face_uv": [0.5112472551933026, 0.3237939108898948, 0.16495883391680252]}}, {"xyz": [-0.17198131658654092, -0.33335098106812455, -0.2852630019187927], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1228}, "mesh_info": {"face_index": 1728, "face_uv": [0.4588795796976671, 0.5228906455901183, 0.018229774712214618]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3319a9b24416ecea7ff6ace05b36a5", "keypoints": [{"xyz": [0.2049690402568854, 0.23354178652871949, 0.18284426789152874], "rgb": [146, 83, 39], "semantic_id": 0, "pcd_info": {"point_index": 546}, "mesh_info": {"face_index": 664, "face_uv": [0.08964277921945801, 0.02642426547673837, 0.883932955303807]}}, {"xyz": [-0.2152951440751925, 0.23554985764819825, 0.18341444133709195], "rgb": [211, 209, 177], "semantic_id": 1, "pcd_info": {"point_index": 764}, "mesh_info": {"face_index": 627, "face_uv": [0.8674857244966923, 0.09965930607040553, 0.03285496943290204]}}, {"xyz": [0.20568623041079387, -0.03890190884806133, 0.12964177414008993], "rgb": [221, 221, 196], "semantic_id": 2, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 654, "face_uv": [0.02481890462170234, 0.959479133037674, 0.015701962340625597]}}, {"xyz": [-0.21196578363481772, -0.038934635219043834, 0.12989212511666826], "rgb": [220, 220, 195], "semantic_id": 3, "pcd_info": {"point_index": 1639}, "mesh_info": {"face_index": 537, "face_uv": [0.919666509025516, 0.04002606992305825, 0.040307421051415486]}}, {"xyz": [0.19924544764443095, 0.021593523571635576, -0.33313763371950167], "rgb": [221, 221, 196], "semantic_id": 4, "pcd_info": {"point_index": 1511}, "mesh_info": {"face_index": 654, "face_uv": [0.03923597444977833, 0.04483568338210844, 0.9159283421681211]}}, {"xyz": [-0.21540519310961048, 0.021163700488623594, -0.32984956280431854], "rgb": [221, 221, 196], "semantic_id": 5, "pcd_info": {"point_index": 1551}, "mesh_info": {"face_index": 657, "face_uv": [0.03260863530377058, 0.948665729011151, 0.01872563568508999]}}, {"xyz": [0.2396330102800357, 0.13179999589920044, -0.356391692646452], "rgb": [153, 153, 61], "semantic_id": 6, "pcd_info": {"point_index": 320}, "mesh_info": {"face_index": 97, "face_uv": [0.5292626728758364, 0.00982356026490017, 0.46091376685926355]}}, {"xyz": [0.23640979262418874, 0.13179999589920022, 0.21589204917069238], "rgb": [152, 152, 60], "semantic_id": 7, "pcd_info": {"point_index": 1689}, "mesh_info": {"face_index": 77, "face_uv": [0.40436135723438327, 0.008074214399337018, 0.5875644283662781]}}, {"xyz": [-0.2577990528345833, 0.13179999589920044, -0.3545594622491999], "rgb": [153, 153, 61], "semantic_id": 8, "pcd_info": {"point_index": 2000}, "mesh_info": {"face_index": 164, "face_uv": [0.5730359430457198, 0.014642115158133405, 0.4123219417961468]}}, {"xyz": [-0.25502153224196245, 0.13179999589920044, 0.21541113122807554], "rgb": [153, 153, 61], "semantic_id": 9, "pcd_info": {"point_index": 1852}, "mesh_info": {"face_index": 123, "face_uv": [0.48416294637359, 0.008899522803431285, 0.5069375308229787]}}, {"xyz": [0.22958939092040773, -0.33437100052833535, -0.3369061003482078], "rgb": [152, 152, 60], "semantic_id": 17, "pcd_info": {"point_index": 1258}, "mesh_info": {"face_index": 85, "face_uv": [0.2130280932288974, 0.5191602677604709, 0.26781163901063115]}}, {"xyz": [0.22857233567823107, -0.33437100052833557, 0.20619832256814305], "rgb": [153, 153, 61], "semantic_id": 18, "pcd_info": {"point_index": 1952}, "mesh_info": {"face_index": 1, "face_uv": [0.14321376249461157, 0.7034807593531248, 0.15330547815226367]}}, {"xyz": [-0.25058589574938206, -0.33437100052833557, 0.19219368265050604], "rgb": [153, 153, 61], "semantic_id": 19, "pcd_info": {"point_index": 933}, "mesh_info": {"face_index": 70, "face_uv": [0.2517232298086017, 0.4150761109287887, 0.33320065926260956]}}, {"xyz": [-0.2493982390375005, -0.33437100052833557, -0.3352561340051529], "rgb": [153, 153, 61], "semantic_id": 20, "pcd_info": {"point_index": 926}, "mesh_info": {"face_index": 159, "face_uv": [0.3332482591714452, 0.553138850562616, 0.11361289026593892]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "90e67facc9af413abc19762eaa7ba40f", "keypoints": [{"xyz": [0.27091040836125246, 0.13805052966885478, 0.3445942328038438], "rgb": [27, 16, 9], "semantic_id": 0, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 1432, "face_uv": [0.47244339494827076, 0.06059001671850646, 0.4669665883332232]}}, {"xyz": [-0.2525379388353493, 0.17396895959333603, 0.2946647140562242], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 6, "face_uv": [0.019779004132152684, 0.3696202450878597, 0.6106007507799883]}}, {"xyz": [0.25939865252600675, -0.027130000293254852, 0.24878744241651551], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 724, "face_uv": [0.019754641344076215, 0.08925276959837387, 0.89099258905755]}}, {"xyz": [-0.2628295036571002, -0.027130000293254852, 0.2538309731668491], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1308}, "mesh_info": {"face_index": 726, "face_uv": [0.015131040997731333, 0.9199153193509266, 0.06495363965134197]}}, {"xyz": [0.2512558158739049, -0.02868881171861659, -0.26274920982343475], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 888}, "mesh_info": {"face_index": 680, "face_uv": [0.2669813198190789, 0.05202455344790904, 0.6809941267330155]}}, {"xyz": [-0.24339126489401536, -0.03011196264452476, -0.2659629534377146], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1525}, "mesh_info": {"face_index": 672, "face_uv": [0.6010785402550531, 0.0733107668388908, 0.32561069290605776]}}, {"xyz": [0.26302400231361367, 0.10463140885390732, -0.2835796739690736], "rgb": [30, 16, 7], "semantic_id": 6, "pcd_info": {"point_index": 1862}, "mesh_info": {"face_index": 1614, "face_uv": [0.0891709434022055, 0.8756063352761874, 0.03522272132160631]}}, {"xyz": [0.2983025051172458, 0.1087357305004677, 0.317922171395869], "rgb": [29, 17, 9], "semantic_id": 7, "pcd_info": {"point_index": 339}, "mesh_info": {"face_index": 1461, "face_uv": [0.5130490031121551, 0.31930528015355997, 0.16764571673428408]}}, {"xyz": [-0.28045371521216006, 0.09829345005602397, -0.2871254199144546], "rgb": [35, 21, 11], "semantic_id": 8, "pcd_info": {"point_index": 1895}, "mesh_info": {"face_index": 799, "face_uv": [0.07175901473364593, 0.38931472814013873, 0.5389262571262154]}}, {"xyz": [-0.27799569626865206, 0.10692872835750555, 0.3036125801063405], "rgb": [21, 7, 0], "semantic_id": 9, "pcd_info": {"point_index": 161}, "mesh_info": {"face_index": 1227, "face_uv": [0.06999821998894151, 0.5986810831756244, 0.33132069683543347]}}, {"xyz": [0.2866989751175707, -0.23886799812316895, -0.23763732470488175], "rgb": [31, 17, 8], "semantic_id": 17, "pcd_info": {"point_index": 207}, "mesh_info": {"face_index": 1367, "face_uv": [0.06322082842640629, 0.4953619756472376, 0.44141719592635614]}}, {"xyz": [0.28278185335070605, -0.21785999834537506, 0.32476367642412235], "rgb": [33, 18, 9], "semantic_id": 18, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 1278, "face_uv": [0.46616297835509024, 0.016590955136960923, 0.5172460665079488]}}, {"xyz": [-0.27898042299990455, -0.23886799812316895, 0.3362175346156258], "rgb": [28, 15, 6], "semantic_id": 19, "pcd_info": {"point_index": 1529}, "mesh_info": {"face_index": 1329, "face_uv": [0.8349574827380222, 0.12032359688710391, 0.04471892037487391]}}, {"xyz": [-0.28838307298325494, -0.23847072435493155, -0.2453249656220391], "rgb": [27, 14, 4], "semantic_id": 20, "pcd_info": {"point_index": 1604}, "mesh_info": {"face_index": 1083, "face_uv": [0.5576520833881995, 0.01874640340957254, 0.423601513202227]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6dfa9675d27b5fc134f6a34e269f5ec1", "keypoints": [{"xyz": [0.19872212749934898, 0.26326195671850605, 0.1011799520204184], "rgb": [61, 34, 16], "semantic_id": 0, "pcd_info": {"point_index": 85}, "mesh_info": {"face_index": 4428, "face_uv": [0.010275886967950369, 0.25929832378114354, 0.7304257892509063]}}, {"xyz": [-0.19321801845789194, 0.2662162290726994, 0.10030217490466042], "rgb": [39, 23, 10], "semantic_id": 1, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 2763, "face_uv": [0.7110421633672183, 0.22575722816536484, 0.06320060846741687]}}, {"xyz": [0.15324667119103583, -0.08384627687712976, 0.015696705079986994], "rgb": [247, 247, 255], "semantic_id": 2, "pcd_info": {"point_index": 1962}, "mesh_info": {"face_index": 45851, "face_uv": [0.6825492304981651, 0.2529738311824948, 0.06447693831937543]}}, {"xyz": [-0.15753301649975043, -0.0788633411846702, 0.005851905654056688], "rgb": [246, 246, 254], "semantic_id": 3, "pcd_info": {"point_index": 1882}, "mesh_info": {"face_index": 44160, "face_uv": [0.5557676428994404, 0.033890855321073, 0.41034150177948564]}}, {"xyz": [0.2087282329696224, -0.08645159205373631, -0.30513296381190913], "rgb": [247, 247, 255], "semantic_id": 4, "pcd_info": {"point_index": 450}, "mesh_info": {"face_index": 47426, "face_uv": [0.6823027933110705, 0.17979269208608317, 0.137904514602847]}}, {"xyz": [-0.20980218172500228, -0.09842715421215142, -0.30707164044117974], "rgb": [247, 247, 255], "semantic_id": 5, "pcd_info": {"point_index": 532}, "mesh_info": {"face_index": 46295, "face_uv": [0.7058820202994294, 0.05301991692447548, 0.24109806277609536]}}, {"xyz": [0.2402582720520665, 0.02256845254071438, -0.20252249651426235], "rgb": [51, 30, 13], "semantic_id": 6, "pcd_info": {"point_index": 1034}, "mesh_info": {"face_index": 2313, "face_uv": [0.322603703994497, 0.2838618798508585, 0.3935344161546484]}}, {"xyz": [0.2028594435512674, 0.021979022575243423, 0.029815564909783987], "rgb": [42, 23, 11], "semantic_id": 7, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 2559, "face_uv": [0.7052431455405255, 0.006816501855980744, 0.2879403526035028]}}, {"xyz": [-0.23895011281857204, 0.022618537862870047, -0.2045089487602827], "rgb": [37, 25, 10], "semantic_id": 8, "pcd_info": {"point_index": 514}, "mesh_info": {"face_index": 1715, "face_uv": [0.22945182742251036, 0.4026352871369843, 0.36791288544050726]}}, {"xyz": [-0.21033706206766256, 0.0216255010136972, 0.040175806758876206], "rgb": [44, 24, 8], "semantic_id": 9, "pcd_info": {"point_index": 1393}, "mesh_info": {"face_index": 1968, "face_uv": [0.6969711710297969, 0.283396339656814, 0.019632489313383794]}}, {"xyz": [0.21820836832216067, -0.44340291416873057, -0.2929280976627302], "rgb": [40, 24, 11], "semantic_id": 17, "pcd_info": {"point_index": 506}, "mesh_info": {"face_index": 1441, "face_uv": [0.004774762953112927, 0.6420858539755843, 0.3531393830713029]}}, {"xyz": [0.18222717449855486, -0.4228251347038743, 0.08803998078791964], "rgb": [49, 30, 15], "semantic_id": 18, "pcd_info": {"point_index": 777}, "mesh_info": {"face_index": 4565, "face_uv": [0.1547171855400712, 0.5691018793692271, 0.2761809350907021]}}, {"xyz": [-0.19030999344882815, -0.42501282811680086, 0.082596922568414], "rgb": [37, 21, 11], "semantic_id": 19, "pcd_info": {"point_index": 199}, "mesh_info": {"face_index": 3483, "face_uv": [0.13930318373069253, 0.23443024595856735, 0.6262665703107408]}}, {"xyz": [-0.21500092477840993, -0.43068543977318874, -0.29204526948293863], "rgb": [42, 28, 12], "semantic_id": 20, "pcd_info": {"point_index": 204}, "mesh_info": {"face_index": 1393, "face_uv": [0.04874173380805874, 0.311596840410068, 0.6396614257818729]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e821fb5eb1e21368c341afa383659322", "keypoints": [{"xyz": [0.2185577084145215, 0.18833217399758106, 0.16456779640160124], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 165}, "mesh_info": {"face_index": 4104, "face_uv": [0.4750426420776763, 0.20829497342350312, 0.31666238449881595]}}, {"xyz": [-0.21446129459433294, 0.18592665588934254, 0.16363171252877873], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1915}, "mesh_info": {"face_index": 3088, "face_uv": [0.175769148975736, 0.7669401526266109, 0.057290698397651864]}}, {"xyz": [0.19595865859449613, -0.05557499825954437, 0.11171077992273593], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 4295, "face_uv": [0.9655950052982669, 0.014680850363753519, 0.019724144337979675]}}, {"xyz": [-0.1938078817209679, -0.05557499825954437, 0.10819792133276462], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 322}, "mesh_info": {"face_index": 4304, "face_uv": [0.970032523265321, 0.012063423409586547, 0.01790405332509246]}}, {"xyz": [0.1901567199405201, -0.0636464442621738, -0.265329177807623], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 4473, "face_uv": [0.709637097315915, 0.029168420316853655, 0.26119448236723214]}}, {"xyz": [-0.1814223558778998, -0.0644430917509482, -0.26721776236555383], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1946}, "mesh_info": {"face_index": 4485, "face_uv": [0.6711020407098307, 0.04299035710517624, 0.2859076021850003]}}, {"xyz": [0.24748665929300048, 0.01866171350470114, -0.2650297552967913], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 426}, "mesh_info": {"face_index": 17686, "face_uv": [0.0343368840765335, 0.526302366023685, 0.43936074989978396]}}, {"xyz": [0.2576008919982976, 0.016278659030963594, 0.24295121661326535], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 826}, "mesh_info": {"face_index": 17038, "face_uv": [0.02925119841941358, 0.6518966178866135, 0.3188521836939739]}}, {"xyz": [-0.24647083577432186, 0.012789446325854215, -0.27600872503042584], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 6751, "face_uv": [0.12283225579149779, 0.4465878193643302, 0.4305799248441721]}}, {"xyz": [-0.2507566759589507, 0.01634869222019253, 0.2427442644868015], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 987}, "mesh_info": {"face_index": 8988, "face_uv": [0.11538555227495756, 0.6066319360909097, 0.2779825116341326]}}, {"xyz": [0.2442819835470484, -0.38640499114990257, -0.20731162400648073], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 916}, "mesh_info": {"face_index": 13901, "face_uv": [0.4701283843099208, 0.47919023531295657, 0.05068138037712314]}}, {"xyz": [0.24246335141305325, -0.38640499114990257, 0.13038354076478997], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 245}, "mesh_info": {"face_index": 13920, "face_uv": [0.3279833498804994, 0.5556254560799102, 0.11639119403959096]}}, {"xyz": [-0.23459535305543777, -0.38640499114990234, 0.14417251078169777], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1204}, "mesh_info": {"face_index": 5560, "face_uv": [0.5919577836386457, 0.35501098223943495, 0.0530312341219193]}}, {"xyz": [-0.25175262273464005, -0.38640499114990257, -0.2083873370257473], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1643}, "mesh_info": {"face_index": 5541, "face_uv": [0.49072170888738875, 0.31653224812152103, 0.19274604299109077]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b67232c18d00fca7593ebeeedbff73b", "keypoints": [{"xyz": [0.3005394995278458, 0.2577207022631487, 0.17486049607387943], "rgb": [63, 63, 63], "semantic_id": 0, "pcd_info": {"point_index": 181}, "mesh_info": {"face_index": 871, "face_uv": [0.39228838043436914, 0.5683006959726302, 0.03941092359300028]}}, {"xyz": [-0.3124559659548444, 0.2545122294102371, 0.18178924567401922], "rgb": [113, 113, 113], "semantic_id": 1, "pcd_info": {"point_index": 1622}, "mesh_info": {"face_index": 436, "face_uv": [0.17351197829461867, 0.31065277162848937, 0.5158352500768925]}}, {"xyz": [0.30398443700317185, 0.0020832863423323467, 0.0829476809194856], "rgb": [87, 87, 87], "semantic_id": 2, "pcd_info": {"point_index": 1509}, "mesh_info": {"face_index": 4632, "face_uv": [0.07181611825306924, 0.9251388568614856, 0.0030450248854543933]}}, {"xyz": [-0.30643008550493855, -0.0012651829812087012, 0.08867889265350976], "rgb": [69, 69, 69], "semantic_id": 3, "pcd_info": {"point_index": 429}, "mesh_info": {"face_index": 4692, "face_uv": [0.4048243677863623, 0.5373014475085399, 0.057874184705098204]}}, {"xyz": [0.31194543615093034, 0.023665075492758536, -0.23018057835157013], "rgb": [97, 97, 97], "semantic_id": 4, "pcd_info": {"point_index": 445}, "mesh_info": {"face_index": 4441, "face_uv": [0.014777963795954271, 0.666692036011218, 0.31853000019282673]}}, {"xyz": [-0.318864148602251, 0.02472893122277986, -0.22450198153768178], "rgb": [56, 56, 56], "semantic_id": 5, "pcd_info": {"point_index": 366}, "mesh_info": {"face_index": 4463, "face_uv": [0.10792502810112914, 0.5356008167142728, 0.3564741551845976]}}, {"xyz": [0.3675708776780676, 0.18457551150623708, -0.21353530191726308], "rgb": [38, 38, 38], "semantic_id": 6, "pcd_info": {"point_index": 838}, "mesh_info": {"face_index": 3102, "face_uv": [0.6010738355651905, 0.012216701650512262, 0.3867094627842967]}}, {"xyz": [0.3541360616282836, 0.19252258410529333, 0.151606556996116], "rgb": [85, 85, 85], "semantic_id": 7, "pcd_info": {"point_index": 597}, "mesh_info": {"face_index": 3103, "face_uv": [0.6830673515099893, 0.08529857861620875, 0.23163406987379978]}}, {"xyz": [-0.3637057919577621, 0.18469173852307952, -0.2081949707710007], "rgb": [63, 63, 63], "semantic_id": 8, "pcd_info": {"point_index": 1492}, "mesh_info": {"face_index": 3088, "face_uv": [0.025302380912205463, 0.4871164223420658, 0.4875811967457282]}}, {"xyz": [-0.347376782198755, 0.19303827948787688, 0.17529949691479807], "rgb": [101, 101, 101], "semantic_id": 9, "pcd_info": {"point_index": 1604}, "mesh_info": {"face_index": 3062, "face_uv": [0.6638795369596338, 0.31155512787276973, 0.024565335167597565]}}, {"xyz": [0.3755382430646399, -0.19469170472009867, -0.24440025588383918], "rgb": [197, 197, 197], "semantic_id": 17, "pcd_info": {"point_index": 728}, "mesh_info": {"face_index": 2034, "face_uv": [0.0819414358355973, 0.14967941078301078, 0.7683791533813914]}}, {"xyz": [0.3741566991811867, -0.214504741610948, 0.12942063750615584], "rgb": [197, 197, 197], "semantic_id": 18, "pcd_info": {"point_index": 1881}, "mesh_info": {"face_index": 2381, "face_uv": [0.1484789006963507, 0.8153339554556366, 0.03618714384801238]}}, {"xyz": [-0.3671398110297758, -0.2092609295022816, 0.13660953794482944], "rgb": [198, 198, 198], "semantic_id": 19, "pcd_info": {"point_index": 1280}, "mesh_info": {"face_index": 1966, "face_uv": [0.42741490923371234, 0.0939451315386907, 0.478639959227597]}}, {"xyz": [-0.36823148944553474, -0.21206289882407403, -0.22807882581229344], "rgb": [198, 198, 198], "semantic_id": 20, "pcd_info": {"point_index": 941}, "mesh_info": {"face_index": 1591, "face_uv": [0.07939110922038037, 0.4706080278970761, 0.45000086288254415]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2d1ebd7356968c0919fb4103277a6b93", "keypoints": [{"xyz": [0.37863142080644785, 0.14597191521475228, 0.13923637784900378], "rgb": [222, 199, 164], "semantic_id": 0, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 25063, "face_uv": [0.09050677453257945, 0.049747230529839176, 0.8597459949375809]}}, {"xyz": [-0.38759300505872696, 0.1467507277827107, 0.1321720661664173], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 42679, "face_uv": [0.14719163968356513, 0.18750896287621382, 0.6652993974402218]}}, {"xyz": [0.37343398427579844, -0.019715791136195815, 0.08665179763504494], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 26126, "face_uv": [0.2746561736524096, 0.023177813788681802, 0.7021660125589081]}}, {"xyz": [-0.3815769816995779, -0.02210521389090192, 0.08645664481954429], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 231}, "mesh_info": {"face_index": 43558, "face_uv": [0.05705702797518966, 0.9086659404389753, 0.03427703158583474]}}, {"xyz": [0.38203520519755707, -0.004695679944832776, -0.15973634257449043], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 1894}, "mesh_info": {"face_index": 2896, "face_uv": [0.05006333172862415, 0.12870591023058708, 0.8212307580407882]}}, {"xyz": [-0.38095127799714856, -0.004647465970179621, -0.15966958502216455], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 1655}, "mesh_info": {"face_index": 21609, "face_uv": [0.04504452477914312, 0.7762488340885426, 0.17870664113231458]}}, {"xyz": [0.4076408468709317, 0.09889972045631157, -0.10277580093607974], "rgb": [158, 70, 18], "semantic_id": 6, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 27500, "face_uv": [0.18608084172730405, 0.8118574371258257, 0.0020617211468686512]}}, {"xyz": [0.4155011642865575, 0.04190228001983831, 0.1777988831801002], "rgb": [168, 79, 19], "semantic_id": 7, "pcd_info": {"point_index": 1880}, "mesh_info": {"face_index": 29208, "face_uv": [0.6147793409250534, 0.12206157222491815, 0.2631590868500269]}}, {"xyz": [-0.4019475898350402, 0.09840066823368487, -0.10707543028099453], "rgb": [162, 75, 19], "semantic_id": 8, "pcd_info": {"point_index": 758}, "mesh_info": {"face_index": 35871, "face_uv": [0.17240639546840722, 0.2625032745418709, 0.565090329989723]}}, {"xyz": [-0.40628869614810464, 0.043524958141086145, 0.17304320219288283], "rgb": [162, 77, 19], "semantic_id": 9, "pcd_info": {"point_index": 572}, "mesh_info": {"face_index": 41498, "face_uv": [0.40589234451149236, 0.003521475400923369, 0.5905861800875876]}}, {"xyz": [0.36897553751282286, -0.17095645988554642, -0.1610546988782368], "rgb": [223, 200, 165], "semantic_id": 17, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 3102, "face_uv": [0.27417998680473304, 0.4051159619366891, 0.3207040512585813]}}, {"xyz": [0.36554734786760534, -0.20553530560035638, 0.16057879429138877], "rgb": [222, 199, 164], "semantic_id": 18, "pcd_info": {"point_index": 1169}, "mesh_info": {"face_index": 1329, "face_uv": [0.040882537545937035, 0.08135514288995775, 0.877762319564104]}}, {"xyz": [-0.38494054302482406, -0.20484957388812708, 0.1593694037432437], "rgb": [223, 200, 165], "semantic_id": 19, "pcd_info": {"point_index": 123}, "mesh_info": {"face_index": 23895, "face_uv": [0.11908704208392637, 0.0733105858146738, 0.8076023721014006]}}, {"xyz": [-0.3558867710687217, -0.17111210544842947, -0.154070313397835], "rgb": [223, 200, 165], "semantic_id": 20, "pcd_info": {"point_index": 1322}, "mesh_info": {"face_index": 23882, "face_uv": [0.03570730631692833, 0.1991116855543211, 0.7651810081287512]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c0720c8d54745ea8c8687ff9b0b4e4ac", "keypoints": [{"xyz": [0.16930450831385768, 0.3941836803573686, -0.04343194116303839], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 3623, "face_uv": [0.371122840758589, 0.09851857114054607, 0.5303585881008649]}}, {"xyz": [-0.18726742847646238, 0.3958911936482221, -0.040294808664519954], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1368}, "mesh_info": {"face_index": 3700, "face_uv": [0.20853441511489282, 0.4931477690350227, 0.2983178158500841]}}, {"xyz": [0.16889968121802829, 0.019022999331355095, -0.08880940761044376], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 990}, "mesh_info": {"face_index": 3632, "face_uv": [0.008686554283980479, 0.9767079820950924, 0.014605463620927387]}}, {"xyz": [-0.18938086777242757, 0.019022999331355095, -0.08984497919380752], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 156}, "mesh_info": {"face_index": 3655, "face_uv": [0.9622822810404655, 0.027462664493769207, 0.010255054465765353]}}, {"xyz": [0.1699874372223012, 0.019022999331355095, -0.32821178278286967], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 3633, "face_uv": [0.9817497968240785, 0.01254218668482925, 0.005708016491092227]}}, {"xyz": [-0.1859658171938819, 0.019022999331355095, -0.3300011917143869], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1137}, "mesh_info": {"face_index": 3633, "face_uv": [0.014270739000935244, 0.005335546046749322, 0.9803937149523158]}}, {"xyz": [0.13768583642778331, -0.41867899894714367, -0.28302283990556454], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 758}, "mesh_info": {"face_index": 3676, "face_uv": [0.4577862763147719, 0.4390853340179232, 0.10312838966730513]}}, {"xyz": [0.13947040596251165, -0.41867899894714355, -0.03260836424326641], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 528}, "mesh_info": {"face_index": 3584, "face_uv": [0.4340281272447048, 0.3934949995248713, 0.17247687323042385]}}, {"xyz": [-0.15703576487777282, -0.41867899894714355, -0.0401226080867807], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 3734, "face_uv": [0.4595608190594856, 0.5028026909821366, 0.03763648995837782]}}, {"xyz": [-0.15574298455092406, -0.4186789989471438, -0.28292369172927134], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 159}, "mesh_info": {"face_index": 3815, "face_uv": [0.043145497937127755, 0.5057704594008573, 0.4510840426620155]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "89dba482df6fd02732e2044f695909a", "keypoints": [{"xyz": [0.18263845406344242, 0.25581313678256223, 0.15470999479293823], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 2005}, "mesh_info": {"face_index": 244, "face_uv": [0.000837414468153572, 0.23175657347125486, 0.7674060120605917]}}, {"xyz": [-0.13517659355060418, 0.2567150218318235, 0.15470999479293812], "rgb": [225, 224, 220], "semantic_id": 1, "pcd_info": {"point_index": 1090}, "mesh_info": {"face_index": 449, "face_uv": [0.09323471555957964, 0.8413044066825992, 0.06546087775782049]}}, {"xyz": [0.18378962043435954, -0.05076736554681993, 0.15470999479293823], "rgb": [226, 225, 221], "semantic_id": 2, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 183, "face_uv": [0.14745551058958895, 0.8467677313044872, 0.00577675810592377]}}, {"xyz": [-0.1370455972001545, -0.04995371891654432, 0.15470999479293823], "rgb": [225, 224, 221], "semantic_id": 3, "pcd_info": {"point_index": 657}, "mesh_info": {"face_index": 303, "face_uv": [0.1225182926166068, 0.008472416056519702, 0.8690092913268734]}}, {"xyz": [0.18603600561618805, -0.054218067739064124, -0.22884883075604123], "rgb": [226, 225, 221], "semantic_id": 4, "pcd_info": {"point_index": 258}, "mesh_info": {"face_index": 55, "face_uv": [0.0017906045882546207, 0.9118905193765067, 0.08631887603523888]}}, {"xyz": [-0.13738479676516072, -0.05055825922166257, -0.22752279130008768], "rgb": [226, 225, 221], "semantic_id": 5, "pcd_info": {"point_index": 1788}, "mesh_info": {"face_index": 191, "face_uv": [0.45855889287517826, 0.5375597696143669, 0.0038813375104550453]}}, {"xyz": [0.18316691022421583, -0.5882850289344789, -0.22569385870817754], "rgb": [226, 225, 221], "semantic_id": 17, "pcd_info": {"point_index": 1231}, "mesh_info": {"face_index": 0, "face_uv": [0.04479741531032083, 0.9370430128803175, 0.018159571809361792]}}, {"xyz": [0.18597557992106165, -0.5882850289344788, 0.18318152497467488], "rgb": [225, 224, 221], "semantic_id": 18, "pcd_info": {"point_index": 1981}, "mesh_info": {"face_index": 512, "face_uv": [0.000943473321788518, 0.055437104198300356, 0.943619422479911]}}, {"xyz": [-0.1359860924236465, -0.5882850289344788, 0.17682684882051375], "rgb": [226, 225, 221], "semantic_id": 19, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 712, "face_uv": [0.04151614195393021, 0.8453408418974785, 0.11314301614859137]}}, {"xyz": [-0.13336922910970977, -0.5882850289344788, -0.22472925282843315], "rgb": [225, 225, 221], "semantic_id": 20, "pcd_info": {"point_index": 323}, "mesh_info": {"face_index": 206, "face_uv": [0.07801812985948162, 0.9176240916783603, 0.004357778462158022]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5a80c5a35dc1634db87028a4b477349f", "keypoints": [{"xyz": [0.24679649472701215, 0.2694591642533697, 0.22335510191245933], "rgb": [102, 132, 176], "semantic_id": 0, "pcd_info": {"point_index": 1471}, "mesh_info": {"face_index": 1560, "face_uv": [0.15464484391108219, 0.01741671582486374, 0.827938440264036]}}, {"xyz": [-0.22594455887706977, 0.2562371377540613, 0.2309285564766912], "rgb": [102, 132, 176], "semantic_id": 1, "pcd_info": {"point_index": 1632}, "mesh_info": {"face_index": 860, "face_uv": [0.21885655766854942, 0.16535632162552283, 0.6157871207059274]}}, {"xyz": [0.19426943560899534, -0.08866870765492663, 0.17511699673714398], "rgb": [103, 133, 177], "semantic_id": 2, "pcd_info": {"point_index": 2045}, "mesh_info": {"face_index": 320, "face_uv": [0.011065273292118368, 0.9563863298512133, 0.03254839685667116]}}, {"xyz": [-0.19867233451536587, -0.12687984035047406, 0.20298565431737448], "rgb": [103, 133, 177], "semantic_id": 3, "pcd_info": {"point_index": 1794}, "mesh_info": {"face_index": 144, "face_uv": [0.18202223697054876, 0.5017562397863692, 0.3162215232430829]}}, {"xyz": [0.23877638783515037, -0.06278498448797998, -0.19499445180912445], "rgb": [102, 132, 176], "semantic_id": 4, "pcd_info": {"point_index": 1926}, "mesh_info": {"face_index": 914, "face_uv": [0.06790563202177359, 0.023565901673729208, 0.908528466304494]}}, {"xyz": [-0.21071402731018402, -0.06363326361081323, -0.21013486747465193], "rgb": [103, 133, 177], "semantic_id": 5, "pcd_info": {"point_index": 657}, "mesh_info": {"face_index": 2521, "face_uv": [0.8713286467805539, 0.10791140270283402, 0.020759950516614063]}}, {"xyz": [0.23947551899274422, 0.05757169950406982, -0.09297204157201189], "rgb": [103, 133, 177], "semantic_id": 6, "pcd_info": {"point_index": 265}, "mesh_info": {"face_index": 2796, "face_uv": [0.43722638350460696, 0.11621964549639514, 0.44655397099899785]}}, {"xyz": [0.22047478254695962, 0.06815588470074241, 0.18278103847496752], "rgb": [102, 132, 176], "semantic_id": 7, "pcd_info": {"point_index": 427}, "mesh_info": {"face_index": 460, "face_uv": [0.03744166186262306, 0.8652112345175841, 0.09734710361979224]}}, {"xyz": [-0.20342243029211776, 0.05782413859982127, -0.09251479565154519], "rgb": [103, 133, 177], "semantic_id": 8, "pcd_info": {"point_index": 309}, "mesh_info": {"face_index": 2401, "face_uv": [0.35360765843048164, 0.5621358038498914, 0.08425653771962709]}}, {"xyz": [-0.2149929644274357, 0.06620347458750131, 0.1824012968764075], "rgb": [102, 132, 176], "semantic_id": 9, "pcd_info": {"point_index": 504}, "mesh_info": {"face_index": 452, "face_uv": [0.08784624599316784, 0.8842894252012341, 0.0278643288055973]}}, {"xyz": [0.22381581928811076, -0.45605400204658486, -0.17529024246217217], "rgb": [102, 132, 176], "semantic_id": 17, "pcd_info": {"point_index": 363}, "mesh_info": {"face_index": 1904, "face_uv": [0.08061735262133946, 0.3772961129762883, 0.5420865344023718]}}, {"xyz": [0.23707165880750444, -0.4560540020465851, 0.23664905524705404], "rgb": [103, 133, 177], "semantic_id": 18, "pcd_info": {"point_index": 63}, "mesh_info": {"face_index": 1840, "face_uv": [0.21861168573500436, 0.5001048817821726, 0.28128343248282306]}}, {"xyz": [-0.19692874662368617, -0.4560617253650743, 0.2460339091128797], "rgb": [103, 133, 177], "semantic_id": 19, "pcd_info": {"point_index": 445}, "mesh_info": {"face_index": 377, "face_uv": [0.3372507268557981, 0.21452944126785625, 0.44821983187634623]}}, {"xyz": [-0.20549365363218378, -0.4560540020465851, -0.1730957818576585], "rgb": [103, 133, 177], "semantic_id": 20, "pcd_info": {"point_index": 884}, "mesh_info": {"face_index": 893, "face_uv": [0.3188480111905401, 0.28913230208265195, 0.3920196867268079]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6af354d0e86b1d5ed77c4541cb2e97a4", "keypoints": [{"xyz": [0.15329560249149835, 0.3713330030441283, 0.1843860619279054], "rgb": [254, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 1981}, "mesh_info": {"face_index": 766, "face_uv": [0.15070666653700257, 0.386427642369656, 0.46286569109334114]}}, {"xyz": [-0.15504305797299717, 0.37133300304412853, 0.18540143841074577], "rgb": [255, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 2040}, "mesh_info": {"face_index": 82, "face_uv": [0.41394605967187825, 0.05441679302524766, 0.5316371473028744]}}, {"xyz": [0.15703747435242393, 0.011404675830510858, 0.07102881973705327], "rgb": [255, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 131}, "mesh_info": {"face_index": 988, "face_uv": [0.2712978707753725, 0.513287819737297, 0.21541430948736534]}}, {"xyz": [-0.1606633346390596, 0.01356124531552716, 0.07581369492369588], "rgb": [254, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 176}, "mesh_info": {"face_index": 149, "face_uv": [0.14589438634852464, 0.5652887920515304, 0.288816821599943]}}, {"xyz": [0.2094617532652974, -0.0007873582959063707, -0.23065739292560405], "rgb": [255, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 861}, "mesh_info": {"face_index": 578, "face_uv": [0.238986356938341, 0.3099919293048294, 0.4510217137568301]}}, {"xyz": [-0.2049214102035866, -0.0023921842812165695, -0.23170421613926984], "rgb": [254, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1396}, "mesh_info": {"face_index": 548, "face_uv": [0.39040750261695006, 0.4512399330279261, 0.15835256435512368]}}, {"xyz": [0.20704051015237815, -0.3977069854736328, -0.23518026562252337], "rgb": [255, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 396}, "mesh_info": {"face_index": 854, "face_uv": [0.001519445463055282, 0.465924035037778, 0.5325565194991667]}}, {"xyz": [0.1441488863115967, -0.3977069854736328, 0.18158133997395928], "rgb": [254, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1194}, "mesh_info": {"face_index": 828, "face_uv": [0.4254593856242979, 0.36324219039481676, 0.21129842398088522]}}, {"xyz": [-0.1476591856453133, -0.3977069854736328, 0.1835401101180095], "rgb": [255, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 19, "face_uv": [0.5560325644333142, 0.39207283506809076, 0.051894600498595074]}}, {"xyz": [-0.20407965788609456, -0.3977069854736327, -0.23464984611703688], "rgb": [254, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1379}, "mesh_info": {"face_index": 514, "face_uv": [0.16488269481375875, 0.44827365992885404, 0.38684364525738696]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6cb3d99b20e7fbb5b04cb542e2c50eb4", "keypoints": [{"xyz": [0.1162954192760434, 0.3297159521254245, 0.15502761453367375], "rgb": [255, 216, 100], "semantic_id": 0, "pcd_info": {"point_index": 546}, "mesh_info": {"face_index": 3370, "face_uv": [0.03853607796235458, 0.4299759865980831, 0.5314879354395626]}}, {"xyz": [-0.11387316247999774, 0.33668731944527974, 0.15738112332421816], "rgb": [255, 216, 100], "semantic_id": 1, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 3452, "face_uv": [0.7912643689221218, 0.16443962828756353, 0.044296002790315155]}}, {"xyz": [0.155352640678276, 0.005197151180928783, 0.08617169871969543], "rgb": [254, 215, 99], "semantic_id": 2, "pcd_info": {"point_index": 1795}, "mesh_info": {"face_index": 2385, "face_uv": [0.7536186309496885, 0.12575194323607358, 0.1206294258142371]}}, {"xyz": [-0.1569971174693, 0.004304317864617158, 0.08472005652801395], "rgb": [254, 215, 99], "semantic_id": 3, "pcd_info": {"point_index": 1324}, "mesh_info": {"face_index": 823, "face_uv": [0.864190173521642, 0.026134861181569578, 0.10967496529677989]}}, {"xyz": [0.17995650222507859, 0.02237766183842993, -0.23941780661951062], "rgb": [255, 216, 100], "semantic_id": 4, "pcd_info": {"point_index": 1233}, "mesh_info": {"face_index": 226, "face_uv": [0.6265475836681529, 0.07775275054010267, 0.2956996657917445]}}, {"xyz": [-0.1795376139920782, 0.019036966783054776, -0.2469232185060185], "rgb": [254, 215, 99], "semantic_id": 5, "pcd_info": {"point_index": 1025}, "mesh_info": {"face_index": 435, "face_uv": [0.45566543218559813, 0.4533852901137315, 0.0909492777006654]}}, {"xyz": [0.185276442202694, -0.3894728080252323, -0.22949949094260153], "rgb": [133, 133, 133], "semantic_id": 17, "pcd_info": {"point_index": 812}, "mesh_info": {"face_index": 5382, "face_uv": [0.3046311463761532, 0.18628085721209256, 0.5090879964117543]}}, {"xyz": [0.18686635673035723, -0.3893440067768097, 0.0945184710111628], "rgb": [133, 133, 133], "semantic_id": 18, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 5247, "face_uv": [0.15500646092041329, 0.41655199596405806, 0.4284415431155287]}}, {"xyz": [-0.1839793360572999, -0.3893440067768097, 0.10110350357571112], "rgb": [133, 133, 133], "semantic_id": 19, "pcd_info": {"point_index": 245}, "mesh_info": {"face_index": 5363, "face_uv": [0.07119735791464897, 0.37564306347931903, 0.553159578606032]}}, {"xyz": [-0.18906283561411222, -0.38947241759958495, -0.2330948997344624], "rgb": [133, 133, 133], "semantic_id": 20, "pcd_info": {"point_index": 21}, "mesh_info": {"face_index": 5406, "face_uv": [0.41673396568530907, 0.5349550729779684, 0.04831096133672322]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9849c890f3bc80723a4642fe4c259750", "keypoints": [{"xyz": [0.17448585689727547, 0.4589972690805284, 0.13956732172903819], "rgb": [105, 61, 25], "semantic_id": 0, "pcd_info": {"point_index": 1891}, "mesh_info": {"face_index": 8782, "face_uv": [0.10517321236681383, 0.2302692118296094, 0.6645575758035779]}}, {"xyz": [-0.1941514913317697, 0.4610300169842527, 0.1445456029750828], "rgb": [128, 81, 41], "semantic_id": 1, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 5125, "face_uv": [0.21009814482742545, 0.12523113025584684, 0.6646707249167276]}}, {"xyz": [0.14740615965484247, 0.08584100008010853, 0.07730627216078245], "rgb": [117, 73, 36], "semantic_id": 2, "pcd_info": {"point_index": 636}, "mesh_info": {"face_index": 13899, "face_uv": [0.14126999136433796, 0.8452505535041969, 0.013479455131463758]}}, {"xyz": [-0.15594290718634649, 0.08584100008010864, 0.07758530491369853], "rgb": [113, 70, 33], "semantic_id": 3, "pcd_info": {"point_index": 1431}, "mesh_info": {"face_index": 13681, "face_uv": [0.01160288208275837, 0.9026127517221533, 0.08578436619508839]}}, {"xyz": [0.16044650647872744, 0.08584100008010864, -0.16525305853061023], "rgb": [109, 66, 29], "semantic_id": 4, "pcd_info": {"point_index": 720}, "mesh_info": {"face_index": 14023, "face_uv": [0.36937179450762814, 0.0948689219671041, 0.5357592835252678]}}, {"xyz": [-0.16439017761803887, 0.08584100008010886, -0.16516536966703432], "rgb": [103, 62, 29], "semantic_id": 5, "pcd_info": {"point_index": 1087}, "mesh_info": {"face_index": 13568, "face_uv": [0.3124840638560457, 0.0908755243680693, 0.5966404117758876]}}, {"xyz": [0.19390569492071563, -0.3159410059452057, -0.20281863653828724], "rgb": [73, 42, 18], "semantic_id": 17, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 11745, "face_uv": [0.07479402892058216, 0.7054484607215472, 0.2197575103578706]}}, {"xyz": [0.17559697419572573, -0.30640700459480263, 0.14078826222139845], "rgb": [114, 71, 36], "semantic_id": 18, "pcd_info": {"point_index": 218}, "mesh_info": {"face_index": 10386, "face_uv": [0.5512789592645415, 0.24794049081217875, 0.20078054992327907]}}, {"xyz": [-0.17514109684278478, -0.30640700459480286, 0.13772652031399474], "rgb": [113, 70, 35], "semantic_id": 19, "pcd_info": {"point_index": 1532}, "mesh_info": {"face_index": 7124, "face_uv": [0.3017903205646716, 0.5409897604471033, 0.15721991898822496]}}, {"xyz": [-0.18101029242821892, -0.31594100594520547, -0.20082160081788314], "rgb": [69, 46, 24], "semantic_id": 20, "pcd_info": {"point_index": 250}, "mesh_info": {"face_index": 13164, "face_uv": [0.204861168361706, 0.5092673044570462, 0.2858715271812471]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "38c65f38e51df0746fd487bdb55ad0b9", "keypoints": [{"xyz": [0.17387582699739057, 0.4881089838187438, 0.1097230017185209], "rgb": [163, 115, 68], "semantic_id": 0, "pcd_info": {"point_index": 3}, "mesh_info": {"face_index": 661, "face_uv": [0.9468786322755298, 0.002139497598097311, 0.05098187012637089]}}, {"xyz": [-0.16883582339091008, 0.49187313662769205, 0.10972300171852112], "rgb": [154, 101, 60], "semantic_id": 1, "pcd_info": {"point_index": 1624}, "mesh_info": {"face_index": 666, "face_uv": [0.003660872404893541, 0.8094499823743039, 0.18688914522080258]}}, {"xyz": [0.19601646083625174, 0.15321700274944305, 0.10750037655858247], "rgb": [155, 106, 68], "semantic_id": 2, "pcd_info": {"point_index": 1973}, "mesh_info": {"face_index": 485, "face_uv": [0.23121036025421765, 0.03598585938917121, 0.7328037803566111]}}, {"xyz": [-0.19600236970273383, 0.15321700274944305, 0.10661870317110789], "rgb": [160, 112, 69], "semantic_id": 3, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 354, "face_uv": [0.32292713968192155, 0.6693063055046471, 0.0077665548134314265]}}, {"xyz": [0.1936642897940085, 0.15321700274944294, -0.21808808544703595], "rgb": [167, 113, 66], "semantic_id": 4, "pcd_info": {"point_index": 1315}, "mesh_info": {"face_index": 486, "face_uv": [0.7038585897783991, 0.009520474395892087, 0.286620935825708]}}, {"xyz": [-0.19432841385919636, 0.15321700274944305, -0.21442473948919827], "rgb": [140, 92, 50], "semantic_id": 5, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 392, "face_uv": [0.5285308594376064, 0.46701466092588473, 0.004454479636508884]}}, {"xyz": [0.16455318888056514, -0.1749099940061567, -0.17959647756034935], "rgb": [254, 176, 99], "semantic_id": 17, "pcd_info": {"point_index": 1023}, "mesh_info": {"face_index": 952, "face_uv": [0.23320057895479898, 0.3454895883400925, 0.42130983270510725]}}, {"xyz": [0.15886406430693523, -0.17490999400615714, 0.1474247328381959], "rgb": [255, 177, 100], "semantic_id": 18, "pcd_info": {"point_index": 1736}, "mesh_info": {"face_index": 104, "face_uv": [0.08714532883640576, 0.42655684351868356, 0.4862978276449119]}}, {"xyz": [-0.17156659379156378, -0.17490999400615692, 0.14436833871129173], "rgb": [254, 177, 100], "semantic_id": 19, "pcd_info": {"point_index": 1188}, "mesh_info": {"face_index": 29, "face_uv": [0.49075405070398315, 0.5035978854056831, 0.00564806389033372]}}, {"xyz": [-0.16420515945469927, -0.17490999400615692, -0.18870956453120036], "rgb": [254, 176, 99], "semantic_id": 20, "pcd_info": {"point_index": 630}, "mesh_info": {"face_index": 165, "face_uv": [0.45070732804080493, 0.4217775427859887, 0.12751512917320623]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f05cdaa4f262ebfba16baf954c1d99bc", "keypoints": [{"xyz": [0.16521631038488327, 0.41963470087316007, 0.1689435585609198], "rgb": [205, 212, 222], "semantic_id": 0, "pcd_info": {"point_index": 280}, "mesh_info": {"face_index": 62, "face_uv": [0.9048547829115685, 0.08379114053267456, 0.011354076555753349]}}, {"xyz": [-0.1574155798045045, 0.413765087608886, 0.15060738929269313], "rgb": [207, 214, 224], "semantic_id": 1, "pcd_info": {"point_index": 1003}, "mesh_info": {"face_index": 1649, "face_uv": [0.8762446209808789, 0.07110017694135796, 0.05265520207776251]}}, {"xyz": [0.16137966437540352, -0.085288620688319, 0.11997080431849882], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1655}, "mesh_info": {"face_index": 5581, "face_uv": [0.650087444590704, 0.347816587197974, 0.002095968211324225]}}, {"xyz": [-0.15784154022671534, -0.08438890515466102, 0.11305540566407468], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1294}, "mesh_info": {"face_index": 6570, "face_uv": [0.08969723412191506, 0.026223081954524392, 0.8840796839235838]}}, {"xyz": [0.1834493000774068, -0.09520514324952611, -0.23960848612345598], "rgb": [203, 210, 220], "semantic_id": 4, "pcd_info": {"point_index": 1529}, "mesh_info": {"face_index": 5538, "face_uv": [0.07374163997060472, 0.0015717088942318472, 0.9246866511351646]}}, {"xyz": [-0.18696072506441827, -0.09117787274501932, -0.22920558172131744], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1013}, "mesh_info": {"face_index": 6367, "face_uv": [0.8553615569018146, 0.06714763775206022, 0.07749080534612389]}}, {"xyz": [0.15674617319345846, -0.38622799515724204, -0.23147343745384252], "rgb": [205, 212, 222], "semantic_id": 17, "pcd_info": {"point_index": 235}, "mesh_info": {"face_index": 4355, "face_uv": [0.19484931352496718, 0.7694982539593387, 0.03565243251569469]}}, {"xyz": [0.1627116427114666, -0.38622799515724204, 0.12768884365878086], "rgb": [205, 212, 222], "semantic_id": 18, "pcd_info": {"point_index": 1734}, "mesh_info": {"face_index": 4408, "face_uv": [0.2715651075791428, 0.6937671359161054, 0.03466775650475243]}}, {"xyz": [-0.15726234965977798, -0.3862279951572418, 0.1333271976623598], "rgb": [203, 210, 220], "semantic_id": 19, "pcd_info": {"point_index": 1424}, "mesh_info": {"face_index": 5080, "face_uv": [0.02007306168311152, 0.5131740285682869, 0.4667529097486016]}}, {"xyz": [-0.15841784379662865, -0.3862279951572416, -0.236166587451911], "rgb": [205, 212, 222], "semantic_id": 20, "pcd_info": {"point_index": 1237}, "mesh_info": {"face_index": 4994, "face_uv": [0.02350436733026653, 0.5765521766492193, 0.39994345602051357]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3b1b0186ebeb8ea579bb09dc5605a57", "keypoints": [{"xyz": [0.28218905903128344, 0.33681899309158325, 0.17977434572848516], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 461}, "mesh_info": {"face_index": 466, "face_uv": [0.25015545653808946, 0.2396693599365997, 0.5101751835253108]}}, {"xyz": [-0.2892700364599475, 0.33681899309158314, 0.18900213583539816], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 572}, "mesh_info": {"face_index": 737, "face_uv": [0.10440510886613691, 0.056951655815933935, 0.8386432353179288]}}, {"xyz": [0.26678499579429626, 0.06793670169404531, 0.16947309625988072], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 282, "face_uv": [0.029066883931595264, 0.38980186612984064, 0.581131249938564]}}, {"xyz": [-0.2698970139026642, 0.06270493642502561, 0.17814580103057776], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1605}, "mesh_info": {"face_index": 558, "face_uv": [0.020979303378104996, 0.15831249387703686, 0.8207082027448582]}}, {"xyz": [0.2687317430489011, 0.05916662497811645, -0.37343698740005493], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1976}, "mesh_info": {"face_index": 1384, "face_uv": [0.12519463377544746, 0.01936880727772008, 0.8554365589468325]}}, {"xyz": [-0.2654862878782201, 0.05979907141368246, -0.37343698740005493], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 198}, "mesh_info": {"face_index": 1393, "face_uv": [0.04526103679388194, 0.030673795909405922, 0.9240651672967122]}}, {"xyz": [0.27962398529052745, -0.24277160619341642, -0.3671695039509131], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 2035}, "mesh_info": {"face_index": 2123, "face_uv": [0.04444181677152508, 0.0025917605025062834, 0.9529664227259691]}}, {"xyz": [0.2699432391699272, -0.24480099976062775, 0.18306414762606757], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1635}, "mesh_info": {"face_index": 5000, "face_uv": [0.16349806364345953, 0.13902382807138486, 0.6974781082851557]}}, {"xyz": [-0.2792345130792584, -0.24480099976062764, 0.18726148259060896], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1291}, "mesh_info": {"face_index": 5534, "face_uv": [0.043177892319424094, 0.9427047557127493, 0.014117351967826248]}}, {"xyz": [-0.2754534396835973, -0.24480099976062764, -0.36468819247567236], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 510}, "mesh_info": {"face_index": 1792, "face_uv": [0.116801221508499, 0.09534853772200615, 0.7878502407694945]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ca01fd0de2534323c594a0e804f37c1a", "keypoints": [{"xyz": [0.19074160581859972, 0.278471325714399, 0.05569300055503823], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 742}, "mesh_info": {"face_index": 64, "face_uv": [0.000683875919359721, 0.0023041596812138528, 0.9970119643994224]}}, {"xyz": [-0.17768054175696008, 0.2779754029839385, 0.05569300055503845], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1598}, "mesh_info": {"face_index": 186, "face_uv": [0.016878997027148197, 0.9809920213191824, 0.002128981653669359]}}, {"xyz": [0.19003856046134726, -0.06446799635887146, 0.048166381798262714], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1043}, "mesh_info": {"face_index": 133, "face_uv": [0.0202781836071455, 0.9755500655207949, 0.00417175087205994]}}, {"xyz": [-0.1798984492972997, -0.062366890021698596, 0.05569300055503845], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 837}, "mesh_info": {"face_index": 187, "face_uv": [0.9807611703924258, 0.013116261252183554, 0.006122568355390427]}}, {"xyz": [0.1849460947260509, -0.0677600442783085, -0.2521449923515322], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1429}, "mesh_info": {"face_index": 114, "face_uv": [0.008648554857383764, 0.05133637956797396, 0.9400150655746432]}}, {"xyz": [-0.18068135310450312, -0.0675436428339814, -0.252144992351532], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1853}, "mesh_info": {"face_index": 4, "face_uv": [0.04222043627465662, 0.9520381966705552, 0.005741367054788166]}}, {"xyz": [0.15497413297664045, -0.4524959921836853, -0.2504665954113283], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 159}, "mesh_info": {"face_index": 31, "face_uv": [0.448020721404683, 0.038541320039768553, 0.5134379585555484]}}, {"xyz": [0.14814664315077317, -0.452372168119919, 0.060881998389959335], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 84, "face_uv": [0.0003822898498892475, 0.5378950656167741, 0.46172264453333656]}}, {"xyz": [-0.16381136613369657, -0.45037168823665097, 0.057273998856544495], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1058}, "mesh_info": {"face_index": 76, "face_uv": [0.006558497696891575, 0.38169704462329135, 0.611744457679817]}}, {"xyz": [-0.15821873543112785, -0.4524959921836853, -0.24759231644825697], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1406}, "mesh_info": {"face_index": 112, "face_uv": [0.4310727659447795, 0.09563040906413432, 0.47329682499108616]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b6e744f896a202c119fb4103277a6b93", "keypoints": [{"xyz": [0.17771000443426205, 0.3658823461754044, 0.2563585050939648], "rgb": [222, 199, 164], "semantic_id": 0, "pcd_info": {"point_index": 43}, "mesh_info": {"face_index": 6806, "face_uv": [0.7375912748383741, 0.2539203653940263, 0.008488359767599145]}}, {"xyz": [-0.18939233182116155, 0.3651761115100469, 0.2555088534132225], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 4354, "face_uv": [0.07682203640360055, 0.11623281258370796, 0.8069451510126917]}}, {"xyz": [0.16353219686699688, -0.02018226441349502, 0.15890587541798484], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1255}, "mesh_info": {"face_index": 12257, "face_uv": [0.43891849184003423, 0.27566920909627785, 0.28541229906369253]}}, {"xyz": [-0.17227853529012332, -0.030747143415381206, 0.17644784196229882], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 10327, "face_uv": [0.056955929826683294, 0.16380531325399778, 0.7792387569193188]}}, {"xyz": [0.17665665508903539, -0.030422387605507417, -0.1585677898877218], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 1013}, "mesh_info": {"face_index": 13461, "face_uv": [0.05785789456855077, 0.29279418296310455, 0.649347922468344]}}, {"xyz": [-0.19277222366287494, -0.041108068908764395, -0.15643940724527583], "rgb": [222, 199, 164], "semantic_id": 5, "pcd_info": {"point_index": 476}, "mesh_info": {"face_index": 10313, "face_uv": [0.12432113298842991, 0.6206085536645819, 0.2550703133469878]}}, {"xyz": [0.22314886138762144, 0.1181229124269898, -0.10084400247542968], "rgb": [181, 82, 19], "semantic_id": 6, "pcd_info": {"point_index": 1657}, "mesh_info": {"face_index": 18409, "face_uv": [0.36291921312013137, 0.09407221269501606, 0.5430085741848522]}}, {"xyz": [0.20777973385685505, 0.11811838134191954, 0.21808970864496424], "rgb": [162, 72, 19], "semantic_id": 7, "pcd_info": {"point_index": 88}, "mesh_info": {"face_index": 20101, "face_uv": [0.6925806609034784, 0.10428550505709262, 0.20313383403942958]}}, {"xyz": [-0.22290266233488898, 0.1181229573507463, -0.09527939767628707], "rgb": [179, 81, 19], "semantic_id": 8, "pcd_info": {"point_index": 75}, "mesh_info": {"face_index": 33234, "face_uv": [0.2629541458665867, 0.21645201797312183, 0.5205938361602911]}}, {"xyz": [-0.20994721422506812, 0.11811890056231822, 0.22301675006218713], "rgb": [167, 76, 20], "semantic_id": 9, "pcd_info": {"point_index": 1419}, "mesh_info": {"face_index": 34804, "face_uv": [0.2574609135651876, 0.6415490283968365, 0.10099005803797914]}}, {"xyz": [0.20039914077248488, -0.3158278827816706, -0.18657362381620013], "rgb": [153, 68, 18], "semantic_id": 17, "pcd_info": {"point_index": 1327}, "mesh_info": {"face_index": 32479, "face_uv": [0.4117412016778563, 0.45768671194643634, 0.1305720863757056]}}, {"xyz": [0.1851831725884301, -0.3339670821642591, 0.24804921739296704], "rgb": [165, 76, 20], "semantic_id": 18, "pcd_info": {"point_index": 182}, "mesh_info": {"face_index": 22080, "face_uv": [0.02721504004953084, 0.07167237239292029, 0.9011125875575489]}}, {"xyz": [-0.18575786208248135, -0.3263178738249326, 0.24514641938491155], "rgb": [164, 75, 20], "semantic_id": 19, "pcd_info": {"point_index": 612}, "mesh_info": {"face_index": 40919, "face_uv": [0.8287230098113206, 0.13733758283869224, 0.03393940734998706]}}, {"xyz": [-0.19302302466880294, -0.33117139233660886, -0.16604701958261353], "rgb": [159, 71, 19], "semantic_id": 20, "pcd_info": {"point_index": 1884}, "mesh_info": {"face_index": 45791, "face_uv": [0.24460473886510575, 0.13103290576659204, 0.6243623553682855]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e6c7e75046f8946b27bf2eac25b523a6", "keypoints": [{"xyz": [0.25285092275788656, 0.222851244532273, 0.07565661128764978], "rgb": [119, 136, 145], "semantic_id": 0, "pcd_info": {"point_index": 147}, "mesh_info": {"face_index": 61, "face_uv": [0.02629039311762619, 0.00906368100196543, 0.9646459258804001]}}, {"xyz": [-0.24506044704284202, 0.21453937378379728, 0.07416111023885041], "rgb": [28, 86, 145], "semantic_id": 1, "pcd_info": {"point_index": 1386}, "mesh_info": {"face_index": 154, "face_uv": [0.8813028575490276, 0.10035607075051985, 0.01834107170044577]}}, {"xyz": [0.19010782414169702, -0.04273130953261761, 0.033838774042885045], "rgb": [175, 186, 201], "semantic_id": 2, "pcd_info": {"point_index": 356}, "mesh_info": {"face_index": 604, "face_uv": [0.12997521136220436, 0.7268843119964613, 0.14314047664133717]}}, {"xyz": [-0.18831316800163794, -0.03881977937617043, 0.033050913454723], "rgb": [74, 120, 162], "semantic_id": 3, "pcd_info": {"point_index": 1358}, "mesh_info": {"face_index": 618, "face_uv": [0.5223567760942268, 0.25361486786136755, 0.22402835604440344]}}, {"xyz": [0.1867466933480045, -0.016236486807334582, -0.3074736441895336], "rgb": [130, 156, 184], "semantic_id": 4, "pcd_info": {"point_index": 917}, "mesh_info": {"face_index": 604, "face_uv": [0.3973043918401903, 0.0036144946292158407, 0.5990811135305952]}}, {"xyz": [-0.1857826036828775, -0.019332672797462314, -0.3140812648890001], "rgb": [192, 198, 208], "semantic_id": 5, "pcd_info": {"point_index": 1135}, "mesh_info": {"face_index": 603, "face_uv": [0.011461203700361192, 0.9647352478232492, 0.02380354847638924]}}, {"xyz": [0.26216041391527056, 0.0779040957197834, -0.30043798685073864], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 174}, "mesh_info": {"face_index": 309, "face_uv": [0.005772545580822854, 0.38956705012331766, 0.6046604042958599]}}, {"xyz": [0.26321660327574325, 0.10443321059716903, 0.05959754465931244], "rgb": [84, 117, 146], "semantic_id": 7, "pcd_info": {"point_index": 1984}, "mesh_info": {"face_index": 153, "face_uv": [0.596798939490861, 0.3831121159287496, 0.020088944580389123]}}, {"xyz": [-0.2605997613045803, 0.08462472322123649, -0.29691863485186576], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1329}, "mesh_info": {"face_index": 574, "face_uv": [0.25709129947831194, 0.006678455010618594, 0.7362302455110675]}}, {"xyz": [-0.2627349628536056, 0.0843828853657389, 0.05466688627766836], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1041}, "mesh_info": {"face_index": 557, "face_uv": [0.6112604574742183, 0.32613960751880144, 0.0625999350069799]}}, {"xyz": [0.23771611044943386, -0.29235899448394753, -0.2774778120789861], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 967}, "mesh_info": {"face_index": 193, "face_uv": [0.5566552976448215, 0.043570093101862745, 0.399774609253315]}}, {"xyz": [0.23718944076985893, -0.29235899448394775, 0.19359953027832755], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 299}, "mesh_info": {"face_index": 205, "face_uv": [0.39195794132679723, 0.36416323855383703, 0.24387882011936576]}}, {"xyz": [-0.2549432315911254, -0.292358994483948, 0.20012279101338332], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1722}, "mesh_info": {"face_index": 184, "face_uv": [0.791921861929814, 0.15796113815574037, 0.0501169999144465]}}, {"xyz": [-0.23783687203353726, -0.29235899448394775, -0.2600702155154083], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 190, "face_uv": [0.46114265083124756, 0.07660340449842402, 0.4622539446703285]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "baa8760ca5fbbc4840b559ef47048b86", "keypoints": [{"xyz": [0.28348120226716866, 0.3434715002143294, 0.18552582097136572], "rgb": [63, 80, 141], "semantic_id": 0, "pcd_info": {"point_index": 1999}, "mesh_info": {"face_index": 327, "face_uv": [0.15930313456421918, 0.5310158111441307, 0.3096810542916498]}}, {"xyz": [-0.28211560639570954, 0.3433482997995012, 0.18035694918266443], "rgb": [62, 77, 141], "semantic_id": 1, "pcd_info": {"point_index": 221}, "mesh_info": {"face_index": 445, "face_uv": [0.10717448037013717, 0.1897910848340526, 0.703034434795811]}}, {"xyz": [0.2880896323998482, 0.13518754096145424, 0.10805221126185982], "rgb": [64, 81, 143], "semantic_id": 2, "pcd_info": {"point_index": 1119}, "mesh_info": {"face_index": 10356, "face_uv": [0.02328641105875134, 0.23550809857025107, 0.7412054903709971]}}, {"xyz": [-0.288443298489884, 0.1351980562985955, 0.10580202524704402], "rgb": [56, 73, 133], "semantic_id": 3, "pcd_info": {"point_index": 143}, "mesh_info": {"face_index": 10909, "face_uv": [0.37961294693205616, 0.6051979217150304, 0.015189131352911828]}}, {"xyz": [0.28945309889022863, 0.13805498619018142, -0.19556888367219805], "rgb": [68, 86, 147], "semantic_id": 4, "pcd_info": {"point_index": 862}, "mesh_info": {"face_index": 10266, "face_uv": [0.018583618524276938, 0.5340485981213718, 0.4473677833543514]}}, {"xyz": [-0.2793072638712206, 0.1389391715458177, -0.19251364782278263], "rgb": [60, 78, 139], "semantic_id": 5, "pcd_info": {"point_index": 322}, "mesh_info": {"face_index": 10746, "face_uv": [0.04670084775782495, 0.621126211579283, 0.33217294066289144]}}, {"xyz": [0.35864474976230704, 0.29700503736603867, -0.19950082826518412], "rgb": [66, 84, 146], "semantic_id": 6, "pcd_info": {"point_index": 443}, "mesh_info": {"face_index": 9516, "face_uv": [0.014896674987715169, 0.12134247442176647, 0.8637608505905188]}}, {"xyz": [0.34957639498713194, 0.2978160083293915, 0.2086689185113385], "rgb": [68, 85, 146], "semantic_id": 7, "pcd_info": {"point_index": 1132}, "mesh_info": {"face_index": 9546, "face_uv": [0.18845932361381712, 0.4335344332829463, 0.37800624310323655]}}, {"xyz": [-0.3605106677553467, 0.29739796134855956, -0.19704432718954187], "rgb": [68, 86, 147], "semantic_id": 8, "pcd_info": {"point_index": 357}, "mesh_info": {"face_index": 9986, "face_uv": [0.28370045788202586, 0.6944222272833089, 0.02187731483466439]}}, {"xyz": [-0.3421920357702393, 0.2978160083293915, 0.2149279564198735], "rgb": [68, 85, 146], "semantic_id": 9, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 10023, "face_uv": [0.10587973986194357, 0.43837850857165184, 0.4557417515664046]}}, {"xyz": [0.3411958331763676, -0.06411699950695016, -0.1954109543596548], "rgb": [197, 197, 197], "semantic_id": 17, "pcd_info": {"point_index": 1052}, "mesh_info": {"face_index": 1026, "face_uv": [0.6639126220595855, 0.14478188397914518, 0.1913054939612658]}}, {"xyz": [0.34728863781739955, -0.06411699950695038, 0.2011611259449065], "rgb": [198, 198, 198], "semantic_id": 18, "pcd_info": {"point_index": 2046}, "mesh_info": {"face_index": 3188, "face_uv": [0.28085005546359987, 0.4699222111275251, 0.24922773340887508]}}, {"xyz": [-0.35391526765548487, -0.06411699950695038, 0.20654205058862563], "rgb": [198, 198, 198], "semantic_id": 19, "pcd_info": {"point_index": 1122}, "mesh_info": {"face_index": 5071, "face_uv": [0.08832874545680358, 0.6023321278045756, 0.3093391267386209]}}, {"xyz": [-0.34419346208805857, -0.0641169995069506, -0.19499798381067635], "rgb": [198, 198, 198], "semantic_id": 20, "pcd_info": {"point_index": 1629}, "mesh_info": {"face_index": 7341, "face_uv": [0.2038302242935287, 0.42633344290463115, 0.3698363328018436]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "529c0a3650d6a7be97e2a21b8bc2d948", "keypoints": [{"xyz": [0.2260068863288992, 0.4859029948711395, 0.14886120917963477], "rgb": [0, 0, 102], "semantic_id": 0, "pcd_info": {"point_index": 931}, "mesh_info": {"face_index": 4, "face_uv": [0.49252403638710623, 0.005360154836587739, 0.502115808776306]}}, {"xyz": [-0.22326307658344316, 0.4859029948711395, 0.14442640348292216], "rgb": [0, 0, 102], "semantic_id": 1, "pcd_info": {"point_index": 1964}, "mesh_info": {"face_index": 5, "face_uv": [0.44770688605499553, 0.011365271095192182, 0.5409278428498123]}}, {"xyz": [0.22285523648352767, 0.07929900288581848, 0.10823311716225403], "rgb": [125, 255, 2], "semantic_id": 2, "pcd_info": {"point_index": 637}, "mesh_info": {"face_index": 27, "face_uv": [0.9877421279440564, 0.008461225268635084, 0.0037966467873085377]}}, {"xyz": [-0.22344820109975083, 0.0792990028858187, 0.10984191836170276], "rgb": [125, 255, 0], "semantic_id": 3, "pcd_info": {"point_index": 1017}, "mesh_info": {"face_index": 27, "face_uv": [0.010960106617377, 0.0038839013010642932, 0.9851559920815613]}}, {"xyz": [0.22483031152587035, 0.07599157254257694, -0.24026499688625358], "rgb": [101, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 673}, "mesh_info": {"face_index": 7, "face_uv": [0.008832934227605845, 0.007935212560919856, 0.9832318532114754]}}, {"xyz": [-0.22641802545619777, 0.07393856115479847, -0.24026499688625336], "rgb": [101, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 505}, "mesh_info": {"face_index": 6, "face_uv": [0.9856842248128476, 0.004460333607372452, 0.009855441579779913]}}, {"xyz": [0.2269313606850679, -0.2951439917087555, -0.20783365488637914], "rgb": [226, 225, 221], "semantic_id": 17, "pcd_info": {"point_index": 1336}, "mesh_info": {"face_index": 3, "face_uv": [0.4502356693999779, 0.5464274851405095, 0.0033368454595125367]}}, {"xyz": [0.22595454138669832, -0.2951439917087555, 0.15269934761385565], "rgb": [126, 255, 0], "semantic_id": 18, "pcd_info": {"point_index": 1162}, "mesh_info": {"face_index": 36, "face_uv": [0.5519145502126125, 0.0054747172489367415, 0.4426107325384508]}}, {"xyz": [-0.2280552503648452, -0.2951439917087555, 0.15532393428039573], "rgb": [52, 105, 0], "semantic_id": 19, "pcd_info": {"point_index": 418}, "mesh_info": {"face_index": 37, "face_uv": [0.41212826579073314, 0.0008770946695441548, 0.5869946395397228]}}, {"xyz": [-0.22676086482324365, -0.2951439917087556, -0.19372474782208843], "rgb": [226, 225, 221], "semantic_id": 20, "pcd_info": {"point_index": 2026}, "mesh_info": {"face_index": 2, "face_uv": [0.34539563977409604, 0.65089436663775, 0.003709993588154392]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c54a464d63efcab2c389b3ea958c8248", "keypoints": [{"xyz": [0.17012266958924233, 0.34354507322243255, 0.046271029757611215], "rgb": [0, 24, 54], "semantic_id": 0, "pcd_info": {"point_index": 1456}, "mesh_info": {"face_index": 314, "face_uv": [0.024075684458849573, 0.8381035867361587, 0.1378207288049884]}}, {"xyz": [-0.17183266291765636, 0.34168436975633865, 0.04678878893274763], "rgb": [0, 24, 54], "semantic_id": 1, "pcd_info": {"point_index": 1889}, "mesh_info": {"face_index": 121, "face_uv": [0.06840492045728666, 0.8877752964522564, 0.0438197830904467]}}, {"xyz": [0.14012739231190507, -0.057000903827387095, 0.06932599390302663], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1045}, "mesh_info": {"face_index": 1515, "face_uv": [0.14575395519675663, 0.7807734738578276, 0.0734725709454146]}}, {"xyz": [-0.1371640676198721, -0.06002375771637272, 0.06290099820033457], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 604}, "mesh_info": {"face_index": 1629, "face_uv": [0.26033511795420133, 0.6737271241088022, 0.06593775793699358]}}, {"xyz": [0.1796003033666117, -0.08238258301052229, -0.25373616149078737], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 738, "face_uv": [0.28798790809812364, 0.17378668931239685, 0.5382254025894789]}}, {"xyz": [-0.15855004385761595, -0.07369144105733652, -0.263255949861096], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 278}, "mesh_info": {"face_index": 811, "face_uv": [0.15737557671234678, 0.29994368476976596, 0.5426807385178867]}}, {"xyz": [0.1387574997923559, -0.4917150139808655, -0.221829409923343], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 2029}, "mesh_info": {"face_index": 460, "face_uv": [0.2083409201975391, 0.2597019611556128, 0.5319571186468481]}}, {"xyz": [0.14872146356739535, -0.4917150139808655, 0.08491286688377525], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1858}, "mesh_info": {"face_index": 434, "face_uv": [0.1048244462044354, 0.2928807172967612, 0.6022948364988034]}}, {"xyz": [-0.12968118929602457, -0.4917150139808655, 0.08949912527362675], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 542}, "mesh_info": {"face_index": 776, "face_uv": [0.0725948489578299, 0.6568218541347922, 0.27058329690737787]}}, {"xyz": [-0.12971845862789014, -0.4917150139808655, -0.23189309108335832], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1865}, "mesh_info": {"face_index": 1381, "face_uv": [0.08023357587930595, 0.22377049053839826, 0.6959959335822958]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "81c291ab8abc1d0172b24bdfca058442", "keypoints": [{"xyz": [0.277252636125842, 0.3245989168003983, 0.1677750617835705], "rgb": [153, 75, 0], "semantic_id": 0, "pcd_info": {"point_index": 191}, "mesh_info": {"face_index": 71346, "face_uv": [0.7439073637019868, 0.2264437705798893, 0.029648865718124338]}}, {"xyz": [-0.3015206263785778, 0.3131952770673566, 0.19834369501538984], "rgb": [153, 74, 0], "semantic_id": 1, "pcd_info": {"point_index": 199}, "mesh_info": {"face_index": 67234, "face_uv": [0.581071925976031, 0.0846122234490889, 0.33431585057488]}}, {"xyz": [0.2616553487663737, 0.019793385267693697, 0.07656498861606131], "rgb": [197, 197, 197], "semantic_id": 2, "pcd_info": {"point_index": 1310}, "mesh_info": {"face_index": 40142, "face_uv": [0.36079002100197627, 0.04958961915165758, 0.5896203598463648]}}, {"xyz": [-0.2570936790730785, 0.007954531370614193, 0.11306496429627177], "rgb": [197, 197, 197], "semantic_id": 3, "pcd_info": {"point_index": 598}, "mesh_info": {"face_index": 4174, "face_uv": [0.11027765620654888, 0.7949940943239464, 0.09472824946950348]}}, {"xyz": [0.2855518174106408, 0.04150071353459839, -0.25200462628124676], "rgb": [152, 74, 0], "semantic_id": 4, "pcd_info": {"point_index": 686}, "mesh_info": {"face_index": 30003, "face_uv": [0.014097618484805344, 0.0871668587552834, 0.8987355227599109]}}, {"xyz": [-0.2856380564040748, 0.03555997471462735, -0.2172652017065746], "rgb": [152, 74, 0], "semantic_id": 5, "pcd_info": {"point_index": 1300}, "mesh_info": {"face_index": 27726, "face_uv": [0.032582719897704754, 0.06941858467573744, 0.8979986954265575]}}, {"xyz": [0.2591330299185717, -0.2638816746423272, -0.28471435611047013], "rgb": [198, 198, 198], "semantic_id": 17, "pcd_info": {"point_index": 650}, "mesh_info": {"face_index": 48558, "face_uv": [0.21310768670328106, 0.24294303558164504, 0.543949277715075]}}, {"xyz": [0.2555266086395731, -0.26117982263680833, 0.1521315270193455], "rgb": [197, 197, 197], "semantic_id": 18, "pcd_info": {"point_index": 392}, "mesh_info": {"face_index": 36229, "face_uv": [0.13876467407491413, 0.5752682890945086, 0.2859670368305772]}}, {"xyz": [-0.25324442413177284, -0.27709138754000484, 0.18812849430869472], "rgb": [197, 197, 197], "semantic_id": 19, "pcd_info": {"point_index": 306}, "mesh_info": {"face_index": 219, "face_uv": [0.011448213894032052, 0.6611943229528973, 0.32735746315306935]}}, {"xyz": [-0.2508249973156518, -0.2755578392941229, -0.24888609799169537], "rgb": [197, 197, 197], "semantic_id": 20, "pcd_info": {"point_index": 1673}, "mesh_info": {"face_index": 25287, "face_uv": [0.060414015471350994, 0.3373449629710617, 0.6022410215575855]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9c50878c91aeb8126bb6bc0db07c71e8", "keypoints": [{"xyz": [0.22772561476313455, 0.3209226343662522, 0.05387600138783455], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1531}, "mesh_info": {"face_index": 279, "face_uv": [0.018419511790733343, 0.008956039972037717, 0.972624448237229]}}, {"xyz": [-0.22824175940538663, 0.3187273467869158, 0.05387600138783455], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 363}, "mesh_info": {"face_index": 276, "face_uv": [0.02792767206496431, 0.9410086318421081, 0.03106369609292759]}}, {"xyz": [0.22690633145843378, -0.04943658049974706, 0.05387600138783455], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1884}, "mesh_info": {"face_index": 158, "face_uv": [0.03254353384204698, 0.9665534809441874, 0.0009029852137656123]}}, {"xyz": [-0.23288196904226807, -0.04599705687652336, 0.05387600138783455], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1486}, "mesh_info": {"face_index": 156, "face_uv": [0.025250832505272672, 0.9658789646669156, 0.008870202827811927]}}, {"xyz": [0.21867211375584406, -0.0634322539333815, -0.3383550047874453], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1168}, "mesh_info": {"face_index": 17, "face_uv": [0.5889052099859122, 0.4061787732505761, 0.004916016763512197]}}, {"xyz": [-0.23124238562522006, -0.06325026977060152, -0.33835500478744507], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1138}, "mesh_info": {"face_index": 36, "face_uv": [0.019190388419348163, 0.8668464918392618, 0.11396311974139]}}, {"xyz": [0.2165400086624747, -0.45766299962997437, -0.3329622809313041], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 980}, "mesh_info": {"face_index": 50, "face_uv": [0.2368449595297133, 0.48015367917847906, 0.2830013612918076]}}, {"xyz": [0.2182713335149683, -0.45766299962997425, 0.06196325349424403], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 806}, "mesh_info": {"face_index": 172, "face_uv": [0.5799158706256874, 0.3810115412124025, 0.03907258816190995]}}, {"xyz": [-0.22304710047829962, -0.4576629996299745, 0.06416957582620797], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 466}, "mesh_info": {"face_index": 152, "face_uv": [0.4175046174963407, 0.4779118132938511, 0.10458356920980844]}}, {"xyz": [-0.22096395369623956, -0.45766299962997425, -0.331728859100358], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1655}, "mesh_info": {"face_index": 94, "face_uv": [0.2910160521772284, 0.5102166163877276, 0.19876733143504371]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "990ae87d8fb108ee80bd85224f0b94aa", "keypoints": [{"xyz": [0.22529365045654498, 0.26732153881399245, 0.2810617596836298], "rgb": [128, 103, 66], "semantic_id": 0, "pcd_info": {"point_index": 377}, "mesh_info": {"face_index": 14466, "face_uv": [0.0010036777461471958, 0.9000718064758289, 0.09892451577802433]}}, {"xyz": [-0.22317510369034832, 0.2665360376672723, 0.2778976858927029], "rgb": [128, 105, 68], "semantic_id": 1, "pcd_info": {"point_index": 1499}, "mesh_info": {"face_index": 30215, "face_uv": [0.4869667643803109, 0.010397730457637722, 0.5026355051620502]}}, {"xyz": [0.21874039148810803, 0.002057937054720016, 0.2613836806159937], "rgb": [128, 104, 63], "semantic_id": 2, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 14231, "face_uv": [0.18164728501552377, 0.030062115899988653, 0.788290599084484]}}, {"xyz": [-0.22134995545596936, 0.0038553044607341214, 0.2629819016157555], "rgb": [114, 91, 57], "semantic_id": 3, "pcd_info": {"point_index": 1415}, "mesh_info": {"face_index": 30011, "face_uv": [0.0933906579021706, 0.018490796418521874, 0.8881185456793085]}}, {"xyz": [0.24505633465434273, 0.00038238103527099554, -0.1605024843984948], "rgb": [113, 93, 60], "semantic_id": 4, "pcd_info": {"point_index": 772}, "mesh_info": {"face_index": 14840, "face_uv": [0.6412938093466216, 0.3520589758425219, 0.006647214810855895]}}, {"xyz": [-0.2363510393029395, -0.002922753467516248, -0.16259742518474396], "rgb": [119, 98, 65], "semantic_id": 5, "pcd_info": {"point_index": 1787}, "mesh_info": {"face_index": 30551, "face_uv": [0.3598661368661241, 0.07468223980567675, 0.5654516233281991]}}, {"xyz": [0.26552346124588766, 0.2670780398161381, -0.20908198262720457], "rgb": [138, 114, 78], "semantic_id": 6, "pcd_info": {"point_index": 1838}, "mesh_info": {"face_index": 15201, "face_uv": [0.3015552925836479, 0.002496545665895204, 0.6959481617504574]}}, {"xyz": [0.26746901840484333, 0.25792123997657446, 0.25325562651046796], "rgb": [191, 192, 197], "semantic_id": 7, "pcd_info": {"point_index": 473}, "mesh_info": {"face_index": 5790, "face_uv": [0.3809800183231873, 0.17994201335677332, 0.4390779683200394]}}, {"xyz": [-0.2675114613698153, 0.26742023990039687, -0.20144345685122617], "rgb": [136, 112, 76], "semantic_id": 8, "pcd_info": {"point_index": 1405}, "mesh_info": {"face_index": 31014, "face_uv": [0.8285439887908721, 0.019605486511433616, 0.15185052469769506]}}, {"xyz": [-0.2681059731496206, 0.2574617197391189, 0.2658358568801873], "rgb": [186, 187, 192], "semantic_id": 9, "pcd_info": {"point_index": 512}, "mesh_info": {"face_index": 21759, "face_uv": [0.27987257873998306, 0.6607962863904392, 0.05933113486957778]}}, {"xyz": [0.2748723186596551, -0.2719357182392639, -0.2509269599122923], "rgb": [174, 177, 184], "semantic_id": 17, "pcd_info": {"point_index": 789}, "mesh_info": {"face_index": 1990, "face_uv": [0.49120946805293964, 0.3290327448001347, 0.17975778714692484]}}, {"xyz": [0.26492141370328115, -0.28972913537736633, 0.3213627956229499], "rgb": [171, 174, 181], "semantic_id": 18, "pcd_info": {"point_index": 768}, "mesh_info": {"face_index": 8723, "face_uv": [0.02690011550324192, 0.3808116815728772, 0.5922882029238803]}}, {"xyz": [-0.2623781688410556, -0.2904350276725651, 0.323085078464285], "rgb": [172, 175, 182], "semantic_id": 19, "pcd_info": {"point_index": 1842}, "mesh_info": {"face_index": 24367, "face_uv": [0.1485716376819461, 0.27896693229707853, 0.5724614300209756]}}, {"xyz": [-0.271801244261498, -0.2750152088758635, -0.2508948479315509], "rgb": [172, 175, 182], "semantic_id": 20, "pcd_info": {"point_index": 230}, "mesh_info": {"face_index": 24547, "face_uv": [0.14094963116758846, 0.7684670966223979, 0.09058327221001411]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "27a8827b0ba5d743169bfe841050f4a4", "keypoints": [{"xyz": [0.16795953044713022, 0.5610489845275879, 0.044442628933078876], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1421}, "mesh_info": {"face_index": 3996, "face_uv": [0.5829265653692766, 0.024237620012780688, 0.3928358146179427]}}, {"xyz": [-0.14860457265553545, 0.5610489845275879, 0.042966512546628075], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1873}, "mesh_info": {"face_index": 4250, "face_uv": [0.1904107561703202, 0.6037370677632562, 0.20585217606642353]}}, {"xyz": [0.15095707886406434, 0.12625315076354293, 0.03995130659574431], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1923}, "mesh_info": {"face_index": 40, "face_uv": [0.030254534073284895, 0.16920076394876007, 0.8005447019779554]}}, {"xyz": [-0.12737236691571865, 0.12678100168704987, 0.04098090293225032], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1172}, "mesh_info": {"face_index": 126, "face_uv": [0.2265976009594167, 0.19607825496327713, 0.5773241440773061]}}, {"xyz": [0.1630911071223933, 0.10876816531582056, -0.17637400329112995], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 681}, "mesh_info": {"face_index": 14, "face_uv": [0.024055531438227067, 0.025436171176421454, 0.9505082973853508]}}, {"xyz": [-0.1585376923348215, 0.1099852474157283, -0.17557688055062648], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 692}, "mesh_info": {"face_index": 45, "face_uv": [0.6764080288180221, 0.2862647586276205, 0.03732721255435868]}}, {"xyz": [0.12830628116559967, -0.3180220127105713, -0.15266364192258772], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1777}, "mesh_info": {"face_index": 1514, "face_uv": [0.526390076410119, 0.32829119129031004, 0.1453187322995709]}}, {"xyz": [0.12868771586018685, -0.3180220127105713, 0.06629906511795489], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1176}, "mesh_info": {"face_index": 2852, "face_uv": [0.466271960117968, 0.4568214909384566, 0.07690654894357543]}}, {"xyz": [-0.12446918146459884, -0.3180220127105713, 0.06700942937129614], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1745}, "mesh_info": {"face_index": 2182, "face_uv": [0.5271667329613111, 0.4188401884448324, 0.05399307859385647]}}, {"xyz": [-0.129509934172086, -0.3180220127105713, -0.15113514147173562], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 298}, "mesh_info": {"face_index": 844, "face_uv": [0.3758621489228973, 0.41001171550802434, 0.21412613556907842]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "995ecc9f34e0dc3bfa2cf126b85e1994", "keypoints": [{"xyz": [0.22505547600512715, 0.01997558529012261, -0.0048031276206748075], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 583}, "mesh_info": {"face_index": 216, "face_uv": [0.6730258029829012, 0.0822863379938632, 0.2446878590232361]}}, {"xyz": [-0.23124571349479597, 0.008251176038365837, 0.005484406765615901], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 724, "face_uv": [0.31274262294072774, 0.6453332939768159, 0.041924083082456515]}}, {"xyz": [0.23097660417540003, -0.2719636665694012, -0.007911000400781631], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 184, "face_uv": [0.7827817720884158, 0.036824990543380384, 0.18039323736820376]}}, {"xyz": [-0.2362745028378221, -0.2702093797208407, -0.007911000400781187], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1720}, "mesh_info": {"face_index": 2488, "face_uv": [0.907884421996837, 0.044657083385137, 0.047458494617969804]}}, {"xyz": [0.24578435502664508, -0.2807612617561468, -0.2903589904308319], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 337}, "mesh_info": {"face_index": 1100, "face_uv": [0.9663648072656885, 0.020904908030606774, 0.012730284703704686]}}, {"xyz": [-0.25324245318074273, -0.2833521866511033, -0.2903589904308319], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1199}, "mesh_info": {"face_index": 1096, "face_uv": [0.11890085838906993, 0.8804871370432783, 0.0006120045676516622]}}, {"xyz": [0.22175412342500167, -0.605730330747463, -0.2837899923324585], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 14, "face_uv": [0.9422839087547289, 0.009626515871443352, 0.04808957537382786]}}, {"xyz": [0.2190903289349031, -0.6086390018463137, 0.03574086855766201], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 372}, "mesh_info": {"face_index": 152, "face_uv": [0.14256390081847567, 0.09437515506674665, 0.763060944114778]}}, {"xyz": [-0.22516592142019698, -0.6086390018463135, 0.038066701413688175], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1782}, "mesh_info": {"face_index": 1065, "face_uv": [0.07622404596808866, 0.02906748886013299, 0.8947084651717784]}}, {"xyz": [-0.219279738203004, -0.6086390018463136, -0.28271328241086646], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 60, "face_uv": [0.0172546910913429, 0.11007633017677579, 0.8726689787318814]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "260768554aa1a64f2180a9964be89fad", "keypoints": [{"xyz": [0.15933536792281472, 0.32317349342829743, 0.08543284556551578], "rgb": [152, 120, 90], "semantic_id": 0, "pcd_info": {"point_index": 1344}, "mesh_info": {"face_index": 3920, "face_uv": [0.21491425454031773, 0.42590476537394323, 0.35918098008573524]}}, {"xyz": [-0.15398114001219013, 0.3277562181660411, 0.08585380932578657], "rgb": [153, 121, 91], "semantic_id": 1, "pcd_info": {"point_index": 47}, "mesh_info": {"face_index": 3942, "face_uv": [0.18269274636337643, 0.3677403257357106, 0.44956692790091524]}}, {"xyz": [0.15974723030596832, -0.12222254877068506, 0.06891376428439422], "rgb": [153, 121, 91], "semantic_id": 2, "pcd_info": {"point_index": 182}, "mesh_info": {"face_index": 706, "face_uv": [0.3241387180389929, 0.286162257311527, 0.38969902464948114]}}, {"xyz": [-0.16053347461632006, -0.12379784229602842, 0.06892689402433683], "rgb": [152, 120, 90], "semantic_id": 3, "pcd_info": {"point_index": 1550}, "mesh_info": {"face_index": 1789, "face_uv": [0.03794299026840585, 0.2614823533237727, 0.700574656407821]}}, {"xyz": [0.1543240710553237, -0.11938888033648354, -0.23735299706459045], "rgb": [153, 121, 91], "semantic_id": 4, "pcd_info": {"point_index": 1791}, "mesh_info": {"face_index": 1203, "face_uv": [0.06805454488475275, 0.8793068282205321, 0.05263862689471513]}}, {"xyz": [-0.14859036169776296, -0.12136699378571225, -0.23242297256281508], "rgb": [50, 28, 9], "semantic_id": 5, "pcd_info": {"point_index": 1690}, "mesh_info": {"face_index": 4019, "face_uv": [0.055452753236428794, 0.2202007896648303, 0.7243464570987397]}}, {"xyz": [0.16419314726288697, 0.029368680264723057, -0.20239205973076002], "rgb": [51, 29, 10], "semantic_id": 6, "pcd_info": {"point_index": 1937}, "mesh_info": {"face_index": 4315, "face_uv": [0.1874934734586, 0.3527306640406922, 0.45977586250070807]}}, {"xyz": [0.15866430398543335, 0.03626591695396564, 0.009698426665214699], "rgb": [50, 28, 9], "semantic_id": 7, "pcd_info": {"point_index": 1679}, "mesh_info": {"face_index": 4181, "face_uv": [0.4277425071459824, 0.4123476720195879, 0.15990982083442562]}}, {"xyz": [-0.16615466715177934, 0.030280492954713134, -0.20178315631953925], "rgb": [50, 28, 9], "semantic_id": 8, "pcd_info": {"point_index": 318}, "mesh_info": {"face_index": 4409, "face_uv": [0.4304185857524076, 0.20889765529907636, 0.36068375894851573]}}, {"xyz": [-0.1622790843997124, 0.031761963822672934, 0.015672679173018622], "rgb": [51, 29, 10], "semantic_id": 9, "pcd_info": {"point_index": 1678}, "mesh_info": {"face_index": 4405, "face_uv": [0.44310466632987616, 0.518959971597344, 0.03793536207278913]}}, {"xyz": [0.15092535463255374, -0.497254014015198, -0.21805378214073778], "rgb": [153, 121, 91], "semantic_id": 17, "pcd_info": {"point_index": 531}, "mesh_info": {"face_index": 1618, "face_uv": [0.4952605172025887, 0.4451396050966262, 0.05959987770078555]}}, {"xyz": [0.15619324635344134, -0.49725401401519775, 0.10469688549847722], "rgb": [153, 121, 91], "semantic_id": 18, "pcd_info": {"point_index": 1027}, "mesh_info": {"face_index": 779, "face_uv": [0.35393046584869814, 0.41708733434597345, 0.22898219980532847]}}, {"xyz": [-0.15475826971815165, -0.49725401401519753, 0.10581158020558001], "rgb": [152, 120, 90], "semantic_id": 19, "pcd_info": {"point_index": 836}, "mesh_info": {"face_index": 1934, "face_uv": [0.06738680966714804, 0.549529708544017, 0.3830834817888346]}}, {"xyz": [-0.14979011112900353, -0.49725401401519775, -0.20967445970573306], "rgb": [153, 121, 91], "semantic_id": 20, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 2728, "face_uv": [0.27611300841922826, 0.5804077167610121, 0.1434792748197597]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "47c33af88f4926676213fd2f62884e62", "keypoints": [{"xyz": [0.21583715234351342, 0.35043635717771116, 0.05879438361226452], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 460}, "mesh_info": {"face_index": 1135, "face_uv": [0.13106397348049267, 0.0264837957869871, 0.8424522307325205]}}, {"xyz": [-0.21503429925407708, 0.3502521951609405, 0.06417257962680745], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 131, "face_uv": [0.042132745736944886, 0.07942608963962072, 0.8784411646234346]}}, {"xyz": [0.2155658667624495, -0.0017472037619890024, 0.05610400065779686], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 35}, "mesh_info": {"face_index": 1134, "face_uv": [0.8564938071269254, 0.1425244409940633, 0.0009817518790113662]}}, {"xyz": [-0.2151097863677649, 0.0009668086452044866, 0.05610400065779686], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 694}, "mesh_info": {"face_index": 110, "face_uv": [0.8688934300644965, 0.12217994809538074, 0.008926621840122825]}}, {"xyz": [0.21850595134623618, -0.002157999901100882, -0.25806220846635575], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 505}, "mesh_info": {"face_index": 38, "face_uv": [0.9783376161091215, 0.017751762033185108, 0.003910621857641722]}}, {"xyz": [-0.2173310780258499, -0.00390979861384988, -0.26374000310897827], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 2013}, "mesh_info": {"face_index": 47, "face_uv": [0.012990371048500862, 0.004033250028867787, 0.9829763789226315]}}, {"xyz": [0.18707698332067446, -0.38079699873924255, -0.2413251699408091], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 977}, "mesh_info": {"face_index": 55, "face_uv": [0.16599534178198924, 0.43400763670694065, 0.39999702151107014]}}, {"xyz": [0.19151268358859752, -0.37815800309181213, 0.1379044771172966], "rgb": [184, 113, 48], "semantic_id": 18, "pcd_info": {"point_index": 1644}, "mesh_info": {"face_index": 1880, "face_uv": [0.10470200768267508, 0.7591712761573884, 0.1361267161599365]}}, {"xyz": [-0.19256881667987413, -0.37815800309181213, 0.1297332291030453], "rgb": [182, 107, 43], "semantic_id": 19, "pcd_info": {"point_index": 1420}, "mesh_info": {"face_index": 2088, "face_uv": [0.17178568166880118, 0.6297515952223025, 0.19846272310889623]}}, {"xyz": [-0.17882654754427443, -0.37815800309181236, -0.25013671173936786], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 455}, "mesh_info": {"face_index": 456, "face_uv": [0.10067956950456042, 0.5864815864888624, 0.3128388440065778]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "810cac0d137efb1d21bdbc0445d9f748", "keypoints": [{"xyz": [0.23049188609508453, 0.4182556637466708, 0.23310437938326767], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1732}, "mesh_info": {"face_index": 380, "face_uv": [0.004676382667369062, 0.9913340700198344, 0.003989547312745881]}}, {"xyz": [-0.22977095085374713, 0.4151530706792552, 0.231331464512894], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 331}, "mesh_info": {"face_index": 345, "face_uv": [0.9687411079832896, 0.024544011971830364, 0.006714880044908333]}}, {"xyz": [0.2285399143827257, 0.22454799711704276, 0.10785624897735102], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1126}, "mesh_info": {"face_index": 1035, "face_uv": [0.9918148565670621, 0.001792193908704344, 0.006392949524234531]}}, {"xyz": [-0.23289500176906586, 0.23286962221506502, 0.10741808329074087], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1023}, "mesh_info": {"face_index": 410, "face_uv": [0.03325131745916542, 0.014080941217952364, 0.9526677413228822]}}, {"xyz": [0.23234799504280093, 0.23132346667557432, -0.2992368077019183], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1266}, "mesh_info": {"face_index": 344, "face_uv": [0.9419458906646165, 0.052297209963174066, 0.005756899372209505]}}, {"xyz": [-0.22823962387375998, 0.22213953317503715, -0.3242169916629789], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1834}, "mesh_info": {"face_index": 479, "face_uv": [0.0217675936365529, 0.010006336317165956, 0.9682260700462805]}}, {"xyz": [0.25940134618623734, 0.3527897909856693, -0.2740949027970214], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 146}, "mesh_info": {"face_index": 311, "face_uv": [0.5052733650345714, 0.010151553030521225, 0.484575081934907]}}, {"xyz": [0.2615222438514062, 0.41869151129517257, 0.2243727551833793], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 82}, "mesh_info": {"face_index": 289, "face_uv": [0.45833782944803403, 0.019097925853977373, 0.522564244697988]}}, {"xyz": [-0.26887759680253626, 0.3550068101577779, -0.266841115708455], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 1022, "face_uv": [0.644514370807251, 0.013696228033691867, 0.34178940115905765]}}, {"xyz": [-0.26269898086725463, 0.4187561572208034, 0.22487138318664196], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1718}, "mesh_info": {"face_index": 1012, "face_uv": [0.4661559896346051, 0.018116121494675803, 0.5157278888707184]}}, {"xyz": [0.26384852526874014, -0.12903699278831482, -0.2923946847176805], "rgb": [192, 192, 192], "semantic_id": 17, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 334, "face_uv": [0.04307974461180417, 0.5612255108017469, 0.39569474458644904]}}, {"xyz": [0.2655832730460941, -0.12903699278831482, 0.2514134520893678], "rgb": [175, 175, 175], "semantic_id": 18, "pcd_info": {"point_index": 423}, "mesh_info": {"face_index": 217, "face_uv": [0.29802272158439996, 0.4942857624608206, 0.20769151595477953]}}, {"xyz": [-0.26064226342069885, -0.12903699278831482, 0.25554170233609563], "rgb": [181, 181, 181], "semantic_id": 19, "pcd_info": {"point_index": 1368}, "mesh_info": {"face_index": 535, "face_uv": [0.3819167619457355, 0.15878954051628746, 0.45929369753797694]}}, {"xyz": [-0.26137227826644704, -0.1290369927883146, -0.2952827849647569], "rgb": [208, 208, 208], "semantic_id": 20, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 678, "face_uv": [0.38928243403069424, 0.5856416540881242, 0.025075911881179885]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "280fe2696faf0f3a53e14f34c202d656", "keypoints": [{"xyz": [0.1766514168508744, 0.29032667784014565, 0.06394299864768982], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 671}, "mesh_info": {"face_index": 211, "face_uv": [0.1957293714305491, 0.8018157504702753, 0.002454878099175527]}}, {"xyz": [-0.17069308642452447, 0.29591970279806556, 0.06394299864768982], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 210}, "mesh_info": {"face_index": 92, "face_uv": [0.5787725503179335, 0.004493142207149142, 0.41673430747491746]}}, {"xyz": [0.1772860384210624, -0.03708599880337715, 0.06340275979819365], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 653}, "mesh_info": {"face_index": 200, "face_uv": [0.9846377724196136, 0.0017143092510638757, 0.013647918329322604]}}, {"xyz": [-0.17900261463964956, -0.03279400748283323, 0.0639429986476896], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 768}, "mesh_info": {"face_index": 90, "face_uv": [0.986693892999469, 0.008938802909451059, 0.00436730409107651]}}, {"xyz": [0.17612419098742, -0.039217159614813535, -0.25119200348854065], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1785}, "mesh_info": {"face_index": 196, "face_uv": [0.013627346050690305, 0.9438739893954902, 0.04249866455381955]}}, {"xyz": [-0.17582758899942535, -0.037676291316474875, -0.25119200348854065], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1470}, "mesh_info": {"face_index": 193, "face_uv": [0.015921608546167847, 0.015545877003789286, 0.9685325144500428]}}, {"xyz": [0.15516678210012982, -0.4800820052623749, -0.23273114596597266], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 15}, "mesh_info": {"face_index": 214, "face_uv": [0.12476109854414226, 0.5441988309951712, 0.3310400704606866]}}, {"xyz": [0.1609057721782892, -0.4864110052585604, 0.10240573078305704], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 799}, "mesh_info": {"face_index": 58, "face_uv": [0.47273649062626955, 0.26973972357969916, 0.2575237857940318]}}, {"xyz": [-0.16279821737922845, -0.4800820052623749, 0.10088223914861327], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 185, "face_uv": [0.212107192506856, 0.30735401913838517, 0.48053878835475883]}}, {"xyz": [-0.1617634616864913, -0.480082005262375, -0.22904990841889128], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1932}, "mesh_info": {"face_index": 191, "face_uv": [0.0406043992972778, 0.45330855814121634, 0.506087042561506]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1e678fabd0622a1119fb4103277a6b93", "keypoints": [{"xyz": [0.38675595656451994, 0.16559543568511725, 0.08084708888686576], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 819}, "mesh_info": {"face_index": 25900, "face_uv": [0.2793478617502665, 0.031096777415538367, 0.6895553608342001]}}, {"xyz": [-0.3875330676718598, 0.16571151592223954, 0.08219415044983303], "rgb": [222, 199, 164], "semantic_id": 1, "pcd_info": {"point_index": 928}, "mesh_info": {"face_index": 40981, "face_uv": [0.18267484803984613, 0.06378279896365535, 0.7535423529964942]}}, {"xyz": [0.3912303271732964, -0.024127271137205586, 0.004563053782773663], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 235}, "mesh_info": {"face_index": 29979, "face_uv": [0.6287439539754648, 0.27107621311844426, 0.10017983290609644]}}, {"xyz": [-0.3919567181796727, -0.02388271773704065, 0.0025093907805828763], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 424}, "mesh_info": {"face_index": 38313, "face_uv": [0.11953590285063401, 0.7757374378218793, 0.10472665932748587]}}, {"xyz": [0.38855089893754113, -0.007848830216789837, -0.21891641621276736], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 1040}, "mesh_info": {"face_index": 29648, "face_uv": [0.23010826704571208, 0.2900672026610451, 0.4798245302932479]}}, {"xyz": [-0.3952342300394611, -0.009483001372362354, -0.22340230688342433], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 773}, "mesh_info": {"face_index": 38482, "face_uv": [0.5446193258408814, 0.3813884386251959, 0.07399223553392481]}}, {"xyz": [0.41466637334866874, 0.03139763167317278, -0.22673759524745718], "rgb": [166, 75, 20], "semantic_id": 6, "pcd_info": {"point_index": 328}, "mesh_info": {"face_index": 2316, "face_uv": [0.03590338574722832, 0.7268337588000021, 0.23726285545277032]}}, {"xyz": [0.41465305703450583, 0.08048967484401381, 0.11074213702805209], "rgb": [161, 71, 18], "semantic_id": 7, "pcd_info": {"point_index": 1398}, "mesh_info": {"face_index": 3272, "face_uv": [0.030098550893365498, 0.027027724573947403, 0.9428737245326858]}}, {"xyz": [-0.41822421523348763, 0.029112769581930875, -0.23132838390243937], "rgb": [165, 74, 20], "semantic_id": 8, "pcd_info": {"point_index": 1061}, "mesh_info": {"face_index": 18503, "face_uv": [0.006048255809563814, 0.7255233242746465, 0.2684284199157913]}}, {"xyz": [-0.41946073614469204, 0.08050085559573694, 0.1117023030961739], "rgb": [160, 70, 18], "semantic_id": 9, "pcd_info": {"point_index": 1159}, "mesh_info": {"face_index": 14417, "face_uv": [0.6977295051412368, 0.03155985115721513, 0.2707106437015459]}}, {"xyz": [0.4150497790329236, -0.19489699602127075, -0.2276902732951691], "rgb": [166, 75, 19], "semantic_id": 17, "pcd_info": {"point_index": 552}, "mesh_info": {"face_index": 1571, "face_uv": [0.47452731988961006, 0.4242351275815985, 0.10123755252879141]}}, {"xyz": [0.41487714048155616, -0.19489699602127053, 0.08007549105109368], "rgb": [165, 74, 20], "semantic_id": 18, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 4986, "face_uv": [0.13430912487679597, 0.3496191270786145, 0.5160717480445884]}}, {"xyz": [-0.4185923738419216, -0.19489699602127075, 0.0820392377084219], "rgb": [166, 74, 20], "semantic_id": 19, "pcd_info": {"point_index": 1492}, "mesh_info": {"face_index": 21119, "face_uv": [0.05163070659079092, 0.4618300396494796, 0.48653925375972945]}}, {"xyz": [-0.4186789201219405, -0.19489699602127075, -0.22696060720548347], "rgb": [167, 74, 19], "semantic_id": 20, "pcd_info": {"point_index": 42}, "mesh_info": {"face_index": 12716, "face_uv": [0.36008482579577084, 0.13116854065053374, 0.5087466335536954]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d9af882ab6d1cbbd492d9da2668ec34c", "keypoints": [{"xyz": [0.1610853126664636, 0.43851867674075506, 0.23331422570825788], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1946}, "mesh_info": {"face_index": 112, "face_uv": [0.011705673964994242, 0.29594525400821337, 0.6923490720267929]}}, {"xyz": [-0.15497371396670845, 0.43851480358012607, 0.2262785878406417], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1374}, "mesh_info": {"face_index": 89, "face_uv": [0.024191793445828447, 0.9554116606029374, 0.020396545951233917]}}, {"xyz": [0.16730593828726062, 0.0938602441872387, 0.06499242194703525], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1139}, "mesh_info": {"face_index": 422, "face_uv": [0.18878968041455, 0.10094641650846617, 0.7102639030769837]}}, {"xyz": [-0.16537597505420829, 0.0974184791297521, 0.05825536765828243], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1204}, "mesh_info": {"face_index": 364, "face_uv": [0.08681424459000787, 0.3535700371439516, 0.559615718266042]}}, {"xyz": [0.19574189966159508, 0.10698093744173653, -0.1988923677585559], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1085}, "mesh_info": {"face_index": 702, "face_uv": [0.18846027680087568, 0.05523244944622167, 0.7563072737529036]}}, {"xyz": [-0.19386135748654162, 0.10035070604377094, -0.2106257512622669], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1352}, "mesh_info": {"face_index": 218, "face_uv": [0.0431258921944694, 0.5157467450350199, 0.44112736277051107]}}, {"xyz": [0.2728484934063351, 0.27534776824342844, -0.2360837324768672], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 428}, "mesh_info": {"face_index": 2900, "face_uv": [0.080653351035886, 0.003777465445664011, 0.9155691835184506]}}, {"xyz": [0.2389615077893279, 0.284203557162814, 0.21241463750609757], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 393}, "mesh_info": {"face_index": 2847, "face_uv": [0.09486640719751818, 0.9045002296485383, 0.0006333631539429011]}}, {"xyz": [-0.27860401892370096, 0.26957773136995367, -0.23291435738844024], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1882}, "mesh_info": {"face_index": 260, "face_uv": [0.6758280937541997, 0.018171682305148353, 0.30600022394065185]}}, {"xyz": [-0.23837918324427293, 0.2841986082456417, 0.21574147749874895], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 948}, "mesh_info": {"face_index": 208, "face_uv": [0.005474567334923298, 0.9760136415769978, 0.018511791088079415]}}, {"xyz": [0.2332463123823219, -0.19319464620288784, -0.22674475072777334], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 726}, "mesh_info": {"face_index": 1072, "face_uv": [0.42314101455174263, 0.44893195597911345, 0.12792702946914428]}}, {"xyz": [0.1625315425341353, -0.1934614961880392, 0.13464151310377392], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1316}, "mesh_info": {"face_index": 1892, "face_uv": [0.4071566523885623, 0.567595151137764, 0.02524819647367301]}}, {"xyz": [-0.16394012443048256, -0.19378668679529787, 0.13603441084232237], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 41}, "mesh_info": {"face_index": 1664, "face_uv": [0.33954205973498297, 0.5774786419863616, 0.08297929827865658]}}, {"xyz": [-0.2290194274953628, -0.19463829178969572, -0.22441662612734503], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 206}, "mesh_info": {"face_index": 724, "face_uv": [0.11548043500408467, 0.017476185281990693, 0.8670433797139242]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3a91034ceb33784b562fc21c99684e03", "keypoints": [{"xyz": [0.26647219432186314, 0.3290254326115556, 0.17077661953544143], "rgb": [134, 72, 44], "semantic_id": 0, "pcd_info": {"point_index": 1206}, "mesh_info": {"face_index": 259, "face_uv": [0.025684990283526467, 0.9643465465562572, 0.009968463160207167]}}, {"xyz": [-0.2602190216029705, 0.3197113914923242, 0.16643607291705087], "rgb": [135, 73, 45], "semantic_id": 1, "pcd_info": {"point_index": 1158}, "mesh_info": {"face_index": 251, "face_uv": [0.8042399478631237, 0.17427590174125848, 0.021484150395624714]}}, {"xyz": [0.25672526053416556, 0.02630000463500659, 0.028620596261457187], "rgb": [134, 72, 44], "semantic_id": 2, "pcd_info": {"point_index": 793}, "mesh_info": {"face_index": 139, "face_uv": [0.25066893823610925, 0.7213357609678972, 0.02799530079598798]}}, {"xyz": [-0.2408109253127667, 0.024521429628210578, 0.039485721983169686], "rgb": [134, 72, 44], "semantic_id": 3, "pcd_info": {"point_index": 1362}, "mesh_info": {"face_index": 131, "face_uv": [0.8127867461202796, 0.1301402261587684, 0.05707302772094824]}}, {"xyz": [0.2625199724960348, 0.06013677060019251, -0.29493608834482177], "rgb": [134, 72, 44], "semantic_id": 4, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 12, "face_uv": [0.6013564559593602, 0.016849911964303684, 0.3817936320763357]}}, {"xyz": [-0.257852189063957, 0.06060584292807092, -0.2928270325745177], "rgb": [135, 73, 45], "semantic_id": 5, "pcd_info": {"point_index": 477}, "mesh_info": {"face_index": 5, "face_uv": [0.5146287200026137, 0.025714172068119403, 0.45965710792926745]}}, {"xyz": [0.2510340487892959, -0.2915136136162584, -0.14724790055827608], "rgb": [148, 152, 153], "semantic_id": 17, "pcd_info": {"point_index": 1755}, "mesh_info": {"face_index": 1666, "face_uv": [0.714362442081515, 0.2590922864306315, 0.02654527148785463]}}, {"xyz": [0.2524886904476016, -0.29104700684547424, 0.21494785085329615], "rgb": [148, 152, 153], "semantic_id": 18, "pcd_info": {"point_index": 337}, "mesh_info": {"face_index": 999, "face_uv": [0.12191832564416055, 0.7590286979739234, 0.11905297638191607]}}, {"xyz": [-0.2501321884144946, -0.29104700684547424, 0.2293835328257049], "rgb": [148, 152, 153], "semantic_id": 19, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 2384, "face_uv": [0.42780767483173476, 0.46928954998787803, 0.10290277518038725]}}, {"xyz": [-0.24687396927458627, -0.29194235310498917, -0.15894904365171958], "rgb": [148, 152, 153], "semantic_id": 20, "pcd_info": {"point_index": 786}, "mesh_info": {"face_index": 3152, "face_uv": [0.3989879699102147, 0.4694563050895451, 0.1315557250002413]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "92cae2e67b788eaa9dcc460592c0e125", "keypoints": [{"xyz": [0.17644529939052506, 0.624893960279321, 0.15822499990463257], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1209}, "mesh_info": {"face_index": 1401, "face_uv": [0.0014227657039792337, 0.9535723064770099, 0.045004927819010845]}}, {"xyz": [-0.16726015130492267, 0.6208954254285617, 0.15822499990463257], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 624}, "mesh_info": {"face_index": 1430, "face_uv": [0.9628961610692677, 0.009713623227284664, 0.027390215703447542]}}, {"xyz": [0.17360928446195423, 0.16099199652671814, 0.12081874398861892], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 799}, "mesh_info": {"face_index": 1460, "face_uv": [0.01603123373052359, 0.40412452309078034, 0.5798442431786961]}}, {"xyz": [-0.1595272797948869, 0.16099199652671814, 0.12201904491890064], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1530}, "mesh_info": {"face_index": 1568, "face_uv": [0.17019287313815273, 0.46675532525375846, 0.36305180160808875]}}, {"xyz": [0.17919799685478233, 0.14979755847586984, -0.18563755958177608], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1971}, "mesh_info": {"face_index": 1583, "face_uv": [0.035962171876912835, 0.07536543937164847, 0.8886723887514401]}}, {"xyz": [-0.16865467173523477, 0.1404467476632888, -0.19038799405097961], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1202}, "mesh_info": {"face_index": 1662, "face_uv": [0.6927662904826494, 0.07390063217230794, 0.23333307734504277]}}, {"xyz": [0.14564404730400862, -0.17971800267696403, -0.16381364792384864], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 2012}, "mesh_info": {"face_index": 676, "face_uv": [0.4124936605037845, 0.38353218409177015, 0.20397415540444658]}}, {"xyz": [0.15118948370107407, -0.17971800267696403, 0.13109758582010395], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 77}, "mesh_info": {"face_index": 1029, "face_uv": [0.07961028100406442, 0.45879586078658763, 0.46159385820934923]}}, {"xyz": [-0.13526056606698178, -0.17971800267696358, 0.1295818211118465], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 447}, "mesh_info": {"face_index": 340, "face_uv": [0.4584795135691101, 0.49452395675476535, 0.04699652967612331]}}, {"xyz": [-0.1409956625115651, -0.1797180026769638, -0.16456667806639544], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 901}, "mesh_info": {"face_index": 1364, "face_uv": [0.4113223853566406, 0.3657825076061715, 0.2228951070371879]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1ff1912cc74a76c3b2152dcc3ff6a477", "keypoints": [{"xyz": [0.19610441727220074, 0.2157440036535263, 0.2160150368820135], "rgb": [90, 90, 90], "semantic_id": 0, "pcd_info": {"point_index": 694}, "mesh_info": {"face_index": 108, "face_uv": [0.0021140739744898093, 0.519719400868045, 0.47816652515746516]}}, {"xyz": [-0.18880410760664176, 0.2157440036535263, 0.20575337219156054], "rgb": [112, 112, 112], "semantic_id": 1, "pcd_info": {"point_index": 643}, "mesh_info": {"face_index": 79, "face_uv": [0.3941182814913636, 0.5680493876826475, 0.03783233082598901]}}, {"xyz": [0.18938703884635238, 0.0056199588423251345, 0.09185543519330275], "rgb": [73, 73, 73], "semantic_id": 2, "pcd_info": {"point_index": 541}, "mesh_info": {"face_index": 236, "face_uv": [0.9578932425524912, 0.01886881670221123, 0.023237940745299564]}}, {"xyz": [-0.18575568210572813, 0.00256858337525534, 0.09098454643535847], "rgb": [90, 90, 90], "semantic_id": 3, "pcd_info": {"point_index": 317}, "mesh_info": {"face_index": 236, "face_uv": [0.03746921365821455, 0.9545641694521676, 0.007966616889610537]}}, {"xyz": [0.18479917718836297, -0.002535999985411541, -0.3160923323482059], "rgb": [66, 66, 66], "semantic_id": 4, "pcd_info": {"point_index": 1020}, "mesh_info": {"face_index": 88, "face_uv": [0.9581274277759062, 0.03031203708918569, 0.011560535134820497]}}, {"xyz": [-0.19027285238531827, -0.002535999985411763, -0.3243594819132569], "rgb": [130, 130, 130], "semantic_id": 5, "pcd_info": {"point_index": 629}, "mesh_info": {"face_index": 66, "face_uv": [0.022181240227552447, 0.034168931306212805, 0.9436498284662347]}}, {"xyz": [0.2216095260811297, 0.21596506542086247, -0.338126003742218], "rgb": [88, 88, 88], "semantic_id": 6, "pcd_info": {"point_index": 1530}, "mesh_info": {"face_index": 135, "face_uv": [0.19172875413257473, 0.4133704316000796, 0.3949008142673457]}}, {"xyz": [0.25110517238103586, 0.22019900381565116, 0.26968312646141573], "rgb": [93, 93, 93], "semantic_id": 7, "pcd_info": {"point_index": 993}, "mesh_info": {"face_index": 402, "face_uv": [0.9297025211542036, 0.011288971615492296, 0.05900850723030511]}}, {"xyz": [-0.23406097344871946, 0.22019900381565094, -0.3252758308501422], "rgb": [105, 105, 105], "semantic_id": 8, "pcd_info": {"point_index": 1118}, "mesh_info": {"face_index": 404, "face_uv": [0.4795439070661915, 0.020903120772118693, 0.49955297216168976]}}, {"xyz": [-0.24451026208339208, 0.22019900381565094, 0.2737793689119952], "rgb": [77, 77, 77], "semantic_id": 9, "pcd_info": {"point_index": 182}, "mesh_info": {"face_index": 406, "face_uv": [0.3249851496363934, 0.004625695457616659, 0.6703891549059899]}}, {"xyz": [0.23687811878362755, -0.3678219914436338, -0.27883195635885444], "rgb": [225, 225, 225], "semantic_id": 17, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 23, "face_uv": [0.05735532589697514, 0.6155301261047325, 0.3271145479982918]}}, {"xyz": [0.2399524045233403, -0.3678219914436338, 0.24064402606443447], "rgb": [225, 225, 225], "semantic_id": 18, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 452, "face_uv": [0.5578642394680008, 0.3538283141137363, 0.08830744641826237]}}, {"xyz": [-0.24268986793349445, -0.36782199144363426, 0.23221983648229438], "rgb": [226, 226, 226], "semantic_id": 19, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 477, "face_uv": [0.2697085289531471, 0.44838224990332476, 0.2819092211435288]}}, {"xyz": [-0.25250610096301823, -0.36782199144363403, -0.27878578799771975], "rgb": [226, 226, 226], "semantic_id": 20, "pcd_info": {"point_index": 1943}, "mesh_info": {"face_index": 430, "face_uv": [0.35082660071447386, 0.6160483245227448, 0.03312507476278132]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "562e6354049ecbc19f8f9f2bcc40c84c", "keypoints": [{"xyz": [0.1891427049522335, 0.3841249942779541, 0.1988128783007558], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 641}, "mesh_info": {"face_index": 319, "face_uv": [0.40880844448478976, 0.4481052862054006, 0.14308626930980967]}}, {"xyz": [-0.182676276036274, 0.3841249942779541, 0.2055175939833901], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1119}, "mesh_info": {"face_index": 246, "face_uv": [0.07652958468016612, 0.2401243813558055, 0.6833460339640284]}}, {"xyz": [0.18716529151136713, -0.021717999130487442, 0.12882603480586982], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 2039}, "mesh_info": {"face_index": 225, "face_uv": [0.037622285284459, 0.9460386363818764, 0.01633907833366462]}}, {"xyz": [-0.177877846283108, -0.02171799913048722, 0.14220568827395416], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1615}, "mesh_info": {"face_index": 463, "face_uv": [0.04542321423748831, 0.027732434678158786, 0.9268443510843427]}}, {"xyz": [0.18447789947303092, -0.021717999130487664, -0.2130702655949713], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 952}, "mesh_info": {"face_index": 310, "face_uv": [0.24344991765033644, 0.7516671246523818, 0.0048829576972919415]}}, {"xyz": [-0.176075816953631, -0.021717999130487442, -0.2063447006582916], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 739}, "mesh_info": {"face_index": 252, "face_uv": [0.371379139379809, 0.030622626673031977, 0.597998233947159]}}, {"xyz": [0.16049135359061778, -0.4050149917602539, -0.16213364837696395], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1132}, "mesh_info": {"face_index": 150, "face_uv": [0.008160959221689218, 0.4608437878105667, 0.5309952529677441]}}, {"xyz": [0.16141617501746072, -0.4056220560935415, 0.1465719161228281], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1094}, "mesh_info": {"face_index": 215, "face_uv": [0.2759374003105481, 0.5801736937097315, 0.14388890597972037]}}, {"xyz": [-0.15469580948838796, -0.4050149917602539, 0.14644591903928034], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 219, "face_uv": [0.2828475019698297, 0.559994236792778, 0.15715826123739224]}}, {"xyz": [-0.15212987352354737, -0.4050149917602539, -0.16655372786884576], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 639}, "mesh_info": {"face_index": 3, "face_uv": [0.3388413178556076, 0.32620184655568146, 0.3349568355887109]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bbe63bca5688ac6b7236a8143b10600f", "keypoints": [{"xyz": [0.1654800027608871, 0.3248483605319159, 0.057200175812041065], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1226}, "mesh_info": {"face_index": 135, "face_uv": [0.7172950232394586, 0.017769590152226917, 0.2649353866083143]}}, {"xyz": [-0.16167560039416018, 0.33555335950897147, 0.07029152638464942], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 93, "face_uv": [0.2930450161817751, 0.17099397970898456, 0.5359610041092407]}}, {"xyz": [0.1512445203651897, -0.0968594827880902, 0.04440300166606903], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1756}, "mesh_info": {"face_index": 104, "face_uv": [0.1905483004357285, 0.010004537543165281, 0.7994471620211063]}}, {"xyz": [-0.16141894724064906, -0.10119900107383706, 0.03770508215014945], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 40}, "mesh_info": {"face_index": 32, "face_uv": [0.9763317712538251, 0.013266313743270208, 0.01040191500290259]}}, {"xyz": [0.16198414818995702, -0.1011990010738375, -0.22620457704113295], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1611}, "mesh_info": {"face_index": 60, "face_uv": [0.04260502053536466, 0.9562375388457878, 0.0011574406188497833]}}, {"xyz": [-0.15968870452525583, -0.10119900107383706, -0.23636570656814593], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 32, "face_uv": [0.007856395488114287, 0.01848899424643726, 0.9736546102654462]}}, {"xyz": [0.12564953091253978, -0.49191200733184814, -0.20626008542160912], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1533}, "mesh_info": {"face_index": 65, "face_uv": [0.07338802865531177, 0.4584425182842367, 0.46816945306045155]}}, {"xyz": [0.14692288035147755, -0.49191200733184814, 0.07037501647523348], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1807}, "mesh_info": {"face_index": 162, "face_uv": [0.5376894700326195, 0.2783679590187732, 0.1839425709486074]}}, {"xyz": [-0.12557586728025238, -0.49191200733184814, 0.07612585605902192], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1864}, "mesh_info": {"face_index": 115, "face_uv": [0.0777061823227275, 0.5790408930119926, 0.34325292466527985]}}, {"xyz": [-0.11084478536005771, -0.49191200733184814, -0.21435580116158803], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 444}, "mesh_info": {"face_index": 6, "face_uv": [0.3986510543514206, 0.368888144345715, 0.23246080130286437]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e56087cd55cce8b4f41a4361d0ca9bc8", "keypoints": [{"xyz": [0.23570820782452234, 0.34706623181292495, 0.07476124583897836], "rgb": [170, 170, 170], "semantic_id": 0, "pcd_info": {"point_index": 454}, "mesh_info": {"face_index": 961, "face_uv": [0.9198064343569916, 0.011614550882927017, 0.06857901476008141]}}, {"xyz": [-0.23962513701825544, 0.35080707237318665, 0.07967679319503329], "rgb": [169, 169, 169], "semantic_id": 1, "pcd_info": {"point_index": 1030}, "mesh_info": {"face_index": 1010, "face_uv": [0.0369023310954042, 0.8875740074827458, 0.07552366142184971]}}, {"xyz": [0.23287860416503647, 0.036203201674882446, 0.04392672080521076], "rgb": [169, 169, 169], "semantic_id": 2, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 424, "face_uv": [0.13548010119897397, 0.36822144525123546, 0.4962984535497875]}}, {"xyz": [-0.24279267447641967, 0.03306337758921174, 0.02815051822197079], "rgb": [169, 169, 169], "semantic_id": 3, "pcd_info": {"point_index": 493}, "mesh_info": {"face_index": 1243, "face_uv": [0.44377917042294013, 0.23978322087371146, 0.31643760870333504]}}, {"xyz": [0.22566699925041628, 0.023067834222684214, -0.3574416345381771], "rgb": [169, 169, 169], "semantic_id": 4, "pcd_info": {"point_index": 195}, "mesh_info": {"face_index": 125, "face_uv": [0.4417590431416399, 0.02535346812395205, 0.5328874887344069]}}, {"xyz": [-0.24751725821033776, 0.02417874390513952, -0.33875188176639237], "rgb": [169, 169, 169], "semantic_id": 5, "pcd_info": {"point_index": 1105}, "mesh_info": {"face_index": 1502, "face_uv": [0.4573159237096819, 0.077163131917225, 0.46552094437309066]}}, {"xyz": [0.23694182254598334, -0.3454474245555157, -0.3476697924165301], "rgb": [169, 169, 169], "semantic_id": 17, "pcd_info": {"point_index": 1445}, "mesh_info": {"face_index": 1599, "face_uv": [0.021085821978136722, 0.9563128718919065, 0.022601306129956512]}}, {"xyz": [0.23204984149887825, -0.3566495086563575, 0.08753735595495196], "rgb": [170, 170, 170], "semantic_id": 18, "pcd_info": {"point_index": 1901}, "mesh_info": {"face_index": 1579, "face_uv": [0.07161481055862325, 0.00017282135310179463, 0.9282123680882749]}}, {"xyz": [-0.23941425272327227, -0.356539318636913, 0.09119160072380918], "rgb": [169, 169, 169], "semantic_id": 19, "pcd_info": {"point_index": 986}, "mesh_info": {"face_index": 1580, "face_uv": [0.698377677433844, 0.015147486483555189, 0.28647483608259927]}}, {"xyz": [-0.24562038795984031, -0.3460131103353812, -0.3473697733973146], "rgb": [170, 170, 170], "semantic_id": 20, "pcd_info": {"point_index": 849}, "mesh_info": {"face_index": 1558, "face_uv": [0.950088615992679, 0.04142542423525495, 0.00848595977206606]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5ef4db0419932fe12e5ebb32d8476df8", "keypoints": [{"xyz": [0.17344183657315193, 0.36597999930381775, 0.08344830957665272], "rgb": [156, 143, 102], "semantic_id": 0, "pcd_info": {"point_index": 1759}, "mesh_info": {"face_index": 265, "face_uv": [0.2050888533091549, 0.02435586882156801, 0.7705552778692771]}}, {"xyz": [-0.18884930283258572, 0.36597999930381775, 0.10306866307522533], "rgb": [161, 150, 107], "semantic_id": 1, "pcd_info": {"point_index": 1130}, "mesh_info": {"face_index": 392, "face_uv": [0.48314315156924953, 0.4288825735417644, 0.08797427488898611]}}, {"xyz": [0.1794898012974694, 0.02727474114941475, 0.08226700127124786], "rgb": [166, 154, 116], "semantic_id": 2, "pcd_info": {"point_index": 1588}, "mesh_info": {"face_index": 127, "face_uv": [0.5590102623650025, 0.43120498527774254, 0.009784752357254931]}}, {"xyz": [-0.19018991117720774, 0.0313799469023206, 0.08226700127124786], "rgb": [154, 140, 101], "semantic_id": 3, "pcd_info": {"point_index": 223}, "mesh_info": {"face_index": 233, "face_uv": [0.38936044744332965, 0.561579556029119, 0.04905999652755144]}}, {"xyz": [0.1728838090882, 0.015651601701589968, -0.3177050054073334], "rgb": [171, 159, 121], "semantic_id": 4, "pcd_info": {"point_index": 1540}, "mesh_info": {"face_index": 266, "face_uv": [0.009691365262816071, 0.059159402687227136, 0.9311492320499568]}}, {"xyz": [-0.19409132033314425, 0.022802840997901086, -0.3132214496524094], "rgb": [154, 140, 105], "semantic_id": 5, "pcd_info": {"point_index": 716}, "mesh_info": {"face_index": 182, "face_uv": [0.02310911112291638, 0.7667793204277579, 0.21011156844932458]}}, {"xyz": [0.1723430146090219, -0.43337899446487427, -0.3075557042144237], "rgb": [165, 152, 107], "semantic_id": 17, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 24, "face_uv": [0.22922483567552807, 0.32106685907034505, 0.44970830525412686]}}, {"xyz": [0.1776929370995075, -0.43337899446487427, 0.06465351975570033], "rgb": [166, 153, 108], "semantic_id": 18, "pcd_info": {"point_index": 2018}, "mesh_info": {"face_index": 48, "face_uv": [0.3712615481140673, 0.41241393688263556, 0.21632451500329716]}}, {"xyz": [-0.18942472556515, -0.43337899446487427, 0.07161538547412838], "rgb": [166, 153, 108], "semantic_id": 19, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 73, "face_uv": [0.5360529564642137, 0.35533809636348906, 0.1086089471722972]}}, {"xyz": [-0.1955277455499962, -0.43337899446487427, -0.3076077949298833], "rgb": [165, 152, 107], "semantic_id": 20, "pcd_info": {"point_index": 75}, "mesh_info": {"face_index": 0, "face_uv": [0.2603502366501531, 0.33684304111168634, 0.4028067222381605]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9ab4d3826bd2f07b51bb569b4bf0aada", "keypoints": [{"xyz": [0.18105109821349677, 0.42596900463104237, 0.09549180358576309], "rgb": [154, 89, 46], "semantic_id": 0, "pcd_info": {"point_index": 205}, "mesh_info": {"face_index": 230, "face_uv": [0.029171015864825695, 0.48624839148293075, 0.4845805926522433]}}, {"xyz": [-0.18210881416435667, 0.4259690046310425, 0.09202855796367532], "rgb": [151, 85, 40], "semantic_id": 1, "pcd_info": {"point_index": 1202}, "mesh_info": {"face_index": 136, "face_uv": [0.37619497400021956, 0.48064935793104213, 0.14315566806873833]}}, {"xyz": [0.17674498611023834, 0.008027000352740066, 0.06724364646543146], "rgb": [152, 88, 44], "semantic_id": 2, "pcd_info": {"point_index": 1679}, "mesh_info": {"face_index": 156, "face_uv": [0.0351653501569191, 0.05246956011988722, 0.912365089723166]}}, {"xyz": [-0.18623637494505654, 0.008027000352740288, 0.06782456264672243], "rgb": [155, 89, 39], "semantic_id": 3, "pcd_info": {"point_index": 1691}, "mesh_info": {"face_index": 170, "face_uv": [0.9664350537064486, 0.028436711925441345, 0.005128234368110187]}}, {"xyz": [0.19155363889353139, 0.003294658444328191, -0.2829729914665223], "rgb": [139, 77, 36], "semantic_id": 4, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 247, "face_uv": [0.1274344157940849, 0.8575925496734798, 0.014973034532435613]}}, {"xyz": [-0.19426950942902343, 0.003938374194999428, -0.28297299146652233], "rgb": [153, 91, 50], "semantic_id": 5, "pcd_info": {"point_index": 1688}, "mesh_info": {"face_index": 246, "face_uv": [0.8688672274149192, 0.12303650871616004, 0.0080962638689213]}}, {"xyz": [0.17959112072297143, -0.39998281121595625, -0.23568299412727345], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 52, "face_uv": [0.5500879242562895, 0.009355101414921777, 0.4405569743287883]}}, {"xyz": [0.1811611740349428, -0.39656596830808366, 0.08000800013542197], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 62, "face_uv": [0.4896933214965045, 0.018386769926622127, 0.4919199085768761]}}, {"xyz": [-0.1829346334851773, -0.39916776016888056, 0.08000800013542197], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 739}, "mesh_info": {"face_index": 22, "face_uv": [0.45480453818114075, 0.011509508590139023, 0.533685953228723]}}, {"xyz": [-0.18689521979104728, -0.39952854305512636, -0.22907372238543422], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1305}, "mesh_info": {"face_index": 2, "face_uv": [0.3308541332941417, 0.010519223648091913, 0.658626643057766]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c9cc8df04240b27890907a4c1a185a7", "keypoints": [{"xyz": [0.14561847766794078, 0.21333015236772135, 0.1663383880981104], "rgb": [50, 39, 28], "semantic_id": 0, "pcd_info": {"point_index": 634}, "mesh_info": {"face_index": 214, "face_uv": [0.24639239783275896, 0.4338154997157689, 0.3197921024514709]}}, {"xyz": [-0.14540279590276917, 0.21367218921027442, 0.16559849580537075], "rgb": [51, 40, 29], "semantic_id": 1, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 1576, "face_uv": [0.37783886635453884, 0.09415815128111094, 0.5280029823643503]}}, {"xyz": [0.09369077791951089, 0.02432278218891093, 0.0697994460431024], "rgb": [51, 45, 40], "semantic_id": 2, "pcd_info": {"point_index": 810}, "mesh_info": {"face_index": 130, "face_uv": [0.6964833002964448, 0.2266581053464769, 0.07685859435708156]}}, {"xyz": [-0.09237682257905211, 0.006926999893039465, 0.09499583946993773], "rgb": [50, 39, 28], "semantic_id": 3, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 1668, "face_uv": [0.0027620063741752477, 0.9260819777659373, 0.07115601585988734]}}, {"xyz": [0.15237947656644024, 0.02852096548097216, -0.21863311282167053], "rgb": [51, 45, 40], "semantic_id": 4, "pcd_info": {"point_index": 1492}, "mesh_info": {"face_index": 1018, "face_uv": [0.03574914214257527, 0.36725244109824134, 0.5969984167591847]}}, {"xyz": [-0.15306899863054635, 0.027843607881757437, -0.22677882822240414], "rgb": [51, 45, 40], "semantic_id": 5, "pcd_info": {"point_index": 1820}, "mesh_info": {"face_index": 1932, "face_uv": [0.6323272312434262, 0.0020069724849404763, 0.36566579627163387]}}, {"xyz": [0.1493537715378519, -0.6262609958648679, -0.18006008820180747], "rgb": [50, 39, 28], "semantic_id": 17, "pcd_info": {"point_index": 680}, "mesh_info": {"face_index": 9, "face_uv": [0.21353236888142277, 0.3011068852459905, 0.4853607458725864]}}, {"xyz": [0.15479032341975996, -0.6154106540700932, 0.19939562322252363], "rgb": [50, 39, 28], "semantic_id": 18, "pcd_info": {"point_index": 508}, "mesh_info": {"face_index": 92, "face_uv": [0.04266312683705543, 0.5941386605221418, 0.363198212640801]}}, {"xyz": [-0.15571817654312542, -0.6215663581559436, 0.20110573487267594], "rgb": [50, 39, 28], "semantic_id": 19, "pcd_info": {"point_index": 170}, "mesh_info": {"face_index": 1458, "face_uv": [0.3788810849878647, 0.6026597800080807, 0.01845913500405421]}}, {"xyz": [-0.15324417124935136, -0.6262609958648682, -0.17104731747179203], "rgb": [51, 40, 29], "semantic_id": 20, "pcd_info": {"point_index": 632}, "mesh_info": {"face_index": 1370, "face_uv": [0.38751349935577245, 0.2914447374404876, 0.32104176320373995]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "33442081ed6e32c4504af6e1321617aa", "keypoints": [{"xyz": [0.21790095709362303, 0.32811068871504023, 0.2681222010916162], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 772}, "mesh_info": {"face_index": 984, "face_uv": [0.5377431379490504, 0.019032470020938507, 0.4432243920300091]}}, {"xyz": [-0.21185296972960466, 0.32518637228177116, 0.2663485287229954], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 148}, "mesh_info": {"face_index": 548, "face_uv": [0.6976690926161351, 0.0151828182920897, 0.2871480890917749]}}, {"xyz": [0.2183635324374241, -0.0151840001344683, 0.20910457954257156], "rgb": [167, 105, 58], "semantic_id": 2, "pcd_info": {"point_index": 1301}, "mesh_info": {"face_index": 529, "face_uv": [0.01256331961803852, 0.005429606219219956, 0.9820070741627563]}}, {"xyz": [-0.20602374269870682, -0.008468386464585587, 0.21168799698352814], "rgb": [152, 84, 37], "semantic_id": 3, "pcd_info": {"point_index": 719}, "mesh_info": {"face_index": 492, "face_uv": [0.9199734322795216, 0.028282822727207568, 0.0517437449932708]}}, {"xyz": [0.22028066964944787, -0.022630853910422966, -0.26909900453359836], "rgb": [243, 237, 232], "semantic_id": 4, "pcd_info": {"point_index": 1211}, "mesh_info": {"face_index": 704, "face_uv": [0.08454095809839371, 0.013684549126733192, 0.9017744927748731]}}, {"xyz": [-0.21537207019286975, -0.015184000134468079, -0.2605386272428162], "rgb": [140, 73, 30], "semantic_id": 5, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 529, "face_uv": [0.00024004298417332003, 0.9924856026473485, 0.007274354368478083]}}, {"xyz": [0.2475097354502423, 0.1146019995212555, -0.2601276275842732], "rgb": [149, 85, 38], "semantic_id": 6, "pcd_info": {"point_index": 813}, "mesh_info": {"face_index": 652, "face_uv": [0.5113947764217431, 0.058686024294458114, 0.4299191992837988]}}, {"xyz": [0.23914578317153207, 0.11460199952125572, 0.2479013778615482], "rgb": [151, 87, 41], "semantic_id": 7, "pcd_info": {"point_index": 1146}, "mesh_info": {"face_index": 14, "face_uv": [0.3445278292935201, 0.3794065938679035, 0.27606557683857846]}}, {"xyz": [-0.2357289762911316, 0.1146019995212555, -0.26172775927036324], "rgb": [156, 91, 44], "semantic_id": 8, "pcd_info": {"point_index": 690}, "mesh_info": {"face_index": 171, "face_uv": [0.46169115196393257, 0.03512938306730385, 0.5031794649687635]}}, {"xyz": [-0.24590562960038198, 0.1146019995212555, 0.23680138460763644], "rgb": [146, 83, 37], "semantic_id": 9, "pcd_info": {"point_index": 46}, "mesh_info": {"face_index": 455, "face_uv": [0.192653505421375, 0.5434814974102549, 0.26386499716837014]}}, {"xyz": [0.2413791213199803, -0.31183600425720237, -0.23957710976872926], "rgb": [149, 84, 36], "semantic_id": 17, "pcd_info": {"point_index": 1575}, "mesh_info": {"face_index": 520, "face_uv": [0.26439881328031867, 0.3308463213565773, 0.4047548653631047]}}, {"xyz": [0.25257904780946416, -0.31183600425720215, 0.2405125379805351], "rgb": [150, 85, 36], "semantic_id": 18, "pcd_info": {"point_index": 504}, "mesh_info": {"face_index": 2, "face_uv": [0.2932136768715553, 0.4457270389253906, 0.2610592842030541]}}, {"xyz": [-0.22639974614623865, -0.31183600425720215, 0.22679623428847673], "rgb": [152, 88, 42], "semantic_id": 19, "pcd_info": {"point_index": 380}, "mesh_info": {"face_index": 37, "face_uv": [0.2101005977030221, 0.6306751339106453, 0.15922426838633255]}}, {"xyz": [-0.23445252263422434, -0.3118360042572019, -0.22164723273269427], "rgb": [149, 81, 34], "semantic_id": 20, "pcd_info": {"point_index": 8}, "mesh_info": {"face_index": 167, "face_uv": [0.42726776674972694, 0.42739379674766614, 0.14533843650260625]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2314a3400230f50d14038d588fd1342f", "keypoints": [{"xyz": [0.2111060981843005, 0.24524730823261642, 0.08241268161660442], "rgb": [7, 7, 7], "semantic_id": 0, "pcd_info": {"point_index": 2019}, "mesh_info": {"face_index": 690, "face_uv": [0.009548131282596642, 0.013115950809115692, 0.9773359179082879]}}, {"xyz": [-0.200885353592618, 0.2433152254721277, 0.0820650361214097], "rgb": [12, 12, 12], "semantic_id": 1, "pcd_info": {"point_index": 2045}, "mesh_info": {"face_index": 692, "face_uv": [0.012708623538335902, 0.04180793841114717, 0.9454834380505163]}}, {"xyz": [0.2118045201981563, -0.04591200128197692, 0.02174414901138455], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1650}, "mesh_info": {"face_index": 621, "face_uv": [0.011464495276003057, 0.9775535941237562, 0.010981910600245559]}}, {"xyz": [-0.2038336067721907, -0.04591200128197692, 0.028108798357282083], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1690}, "mesh_info": {"face_index": 605, "face_uv": [0.9890706278000615, 0.005192048147927327, 0.005737324052016067]}}, {"xyz": [0.20938189729042792, -0.07445258617016826, -0.33884799480438244], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1125}, "mesh_info": {"face_index": 642, "face_uv": [0.6463427994178955, 0.01719291437827334, 0.3364642862038315]}}, {"xyz": [-0.20121179357088995, -0.05375635278213575, -0.3388479948043823], "rgb": [253, 253, 253], "semantic_id": 5, "pcd_info": {"point_index": 27}, "mesh_info": {"face_index": 646, "face_uv": [0.0805401368845751, 0.011936739064977608, 0.9075231240504472]}}, {"xyz": [0.2600122275568182, 0.08435499668121316, -0.3108804443570814], "rgb": [156, 156, 156], "semantic_id": 6, "pcd_info": {"point_index": 551}, "mesh_info": {"face_index": 674, "face_uv": [0.5652370996593588, 0.048588685810902366, 0.38617421452973616]}}, {"xyz": [0.3001639685741773, 0.08435499668121338, 0.22831419345813336], "rgb": [93, 93, 93], "semantic_id": 7, "pcd_info": {"point_index": 307}, "mesh_info": {"face_index": 774, "face_uv": [0.010045499652284113, 0.08701827571341764, 0.902936224634298]}}, {"xyz": [-0.2552686598684749, 0.08435499668121338, -0.3160426046662763], "rgb": [191, 191, 191], "semantic_id": 8, "pcd_info": {"point_index": 870}, "mesh_info": {"face_index": 644, "face_uv": [0.5055410778515907, 0.05813089715400243, 0.43632802499440676]}}, {"xyz": [-0.2829635043012668, 0.08435499668121293, 0.22887124372607714], "rgb": [96, 96, 96], "semantic_id": 9, "pcd_info": {"point_index": 2039}, "mesh_info": {"face_index": 654, "face_uv": [0.9187278868143589, 0.02914405105344668, 0.05212806213218927]}}, {"xyz": [0.28854264761490156, -0.2852399945259094, -0.2978953563987051], "rgb": [159, 159, 160], "semantic_id": 17, "pcd_info": {"point_index": 1300}, "mesh_info": {"face_index": 882, "face_uv": [0.43349337994239406, 0.32410234183402875, 0.2424042782235772]}}, {"xyz": [0.2942286746297451, -0.2852399945259092, 0.2126110403197976], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1564}, "mesh_info": {"face_index": 879, "face_uv": [0.2619458440802095, 0.3984050920756864, 0.3396490638441033]}}, {"xyz": [-0.27404715984625116, -0.285239994525909, 0.2116891403862582], "rgb": [164, 164, 165], "semantic_id": 19, "pcd_info": {"point_index": 25}, "mesh_info": {"face_index": 881, "face_uv": [0.06758599271596567, 0.4136207240331897, 0.5187932832508431]}}, {"xyz": [-0.2869383077451013, -0.28523999452590965, -0.31334741294877266], "rgb": [195, 195, 196], "semantic_id": 20, "pcd_info": {"point_index": 596}, "mesh_info": {"face_index": 870, "face_uv": [0.26844283311843165, 0.42087113868802717, 0.3106860281935419]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ff5e8226b88c6b95741cdb62023d6a2f", "keypoints": [{"xyz": [0.2909332458533104, 0.10827899724245071, 0.04964044957319991], "rgb": [180, 124, 105], "semantic_id": 0, "pcd_info": {"point_index": 1190}, "mesh_info": {"face_index": 254, "face_uv": [0.49811252050582305, 0.47795977460756955, 0.02392770488660736]}}, {"xyz": [-0.26077015499240364, 0.10827899724245071, 0.05276310032518505], "rgb": [181, 124, 105], "semantic_id": 1, "pcd_info": {"point_index": 771}, "mesh_info": {"face_index": 253, "face_uv": [0.39250155369294476, 0.5765995927438133, 0.03089885356324191]}}, {"xyz": [0.2912037448815604, -0.09071099758148193, 0.011310716310213742], "rgb": [197, 147, 114], "semantic_id": 2, "pcd_info": {"point_index": 1640}, "mesh_info": {"face_index": 239, "face_uv": [0.9266525773213294, 0.02765382018353386, 0.045693602495136675]}}, {"xyz": [-0.2674225634405686, -0.09071099758148193, 0.018302212191783962], "rgb": [187, 140, 112], "semantic_id": 3, "pcd_info": {"point_index": 1561}, "mesh_info": {"face_index": 236, "face_uv": [0.9553703551454678, 0.04008746666665501, 0.004542178187877161]}}, {"xyz": [0.2920582811477952, -0.09071099758148193, -0.29559287037687915], "rgb": [181, 124, 104], "semantic_id": 4, "pcd_info": {"point_index": 1497}, "mesh_info": {"face_index": 237, "face_uv": [0.012365295840840927, 0.018762906368174896, 0.9688717977909843]}}, {"xyz": [-0.2699752596718347, -0.09071099758148171, -0.29534719270606763], "rgb": [181, 124, 104], "semantic_id": 5, "pcd_info": {"point_index": 1398}, "mesh_info": {"face_index": 237, "face_uv": [0.97484369547045, 0.01952734055413074, 0.005628963975416742]}}, {"xyz": [0.3807267990368872, 0.08026655054330334, -0.27438109847337133], "rgb": [175, 126, 87], "semantic_id": 6, "pcd_info": {"point_index": 1478}, "mesh_info": {"face_index": 95, "face_uv": [0.9104483629828071, 0.026920876241378774, 0.06263076077581423]}}, {"xyz": [0.3875325595418182, 0.08635587325012528, 0.1663486380727527], "rgb": [194, 144, 111], "semantic_id": 7, "pcd_info": {"point_index": 1985}, "mesh_info": {"face_index": 87, "face_uv": [0.01555263804534087, 0.19324459649292272, 0.7912027654617394]}}, {"xyz": [-0.34681281047355494, 0.07816554061748149, -0.27251383292329884], "rgb": [173, 122, 94], "semantic_id": 8, "pcd_info": {"point_index": 1903}, "mesh_info": {"face_index": 187, "face_uv": [0.27578079366223807, 0.031270966365052236, 0.6929482399727189]}}, {"xyz": [-0.35533421629962036, 0.08634314836800283, 0.16648813958430672], "rgb": [189, 139, 106], "semantic_id": 9, "pcd_info": {"point_index": 392}, "mesh_info": {"face_index": 88, "face_uv": [0.023449439128479126, 0.7949402451729358, 0.1816103156985864]}}, {"xyz": [0.3935957207278587, -0.2957960069179535, -0.2755758395212849], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1051}, "mesh_info": {"face_index": 20, "face_uv": [0.06295786283032344, 0.021704405220671474, 0.9153377319490051]}}, {"xyz": [0.3843036392889798, -0.2957675579626253, 0.17654284500556497], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1974}, "mesh_info": {"face_index": 18, "face_uv": [0.022997526627542328, 0.009227624597898621, 0.9677748487745589]}}, {"xyz": [-0.3600342714783495, -0.2927129864692686, 0.1815409274707636], "rgb": [254, 253, 253], "semantic_id": 19, "pcd_info": {"point_index": 1179}, "mesh_info": {"face_index": 161, "face_uv": [0.044794460092628156, 0.94669909980818, 0.008506440099191187]}}, {"xyz": [-0.3610370742873906, -0.2927129864692686, -0.2761732711784516], "rgb": [193, 143, 110], "semantic_id": 20, "pcd_info": {"point_index": 1659}, "mesh_info": {"face_index": 154, "face_uv": [0.13125490306328788, 0.026663582102596183, 0.8420815148341152]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6673cc5f492f48a229404a50338e24e7", "keypoints": [{"xyz": [0.2098920194922459, 0.14127525241735617, 0.14525662674288808], "rgb": [35, 35, 35], "semantic_id": 0, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 18766, "face_uv": [0.01914229449737299, 0.3788217755640608, 0.6020359299386076]}}, {"xyz": [-0.2077652151689595, 0.13568895731489916, 0.1363450985362733], "rgb": [0, 128, 0], "semantic_id": 1, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 11392, "face_uv": [0.0147998628549875, 0.23698537573170828, 0.7482147614133042]}}, {"xyz": [0.1800950020551682, -0.1343233213898769, 0.0809187578272621], "rgb": [31, 44, 31], "semantic_id": 2, "pcd_info": {"point_index": 1564}, "mesh_info": {"face_index": 18637, "face_uv": [0.08919154810809443, 0.8974994318520891, 0.013309020039816722]}}, {"xyz": [-0.17079832604369505, -0.14618200063705455, 0.0865959185604861], "rgb": [32, 42, 32], "semantic_id": 3, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 19821, "face_uv": [0.050021710754808685, 0.8690586448597465, 0.08091964438544566]}}, {"xyz": [0.20310616864863718, -0.14618200063705444, -0.2620222866004025], "rgb": [28, 53, 28], "semantic_id": 4, "pcd_info": {"point_index": 1593}, "mesh_info": {"face_index": 20179, "face_uv": [0.0020329839995961883, 0.8025943138229248, 0.19537270217747907]}}, {"xyz": [-0.18900513661821616, -0.14618200063705455, -0.262939931779711], "rgb": [35, 35, 35], "semantic_id": 5, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 20107, "face_uv": [0.9043437943089214, 0.06272640220071503, 0.03292980349036434]}}, {"xyz": [0.21195100443957204, -0.024636291714396075, -0.1886997894245166], "rgb": [0, 127, 0], "semantic_id": 6, "pcd_info": {"point_index": 745}, "mesh_info": {"face_index": 18574, "face_uv": [0.10268045940376684, 0.429833322572517, 0.4674862180237117]}}, {"xyz": [0.21070428147595166, -0.022035010360488494, 0.12498799734080523], "rgb": [30, 46, 30], "semantic_id": 7, "pcd_info": {"point_index": 1344}, "mesh_info": {"face_index": 19530, "face_uv": [0.17627333856596927, 0.7049721944972774, 0.11875446693674803]}}, {"xyz": [-0.21625824399560956, -0.027561750436089327, -0.1934222966384782], "rgb": [0, 128, 0], "semantic_id": 8, "pcd_info": {"point_index": 1238}, "mesh_info": {"face_index": 19204, "face_uv": [0.6136049798039706, 0.3209622012429239, 0.06543281895310683]}}, {"xyz": [-0.2113674339819136, -0.022023236128586032, 0.10768971961292917], "rgb": [29, 48, 29], "semantic_id": 9, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 19904, "face_uv": [0.21542137111486617, 0.1439460913742355, 0.6406325375108952]}}, {"xyz": [0.21809184602711784, -0.5255839824676516, -0.2412501269700419], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 696}, "mesh_info": {"face_index": 4, "face_uv": [0.18747849755653268, 0.435755079211427, 0.37676642323204074]}}, {"xyz": [0.19590252622834148, -0.5298072531998974, 0.19020268979002752], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1958}, "mesh_info": {"face_index": 124, "face_uv": [0.0485860228405899, 0.659316733528387, 0.29209724363102313]}}, {"xyz": [-0.1924516153307098, -0.527426137833718, 0.2089179261845645], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 436}, "mesh_info": {"face_index": 340, "face_uv": [0.6518374396020323, 0.3367557256818199, 0.011406834716147854]}}, {"xyz": [-0.21272070947833505, -0.5255839824676516, -0.242362336695487], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1532}, "mesh_info": {"face_index": 227, "face_uv": [0.013210107299264895, 0.39874433128989717, 0.5880455614108383]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f619416ed17ca24a5dc688388b7d266", "keypoints": [{"xyz": [0.18905609415728464, 0.3337117259276944, 0.091004792886905], "rgb": [102, 102, 102], "semantic_id": 0, "pcd_info": {"point_index": 1636}, "mesh_info": {"face_index": 361, "face_uv": [0.7072916927794286, 0.2688786896854823, 0.023829617535089657]}}, {"xyz": [-0.19931756643286047, 0.33433526275794445, 0.09190121456696576], "rgb": [101, 101, 101], "semantic_id": 1, "pcd_info": {"point_index": 284}, "mesh_info": {"face_index": 162, "face_uv": [0.03429314442313521, 0.6017301318277406, 0.3639767237491236]}}, {"xyz": [0.19105293521793673, -0.11767458344052706, 0.03437628348481203], "rgb": [102, 102, 102], "semantic_id": 2, "pcd_info": {"point_index": 1083}, "mesh_info": {"face_index": 310, "face_uv": [0.46097295755682793, 0.5200401301012146, 0.01898691234195835]}}, {"xyz": [-0.20095012369340914, -0.12379899860489019, 0.04735267446064706], "rgb": [101, 101, 101], "semantic_id": 3, "pcd_info": {"point_index": 1879}, "mesh_info": {"face_index": 76, "face_uv": [0.9696661058544809, 0.006275410779688259, 0.02405848336582978]}}, {"xyz": [0.1927179208992609, -0.1224708273549826, -0.25196547627997634], "rgb": [101, 101, 101], "semantic_id": 4, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 12, "face_uv": [0.014949017206290443, 0.4465700730201157, 0.5384809097735213]}}, {"xyz": [-0.2036961478914916, -0.12404080114888116, -0.25502878662464734], "rgb": [101, 101, 101], "semantic_id": 5, "pcd_info": {"point_index": 599}, "mesh_info": {"face_index": 19, "face_uv": [0.3449675979926899, 0.02367428266889117, 0.6313581193384181]}}, {"xyz": [0.18116073995528245, -0.46729201078414895, -0.24806052619743355], "rgb": [101, 101, 101], "semantic_id": 17, "pcd_info": {"point_index": 1817}, "mesh_info": {"face_index": 1, "face_uv": [0.47431261531003266, 0.43409116159815864, 0.09159622309180818]}}, {"xyz": [0.1768562493918098, -0.46729201078414917, 0.12440135105145966], "rgb": [102, 102, 102], "semantic_id": 18, "pcd_info": {"point_index": 74}, "mesh_info": {"face_index": 74, "face_uv": [0.44736864770167695, 0.5077506816480767, 0.04488067065024634]}}, {"xyz": [-0.19254138938276472, -0.46729201078414917, 0.12848697268485565], "rgb": [102, 102, 102], "semantic_id": 19, "pcd_info": {"point_index": 853}, "mesh_info": {"face_index": 303, "face_uv": [0.004187382190886252, 0.4206706298884596, 0.5751419879206542]}}, {"xyz": [-0.19276102577494658, -0.46729201078414917, -0.24410846268931052], "rgb": [102, 102, 102], "semantic_id": 20, "pcd_info": {"point_index": 1603}, "mesh_info": {"face_index": 274, "face_uv": [0.038673520932411894, 0.540929719122803, 0.4203967599447851]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "191360ba29f3d296ff458e602ebccbb0", "keypoints": [{"xyz": [0.14346694560941456, 0.3827891516002052, 0.03673942638758412], "rgb": [53, 30, 18], "semantic_id": 0, "pcd_info": {"point_index": 164}, "mesh_info": {"face_index": 10492, "face_uv": [0.43546923160151285, 0.5372995159912283, 0.027231252407259127]}}, {"xyz": [-0.11996718169659751, 0.38317046216407336, 0.0327641609139433], "rgb": [57, 35, 19], "semantic_id": 1, "pcd_info": {"point_index": 143}, "mesh_info": {"face_index": 4813, "face_uv": [0.2394340024181113, 0.6383411913105242, 0.12222480627136442]}}, {"xyz": [0.17132067875152007, 0.015100000426173432, -0.09234246096836551], "rgb": [102, 40, 40], "semantic_id": 2, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 130, "face_uv": [0.05803112423936931, 0.05453872043539312, 0.8874301553252522]}}, {"xyz": [-0.14371177970173085, 0.01510000042617321, -0.07844952413741102], "rgb": [102, 40, 40], "semantic_id": 3, "pcd_info": {"point_index": 739}, "mesh_info": {"face_index": 391, "face_uv": [0.7160569306312475, 0.048428007175383696, 0.23551506219336876]}}, {"xyz": [0.15109926147061925, 0.010015733056644605, -0.3583699248350347], "rgb": [102, 40, 40], "semantic_id": 4, "pcd_info": {"point_index": 1126}, "mesh_info": {"face_index": 903, "face_uv": [0.024846193942818787, 0.7122651185291949, 0.2628886875279866]}}, {"xyz": [-0.13121729713661717, 0.010682691087881446, -0.35038143003920186], "rgb": [102, 40, 40], "semantic_id": 5, "pcd_info": {"point_index": 850}, "mesh_info": {"face_index": 457, "face_uv": [0.090217748690939, 0.6813795002443962, 0.22840275106466484]}}, {"xyz": [0.08887877355944378, -0.42003700137138367, -0.32680070779329895], "rgb": [53, 30, 17], "semantic_id": 17, "pcd_info": {"point_index": 1741}, "mesh_info": {"face_index": 938, "face_uv": [0.5470856235953431, 0.06881930832578095, 0.384095068078876]}}, {"xyz": [-0.06789473495999435, -0.42003700137138367, -0.32788739553651347], "rgb": [52, 29, 18], "semantic_id": 18, "pcd_info": {"point_index": 733}, "mesh_info": {"face_index": 9186, "face_uv": [0.46248910208688926, 0.1766684613021311, 0.36084243661097964]}}, {"xyz": [0.20085255436369892, -0.4198881517151801, 0.04876777610985672], "rgb": [54, 35, 16], "semantic_id": 19, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 5397, "face_uv": [0.01489975422375333, 0.2601673910793044, 0.7249328546969426]}}, {"xyz": [-0.1814787600943247, -0.4200765008208467, 0.04645840792291003], "rgb": [51, 30, 18], "semantic_id": 20, "pcd_info": {"point_index": 1660}, "mesh_info": {"face_index": 5478, "face_uv": [0.3344590772461201, 0.46196304557709045, 0.2035778771767895]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7ab86358957e386d76de5cade2fd5247", "keypoints": [{"xyz": [0.2033237811764157, 0.22617162820439207, 0.21847620017727198], "rgb": [236, 213, 164], "semantic_id": 0, "pcd_info": {"point_index": 1851}, "mesh_info": {"face_index": 3737, "face_uv": [0.007047982640386354, 0.8640302775913418, 0.12892173976827173]}}, {"xyz": [-0.21256781784512319, 0.22578454239263634, 0.22223963656021994], "rgb": [236, 213, 164], "semantic_id": 1, "pcd_info": {"point_index": 1775}, "mesh_info": {"face_index": 12482, "face_uv": [0.27514738471674605, 0.6465383261366672, 0.07831428914658597]}}, {"xyz": [0.2132787686902673, -0.08676964966201373, 0.08987347907523291], "rgb": [236, 213, 164], "semantic_id": 2, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 1516, "face_uv": [0.8121045821845602, 0.09297097069231004, 0.09492444712312155]}}, {"xyz": [-0.216833795825229, -0.08978058177176917, 0.09185194762965199], "rgb": [237, 214, 165], "semantic_id": 3, "pcd_info": {"point_index": 1895}, "mesh_info": {"face_index": 10232, "face_uv": [0.1879210233191459, 0.07692727950277836, 0.7351516971780762]}}, {"xyz": [0.20770610586859278, -0.07023983998652827, -0.24398760707927103], "rgb": [237, 214, 165], "semantic_id": 4, "pcd_info": {"point_index": 1894}, "mesh_info": {"face_index": 3797, "face_uv": [0.6442409015410423, 0.11460596559001167, 0.2411531328689478]}}, {"xyz": [-0.21164707073805772, -0.06586767378428648, -0.23680253994206124], "rgb": [237, 214, 165], "semantic_id": 5, "pcd_info": {"point_index": 1707}, "mesh_info": {"face_index": 12952, "face_uv": [0.4758576413904212, 0.2541232328395046, 0.2700191257700754]}}, {"xyz": [0.27303630335708073, 0.06387407254137889, -0.2300877512175562], "rgb": [163, 102, 77], "semantic_id": 6, "pcd_info": {"point_index": 1081}, "mesh_info": {"face_index": 14451, "face_uv": [0.4134365578494615, 0.5668017519356081, 0.01976169021493043]}}, {"xyz": [0.2561181956595255, 0.031985948296247235, 0.27143081476586184], "rgb": [163, 102, 77], "semantic_id": 7, "pcd_info": {"point_index": 1918}, "mesh_info": {"face_index": 15978, "face_uv": [0.44274257718315263, 0.3510049344517267, 0.2062524883651208]}}, {"xyz": [-0.2712688560390848, 0.06495420891197701, -0.22993724624595024], "rgb": [163, 102, 77], "semantic_id": 8, "pcd_info": {"point_index": 523}, "mesh_info": {"face_index": 5856, "face_uv": [0.05391583449710809, 0.8261037252805952, 0.1199804402222972]}}, {"xyz": [-0.2547752032521425, 0.033890036620868536, 0.26662413512495764], "rgb": [163, 102, 77], "semantic_id": 9, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 7001, "face_uv": [0.37849454836048657, 0.5386967279744883, 0.08280872366502533]}}, {"xyz": [0.26021247253138624, -0.3706650137901306, -0.22230698156963694], "rgb": [163, 102, 77], "semantic_id": 17, "pcd_info": {"point_index": 2033}, "mesh_info": {"face_index": 13721, "face_uv": [0.19420252623380085, 0.38518543913656006, 0.4206120346296391]}}, {"xyz": [0.2526158691004383, -0.3706650137901306, 0.2622675168410806], "rgb": [163, 101, 77], "semantic_id": 18, "pcd_info": {"point_index": 367}, "mesh_info": {"face_index": 7062, "face_uv": [0.42397313295016176, 0.4970080404808451, 0.07901882656899303]}}, {"xyz": [-0.25811025382959407, -0.3706650137901306, 0.2614651772390827], "rgb": [163, 102, 77], "semantic_id": 19, "pcd_info": {"point_index": 1044}, "mesh_info": {"face_index": 7086, "face_uv": [0.4424913735184229, 0.375995426765441, 0.1815131997161361]}}, {"xyz": [-0.25746123955693667, -0.37066501379013084, -0.2177551833985772], "rgb": [163, 102, 77], "semantic_id": 20, "pcd_info": {"point_index": 1811}, "mesh_info": {"face_index": 4645, "face_uv": [0.06534766205333195, 0.4223070573320482, 0.5123452806146205]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d3f31fd0fc99f45e8b3f6b4a44a70e52", "keypoints": [{"xyz": [0.19713330913457275, 0.4689377696567135, 0.33021387778924827], "rgb": [203, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 340}, "mesh_info": {"face_index": 647, "face_uv": [0.02410157242980423, 0.02905531069579153, 0.9468431168743583]}}, {"xyz": [-0.1586149885520552, 0.4605789940325805, 0.3243695369632411], "rgb": [203, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 1912}, "mesh_info": {"face_index": 648, "face_uv": [0.21557092078308857, 0.027215108080185253, 0.7572139711366785]}}, {"xyz": [0.20069577780505246, 0.13018499314785004, 0.08596820112128123], "rgb": [204, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 884}, "mesh_info": {"face_index": 559, "face_uv": [0.2801474437207989, 0.0277542161480466, 0.6920983401311546]}}, {"xyz": [-0.15576825001373562, 0.13018499314785004, 0.08533156449787538], "rgb": [204, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 558, "face_uv": [0.7062022488953755, 0.026617550113739872, 0.26718020099088463]}}, {"xyz": [0.20056393645681184, 0.12768370015077757, -0.17188900709152244], "rgb": [204, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 626, "face_uv": [0.02810396504706903, 0.2654175206795652, 0.706478514273367]}}, {"xyz": [-0.15707007826741437, 0.13018499314785004, -0.1701320370451942], "rgb": [204, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 510}, "mesh_info": {"face_index": 622, "face_uv": [0.037670877338002964, 0.023164058439728512, 0.9391650642222685]}}, {"xyz": [0.1982860605682729, -0.2656230032443998, -0.16284091714367877], "rgb": [113, 113, 113], "semantic_id": 17, "pcd_info": {"point_index": 1967}, "mesh_info": {"face_index": 1324, "face_uv": [0.488253974696821, 0.47248502123869, 0.039261004064488174]}}, {"xyz": [0.2007853215828045, -0.2559146073860661, 0.10404295235523864], "rgb": [114, 114, 114], "semantic_id": 18, "pcd_info": {"point_index": 402}, "mesh_info": {"face_index": 1158, "face_uv": [0.05150889016277096, 0.3812363375858168, 0.5672547722514151]}}, {"xyz": [-0.15750027278472745, -0.2601697523423885, 0.10701812217123507], "rgb": [113, 113, 113], "semantic_id": 19, "pcd_info": {"point_index": 174}, "mesh_info": {"face_index": 1112, "face_uv": [0.02893278208269349, 0.40604060821201643, 0.5650266097052885]}}, {"xyz": [-0.15912396832515008, -0.2656230032444, -0.1598316635780172], "rgb": [114, 114, 114], "semantic_id": 20, "pcd_info": {"point_index": 555}, "mesh_info": {"face_index": 763, "face_uv": [0.13879281157856235, 0.370373831504791, 0.49083335691664665]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6e06af0dba36d9d8f3f3ee5e8ea028d6", "keypoints": [{"xyz": [0.16674105069309897, 0.2904676815243168, 5.900000178371556e-05], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1146}, "mesh_info": {"face_index": 490, "face_uv": [0.020886278385446707, 0.008715385667743953, 0.9703983359468094]}}, {"xyz": [-0.17979113941141722, 0.29493656160542925, 0.0013931043401880228], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 870}, "mesh_info": {"face_index": 465, "face_uv": [0.051777546221072744, 0.016479376045686722, 0.9317430777332404]}}, {"xyz": [0.16697280737631803, -0.05829285950767338, 5.900000178371556e-05], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 284}, "mesh_info": {"face_index": 466, "face_uv": [0.01085775389341012, 0.019772303918727068, 0.9693699421878627]}}, {"xyz": [-0.1766016238307392, -0.06212928700347253, 5.9000001783493516e-05], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 692}, "mesh_info": {"face_index": 947, "face_uv": [0.9662750853408377, 0.021107528356313025, 0.01261738629908584]}}, {"xyz": [0.17112971147318354, -0.06798209264416166, -0.3110181534929417], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1245}, "mesh_info": {"face_index": 1182, "face_uv": [0.03484979033785422, 0.4574830513060467, 0.5076671583560998]}}, {"xyz": [-0.17849955854004557, -0.08087529281873052, -0.3155139982700348], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 475}, "mesh_info": {"face_index": 195, "face_uv": [0.012908549582824547, 0.008604437345739154, 0.9784870130714363]}}, {"xyz": [0.15919769301694892, -0.34881699085235596, -0.3054206844016505], "rgb": [167, 100, 82], "semantic_id": 17, "pcd_info": {"point_index": 1482}, "mesh_info": {"face_index": 762, "face_uv": [0.05462930092762897, 0.9216008732795506, 0.023769825792820366]}}, {"xyz": [0.1657371501780314, -0.34881699085235596, 0.11941376927506152], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 221, "face_uv": [0.13379026951610937, 0.40821486024553627, 0.45799487023835433]}}, {"xyz": [-0.17416105844875135, -0.34881699085235573, 0.12161670496692706], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 960}, "mesh_info": {"face_index": 908, "face_uv": [0.06713142636023853, 0.18408690009508016, 0.7487816735446806]}}, {"xyz": [-0.17608655187553848, -0.34881699085235596, -0.30982715068718025], "rgb": [167, 100, 82], "semantic_id": 20, "pcd_info": {"point_index": 53}, "mesh_info": {"face_index": 832, "face_uv": [0.0018992203730061109, 0.004971013832778217, 0.9931297657942157]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "276932e7bf229d37c8ad93869b52d215", "keypoints": [{"xyz": [0.2015101142240644, 0.47576698660850525, 0.12636404550209446], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1299}, "mesh_info": {"face_index": 46, "face_uv": [0.7230066328803693, 0.017937253018849464, 0.2590561141007812]}}, {"xyz": [-0.1989167014778629, 0.47576698660850525, 0.1338563032871234], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 2023}, "mesh_info": {"face_index": 33, "face_uv": [0.4702443463035588, 0.006290193169563849, 0.5234654605268774]}}, {"xyz": [0.20679118596018053, 0.07185752238488363, 0.06573552428180673], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 382}, "mesh_info": {"face_index": 113, "face_uv": [0.0009278975085183974, 0.017650718684924276, 0.9814213838065569]}}, {"xyz": [-0.20076230945355547, 0.07814852014032225, 0.06758518552803805], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 7}, "mesh_info": {"face_index": 84, "face_uv": [0.12044304995075764, 0.0017936371596967496, 0.8777633128895461]}}, {"xyz": [0.20668565095717573, 0.06164714658579162, -0.3582879900932314], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 182, "face_uv": [0.10494857399126635, 0.019344440455986264, 0.8757069855527481]}}, {"xyz": [-0.20796734160360536, 0.06229599563375454, -0.3582879900932312], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 271, "face_uv": [0.08214278832126862, 0.8848549811573819, 0.03300223052134949]}}, {"xyz": [0.18549824905714596, -0.2740449905395508, -0.3501376190024429], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 741}, "mesh_info": {"face_index": 452, "face_uv": [0.09663201239898513, 0.4021697678880476, 0.5011982197129673]}}, {"xyz": [0.18053139268303697, -0.2740449905395508, 0.12937917432189638], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 398}, "mesh_info": {"face_index": 498, "face_uv": [0.23437036203704636, 0.37618177379646167, 0.38944786416649196]}}, {"xyz": [-0.18385590470522106, -0.2740449905395508, 0.14098884593787964], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 667}, "mesh_info": {"face_index": 406, "face_uv": [0.419610543445901, 0.24189596070436306, 0.33849349584973587]}}, {"xyz": [-0.1953181898738099, -0.2740449905395508, -0.3517113842635159], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 2025}, "mesh_info": {"face_index": 342, "face_uv": [0.3049500382969189, 0.3245143086818609, 0.37053565302122027]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "320b6f3ae2893d3c9f5d3fd8c90b27d2", "keypoints": [{"xyz": [0.1800196833289031, 0.11970572099569055, 0.0021979999728503063], "rgb": [176, 96, 47], "semantic_id": 0, "pcd_info": {"point_index": 865}, "mesh_info": {"face_index": 118, "face_uv": [0.923913716166916, 0.0008871200674328499, 0.07519916376575204]}}, {"xyz": [-0.17874999344348907, 0.11354693285188311, 0.011902575227189738], "rgb": [166, 93, 43], "semantic_id": 1, "pcd_info": {"point_index": 1640}, "mesh_info": {"face_index": 21, "face_uv": [0.8644309390079388, 0.06977985146625038, 0.06578920952581083]}}, {"xyz": [0.1800797720302817, -0.221677005290985, 0.001066620159261511], "rgb": [166, 91, 40], "semantic_id": 2, "pcd_info": {"point_index": 894}, "mesh_info": {"face_index": 30, "face_uv": [0.00492064731401764, 0.006303707817864003, 0.9887756448681178]}}, {"xyz": [-0.17575370727947962, -0.21675517651212597, 0.0021979999728500843], "rgb": [171, 98, 50], "semantic_id": 3, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 151, "face_uv": [0.02681662452034901, 0.04987908620096203, 0.923304289278689]}}, {"xyz": [0.1137089059065631, -0.22167700529098516, -0.2805555220392053], "rgb": [167, 91, 41], "semantic_id": 4, "pcd_info": {"point_index": 671}, "mesh_info": {"face_index": 28, "face_uv": [0.8920441954992411, 0.014524608415226693, 0.09343119608553242]}}, {"xyz": [-0.1186790019273758, -0.2176505210332817, -0.2858189985054247], "rgb": [167, 91, 41], "semantic_id": 5, "pcd_info": {"point_index": 1519}, "mesh_info": {"face_index": 159, "face_uv": [0.023691890273366076, 0.019097620721025742, 0.9572104890056081]}}, {"xyz": [0.17642692873653382, -0.05172500014305115, -0.27982160248702503], "rgb": [169, 92, 39], "semantic_id": 6, "pcd_info": {"point_index": 1044}, "mesh_info": {"face_index": 181, "face_uv": [0.8898061990273656, 0.08556434189319262, 0.024629459079441796]}}, {"xyz": [0.18150507496389034, -0.05050308132592715, 0.0021979999728498623], "rgb": [175, 105, 54], "semantic_id": 7, "pcd_info": {"point_index": 331}, "mesh_info": {"face_index": 117, "face_uv": [0.007247451815233695, 0.007189787902903899, 0.9855627602817614]}}, {"xyz": [-0.17154327721854334, -0.05302379574976385, -0.2869429886341095], "rgb": [166, 87, 37], "semantic_id": 8, "pcd_info": {"point_index": 610}, "mesh_info": {"face_index": 27, "face_uv": [0.11996998955831488, 0.00764213170407827, 0.8723878787376068]}}, {"xyz": [-0.17874999344348907, -0.05294191056953457, 0.00019644386102091183], "rgb": [172, 92, 43], "semantic_id": 9, "pcd_info": {"point_index": 1746}, "mesh_info": {"face_index": 145, "face_uv": [0.9673715540618378, 0.008691609809701153, 0.02393683612846088]}}, {"xyz": [0.17325396207498578, -0.5297250151634216, -0.27839159894893295], "rgb": [170, 94, 39], "semantic_id": 17, "pcd_info": {"point_index": 1925}, "mesh_info": {"face_index": 50, "face_uv": [0.14441013815421352, 0.1676511461821763, 0.6879387156636102]}}, {"xyz": [0.17467009171868236, -0.5297250151634216, 0.0654915758909474], "rgb": [168, 94, 45], "semantic_id": 18, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 186, "face_uv": [0.8772970997413135, 0.11265887707421014, 0.01004402318447629]}}, {"xyz": [-0.1725824861949562, -0.5297250151634219, 0.07214776970342673], "rgb": [162, 91, 40], "semantic_id": 19, "pcd_info": {"point_index": 1603}, "mesh_info": {"face_index": 155, "face_uv": [0.024187483714751618, 0.10267030879419684, 0.873142207491052]}}, {"xyz": [-0.1730110702422784, -0.5297250151634214, -0.2808664770743604], "rgb": [170, 93, 39], "semantic_id": 20, "pcd_info": {"point_index": 1773}, "mesh_info": {"face_index": 0, "face_uv": [0.8973839450492881, 0.09553568297056017, 0.00708037198015142]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c65cd2f7588764872b70eac6546e93fd", "keypoints": [{"xyz": [0.29436365509286766, 0.2299246811269181, 0.22655936721491143], "rgb": [116, 97, 73], "semantic_id": 0, "pcd_info": {"point_index": 896}, "mesh_info": {"face_index": 337, "face_uv": [0.7143581348185819, 0.010130721324633114, 0.27551114385678505]}}, {"xyz": [-0.29886600375175487, 0.22502038572233474, 0.23230861385502022], "rgb": [118, 100, 78], "semantic_id": 1, "pcd_info": {"point_index": 257}, "mesh_info": {"face_index": 466, "face_uv": [0.11914081075159029, 0.5136306650709774, 0.3672285241774327]}}, {"xyz": [0.298939104772877, -0.0035215477424634933, 0.1819408321442002], "rgb": [94, 76, 56], "semantic_id": 2, "pcd_info": {"point_index": 466}, "mesh_info": {"face_index": 541, "face_uv": [0.9961327373172094, 0.0013711850527891912, 0.002496077630002395]}}, {"xyz": [-0.2907341471462757, -0.002586433476758021, 0.1820424163661125], "rgb": [168, 150, 130], "semantic_id": 3, "pcd_info": {"point_index": 593}, "mesh_info": {"face_index": 541, "face_uv": [0.008080827854830877, 0.00548807402380094, 0.9864310981213676]}}, {"xyz": [0.29181915437661765, -0.01303202009336421, -0.2379914778419756], "rgb": [128, 110, 86], "semantic_id": 4, "pcd_info": {"point_index": 191}, "mesh_info": {"face_index": 200, "face_uv": [0.9013228328310113, 0.014376502112952839, 0.08430066505603803]}}, {"xyz": [-0.2912460959380614, -0.010696075669271776, -0.23630191249005894], "rgb": [155, 137, 113], "semantic_id": 5, "pcd_info": {"point_index": 313}, "mesh_info": {"face_index": 208, "face_uv": [0.35942182367944225, 0.012714658713800448, 0.627863517606758]}}, {"xyz": [0.3242050249427674, 0.049625573294871494, -0.24537681774728226], "rgb": [111, 93, 69], "semantic_id": 6, "pcd_info": {"point_index": 1297}, "mesh_info": {"face_index": 916, "face_uv": [0.1484645730441605, 0.4252287013446117, 0.4263067256112283]}}, {"xyz": [0.3287379433265578, 0.05655200034379959, 0.3004463387544746], "rgb": [134, 117, 93], "semantic_id": 7, "pcd_info": {"point_index": 1758}, "mesh_info": {"face_index": 1404, "face_uv": [0.08290326511687733, 0.3948075516610241, 0.5222891832220985]}}, {"xyz": [-0.3243052574729746, 0.04557832486410496, -0.24770932764120224], "rgb": [120, 102, 82], "semantic_id": 8, "pcd_info": {"point_index": 1979}, "mesh_info": {"face_index": 1012, "face_uv": [0.17539341573560135, 0.5390290288244309, 0.2855775554399679]}}, {"xyz": [-0.3257924502993853, 0.0565520003437997, 0.29873732346154225], "rgb": [108, 90, 68], "semantic_id": 9, "pcd_info": {"point_index": 1219}, "mesh_info": {"face_index": 1342, "face_uv": [0.4948480118590963, 0.012336708254133683, 0.49281527988677193]}}, {"xyz": [0.3018844970193614, -0.2181130051612854, -0.17902253167737536], "rgb": [91, 56, 46], "semantic_id": 17, "pcd_info": {"point_index": 768}, "mesh_info": {"face_index": 14, "face_uv": [0.5263532428931003, 0.4175551337079254, 0.05609162339897443]}}, {"xyz": [0.30618900194613785, -0.2181130051612854, 0.2691877639135043], "rgb": [64, 35, 29], "semantic_id": 18, "pcd_info": {"point_index": 1756}, "mesh_info": {"face_index": 83, "face_uv": [0.1197974974911826, 0.39993406492910616, 0.4802684375797112]}}, {"xyz": [-0.30449108219557675, -0.2181130051612854, 0.25866501303926537], "rgb": [87, 50, 41], "semantic_id": 19, "pcd_info": {"point_index": 2032}, "mesh_info": {"face_index": 113, "face_uv": [0.002083381833303748, 0.48164864496554, 0.5162679732011561]}}, {"xyz": [-0.3040980942869831, -0.21811300516128518, -0.19182141850836165], "rgb": [84, 50, 39], "semantic_id": 20, "pcd_info": {"point_index": 165}, "mesh_info": {"face_index": 103, "face_uv": [0.07319515491141149, 0.4409488007667638, 0.4858560443218238]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2828b98d980480cec3bd24f986301745", "keypoints": [{"xyz": [0.21037399768829346, 0.19031103460369825, 0.26109624933478104], "rgb": [149, 84, 42], "semantic_id": 0, "pcd_info": {"point_index": 923}, "mesh_info": {"face_index": 3486, "face_uv": [0.033517702625891564, 0.9650897546191591, 0.0013925427549493397]}}, {"xyz": [-0.20655684140025654, 0.1895469337672271, 0.25922102559578464], "rgb": [158, 95, 51], "semantic_id": 1, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 3396, "face_uv": [0.9727452445018301, 0.018943739891988526, 0.00831101560618171]}}, {"xyz": [0.2103739976882933, -0.13419644762932814, 0.2020879285914825], "rgb": [219, 217, 191], "semantic_id": 2, "pcd_info": {"point_index": 542}, "mesh_info": {"face_index": 3356, "face_uv": [0.9584585913624951, 0.025177573037716273, 0.016363835599787782]}}, {"xyz": [-0.21005100011825567, -0.13943473251567795, 0.20988681291374833], "rgb": [217, 214, 188], "semantic_id": 3, "pcd_info": {"point_index": 1685}, "mesh_info": {"face_index": 2142, "face_uv": [0.1567518653621889, 0.04446742656023193, 0.7987807080775794]}}, {"xyz": [0.20325365628856557, -0.077865456309816, -0.28112040709803576], "rgb": [220, 220, 195], "semantic_id": 4, "pcd_info": {"point_index": 656}, "mesh_info": {"face_index": 2119, "face_uv": [0.08920249193814395, 0.8938614518404697, 0.01693605622138598]}}, {"xyz": [-0.2098901708320136, -0.07683304663930834, -0.2791868018811797], "rgb": [221, 221, 195], "semantic_id": 5, "pcd_info": {"point_index": 2024}, "mesh_info": {"face_index": 3443, "face_uv": [0.00038253978017738395, 0.6342776693794325, 0.36533979084039]}}, {"xyz": [0.22914898180208987, 0.024188999086618423, -0.2872212374156563], "rgb": [150, 84, 36], "semantic_id": 6, "pcd_info": {"point_index": 776}, "mesh_info": {"face_index": 1325, "face_uv": [0.01456788339430225, 0.5065036927825043, 0.47892842382319356]}}, {"xyz": [0.23937201369549765, 0.0241889990866182, 0.29182297435995297], "rgb": [156, 92, 44], "semantic_id": 7, "pcd_info": {"point_index": 37}, "mesh_info": {"face_index": 3628, "face_uv": [0.664402317738325, 0.00873221559839712, 0.3268654666632686]}}, {"xyz": [-0.2427498036863095, 0.024188999086618423, -0.29089744066940365], "rgb": [145, 78, 33], "semantic_id": 8, "pcd_info": {"point_index": 1390}, "mesh_info": {"face_index": 766, "face_uv": [0.005260033122458216, 0.3737338915956483, 0.6210060752818938]}}, {"xyz": [-0.22938312557113189, 0.024188999086618423, 0.2953842728924548], "rgb": [153, 89, 43], "semantic_id": 9, "pcd_info": {"point_index": 1051}, "mesh_info": {"face_index": 345, "face_uv": [0.7228010340506186, 0.0036786164485214626, 0.2735203495008599]}}, {"xyz": [0.22885611283430526, -0.41451498866081227, -0.2636638640496607], "rgb": [150, 85, 37], "semantic_id": 17, "pcd_info": {"point_index": 1207}, "mesh_info": {"face_index": 196, "face_uv": [0.6814581278245231, 0.21276499637793683, 0.10577687579753978]}}, {"xyz": [0.23163689549129524, -0.4145149886608124, 0.26941715972188374], "rgb": [149, 84, 40], "semantic_id": 18, "pcd_info": {"point_index": 214}, "mesh_info": {"face_index": 76, "face_uv": [0.11569841944144843, 0.12203391636898785, 0.7622676641895637]}}, {"xyz": [-0.22821686978366656, -0.4145149886608124, 0.26928606406099387], "rgb": [155, 88, 40], "semantic_id": 19, "pcd_info": {"point_index": 1954}, "mesh_info": {"face_index": 1894, "face_uv": [0.2166821286717052, 0.12490259407764323, 0.6584152772506515]}}, {"xyz": [-0.23008505325118528, -0.4145149886608124, -0.2644183750161257], "rgb": [159, 86, 41], "semantic_id": 20, "pcd_info": {"point_index": 1585}, "mesh_info": {"face_index": 135, "face_uv": [0.20532035116486647, 0.19625455381858567, 0.5984250950165478]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fc723b936f8d8443492d9da2668ec34c", "keypoints": [{"xyz": [0.17384893804291807, 0.29761547067175553, 0.15062814541334224], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1695}, "mesh_info": {"face_index": 2789, "face_uv": [0.7392744378565115, 0.06654665313204054, 0.194178909011448]}}, {"xyz": [-0.1819542246396597, 0.28621013588436517, 0.15436152739160636], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 3404, "face_uv": [0.4986701471763705, 0.24521529172564913, 0.25611456109798025]}}, {"xyz": [0.2033909750847337, 0.03787645222732117, 0.03691044380623369], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 5732, "face_uv": [0.0038922276839250163, 0.016697135194410375, 0.9794106371216578]}}, {"xyz": [-0.1941458963353642, 0.03753965698111572, 0.04365895892602112], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 137}, "mesh_info": {"face_index": 4438, "face_uv": [0.3030735085072134, 0.09415778942326818, 0.6027687020695605]}}, {"xyz": [0.1594847800274128, 0.03967870798814266, -0.25002704139168375], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 352}, "mesh_info": {"face_index": 5830, "face_uv": [0.18062166515710704, 0.4633954992362673, 0.355982835606623]}}, {"xyz": [-0.1646343596969898, 0.041509139647589066, -0.24184203389217965], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1561}, "mesh_info": {"face_index": 4773, "face_uv": [0.12078448842281055, 0.877184264456854, 0.0020312471203345083]}}, {"xyz": [0.24329432694644165, -0.39563112169901593, -0.19537095718979403], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 857}, "mesh_info": {"face_index": 2630, "face_uv": [0.001282665759243252, 0.5368992558174068, 0.46181807842334943]}}, {"xyz": [0.24043746496011603, -0.3945049896467112, 0.16770886278076336], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1606}, "mesh_info": {"face_index": 2694, "face_uv": [0.08630734136729803, 0.6503177170227125, 0.26337494160998925]}}, {"xyz": [-0.24114394843697, -0.39103299379348755, 0.16471494110161505], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 591}, "mesh_info": {"face_index": 775, "face_uv": [0.3919495444575468, 0.388472913458849, 0.2195775420836042]}}, {"xyz": [-0.24876009560151863, -0.3970945068681586, -0.19913809684656542], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1709}, "mesh_info": {"face_index": 671, "face_uv": [0.3895143255198962, 0.4533093273869286, 0.15717634709317674]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3f8d0d53e2bd74124b3c42e318f3affc", "keypoints": [{"xyz": [0.18413538633313586, 0.2926943497218335, 0.07255247551705013], "rgb": [104, 99, 105], "semantic_id": 0, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 735, "face_uv": [0.03681659451749793, 0.6780175010328787, 0.2851659044496236]}}, {"xyz": [-0.1760519115314918, 0.29108463613376195, 0.08114382322141633], "rgb": [108, 103, 109], "semantic_id": 1, "pcd_info": {"point_index": 1905}, "mesh_info": {"face_index": 640, "face_uv": [0.6967140180899734, 0.02386266320687426, 0.2794233187031522]}}, {"xyz": [0.17068317621618145, -0.10382440447457952, -0.04761007387294969], "rgb": [125, 120, 126], "semantic_id": 2, "pcd_info": {"point_index": 1633}, "mesh_info": {"face_index": 1539, "face_uv": [0.05593416817146276, 0.012009408573282703, 0.9320564232552536]}}, {"xyz": [-0.16777010403152193, -0.10417900234460836, -0.03636350125983889], "rgb": [123, 118, 124], "semantic_id": 3, "pcd_info": {"point_index": 825}, "mesh_info": {"face_index": 1511, "face_uv": [0.7798874667411232, 0.030260835307921684, 0.1898516979509556]}}, {"xyz": [0.1671036636611628, -0.10936784020608581, -0.38098248531179446], "rgb": [120, 112, 115], "semantic_id": 4, "pcd_info": {"point_index": 330}, "mesh_info": {"face_index": 1528, "face_uv": [0.08627071064538816, 0.016459015985295058, 0.897270273369317]}}, {"xyz": [-0.18104420962537338, -0.10659837440003417, -0.3813059181728593], "rgb": [95, 90, 95], "semantic_id": 5, "pcd_info": {"point_index": 1678}, "mesh_info": {"face_index": 1532, "face_uv": [0.9597750108773395, 0.012216725251059619, 0.028008263871600922]}}, {"xyz": [0.16728458993535228, -0.44575700163841225, -0.36724095323866435], "rgb": [173, 158, 133], "semantic_id": 17, "pcd_info": {"point_index": 1487}, "mesh_info": {"face_index": 42, "face_uv": [0.010957666277411725, 0.3675408064081884, 0.6215015273143993]}}, {"xyz": [0.16514114905369703, -0.4599960148334503, 0.044225541434728455], "rgb": [165, 133, 103], "semantic_id": 18, "pcd_info": {"point_index": 1805}, "mesh_info": {"face_index": 60, "face_uv": [0.4708363178404954, 0.2787240852729727, 0.2504395968865319]}}, {"xyz": [-0.17014111525030248, -0.4599960148334503, 0.047889558034971746], "rgb": [175, 144, 116], "semantic_id": 19, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 286, "face_uv": [0.38587641475846346, 0.5247158808144845, 0.08940770442705205]}}, {"xyz": [-0.17505558671963253, -0.4457570016384125, -0.3700960901511313], "rgb": [173, 158, 133], "semantic_id": 20, "pcd_info": {"point_index": 1969}, "mesh_info": {"face_index": 14, "face_uv": [0.10600550827717471, 0.40744933024102403, 0.48654516148180127]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "37b8604d852791651a648655355dc699", "keypoints": [{"xyz": [0.1762334614360851, 0.2384109944105146, 0.19560932267209363], "rgb": [74, 74, 74], "semantic_id": 0, "pcd_info": {"point_index": 1731}, "mesh_info": {"face_index": 3134, "face_uv": [0.37362176573092193, 0.6023049423787947, 0.024073291890282407]}}, {"xyz": [-0.19210291056562318, 0.23841099441051528, 0.19412661072280857], "rgb": [65, 65, 65], "semantic_id": 1, "pcd_info": {"point_index": 1527}, "mesh_info": {"face_index": 3133, "face_uv": [0.0016877454368339193, 0.4224370255123046, 0.5758752290508633]}}, {"xyz": [0.17553889383093407, -0.03655299916863419, 0.07427200658603783], "rgb": [87, 87, 87], "semantic_id": 2, "pcd_info": {"point_index": 1716}, "mesh_info": {"face_index": 2186, "face_uv": [0.7772245538506034, 0.19751493189189723, 0.02526051425749332]}}, {"xyz": [-0.17509648427940547, -0.036552999168634415, 0.07721757343270297], "rgb": [54, 54, 54], "semantic_id": 3, "pcd_info": {"point_index": 700}, "mesh_info": {"face_index": 2496, "face_uv": [0.8218354612182491, 0.03705517125498689, 0.1411093675267638]}}, {"xyz": [0.16260124034238221, -0.036552999168634415, -0.24941052072006942], "rgb": [101, 101, 101], "semantic_id": 4, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 2294, "face_uv": [0.017373432945549803, 0.10678582686527506, 0.8758407401891753]}}, {"xyz": [-0.17875046139179623, -0.036552999168634415, -0.2485298692777087], "rgb": [86, 86, 86], "semantic_id": 5, "pcd_info": {"point_index": 1560}, "mesh_info": {"face_index": 2680, "face_uv": [0.015379047236360993, 0.5670250568475578, 0.41759589591608115]}}, {"xyz": [0.23193564069287972, 0.15507797959716307, -0.19761774498818963], "rgb": [70, 70, 70], "semantic_id": 6, "pcd_info": {"point_index": 1985}, "mesh_info": {"face_index": 1675, "face_uv": [0.4753484845458638, 0.035597264268680255, 0.48905425118545764]}}, {"xyz": [0.2323400310419228, 0.16107699275016762, 0.19719845662586333], "rgb": [96, 96, 96], "semantic_id": 7, "pcd_info": {"point_index": 254}, "mesh_info": {"face_index": 1342, "face_uv": [0.6329207724768096, 0.05428506035581172, 0.3127941671673774]}}, {"xyz": [-0.24154786760452562, 0.1572420396733223, -0.19266311410551062], "rgb": [141, 141, 141], "semantic_id": 8, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 1715, "face_uv": [0.026696151485732265, 0.4475860428898094, 0.5257178056244579]}}, {"xyz": [-0.23618136324925837, 0.16107699275016785, 0.2160140726911819], "rgb": [97, 97, 97], "semantic_id": 9, "pcd_info": {"point_index": 1519}, "mesh_info": {"face_index": 1333, "face_uv": [0.07892832678867528, 0.008424323355077914, 0.912647349856247]}}, {"xyz": [0.19451270413786512, -0.4318149983882906, -0.16870366890903898], "rgb": [177, 177, 177], "semantic_id": 17, "pcd_info": {"point_index": 649}, "mesh_info": {"face_index": 4898, "face_uv": [0.5180889508255176, 0.09461677628985149, 0.38729427288463136]}}, {"xyz": [0.19509752625020474, -0.4318149983882902, 0.1650118613349114], "rgb": [176, 176, 176], "semantic_id": 18, "pcd_info": {"point_index": 1437}, "mesh_info": {"face_index": 5451, "face_uv": [0.45559192142932, 0.10743622893993035, 0.4369718496307492]}}, {"xyz": [-0.20613233582848792, -0.4318149983882904, 0.16046889062776354], "rgb": [166, 166, 166], "semantic_id": 19, "pcd_info": {"point_index": 1285}, "mesh_info": {"face_index": 5275, "face_uv": [0.0945529999281533, 0.33423152054833244, 0.5712154795235143]}}, {"xyz": [-0.21029086284647105, -0.4318149983882906, -0.16642019175600486], "rgb": [177, 177, 177], "semantic_id": 20, "pcd_info": {"point_index": 1733}, "mesh_info": {"face_index": 5074, "face_uv": [0.3991753083389888, 0.5502672453967178, 0.05055744626429391]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "17d7a3e8badbd881fceff3d071111703", "keypoints": [{"xyz": [0.13459952450686039, 0.5577101072393694, 0.020665651620128955], "rgb": [35, 17, 0], "semantic_id": 0, "pcd_info": {"point_index": 1724}, "mesh_info": {"face_index": 12, "face_uv": [0.7517959339301051, 0.0007926719418996663, 0.24741139412799565]}}, {"xyz": [-0.14789771762543297, 0.557790994644165, 0.016229769059061316], "rgb": [107, 13, 24], "semantic_id": 1, "pcd_info": {"point_index": 951}, "mesh_info": {"face_index": 141, "face_uv": [0.9488205247688769, 0.0024780997212823313, 0.048701375509840696]}}, {"xyz": [0.10028122214957097, 0.03714900091290474, 0.03827188258742287], "rgb": [93, 23, 24], "semantic_id": 2, "pcd_info": {"point_index": 343}, "mesh_info": {"face_index": 285, "face_uv": [0.8580789387013097, 0.10861726699356819, 0.03330379430512224]}}, {"xyz": [-0.09205936932031669, 0.040163865856842396, 0.06276984150526754], "rgb": [150, 102, 62], "semantic_id": 3, "pcd_info": {"point_index": 453}, "mesh_info": {"face_index": 1898, "face_uv": [0.02041745956286568, 0.22897971851437687, 0.750602821922758]}}, {"xyz": [0.1426967268338406, 0.015013603191313396, -0.1822301774743873], "rgb": [24, 3, 55], "semantic_id": 4, "pcd_info": {"point_index": 1502}, "mesh_info": {"face_index": 228, "face_uv": [0.9756622486137976, 0.014070158807664393, 0.010267592578537474]}}, {"xyz": [-0.13543461224659542, 0.012442278935945517, -0.18247899413108826], "rgb": [31, 12, 17], "semantic_id": 5, "pcd_info": {"point_index": 1406}, "mesh_info": {"face_index": 208, "face_uv": [0.13644888175228273, 0.02209845264093327, 0.841452665606784]}}, {"xyz": [0.12499194835914676, -0.3228357482548741, -0.17011499404907227], "rgb": [159, 108, 64], "semantic_id": 17, "pcd_info": {"point_index": 710}, "mesh_info": {"face_index": 1139, "face_uv": [0.003285678453796441, 0.5812599865313868, 0.41545433501481666]}}, {"xyz": [0.12320049716399029, -0.3285801911629167, 0.03659500181674957], "rgb": [159, 110, 67], "semantic_id": 18, "pcd_info": {"point_index": 1072}, "mesh_info": {"face_index": 1866, "face_uv": [0.16287325442541387, 0.520828625280926, 0.31629812029366017]}}, {"xyz": [-0.11761561590837621, -0.3288620471329738, 0.036595001816749795], "rgb": [161, 112, 68], "semantic_id": 19, "pcd_info": {"point_index": 1191}, "mesh_info": {"face_index": 1507, "face_uv": [0.4697634028953432, 0.38805305763095993, 0.14218353947370305]}}, {"xyz": [-0.11879763333601423, -0.3300250058188007, -0.17011499404907238], "rgb": [160, 112, 68], "semantic_id": 20, "pcd_info": {"point_index": 329}, "mesh_info": {"face_index": 786, "face_uv": [0.05681623749421539, 0.4554313411624151, 0.48775242134337016]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "47b37ce8f304dd0bbababe11fcea8796", "keypoints": [{"xyz": [0.1958399156020561, 0.2509193689540281, 0.17321798221192963], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1217}, "mesh_info": {"face_index": 10672, "face_uv": [0.2154935058313887, 0.08341913030618281, 0.7010873638624296]}}, {"xyz": [-0.18113211638031304, 0.25453504337018895, 0.17451347271341866], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1987}, "mesh_info": {"face_index": 12200, "face_uv": [0.5156816088887105, 0.3524409416487292, 0.1318774494625599]}}, {"xyz": [0.18822263155800883, -0.10459431124133711, 0.028190272934902616], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1736}, "mesh_info": {"face_index": 11278, "face_uv": [0.044102688703571376, 0.6978147221969166, 0.2580825890995115]}}, {"xyz": [-0.17446549088375454, -0.11251130709672597, 0.029678136052857962], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1180}, "mesh_info": {"face_index": 22981, "face_uv": [0.16048643354813943, 0.8262702865323724, 0.01324327991948776]}}, {"xyz": [0.19165209793634103, -0.1282682686211014, -0.34435488888102894], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 22394, "face_uv": [0.19127868257514202, 0.04541701738192383, 0.7633043000429348]}}, {"xyz": [-0.18530778436994141, -0.12920256123828455, -0.3439161399120493], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1837}, "mesh_info": {"face_index": 22718, "face_uv": [0.6821873061142865, 0.1438332644272409, 0.17397942945847292]}}, {"xyz": [0.21996341961670982, -0.020912362351296565, -0.284265685663204], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 923}, "mesh_info": {"face_index": 362, "face_uv": [0.35674368344402907, 0.6212462550171799, 0.022010061538794146]}}, {"xyz": [0.2185893745500221, -0.034353038004288905, 0.04059374573164992], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 138, "face_uv": [0.05959370571560235, 0.43884494244585726, 0.5015613518385422]}}, {"xyz": [-0.20149853020108022, -0.035631981220391795, -0.3066348470538258], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 737}, "mesh_info": {"face_index": 795, "face_uv": [0.0014912121866089661, 0.47728198720255094, 0.521226800610841]}}, {"xyz": [-0.20524143815602125, -0.035138096914982375, 0.04153332294169501], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 709}, "mesh_info": {"face_index": 320, "face_uv": [0.11352144488605602, 0.6409708111413186, 0.2455077439727478]}}, {"xyz": [0.21811676587355822, -0.3695706012835207, -0.41397843365496284], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1496}, "mesh_info": {"face_index": 915, "face_uv": [0.4525764693632517, 0.006937097415703615, 0.5404864332210447]}}, {"xyz": [0.2188354103053232, -0.3642489850497268, 0.1807866009618213], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 625}, "mesh_info": {"face_index": 96, "face_uv": [0.5719149543823261, 0.3996924744943298, 0.028392571123340864]}}, {"xyz": [-0.19758455524716662, -0.37106499075889565, 0.18568032548891888], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1544}, "mesh_info": {"face_index": 168, "face_uv": [0.20424792995447327, 0.30611187966889664, 0.48964019037662954]}}, {"xyz": [-0.19856379610874597, -0.37106499075889565, -0.4219424828308237], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 999, "face_uv": [0.4414714617682929, 0.34893708053286665, 0.20959145769883983]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7ee09fdece7d9142afdb9a672b7d3b8a", "keypoints": [{"xyz": [0.1744085907205663, 0.32533083170183175, 0.08257103142442834], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1411}, "mesh_info": {"face_index": 184, "face_uv": [0.5175492850720608, 0.35096249532077856, 0.13148821960716112]}}, {"xyz": [-0.1743076587372436, 0.325425995506635, 0.08518996966741332], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 111, "face_uv": [0.1356650027464688, 0.5826731165826741, 0.2816618806708574]}}, {"xyz": [0.1687339849787307, -0.10210300236940384, 0.05708028782700253], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1866}, "mesh_info": {"face_index": 69, "face_uv": [0.024923189195652215, 0.9631282429258763, 0.011948567878471612]}}, {"xyz": [-0.16724668148553468, -0.10210300236940384, 0.05554151553461728], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1526}, "mesh_info": {"face_index": 181, "face_uv": [0.9291434589430478, 0.041745793555634375, 0.02911074750131783]}}, {"xyz": [0.15307303106854658, -0.11438703215387935, -0.2469870001077652], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1721}, "mesh_info": {"face_index": 124, "face_uv": [0.03827395458794648, 0.2766860078818086, 0.6850400375302449]}}, {"xyz": [-0.16517842805723026, -0.10996410219745756, -0.2469870001077651], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 127, "face_uv": [0.019620091937866114, 0.8229362540513053, 0.1574436540108281]}}, {"xyz": [0.15918763155758847, -0.4646739959716796, -0.2290243883337218], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 2023}, "mesh_info": {"face_index": 130, "face_uv": [0.011041983598531365, 0.4551645345346716, 0.5337934818667968]}}, {"xyz": [0.15750098764088055, -0.4646739959716797, 0.08697441909779036], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 185, "face_uv": [0.04640015140409563, 0.46254516790853656, 0.4910546806873678]}}, {"xyz": [-0.1572944110183871, -0.4646739959716797, 0.0929873183021197], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 726}, "mesh_info": {"face_index": 88, "face_uv": [0.48582012162626026, 0.38508683431587687, 0.12909304405786282]}}, {"xyz": [-0.159135633320093, -0.4646739959716797, -0.22242086080254325], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1707}, "mesh_info": {"face_index": 67, "face_uv": [0.5324758698255203, 0.37750503641496364, 0.09001909375951596]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8d2fd4b9c583e1e6a12cdfe22cdc2f5d", "keypoints": [{"xyz": [0.18830269916194992, 0.5464811399462142, 0.10985036980687513], "rgb": [205, 178, 132], "semantic_id": 0, "pcd_info": {"point_index": 1740}, "mesh_info": {"face_index": 496, "face_uv": [0.3139953917140202, 0.3463227589264544, 0.33968184935952545]}}, {"xyz": [-0.18360297882939375, 0.5465559033901184, 0.11059400305672296], "rgb": [195, 159, 108], "semantic_id": 1, "pcd_info": {"point_index": 1894}, "mesh_info": {"face_index": 876, "face_uv": [0.23526394924010666, 0.3916568966245829, 0.37307915413531045]}}, {"xyz": [0.16127342694405586, 0.14399022568731445, 0.0775871353918196], "rgb": [207, 190, 147], "semantic_id": 2, "pcd_info": {"point_index": 1040}, "mesh_info": {"face_index": 391, "face_uv": [0.14599104405727303, 0.7067792650457747, 0.14722969089695628]}}, {"xyz": [-0.15881055561206292, 0.14216748313764827, 0.07627728648316245], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1336}, "mesh_info": {"face_index": 2356, "face_uv": [0.2662841067175182, 0.00483262378676518, 0.7288832694957157]}}, {"xyz": [0.18388359816900965, 0.1424155711926558, -0.2202019989490509], "rgb": [196, 167, 122], "semantic_id": 4, "pcd_info": {"point_index": 1602}, "mesh_info": {"face_index": 792, "face_uv": [0.16739572404431172, 0.005766642893058652, 0.8268376330626297]}}, {"xyz": [-0.17761934616959338, 0.13873178463344926, -0.2202019989490509], "rgb": [201, 171, 120], "semantic_id": 5, "pcd_info": {"point_index": 873}, "mesh_info": {"face_index": 1175, "face_uv": [0.10639139432051424, 0.7161535307739018, 0.177455074905584]}}, {"xyz": [0.20563068794334438, -0.27305901050567627, -0.20135317258111063], "rgb": [203, 171, 118], "semantic_id": 17, "pcd_info": {"point_index": 840}, "mesh_info": {"face_index": 1917, "face_uv": [0.18730215540300904, 0.4123149433508266, 0.4003829012461645]}}, {"xyz": [0.12386729645121, -0.2730590105056758, 0.06825011467740075], "rgb": [202, 178, 130], "semantic_id": 18, "pcd_info": {"point_index": 319}, "mesh_info": {"face_index": 938, "face_uv": [0.4386407132684315, 0.3924477594440123, 0.16891152728755454]}}, {"xyz": [-0.12972589161845435, -0.2730590105056767, 0.07914703819259433], "rgb": [194, 168, 117], "semantic_id": 19, "pcd_info": {"point_index": 1065}, "mesh_info": {"face_index": 1014, "face_uv": [0.717515989843557, 0.2788261997255421, 0.0036578104309024323]}}, {"xyz": [-0.19826953057932478, -0.27305901050567627, -0.2027353659308641], "rgb": [199, 175, 131], "semantic_id": 20, "pcd_info": {"point_index": 593}, "mesh_info": {"face_index": 2026, "face_uv": [0.007405510146799389, 0.5371843234262251, 0.4554101664269755]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d93760fda8d73aaece101336817a135f", "keypoints": [{"xyz": [0.1523644246332158, 0.3457380006375277, 0.17265261787102748], "rgb": [220, 218, 194], "semantic_id": 0, "pcd_info": {"point_index": 969}, "mesh_info": {"face_index": 1862, "face_uv": [0.024392566472599034, 0.6358758225449537, 0.33973161098244675]}}, {"xyz": [-0.14004710417714417, 0.35301164902519866, 0.17558409985911405], "rgb": [224, 222, 197], "semantic_id": 1, "pcd_info": {"point_index": 1443}, "mesh_info": {"face_index": 1737, "face_uv": [0.42875951391373573, 0.10648098018215621, 0.46475950590410847]}}, {"xyz": [0.17696265930949817, -0.050970518597155845, 0.10534716653239184], "rgb": [222, 219, 193], "semantic_id": 2, "pcd_info": {"point_index": 184}, "mesh_info": {"face_index": 817, "face_uv": [0.23278406092506587, 0.4336111555906874, 0.33360478348424444]}}, {"xyz": [-0.17803853129860825, -0.051586514771593484, 0.10755092640510922], "rgb": [218, 216, 191], "semantic_id": 3, "pcd_info": {"point_index": 545}, "mesh_info": {"face_index": 1258, "face_uv": [0.008492365259913131, 0.899145378713019, 0.09236225602706552]}}, {"xyz": [0.1714751332588623, -0.042353280463035325, -0.2562358154633875], "rgb": [221, 220, 194], "semantic_id": 4, "pcd_info": {"point_index": 1441}, "mesh_info": {"face_index": 114, "face_uv": [0.5046694685779052, 0.49062964929997566, 0.004700882122118806]}}, {"xyz": [-0.17850529026379303, -0.027474315399785065, -0.2536434725917205], "rgb": [218, 216, 186], "semantic_id": 5, "pcd_info": {"point_index": 651}, "mesh_info": {"face_index": 2059, "face_uv": [0.7787594637520189, 0.011451554010340457, 0.209788982237641]}}, {"xyz": [0.1901272040060884, -0.36081615968823744, -0.25154272245806286], "rgb": [214, 212, 183], "semantic_id": 17, "pcd_info": {"point_index": 1758}, "mesh_info": {"face_index": 661, "face_uv": [0.1604472758545091, 0.4784328319272569, 0.3611198922182341]}}, {"xyz": [0.19554939934706717, -0.36080154341870585, 0.12357752915908671], "rgb": [221, 218, 191], "semantic_id": 18, "pcd_info": {"point_index": 318}, "mesh_info": {"face_index": 698, "face_uv": [0.14024515980222785, 0.3187203549373567, 0.5410344852604154]}}, {"xyz": [-0.18848203451197879, -0.36079876639162445, 0.1229184888005197], "rgb": [221, 218, 191], "semantic_id": 19, "pcd_info": {"point_index": 931}, "mesh_info": {"face_index": 1093, "face_uv": [0.244924363657995, 0.480807958270139, 0.27426767807186697]}}, {"xyz": [-0.1915448097067933, -0.36081326198391306, -0.25038953035896216], "rgb": [221, 219, 196], "semantic_id": 20, "pcd_info": {"point_index": 1196}, "mesh_info": {"face_index": 619, "face_uv": [0.1962810277954064, 0.5371325783313572, 0.26658639387323674]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "249b40a630dd751f8023b347a089645c", "keypoints": [{"xyz": [0.17587681408827943, 0.3367407235747595, 0.19470440626178803], "rgb": [28, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 1386}, "mesh_info": {"face_index": 1901, "face_uv": [0.13175016904427916, 0.0025340660801797072, 0.865715764875541]}}, {"xyz": [-0.1698007709922048, 0.3360829111672734, 0.20216182411532702], "rgb": [28, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 180}, "mesh_info": {"face_index": 1883, "face_uv": [0.251519053926667, 0.022193294952072038, 0.7262876511212604]}}, {"xyz": [0.17468793756576667, 0.012542130845773825, 0.10248040214449627], "rgb": [28, 28, 28], "semantic_id": 2, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 1603, "face_uv": [0.9624689957201528, 0.005888286294507513, 0.03164271798533477]}}, {"xyz": [-0.1746705495174532, 0.01225811602859217, 0.10174992042583542], "rgb": [29, 29, 29], "semantic_id": 3, "pcd_info": {"point_index": 1087}, "mesh_info": {"face_index": 1600, "face_uv": [0.15009657607766555, 0.008454013151659215, 0.8414494107706777]}}, {"xyz": [0.22023397473918438, 0.0026040791263304275, -0.29578261744298007], "rgb": [29, 29, 29], "semantic_id": 4, "pcd_info": {"point_index": 1700}, "mesh_info": {"face_index": 1777, "face_uv": [0.42111303142941026, 0.5769774175178339, 0.0019095510527557442]}}, {"xyz": [-0.21802580164668384, 0.005177792059078534, -0.29287108324290134], "rgb": [28, 28, 28], "semantic_id": 5, "pcd_info": {"point_index": 571}, "mesh_info": {"face_index": 1751, "face_uv": [0.4425295224852851, 0.008906859363094734, 0.5485636181516187]}}, {"xyz": [0.17661392283657457, -0.387786000967026, -0.2615501048456077], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 2011, "face_uv": [0.18146016649612343, 0.00045443458197737876, 0.8180853989218998]}}, {"xyz": [0.17330405628589327, -0.3877860009670253, 0.2163589022566578], "rgb": [28, 28, 28], "semantic_id": 18, "pcd_info": {"point_index": 1296}, "mesh_info": {"face_index": 2044, "face_uv": [0.4109693709938384, 0.009792680464371354, 0.5792379485417891]}}, {"xyz": [-0.1766282367181622, -0.38778600096702576, 0.2169533412378657], "rgb": [29, 29, 29], "semantic_id": 19, "pcd_info": {"point_index": 1189}, "mesh_info": {"face_index": 2035, "face_uv": [0.3843023521810941, 0.0029307196408441547, 0.6127669281780618]}}, {"xyz": [-0.17348613425310166, -0.38778600096702576, -0.26186151634987054], "rgb": [29, 29, 29], "semantic_id": 20, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 2023, "face_uv": [0.8403672364041251, 0.011795646657425683, 0.14783711693844923]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3f7c81bc7eab161e19fb4103277a6b93", "keypoints": [{"xyz": [0.1848965525221975, 0.45242815050690977, 0.20753615993772634], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 83734, "face_uv": [0.045085707610316175, 0.6742065725050166, 0.2807077198846679]}}, {"xyz": [-0.1701532053055633, 0.45360121024068756, 0.20749533852594926], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 86548, "face_uv": [0.034312123073501906, 0.9034742728301756, 0.062213604096322615]}}, {"xyz": [0.1894629234614189, 0.18882571229169454, 0.05945363233677492], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1517}, "mesh_info": {"face_index": 95203, "face_uv": [0.17015183669313533, 0.5769998056113456, 0.25284835769552005]}}, {"xyz": [-0.18833152549085047, 0.19026424661780705, 0.05214286204452534], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 112}, "mesh_info": {"face_index": 92017, "face_uv": [0.26295939712306643, 0.3827153533498472, 0.35432524952708616]}}, {"xyz": [0.1969975126424212, 0.19481445328232017, -0.2702734857314354], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 1055}, "mesh_info": {"face_index": 94836, "face_uv": [0.5875921454965949, 0.0008947683926722827, 0.411513086110733]}}, {"xyz": [-0.1956184151508865, 0.1960161884580287, -0.268937515568325], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 95273, "face_uv": [0.5606499225843871, 0.3761590043638211, 0.06319107305179213]}}, {"xyz": [0.22976576514694305, 0.30901615340407884, -0.28419787670273067], "rgb": [166, 72, 19], "semantic_id": 6, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 36559, "face_uv": [0.07700198604762679, 0.25319169445608597, 0.6698063194962877]}}, {"xyz": [0.23797837541466701, 0.33156259886380524, 0.17997225006113116], "rgb": [164, 75, 19], "semantic_id": 7, "pcd_info": {"point_index": 1347}, "mesh_info": {"face_index": 37557, "face_uv": [0.25598363659913703, 0.25051338343878754, 0.4935029799620758]}}, {"xyz": [-0.2480450171581908, 0.30902894975260675, -0.28414634724793797], "rgb": [163, 72, 20], "semantic_id": 8, "pcd_info": {"point_index": 1814}, "mesh_info": {"face_index": 76984, "face_uv": [0.6128884811690106, 0.3430295885734756, 0.04408193025751402]}}, {"xyz": [-0.2425872743547843, 0.3283422390400319, 0.2038403670979958], "rgb": [164, 76, 19], "semantic_id": 9, "pcd_info": {"point_index": 1901}, "mesh_info": {"face_index": 77863, "face_uv": [0.648762616830672, 0.28927901330323114, 0.06195836986609695]}}, {"xyz": [0.2420497676780109, -0.1447820067405703, -0.24535810919098225], "rgb": [198, 198, 198], "semantic_id": 17, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 7418, "face_uv": [0.6292336105186069, 0.3634934422773921, 0.007272947204002561]}}, {"xyz": [0.23021106056313936, -0.14477684999203966, 0.2108222860874963], "rgb": [198, 198, 198], "semantic_id": 18, "pcd_info": {"point_index": 1960}, "mesh_info": {"face_index": 21956, "face_uv": [0.19098429130589112, 0.7219910980119775, 0.08702461068213524]}}, {"xyz": [-0.24097632377047273, -0.1116651485334963, 0.19981570858326891], "rgb": [198, 198, 198], "semantic_id": 19, "pcd_info": {"point_index": 512}, "mesh_info": {"face_index": 53380, "face_uv": [0.08317345718182675, 0.4003016936086499, 0.5165248492095235]}}, {"xyz": [-0.22623362820160386, -0.1284109950065615, -0.2510488477565732], "rgb": [198, 198, 198], "semantic_id": 20, "pcd_info": {"point_index": 1005}, "mesh_info": {"face_index": 63249, "face_uv": [0.19613935999626264, 0.6172965305048058, 0.18656410949893332]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "29d5a6ae911ef708f51f77a6d7299806", "keypoints": [{"xyz": [0.20841576224850605, 0.23899604141906994, 0.14014254049648334], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 689}, "mesh_info": {"face_index": 230, "face_uv": [0.023524161303781974, 0.29644225566107973, 0.6800335830351378]}}, {"xyz": [-0.2534339651385241, 0.23849044142218534, 0.1419103709517584], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 388}, "mesh_info": {"face_index": 2598, "face_uv": [0.24140437181470495, 0.16549471642223837, 0.5931009117630404]}}, {"xyz": [0.2046396170439815, -0.2177465922850912, 0.0951044092923663], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1584}, "mesh_info": {"face_index": 407, "face_uv": [0.17726072693899092, 0.8196284242708484, 0.003110848790160495]}}, {"xyz": [-0.2522299885749817, -0.20307492101015123, 0.08989440726415254], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1838}, "mesh_info": {"face_index": 1492, "face_uv": [0.06356029587224125, 0.046774843503555104, 0.8896648606242037]}}, {"xyz": [0.203389797586496, -0.21739461377383895, -0.30523594502538964], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1833}, "mesh_info": {"face_index": 1830, "face_uv": [0.005887198274886144, 0.15718766269892295, 0.8369251390261919]}}, {"xyz": [-0.24398498521621165, -0.21808056423227384, -0.30706452860610445], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 74}, "mesh_info": {"face_index": 1875, "face_uv": [0.019227884847962062, 0.9027678409086869, 0.07800427424334855]}}, {"xyz": [0.20833911415800388, -0.0958421579014519, -0.31023011961040425], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 640}, "mesh_info": {"face_index": 2362, "face_uv": [0.04980751458759302, 0.6905694027247548, 0.25962308268765416]}}, {"xyz": [0.22026551481345524, -0.0744501438279459, -0.02529291627799335], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1322}, "mesh_info": {"face_index": 368, "face_uv": [0.3362035152981082, 0.42659677908639987, 0.23719970561548853]}}, {"xyz": [-0.2643811906804279, -0.08774264547462118, -0.30770528087120774], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1336}, "mesh_info": {"face_index": 2135, "face_uv": [0.16757239324602605, 0.00037430766429974373, 0.8320532990896781]}}, {"xyz": [-0.2692918398600908, -0.08295384506301362, -0.05834028168564975], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1406}, "mesh_info": {"face_index": 704, "face_uv": [0.18359456491529855, 0.48007633969316005, 0.336329095391542]}}, {"xyz": [0.2264716099397589, -0.4463160037994387, -0.29724614921293624], "rgb": [104, 92, 80], "semantic_id": 17, "pcd_info": {"point_index": 1347}, "mesh_info": {"face_index": 116, "face_uv": [0.4031334447675494, 0.14639887294363027, 0.4504676822888208]}}, {"xyz": [0.21736098727434094, -0.44631600379943825, 0.16288188171093843], "rgb": [109, 97, 85], "semantic_id": 18, "pcd_info": {"point_index": 1503}, "mesh_info": {"face_index": 48, "face_uv": [0.13738771452407447, 0.6032017509996986, 0.2594105344762264]}}, {"xyz": [-0.26951852966208156, -0.4463160037994385, 0.15166585577296188], "rgb": [109, 97, 85], "semantic_id": 19, "pcd_info": {"point_index": 1604}, "mesh_info": {"face_index": 395, "face_uv": [0.6558806060156711, 0.08929450668542437, 0.25482488729890457]}}, {"xyz": [-0.2644949617601902, -0.44631600379943825, -0.3097645082453122], "rgb": [108, 96, 83], "semantic_id": 20, "pcd_info": {"point_index": 489}, "mesh_info": {"face_index": 381, "face_uv": [0.280022656670972, 0.17148218837045118, 0.5484951549585764]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bf01483d8b58f0819767624530e7fce3", "keypoints": [{"xyz": [0.27477739465218226, 0.2408006831944305, 0.26701510676444423], "rgb": [74, 64, 46], "semantic_id": 0, "pcd_info": {"point_index": 1739}, "mesh_info": {"face_index": 2831, "face_uv": [0.25551628124043607, 0.38598068485115433, 0.35850303390840943]}}, {"xyz": [-0.24699164297592802, 0.24985004231679975, 0.25785323071010086], "rgb": [74, 65, 50], "semantic_id": 1, "pcd_info": {"point_index": 1059}, "mesh_info": {"face_index": 2692, "face_uv": [0.4506320243688097, 0.27621377209685893, 0.27315420353433134]}}, {"xyz": [0.2049132192293572, 0.0069540930977258775, 0.0696079294086448], "rgb": [79, 67, 46], "semantic_id": 2, "pcd_info": {"point_index": 1321}, "mesh_info": {"face_index": 299, "face_uv": [0.3357424830479813, 0.007524031408730683, 0.656733485543286]}}, {"xyz": [-0.20055599510669714, 0.0071527364427727, 0.07339854928829148], "rgb": [81, 71, 48], "semantic_id": 3, "pcd_info": {"point_index": 890}, "mesh_info": {"face_index": 2005, "face_uv": [0.35816034264521984, 0.2228863047469815, 0.4189533526077989]}}, {"xyz": [0.20257953607620238, 0.0019184301203951093, -0.3058269659128634], "rgb": [77, 69, 49], "semantic_id": 4, "pcd_info": {"point_index": 1289}, "mesh_info": {"face_index": 1660, "face_uv": [0.28973774176663014, 0.6936279371660098, 0.01663432106735963]}}, {"xyz": [-0.18635363721618226, -0.00014002955223507696, -0.30655700362818317], "rgb": [89, 78, 50], "semantic_id": 5, "pcd_info": {"point_index": 1000}, "mesh_info": {"face_index": 1692, "face_uv": [0.9121565696655171, 0.044853333676910814, 0.04299009665757246]}}, {"xyz": [0.2581766915341632, 0.11137194105145076, -0.29094539758204674], "rgb": [81, 70, 50], "semantic_id": 6, "pcd_info": {"point_index": 48}, "mesh_info": {"face_index": 1397, "face_uv": [0.3258828440186612, 0.47368855589814474, 0.20042860008319383]}}, {"xyz": [0.26402473161680506, 0.12749244232880574, 0.14923049233730745], "rgb": [73, 65, 48], "semantic_id": 7, "pcd_info": {"point_index": 232}, "mesh_info": {"face_index": 1499, "face_uv": [0.1974436792189024, 0.19660928869421174, 0.6059470320868862]}}, {"xyz": [-0.22221786414725292, 0.11533979688941554, -0.2884446373253441], "rgb": [81, 70, 50], "semantic_id": 8, "pcd_info": {"point_index": 1498}, "mesh_info": {"face_index": 1149, "face_uv": [0.09511277575051594, 0.3145783635057215, 0.5903088607437629]}}, {"xyz": [-0.2427363862451769, 0.1271478384740765, 0.15528689840633902], "rgb": [81, 70, 52], "semantic_id": 9, "pcd_info": {"point_index": 849}, "mesh_info": {"face_index": 569, "face_uv": [0.3874472054312734, 0.04207762041783325, 0.5704751741508932]}}, {"xyz": [0.25425088360727005, -0.29293501377105713, -0.28212421593455617], "rgb": [94, 40, 6], "semantic_id": 17, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 32, "face_uv": [0.09683315250627798, 0.46993453637073856, 0.43323231112298344]}}, {"xyz": [0.24267520338808155, -0.2929350137710569, 0.20613376735718889], "rgb": [103, 48, 14], "semantic_id": 18, "pcd_info": {"point_index": 1004}, "mesh_info": {"face_index": 62, "face_uv": [0.28130704899580977, 0.5822307469202169, 0.13646220408397253]}}, {"xyz": [-0.23183542437398652, -0.29293501377105735, 0.20748090110582312], "rgb": [115, 58, 16], "semantic_id": 19, "pcd_info": {"point_index": 1983}, "mesh_info": {"face_index": 14, "face_uv": [0.1341591585091497, 0.34554465280984675, 0.5202961886810044]}}, {"xyz": [-0.23306815206880116, -0.29293501377105713, -0.2786993310319331], "rgb": [91, 38, 4], "semantic_id": 20, "pcd_info": {"point_index": 157}, "mesh_info": {"face_index": 52, "face_uv": [0.14168774401046833, 0.28631420844775984, 0.5719980475417719]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a3acfe6f313ab881bb088904f7cb154", "keypoints": [{"xyz": [0.19517947467798044, 0.5909935313108992, 0.22137900402785435], "rgb": [219, 110, 57], "semantic_id": 0, "pcd_info": {"point_index": 1745}, "mesh_info": {"face_index": 1338, "face_uv": [0.01375199691093547, 0.5320626740000733, 0.45418532908899134]}}, {"xyz": [-0.20276305026274802, 0.5909378732116625, 0.2217432480543654], "rgb": [215, 106, 54], "semantic_id": 1, "pcd_info": {"point_index": 435}, "mesh_info": {"face_index": 1326, "face_uv": [0.0024325852670584644, 0.5591810188903064, 0.438386395842635]}}, {"xyz": [0.18661983292286624, 0.24141127125127937, 0.1105625486677726], "rgb": [218, 112, 58], "semantic_id": 2, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 1396, "face_uv": [0.22594035363520232, 0.006980522174470307, 0.7670791241903275]}}, {"xyz": [-0.18906256242116762, 0.24183336837155178, 0.10838323895757107], "rgb": [218, 111, 57], "semantic_id": 3, "pcd_info": {"point_index": 752}, "mesh_info": {"face_index": 1398, "face_uv": [0.9561554449682317, 0.011532783600794003, 0.03231177143097447]}}, {"xyz": [0.18811765208865344, 0.23286422668703738, -0.23583067574890038], "rgb": [219, 111, 57], "semantic_id": 4, "pcd_info": {"point_index": 1683}, "mesh_info": {"face_index": 1352, "face_uv": [0.10808363046857461, 0.01655894287408472, 0.8753574266573406]}}, {"xyz": [-0.19142690599582557, 0.23443258527422084, -0.23475320276725653], "rgb": [215, 106, 53], "semantic_id": 5, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 1360, "face_uv": [0.33457356869323995, 0.01303213594524519, 0.6523942953615152]}}, {"xyz": [0.18399627171192554, -0.18442800641059898, -0.22350320424801295], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 567}, "mesh_info": {"face_index": 240, "face_uv": [0.4624634487473279, 0.1933155590998286, 0.3442209921528447]}}, {"xyz": [0.1898903981216804, -0.1826079934835434, 0.19613158896173272], "rgb": [6, 2, 0], "semantic_id": 18, "pcd_info": {"point_index": 70}, "mesh_info": {"face_index": 553, "face_uv": [0.030635753138722015, 0.8907146942429872, 0.07864955261829082]}}, {"xyz": [-0.18987832267216784, -0.18442800641059875, 0.19888047769939143], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1489}, "mesh_info": {"face_index": 129, "face_uv": [0.4705438733243047, 0.2377143318495244, 0.29174179482617096]}}, {"xyz": [-0.19045496007602541, -0.18442800641059898, -0.2187678369086804], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 356}, "mesh_info": {"face_index": 41, "face_uv": [0.2613766304171107, 0.5155686501603334, 0.22305471942255722]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3ea6a179fdc3c01daac8336231c53cd1", "keypoints": [{"xyz": [0.21505738267628305, 0.2326032418729681, 0.17256817662226065], "rgb": [160, 75, 19], "semantic_id": 0, "pcd_info": {"point_index": 121}, "mesh_info": {"face_index": 6957, "face_uv": [0.3721929734676283, 0.005234728296054409, 0.6225722982363218]}}, {"xyz": [-0.23371044801134105, 0.23808529505703813, 0.17507112411687742], "rgb": [166, 76, 19], "semantic_id": 1, "pcd_info": {"point_index": 977}, "mesh_info": {"face_index": 6994, "face_uv": [0.20511886367336435, 0.11133922875559996, 0.6835419075710377]}}, {"xyz": [0.18249868868320956, -0.08506047504664238, 0.10436653749374947], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 21666, "face_uv": [0.3509563649502598, 0.2931929344660954, 0.3558507005836421]}}, {"xyz": [-0.20094213833268632, -0.08387784231817985, 0.10831699713661735], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 365}, "mesh_info": {"face_index": 21375, "face_uv": [0.6182412003469986, 0.07932787697531155, 0.30243092267769034]}}, {"xyz": [0.18806759170115533, -0.09367913060946353, -0.28905757413831457], "rgb": [169, 78, 20], "semantic_id": 4, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 1827, "face_uv": [0.5733264748091609, 0.3526903200205949, 0.07398320517024429]}}, {"xyz": [-0.2043945369516138, -0.09549079349741307, -0.2891930043697357], "rgb": [160, 72, 18], "semantic_id": 5, "pcd_info": {"point_index": 615}, "mesh_info": {"face_index": 9992, "face_uv": [0.09355457510875069, 0.4333449034197172, 0.4731005214715321]}}, {"xyz": [0.20651059477899242, 0.03323448303562859, -0.24411591104787056], "rgb": [164, 74, 19], "semantic_id": 6, "pcd_info": {"point_index": 92}, "mesh_info": {"face_index": 11205, "face_uv": [0.4323322402760239, 0.13066877806530294, 0.4369989816586729]}}, {"xyz": [0.20479222552070658, 0.06577414170602958, 0.11911081366486465], "rgb": [166, 77, 20], "semantic_id": 7, "pcd_info": {"point_index": 1410}, "mesh_info": {"face_index": 5897, "face_uv": [0.3316520300994497, 0.36081335356576333, 0.3075346163347857]}}, {"xyz": [-0.2243512431432655, 0.017169860598581388, -0.25492438293659037], "rgb": [172, 81, 20], "semantic_id": 8, "pcd_info": {"point_index": 831}, "mesh_info": {"face_index": 2846, "face_uv": [0.20084015704983305, 0.31626036671379687, 0.48289947623637]}}, {"xyz": [-0.22177776836106722, 0.0661139740604344, 0.11194236475721986], "rgb": [160, 72, 19], "semantic_id": 9, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 13979, "face_uv": [0.051508402610977215, 0.6937584663125721, 0.2547331310764487]}}, {"xyz": [0.20251875406498054, -0.4476520121097566, -0.28020582019508167], "rgb": [167, 75, 19], "semantic_id": 17, "pcd_info": {"point_index": 956}, "mesh_info": {"face_index": 2307, "face_uv": [0.45103740492747285, 0.4284419678170415, 0.12052062725548593]}}, {"xyz": [0.2107610797563296, -0.4407234647330288, 0.11277576690723912], "rgb": [156, 70, 19], "semantic_id": 18, "pcd_info": {"point_index": 922}, "mesh_info": {"face_index": 7858, "face_uv": [0.11095525314246817, 0.3735924805095317, 0.5154522663480002]}}, {"xyz": [-0.22349104350266652, -0.4418473770546498, 0.11279412705070913], "rgb": [178, 81, 20], "semantic_id": 19, "pcd_info": {"point_index": 982}, "mesh_info": {"face_index": 7569, "face_uv": [0.08235697138702802, 0.6263135903918586, 0.29132943822111307]}}, {"xyz": [-0.21491746783660493, -0.44655592229909224, -0.2829881803567411], "rgb": [174, 80, 19], "semantic_id": 20, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 2029, "face_uv": [0.3836195963686027, 0.44817231354026404, 0.168208090091133]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1e0580f443a9e6d2593ebeeedbff73b", "keypoints": [{"xyz": [0.24538686866137777, 0.33462010249703544, 0.18440961201151249], "rgb": [254, 254, 222], "semantic_id": 0, "pcd_info": {"point_index": 682}, "mesh_info": {"face_index": 1341, "face_uv": [0.07815966695176489, 0.4530326448399374, 0.46880768820829755]}}, {"xyz": [-0.25194641783563243, 0.33168344848930364, 0.18442770451061397], "rgb": [255, 255, 223], "semantic_id": 1, "pcd_info": {"point_index": 750}, "mesh_info": {"face_index": 1311, "face_uv": [0.5443161954455172, 0.30447932534592526, 0.15120447920855756]}}, {"xyz": [0.2483226443996994, 0.10646192778223162, 0.09580994494454431], "rgb": [254, 254, 222], "semantic_id": 2, "pcd_info": {"point_index": 807}, "mesh_info": {"face_index": 1990, "face_uv": [0.29359164575926266, 0.06667690254904393, 0.6397314516916925]}}, {"xyz": [-0.25027777033742954, 0.10522875068846926, 0.09149683872338943], "rgb": [254, 254, 222], "semantic_id": 3, "pcd_info": {"point_index": 953}, "mesh_info": {"face_index": 1154, "face_uv": [0.24821015709020153, 0.06694047263075632, 0.6848493702790404]}}, {"xyz": [0.2442470832315838, 0.10128793412992054, -0.3891163940566046], "rgb": [255, 255, 223], "semantic_id": 4, "pcd_info": {"point_index": 302}, "mesh_info": {"face_index": 1436, "face_uv": [0.1785953354946216, 0.5761857828733897, 0.24521888163198918]}}, {"xyz": [-0.24534113210562125, 0.10258058960693495, -0.3885322057959987], "rgb": [255, 255, 223], "semantic_id": 5, "pcd_info": {"point_index": 248}, "mesh_info": {"face_index": 1361, "face_uv": [0.2188028122603419, 0.0032024180803765, 0.7779947696592816]}}, {"xyz": [0.18368765268723622, -0.2107758316010584, -0.3231960833148008], "rgb": [222, 222, 222], "semantic_id": 17, "pcd_info": {"point_index": 598}, "mesh_info": {"face_index": 304, "face_uv": [0.17298945614284927, 0.2968343097262373, 0.5301762341309132]}}, {"xyz": [0.18037353617343274, -0.21177229540615405, 0.16109427558670553], "rgb": [188, 188, 188], "semantic_id": 18, "pcd_info": {"point_index": 456}, "mesh_info": {"face_index": 136, "face_uv": [0.21818619154507565, 0.4577896232214181, 0.32402418523350635]}}, {"xyz": [-0.1807664491448604, -0.2118756693823538, 0.16011121169899106], "rgb": [205, 205, 205], "semantic_id": 19, "pcd_info": {"point_index": 1821}, "mesh_info": {"face_index": 631, "face_uv": [0.1641333741672768, 0.5543100632954285, 0.2815565625372982]}}, {"xyz": [-0.18601357471938532, -0.20866811960269538, -0.32094069490843385], "rgb": [201, 201, 201], "semantic_id": 20, "pcd_info": {"point_index": 313}, "mesh_info": {"face_index": 802, "face_uv": [0.002388352442834323, 0.8933267830526235, 0.10428486450454312]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8cf71cf6f0bf6bb2b5af95b2c842e5a7", "keypoints": [{"xyz": [0.2090802568976407, 0.46308027758605985, 0.11913697953082392], "rgb": [180, 104, 41], "semantic_id": 0, "pcd_info": {"point_index": 1828}, "mesh_info": {"face_index": 211, "face_uv": [0.4195939636707085, 0.0408941234340563, 0.5395119128952349]}}, {"xyz": [-0.20202287580239864, 0.4663339382491802, 0.11796362254546211], "rgb": [176, 99, 40], "semantic_id": 1, "pcd_info": {"point_index": 1629}, "mesh_info": {"face_index": 613, "face_uv": [0.28493340830913433, 0.1474004494146761, 0.5676661422761898]}}, {"xyz": [0.16463983798906207, 0.12059099972248077, 0.05957832106207306], "rgb": [167, 90, 38], "semantic_id": 2, "pcd_info": {"point_index": 1493}, "mesh_info": {"face_index": 112, "face_uv": [0.01883811223676094, 0.0034180672191257535, 0.9777438205441132]}}, {"xyz": [-0.16016419472476284, 0.12059099972248077, 0.06461574414323046], "rgb": [178, 108, 44], "semantic_id": 3, "pcd_info": {"point_index": 1436}, "mesh_info": {"face_index": 66, "face_uv": [0.9685631040341774, 0.010712073314949189, 0.02072482265087351]}}, {"xyz": [0.20794611934086304, 0.12059099972248088, -0.253322701518617], "rgb": [174, 104, 41], "semantic_id": 4, "pcd_info": {"point_index": 988}, "mesh_info": {"face_index": 422, "face_uv": [0.013341659719907509, 0.0019392253339275574, 0.9847191149461658]}}, {"xyz": [-0.2015957810215274, 0.12059099972248066, -0.255887062679653], "rgb": [176, 105, 41], "semantic_id": 5, "pcd_info": {"point_index": 465}, "mesh_info": {"face_index": 395, "face_uv": [0.9381518308012432, 0.010338184659134806, 0.051509984539621065]}}, {"xyz": [0.18463708342928567, -0.23855438578154464, -0.20644539290330138], "rgb": [175, 101, 42], "semantic_id": 17, "pcd_info": {"point_index": 599}, "mesh_info": {"face_index": 322, "face_uv": [0.01946956177984645, 0.4405421796809617, 0.5399882585391924]}}, {"xyz": [0.17617554427698504, -0.24063958995188606, 0.11997831111436165], "rgb": [173, 97, 37], "semantic_id": 18, "pcd_info": {"point_index": 1770}, "mesh_info": {"face_index": 718, "face_uv": [0.521932014757706, 0.4041489575132575, 0.07391902772903672]}}, {"xyz": [-0.16406571400437658, -0.24125787346702832, 0.1374934923954757], "rgb": [182, 104, 46], "semantic_id": 19, "pcd_info": {"point_index": 133}, "mesh_info": {"face_index": 7, "face_uv": [0.04034592350573375, 0.2168989337921163, 0.7427551427021495]}}, {"xyz": [-0.1743101445850786, -0.2400106645920499, -0.2208045506278763], "rgb": [185, 111, 47], "semantic_id": 20, "pcd_info": {"point_index": 1450}, "mesh_info": {"face_index": 312, "face_uv": [0.2792516393670025, 0.5955433977953744, 0.12520496283762297]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d90b1021dc6e09b455369e3e5b79b017", "keypoints": [{"xyz": [0.20449857729006554, 0.3610127720031664, 0.2030204004395749], "rgb": [81, 63, 59], "semantic_id": 0, "pcd_info": {"point_index": 1631}, "mesh_info": {"face_index": 19052, "face_uv": [0.9715690751751584, 0.00443383454008294, 0.023997090284758743]}}, {"xyz": [-0.2021741870536935, 0.36102517740620677, 0.2046089337789665], "rgb": [73, 58, 53], "semantic_id": 1, "pcd_info": {"point_index": 1246}, "mesh_info": {"face_index": 19049, "face_uv": [0.7395514729892357, 0.012628486076365446, 0.24782004093439844]}}, {"xyz": [0.18845387876184871, 0.0042194304450065, 0.16554617810048056], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1466}, "mesh_info": {"face_index": 10208, "face_uv": [0.015673058616832852, 0.19471836079546087, 0.7896085805877057]}}, {"xyz": [-0.1840523719440832, 0.0033582118280934825, 0.1616280810183246], "rgb": [60, 49, 46], "semantic_id": 3, "pcd_info": {"point_index": 85}, "mesh_info": {"face_index": 15447, "face_uv": [0.9165493135152979, 0.05696713870159129, 0.026483547783114514]}}, {"xyz": [0.1996830055493351, -0.0007807848859077149, -0.25807163644182984], "rgb": [71, 56, 53], "semantic_id": 4, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 15518, "face_uv": [0.019395326122470313, 0.7684017865840678, 0.21220288729346215]}}, {"xyz": [-0.20561197865152714, 0.0013731610355185442, -0.2566665811492326], "rgb": [63, 49, 46], "semantic_id": 5, "pcd_info": {"point_index": 1894}, "mesh_info": {"face_index": 15513, "face_uv": [0.0050739248710043065, 0.3755135759862558, 0.6194124991427395]}}, {"xyz": [0.1957167437806502, 0.14753945259471313, -0.051749845494470925], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1944}, "mesh_info": {"face_index": 988, "face_uv": [0.2664637624211108, 0.6409346897999213, 0.09260154777896935]}}, {"xyz": [0.20012583183712218, 0.16400531220220205, 0.180801856856251], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 19}, "mesh_info": {"face_index": 340, "face_uv": [0.018658056759545977, 0.20340150383929279, 0.7779404394011611]}}, {"xyz": [-0.19583705533100343, 0.15050188739360726, -0.06245382148469525], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1472}, "mesh_info": {"face_index": 17820, "face_uv": [0.024524187132155487, 0.4768441361655749, 0.49863167670226977]}}, {"xyz": [-0.1973833494846786, 0.1780327607556964, 0.17947252699029553], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1591}, "mesh_info": {"face_index": 17118, "face_uv": [0.02123880269475136, 0.5294255018732164, 0.4493356954320316]}}, {"xyz": [0.19102780947659115, -0.35945042169405017, -0.2872853509066219], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1904}, "mesh_info": {"face_index": 10808, "face_uv": [0.0819752828952493, 0.7011268754927181, 0.21689784161203282]}}, {"xyz": [0.19867211712134272, -0.36209582300450993, 0.17745585656461182], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1519}, "mesh_info": {"face_index": 7279, "face_uv": [0.24698488323988127, 0.33079051540848525, 0.4222246013516349]}}, {"xyz": [-0.19755770328368005, -0.36489190932927684, 0.17862305933940067], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 892}, "mesh_info": {"face_index": 5520, "face_uv": [0.1629740774035357, 0.10741071080215141, 0.7296152117943127]}}, {"xyz": [-0.17009188034093803, -0.35228506315961217, -0.2725444468943512], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 14587, "face_uv": [0.43006009798863193, 0.06325763971796905, 0.5066822622933984]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "77cf4ff8297014faa6fee8e2140acec9", "keypoints": [{"xyz": [0.1434346281683143, 0.2987461546867939, 0.15442691883249116], "rgb": [225, 225, 200], "semantic_id": 0, "pcd_info": {"point_index": 863}, "mesh_info": {"face_index": 10120, "face_uv": [0.5188453982347357, 0.08440397424994923, 0.3967506275153162]}}, {"xyz": [-0.14390322215790086, 0.3017553182965783, 0.1556563464582187], "rgb": [224, 224, 199], "semantic_id": 1, "pcd_info": {"point_index": 638}, "mesh_info": {"face_index": 10155, "face_uv": [0.10063298680225839, 0.5745296033300595, 0.3248374098676802]}}, {"xyz": [0.14066184483557123, -0.03553254980144338, 0.04955325993139015], "rgb": [224, 224, 199], "semantic_id": 2, "pcd_info": {"point_index": 1120}, "mesh_info": {"face_index": 3226, "face_uv": [0.3235383976271937, 0.5847268074757059, 0.09173479489709754]}}, {"xyz": [-0.1479634869689216, -0.03653534406177883, 0.056252098901119485], "rgb": [225, 225, 200], "semantic_id": 3, "pcd_info": {"point_index": 1250}, "mesh_info": {"face_index": 5273, "face_uv": [0.09830559778707301, 0.8535156136743948, 0.048178788538533204]}}, {"xyz": [0.15289514149405523, -0.032880747582539394, -0.2705609437360732], "rgb": [225, 225, 199], "semantic_id": 4, "pcd_info": {"point_index": 1132}, "mesh_info": {"face_index": 800, "face_uv": [0.9343288089270054, 0.059999340538390164, 0.00567185053460438]}}, {"xyz": [-0.16226618860871164, -0.04044379311201468, -0.2744404082418779], "rgb": [224, 224, 199], "semantic_id": 5, "pcd_info": {"point_index": 309}, "mesh_info": {"face_index": 4044, "face_uv": [0.850640814640072, 0.022761872637623172, 0.12659731272230462]}}, {"xyz": [0.2508756530703825, 0.13527223732886906, -0.10356732364097698], "rgb": [225, 225, 200], "semantic_id": 6, "pcd_info": {"point_index": 1863}, "mesh_info": {"face_index": 15271, "face_uv": [0.05795264875255025, 0.19423614063782021, 0.7478112106096305]}}, {"xyz": [0.18868524300542014, 0.12302296119107958, 0.06495291511648016], "rgb": [224, 224, 199], "semantic_id": 7, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 14772, "face_uv": [0.033965498412249585, 0.1223070118678607, 0.8437274897198788]}}, {"xyz": [-0.25122128428465995, 0.13523931779402232, -0.10438395114257903], "rgb": [224, 224, 199], "semantic_id": 8, "pcd_info": {"point_index": 888}, "mesh_info": {"face_index": 14280, "face_uv": [0.4123091273932479, 0.3492274440065464, 0.2384634286002043]}}, {"xyz": [-0.1884260598057382, 0.12310536110499326, 0.06772026156203881], "rgb": [225, 225, 200], "semantic_id": 9, "pcd_info": {"point_index": 39}, "mesh_info": {"face_index": 14531, "face_uv": [0.10136997694726814, 0.33376647954604977, 0.564863543506685]}}, {"xyz": [0.15661896481351806, -0.4034860134124756, -0.25955313565054855], "rgb": [224, 224, 200], "semantic_id": 17, "pcd_info": {"point_index": 1641}, "mesh_info": {"face_index": 320, "face_uv": [0.3809348598206636, 0.40120283147331964, 0.21786230870601667]}}, {"xyz": [0.17941035335400188, -0.40320330261199655, 0.18819988313453104], "rgb": [225, 225, 200], "semantic_id": 18, "pcd_info": {"point_index": 1442}, "mesh_info": {"face_index": 13980, "face_uv": [0.0880160741883758, 0.2266091612308753, 0.6853747645807493]}}, {"xyz": [-0.17650790412132358, -0.4033357241382469, 0.18330456346853796], "rgb": [225, 225, 200], "semantic_id": 19, "pcd_info": {"point_index": 275}, "mesh_info": {"face_index": 13400, "face_uv": [0.14686135040204437, 0.7406523046258621, 0.11248634497209373]}}, {"xyz": [-0.15845866387675245, -0.4034860134124756, -0.2641019568738389], "rgb": [225, 225, 200], "semantic_id": 20, "pcd_info": {"point_index": 660}, "mesh_info": {"face_index": 4869, "face_uv": [0.4280869765134801, 0.007196027081969904, 0.56471699640455]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c6786aeee29edd1b2bca88fbd368f59a", "keypoints": [{"xyz": [0.08574536995379628, 0.45430312563546815, 0.08623451071709609], "rgb": [238, 239, 115], "semantic_id": 0, "pcd_info": {"point_index": 423}, "mesh_info": {"face_index": 189, "face_uv": [0.11936059106881661, 0.10578894849423523, 0.774850460436936]}}, {"xyz": [-0.09104384467738125, 0.44735428984730885, 0.08627062021899712], "rgb": [245, 248, 147], "semantic_id": 1, "pcd_info": {"point_index": 1206}, "mesh_info": {"face_index": 64, "face_uv": [0.1633180798812002, 0.0082922911615477, 0.8283896289572508]}}, {"xyz": [0.09350222526972615, 0.02760687684258556, 0.08667707099778421], "rgb": [240, 237, 117], "semantic_id": 2, "pcd_info": {"point_index": 848}, "mesh_info": {"face_index": 186, "face_uv": [0.818192534553832, 0.001391706656661738, 0.18041575878950408]}}, {"xyz": [-0.10405098225026194, 0.027016999199986458, 0.08134986402910971], "rgb": [218, 220, 104], "semantic_id": 3, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 600, "face_uv": [0.007538411821047357, 0.340077785497147, 0.6523838026818056]}}, {"xyz": [0.14424798732916796, 0.02701699919998668, -0.18420966869488833], "rgb": [242, 239, 118], "semantic_id": 4, "pcd_info": {"point_index": 480}, "mesh_info": {"face_index": 654, "face_uv": [0.1973346916790778, 0.2082770174383629, 0.5943882908825675]}}, {"xyz": [-0.14571234534686217, 0.027016999199986458, -0.1834500584627232], "rgb": [242, 241, 115], "semantic_id": 5, "pcd_info": {"point_index": 457}, "mesh_info": {"face_index": 636, "face_uv": [0.7006260488349946, 0.1493670638973352, 0.15000688726767036]}}, {"xyz": [0.0842988414347363, -0.39985600113868736, -0.12657468374184389], "rgb": [231, 226, 101], "semantic_id": 17, "pcd_info": {"point_index": 1851}, "mesh_info": {"face_index": 847, "face_uv": [0.49967144165537714, 0.18044395297259194, 0.3198846053720314]}}, {"xyz": [0.0944156655267378, -0.39985600113868713, 0.05697093438021908], "rgb": [244, 241, 115], "semantic_id": 18, "pcd_info": {"point_index": 1906}, "mesh_info": {"face_index": 772, "face_uv": [0.033713796774712916, 0.2951158861260408, 0.6711703170992462]}}, {"xyz": [-0.09463893877913696, -0.39985600113868713, 0.04632405381136778], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1759}, "mesh_info": {"face_index": 251, "face_uv": [0.25302924681008254, 0.5553157804769199, 0.19165497271299758]}}, {"xyz": [-0.09671585145526704, -0.39985600113868713, -0.13559299829709603], "rgb": [250, 240, 122], "semantic_id": 20, "pcd_info": {"point_index": 858}, "mesh_info": {"face_index": 1035, "face_uv": [0.11292083486976821, 0.6300325449231349, 0.257046620207097]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b8f2712e8330ba6b3c9fe3a963c6d73b", "keypoints": [{"xyz": [0.205504581937675, 0.5266680121421815, 0.04666303728838214], "rgb": [149, 81, 36], "semantic_id": 0, "pcd_info": {"point_index": 80}, "mesh_info": {"face_index": 23, "face_uv": [0.8709570498664609, 0.09577745190324449, 0.03326549823029487]}}, {"xyz": [-0.21505199712022446, 0.5266680121421816, 0.027353590605133427], "rgb": [157, 90, 45], "semantic_id": 1, "pcd_info": {"point_index": 714}, "mesh_info": {"face_index": 226, "face_uv": [0.029451431391098504, 0.026518442295037283, 0.9440301263138646]}}, {"xyz": [0.1210097968043638, 0.012555950410574113, 0.034473609401069805], "rgb": [152, 84, 39], "semantic_id": 2, "pcd_info": {"point_index": 1258}, "mesh_info": {"face_index": 2269, "face_uv": [0.05568274640201434, 0.9209548926505494, 0.023362360947439063]}}, {"xyz": [-0.12026025816776767, 0.00276971514072355, 0.047656546515993714], "rgb": [148, 79, 36], "semantic_id": 3, "pcd_info": {"point_index": 1861}, "mesh_info": {"face_index": 2034, "face_uv": [0.0019289098876508408, 0.43056687993331233, 0.5675042101790375]}}, {"xyz": [0.15363757662927047, -0.01585674282177052, -0.18339799344539642], "rgb": [150, 82, 37], "semantic_id": 4, "pcd_info": {"point_index": 1022}, "mesh_info": {"face_index": 254, "face_uv": [0.37426005903160714, 0.00829916190610505, 0.6174407790622878]}}, {"xyz": [-0.16142510208111405, -0.010197982149897089, -0.18286401867707158], "rgb": [151, 83, 38], "semantic_id": 5, "pcd_info": {"point_index": 1148}, "mesh_info": {"face_index": 292, "face_uv": [0.04231183144780903, 0.1544951550754007, 0.8031930134767915]}}, {"xyz": [0.12217127096140884, -0.3246159851551056, -0.14491678777812705], "rgb": [154, 88, 46], "semantic_id": 17, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 1172, "face_uv": [0.4729440552575924, 0.30514648017764273, 0.2219094645647648]}}, {"xyz": [0.12295228612467318, -0.3246159851551056, 0.04314466613369994], "rgb": [153, 86, 44], "semantic_id": 18, "pcd_info": {"point_index": 1029}, "mesh_info": {"face_index": 1556, "face_uv": [0.4331693937051165, 0.25704941389437774, 0.3097811924005058]}}, {"xyz": [-0.1298206018826874, -0.3246159851551056, 0.041457767937078616], "rgb": [158, 93, 49], "semantic_id": 19, "pcd_info": {"point_index": 862}, "mesh_info": {"face_index": 1942, "face_uv": [0.33936314996714834, 0.5911418530480801, 0.06949499698477148]}}, {"xyz": [-0.12526576675943743, -0.3246159851551058, -0.1469528628816239], "rgb": [155, 89, 46], "semantic_id": 20, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 789, "face_uv": [0.08295995689752865, 0.48837850641605357, 0.4286615366864185]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a2441f03fed7c13def31f91fe6afc8fa", "keypoints": [{"xyz": [0.17632213088558862, 0.2958157896355189, 0.04404492334041113], "rgb": [158, 95, 53], "semantic_id": 0, "pcd_info": {"point_index": 272}, "mesh_info": {"face_index": 3417, "face_uv": [0.21934115902578255, 0.39810572077532624, 0.3825531201988917]}}, {"xyz": [-0.16922935860533134, 0.29763190212144663, 0.0516933068764838], "rgb": [151, 85, 41], "semantic_id": 1, "pcd_info": {"point_index": 770}, "mesh_info": {"face_index": 3568, "face_uv": [0.6258019217746053, 0.26900704345796117, 0.10519103476743344]}}, {"xyz": [0.14997792339132693, -0.0974265464240529, -0.007190333717327357], "rgb": [144, 80, 36], "semantic_id": 2, "pcd_info": {"point_index": 1899}, "mesh_info": {"face_index": 3400, "face_uv": [0.133922677585841, 0.8470135777653374, 0.019063744648821844]}}, {"xyz": [-0.1516911220346972, -0.09377511148755713, -0.021835466227937056], "rgb": [135, 112, 70], "semantic_id": 3, "pcd_info": {"point_index": 528}, "mesh_info": {"face_index": 611, "face_uv": [0.15227335123995156, 0.43323248931050107, 0.4144941594495475]}}, {"xyz": [0.1636843092949532, -0.08897956220766501, -0.33315817029346756], "rgb": [125, 100, 52], "semantic_id": 4, "pcd_info": {"point_index": 1414}, "mesh_info": {"face_index": 680, "face_uv": [0.4477230144237717, 0.05719223448803509, 0.49508475108819544]}}, {"xyz": [-0.16511500352085431, -0.08722499758005164, -0.3205810726691705], "rgb": [119, 96, 47], "semantic_id": 5, "pcd_info": {"point_index": 86}, "mesh_info": {"face_index": 181, "face_uv": [0.014543892766404835, 0.012284126473540054, 0.9731719807600576]}}, {"xyz": [0.17517990486666696, -0.5125240087509155, -0.3048963350026677], "rgb": [147, 81, 36], "semantic_id": 17, "pcd_info": {"point_index": 1081}, "mesh_info": {"face_index": 2372, "face_uv": [0.32608663353695916, 0.37038216468108626, 0.30353120178195464]}}, {"xyz": [0.1748346562525334, -0.5125240087509153, 0.04030042778942451], "rgb": [156, 90, 44], "semantic_id": 18, "pcd_info": {"point_index": 1840}, "mesh_info": {"face_index": 3353, "face_uv": [0.04809508467523841, 0.5826631159602802, 0.3692417993644809]}}, {"xyz": [-0.15800301059234567, -0.5125240087509157, 0.045817379626239066], "rgb": [163, 98, 55], "semantic_id": 19, "pcd_info": {"point_index": 1103}, "mesh_info": {"face_index": 3643, "face_uv": [0.45504083154346303, 0.21349758808142885, 0.33146158037510853]}}, {"xyz": [-0.15941186301387594, -0.5125240087509155, -0.30197205892927403], "rgb": [157, 89, 43], "semantic_id": 20, "pcd_info": {"point_index": 722}, "mesh_info": {"face_index": 2262, "face_uv": [0.2763977043859575, 0.2659399432056949, 0.45766235240834763]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f2a4d96e77d1c92a3d6cc735e3493c99", "keypoints": [{"xyz": [0.2168426261648487, 0.34019699692726135, 0.21535083791002307], "rgb": [91, 87, 88], "semantic_id": 0, "pcd_info": {"point_index": 750}, "mesh_info": {"face_index": 27, "face_uv": [0.09561418888260487, 0.034700855758345854, 0.8696849553590493]}}, {"xyz": [-0.20477795184054645, 0.34019699692726135, 0.235701776523902], "rgb": [92, 88, 89], "semantic_id": 1, "pcd_info": {"point_index": 1942}, "mesh_info": {"face_index": 2, "face_uv": [0.9048073740742703, 0.0006337553523896426, 0.09455887057334007]}}, {"xyz": [0.20311957368075437, 0.16720899939537048, 0.1619193967341277], "rgb": [80, 76, 77], "semantic_id": 2, "pcd_info": {"point_index": 1228}, "mesh_info": {"face_index": 66, "face_uv": [0.024449950523256974, 0.9685422919179177, 0.0070077575588254224]}}, {"xyz": [-0.20043540193318188, 0.16720899939537048, 0.17857011055994287], "rgb": [87, 83, 84], "semantic_id": 3, "pcd_info": {"point_index": 755}, "mesh_info": {"face_index": 59, "face_uv": [0.9891089887793673, 0.0006564767379379575, 0.010234534482694757]}}, {"xyz": [0.20902431244957287, 0.16341760028204644, -0.36166098713874817], "rgb": [87, 83, 84], "semantic_id": 4, "pcd_info": {"point_index": 784}, "mesh_info": {"face_index": 60, "face_uv": [0.01753369760723174, 0.01032563961157525, 0.9721406627811929]}}, {"xyz": [-0.19710944327184357, 0.16167240152677564, -0.3616609871387483], "rgb": [95, 91, 92], "semantic_id": 5, "pcd_info": {"point_index": 1297}, "mesh_info": {"face_index": 52, "face_uv": [0.9743954593280275, 0.018190326610234352, 0.007414214061738495]}}, {"xyz": [0.285876190297785, 0.34019699692726146, -0.3100267948317361], "rgb": [91, 87, 87], "semantic_id": 6, "pcd_info": {"point_index": 1153}, "mesh_info": {"face_index": 25, "face_uv": [0.0019476496549803355, 0.7188179095005953, 0.27923444084442467]}}, {"xyz": [0.27620899546574396, 0.34019699692726135, 0.27351280179915793], "rgb": [92, 88, 89], "semantic_id": 7, "pcd_info": {"point_index": 1419}, "mesh_info": {"face_index": 24, "face_uv": [0.0342521316154497, 0.37698321172954613, 0.5887646566550042]}}, {"xyz": [-0.24866670618336664, 0.34019699692726135, -0.3096412898945662], "rgb": [90, 86, 86], "semantic_id": 8, "pcd_info": {"point_index": 277}, "mesh_info": {"face_index": 1, "face_uv": [0.004726553250157936, 0.5644322282666944, 0.43084121848314766]}}, {"xyz": [-0.24869142715460926, 0.34019699692726146, 0.25758452371383234], "rgb": [92, 88, 89], "semantic_id": 9, "pcd_info": {"point_index": 1851}, "mesh_info": {"face_index": 0, "face_uv": [0.058416283320509695, 0.43581275456483876, 0.5057709621146519]}}, {"xyz": [0.27654774200613186, -0.09054300189018227, -0.30020587098337703], "rgb": [199, 190, 192], "semantic_id": 17, "pcd_info": {"point_index": 1935}, "mesh_info": {"face_index": 121, "face_uv": [0.3367888999486213, 0.5130499381614921, 0.15016116188988415]}}, {"xyz": [0.2755681889247462, -0.0905430018901825, 0.27909432064048945], "rgb": [200, 191, 193], "semantic_id": 18, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 174, "face_uv": [0.438721171648146, 0.19862152670133937, 0.3626573016505147]}}, {"xyz": [-0.25896866753095393, -0.0905430018901825, 0.28134055941603053], "rgb": [89, 85, 86], "semantic_id": 19, "pcd_info": {"point_index": 1956}, "mesh_info": {"face_index": 186, "face_uv": [0.08698259760817459, 0.558580299666998, 0.3544371027248275]}}, {"xyz": [-0.2609651102971821, -0.0905430018901825, -0.3056983956650438], "rgb": [199, 190, 192], "semantic_id": 20, "pcd_info": {"point_index": 1407}, "mesh_info": {"face_index": 290, "face_uv": [0.1320474037629038, 0.3840677286909716, 0.4838848675461245]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7aaf5573892cfe086e6e0f71258e961c", "keypoints": [{"xyz": [0.1558061651286732, 0.24524446053360882, 0.14357901084019176], "rgb": [254, 238, 211], "semantic_id": 0, "pcd_info": {"point_index": 1831}, "mesh_info": {"face_index": 57, "face_uv": [0.7014163018920788, 0.21986545052042214, 0.07871824758749797]}}, {"xyz": [-0.15734612332009024, 0.24545441156542158, 0.1434638184744017], "rgb": [254, 238, 211], "semantic_id": 1, "pcd_info": {"point_index": 1244}, "mesh_info": {"face_index": 304, "face_uv": [0.4110376076999627, 0.18209661327171364, 0.40686577902832116]}}, {"xyz": [0.14257642233031154, 0.018463666909436904, 0.16434228111927052], "rgb": [255, 239, 212], "semantic_id": 2, "pcd_info": {"point_index": 774}, "mesh_info": {"face_index": 1048, "face_uv": [0.013439472053706002, 0.9808327530659763, 0.005727774880323047]}}, {"xyz": [-0.13517997977200355, 0.018756000325083955, 0.16555529864048935], "rgb": [255, 239, 212], "semantic_id": 3, "pcd_info": {"point_index": 1448}, "mesh_info": {"face_index": 1317, "face_uv": [0.0013929308838777038, 0.9908526102837283, 0.007754458832405739]}}, {"xyz": [0.17600018399381812, 0.01556310062520705, -0.1254721116431856], "rgb": [254, 238, 211], "semantic_id": 4, "pcd_info": {"point_index": 1453}, "mesh_info": {"face_index": 2517, "face_uv": [0.17269201945941381, 0.34254497769692627, 0.48476300284365836]}}, {"xyz": [-0.1726042882037241, 0.016280775535992387, -0.12372183803945425], "rgb": [255, 239, 212], "semantic_id": 5, "pcd_info": {"point_index": 1910}, "mesh_info": {"face_index": 3776, "face_uv": [0.28788451644544333, 0.34502706353173174, 0.36708842002282926]}}, {"xyz": [0.15032535360114424, -0.5826939940452576, -0.10494327110591954], "rgb": [159, 92, 48], "semantic_id": 17, "pcd_info": {"point_index": 629}, "mesh_info": {"face_index": 3980, "face_uv": [0.18175290008489203, 0.39318862445085623, 0.4250584754642517]}}, {"xyz": [0.15209551928549314, -0.5826939940452573, 0.21061030240489964], "rgb": [118, 86, 53], "semantic_id": 18, "pcd_info": {"point_index": 1215}, "mesh_info": {"face_index": 5556, "face_uv": [0.10213292197483843, 0.40821756585300323, 0.48964951217215796]}}, {"xyz": [-0.14512396597107508, -0.5826939940452576, 0.20270454710614516], "rgb": [119, 87, 54], "semantic_id": 19, "pcd_info": {"point_index": 1767}, "mesh_info": {"face_index": 4565, "face_uv": [0.15974585289400794, 0.47381248391877107, 0.36644166318722093]}}, {"xyz": [-0.16069943513395674, -0.5826939940452576, -0.10637497445701766], "rgb": [157, 89, 44], "semantic_id": 20, "pcd_info": {"point_index": 472}, "mesh_info": {"face_index": 4065, "face_uv": [0.3669117157873997, 0.44905532836334133, 0.18403295584925897]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2a2e5ecd0ef6ab2f80360680c1602c7d", "keypoints": [{"xyz": [0.1800203247487951, 0.2698294097026619, 0.2274042363349204], "rgb": [237, 223, 149], "semantic_id": 0, "pcd_info": {"point_index": 1903}, "mesh_info": {"face_index": 148, "face_uv": [0.01706788878476279, 0.9754417068506853, 0.007490404364552656]}}, {"xyz": [-0.18053341206003592, 0.26969292279326607, 0.22676234479984747], "rgb": [236, 222, 148], "semantic_id": 1, "pcd_info": {"point_index": 3}, "mesh_info": {"face_index": 148, "face_uv": [0.918600767700345, 0.024223008504511978, 0.057176223795141756]}}, {"xyz": [0.22987024497037123, -0.026732499826267242, 0.22357250139316764], "rgb": [110, 116, 135], "semantic_id": 2, "pcd_info": {"point_index": 665}, "mesh_info": {"face_index": 2160, "face_uv": [0.009771567753190076, 0.5336606264941857, 0.4565678057526249]}}, {"xyz": [-0.21789703807784408, -0.024296813611476953, 0.2285449066597428], "rgb": [109, 115, 134], "semantic_id": 3, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 2155, "face_uv": [0.19635840336365623, 0.03610294410556693, 0.7675386525307732]}}, {"xyz": [0.20609445229371814, 0.0029941202157997004, -0.2884362026498423], "rgb": [110, 116, 135], "semantic_id": 4, "pcd_info": {"point_index": 1405}, "mesh_info": {"face_index": 2261, "face_uv": [0.8003971984092552, 0.13916855558396565, 0.06043424600678351]}}, {"xyz": [-0.20410283809504087, 0.003315629485481253, -0.2872350687593593], "rgb": [109, 115, 134], "semantic_id": 5, "pcd_info": {"point_index": 1672}, "mesh_info": {"face_index": 2270, "face_uv": [0.4657528332952631, 0.06549633279290688, 0.468750833911828]}}, {"xyz": [0.22554453857505255, 0.21153299510478973, -0.2776725263411635], "rgb": [110, 116, 135], "semantic_id": 6, "pcd_info": {"point_index": 1802}, "mesh_info": {"face_index": 1983, "face_uv": [0.6360198397910632, 0.3416960097836156, 0.02228415042532117]}}, {"xyz": [0.22818998256657433, 0.21397050318049304, 0.22872724870991595], "rgb": [109, 115, 134], "semantic_id": 7, "pcd_info": {"point_index": 1651}, "mesh_info": {"face_index": 2045, "face_uv": [0.26225646760196436, 0.7243915753512856, 0.013351957046730794]}}, {"xyz": [-0.2280409377805362, 0.21153299510478996, -0.2855029212180568], "rgb": [110, 116, 135], "semantic_id": 8, "pcd_info": {"point_index": 843}, "mesh_info": {"face_index": 1884, "face_uv": [0.4977791132241979, 0.007324747632670268, 0.49489613914313296]}}, {"xyz": [-0.22736129837055996, 0.2149726765227844, 0.2301007698663971], "rgb": [109, 115, 134], "semantic_id": 9, "pcd_info": {"point_index": 1339}, "mesh_info": {"face_index": 2038, "face_uv": [0.11231450737081149, 0.015936012948360823, 0.8717494796808274]}}, {"xyz": [0.2288359133202834, -0.3841080069541931, -0.2829386935532413], "rgb": [110, 116, 135], "semantic_id": 17, "pcd_info": {"point_index": 1235}, "mesh_info": {"face_index": 1931, "face_uv": [0.012223519034764548, 0.5726115636020785, 0.4151649173631569]}}, {"xyz": [0.22666091956215406, -0.3841080069541929, 0.2282312330847357], "rgb": [109, 115, 134], "semantic_id": 18, "pcd_info": {"point_index": 2021}, "mesh_info": {"face_index": 1941, "face_uv": [0.5646118308353745, 0.4241648439837217, 0.011223325180903347]}}, {"xyz": [-0.22913678356216527, -0.3841080069541931, 0.22666424657435824], "rgb": [110, 116, 135], "semantic_id": 19, "pcd_info": {"point_index": 1354}, "mesh_info": {"face_index": 1849, "face_uv": [0.4070580511569032, 0.014216939519378455, 0.5787250093237184]}}, {"xyz": [-0.228342578269654, -0.3841080069541929, -0.2782046985298582], "rgb": [109, 115, 134], "semantic_id": 20, "pcd_info": {"point_index": 495}, "mesh_info": {"face_index": 1851, "face_uv": [0.021267473967633788, 0.47993986867919725, 0.4987926573531684]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b233a919f5d2f6ac2ad490d4d7fae486", "keypoints": [{"xyz": [-0.18843525844622208, 0.454382985830307, 0.23497001015164126], "rgb": [35, 47, 66], "semantic_id": 0, "pcd_info": {"point_index": 2027}, "mesh_info": {"face_index": 505, "face_uv": [0.35975153113078817, 0.006868910502862738, 0.6333795583663491]}}, {"xyz": [0.18451442807770807, 0.4543829858303071, 0.22348967574368417], "rgb": [35, 47, 66], "semantic_id": 1, "pcd_info": {"point_index": 1108}, "mesh_info": {"face_index": 492, "face_uv": [0.4269741153446458, 0.017129640725548696, 0.5558962439298057]}}, {"xyz": [-0.19213021228835436, -0.000522000016644597, 0.11214563151647683], "rgb": [35, 47, 65], "semantic_id": 2, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 406, "face_uv": [0.974793779138548, 0.01757253472253658, 0.007633686138915362]}}, {"xyz": [0.17774608912540663, 0.0009190695833514173, 0.11782701406156437], "rgb": [35, 47, 66], "semantic_id": 3, "pcd_info": {"point_index": 1591}, "mesh_info": {"face_index": 422, "face_uv": [0.9651577592591692, 0.010305353085599715, 0.024536887655231876]}}, {"xyz": [0.18735421141280367, -0.008236319808301307, -0.25835201144218445], "rgb": [35, 47, 65], "semantic_id": 4, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 378, "face_uv": [0.11748768854868105, 0.8728143237057839, 0.009697987745534964]}}, {"xyz": [-0.19302586211497874, -0.008307358192923386, -0.25228700041770935], "rgb": [168, 143, 35], "semantic_id": 5, "pcd_info": {"point_index": 454}, "mesh_info": {"face_index": 315, "face_uv": [0.05401890864144821, 0.3251256098947228, 0.6208554814638291]}}, {"xyz": [0.22661735309136688, 0.12078599631786346, -0.2561544879781447], "rgb": [155, 131, 30], "semantic_id": 6, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 101, "face_uv": [0.330469812082209, 0.6513648173348344, 0.018165370582956607]}}, {"xyz": [0.22041270111186548, 0.12078599631786346, 0.18628194545552712], "rgb": [157, 134, 28], "semantic_id": 7, "pcd_info": {"point_index": 570}, "mesh_info": {"face_index": 97, "face_uv": [0.5284597775206032, 0.462296420191371, 0.009243802288025718]}}, {"xyz": [-0.22509210757143872, 0.12078599631786335, -0.2576107760829874], "rgb": [155, 131, 30], "semantic_id": 8, "pcd_info": {"point_index": 31}, "mesh_info": {"face_index": 195, "face_uv": [0.36161164826195746, 0.6234242827328847, 0.01496406900515683]}}, {"xyz": [-0.22349890880080314, 0.12078599631786346, 0.1857146023224585], "rgb": [157, 135, 28], "semantic_id": 9, "pcd_info": {"point_index": 1481}, "mesh_info": {"face_index": 191, "face_uv": [0.5837479613870868, 0.4057610679513997, 0.010490970661513404]}}, {"xyz": [0.20586569947341554, -0.24042797744952593, -0.25228700041770913], "rgb": [158, 130, 22], "semantic_id": 17, "pcd_info": {"point_index": 161}, "mesh_info": {"face_index": 50, "face_uv": [0.5931606513624549, 0.007788272637895036, 0.3990510759996492]}}, {"xyz": [0.211470938696444, -0.23929187396258345, 0.1298329979181292], "rgb": [164, 140, 31], "semantic_id": 18, "pcd_info": {"point_index": 1490}, "mesh_info": {"face_index": 74, "face_uv": [0.08192311369764602, 0.4925933215421967, 0.4254835647601589]}}, {"xyz": [-0.20949299058842763, -0.2425288783051458, 0.12983299791812897], "rgb": [164, 140, 32], "semantic_id": 19, "pcd_info": {"point_index": 1050}, "mesh_info": {"face_index": 351, "face_uv": [0.012974398349096573, 0.49570002317067646, 0.4913255784802269]}}, {"xyz": [-0.21087515210824043, -0.23922725792124355, -0.25228700041770935], "rgb": [157, 129, 23], "semantic_id": 20, "pcd_info": {"point_index": 734}, "mesh_info": {"face_index": 327, "face_uv": [0.4555080290263101, 0.011238992917956948, 0.533252978055733]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "65b21a2af8709510f91663a74ccd2338", "keypoints": [{"xyz": [0.19524257915740925, 0.42680873514702794, 0.18679507510136384], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 588}, "mesh_info": {"face_index": 31863, "face_uv": [0.030871391741575334, 0.2695378911840117, 0.6995907170744128]}}, {"xyz": [-0.18923233433023268, 0.42865428464907235, 0.1822862718967042], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 1180}, "mesh_info": {"face_index": 36969, "face_uv": [0.14575460637911994, 0.35832113974292784, 0.4959242538779519]}}, {"xyz": [0.20608359775612484, 0.11576873720751502, 0.14503892052983436], "rgb": [0, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 867}, "mesh_info": {"face_index": 7457, "face_uv": [0.6374320412201643, 0.010918627984523407, 0.351649330795312]}}, {"xyz": [-0.20436617073028057, 0.11376424844253008, 0.14485999408415795], "rgb": [0, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 1580}, "mesh_info": {"face_index": 7404, "face_uv": [0.6446049344891506, 0.2873071464439175, 0.06808791906693228]}}, {"xyz": [0.19276921371424027, 0.1404384705029723, -0.2324355070395181], "rgb": [110, 97, 88], "semantic_id": 4, "pcd_info": {"point_index": 1164}, "mesh_info": {"face_index": 21180, "face_uv": [0.22595653319502726, 0.5776723913907702, 0.19637107541420262]}}, {"xyz": [-0.18442162391657327, 0.14585653842919882, -0.23386307348422775], "rgb": [148, 114, 57], "semantic_id": 5, "pcd_info": {"point_index": 2022}, "mesh_info": {"face_index": 20865, "face_uv": [0.8247982195127104, 0.05008899389508239, 0.1251127865922066]}}, {"xyz": [0.21416685711590888, 0.28050071475029803, -0.19313720603669138], "rgb": [0, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 1096}, "mesh_info": {"face_index": 952, "face_uv": [0.47728283116390063, 0.44213220446585166, 0.08058496437024837]}}, {"xyz": [0.22170794179584177, 0.31871539445781916, 0.15432853632173124], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 1245}, "mesh_info": {"face_index": 6694, "face_uv": [0.1992446894920208, 0.12258324304927169, 0.6781720674587068]}}, {"xyz": [-0.2135730203186818, 0.27714702929381596, -0.19572955933900116], "rgb": [0, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 1439}, "mesh_info": {"face_index": 14302, "face_uv": [0.4176439514083821, 0.04331494166251424, 0.539041106929104]}}, {"xyz": [-0.22712901349824077, 0.3215040368446038, 0.14393255653007964], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 1966}, "mesh_info": {"face_index": 18878, "face_uv": [0.1667905893861957, 0.05239164811943587, 0.7808177624943677]}}, {"xyz": [0.2020862085094628, -0.28317823255086433, -0.20451211611610542], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 204}, "mesh_info": {"face_index": 50736, "face_uv": [0.313375664687832, 0.08301883395820259, 0.6036055013539653]}}, {"xyz": [0.2006777369881224, -0.28045114894349016, 0.15077051316100265], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 195}, "mesh_info": {"face_index": 41896, "face_uv": [0.4359687018325693, 0.1986629125309996, 0.3653683856364311]}}, {"xyz": [-0.21562637371318716, -0.2760357779330122, 0.149351645608492], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 531}, "mesh_info": {"face_index": 67597, "face_uv": [0.12432005703652965, 0.29334976082770137, 0.5823301821357681]}}, {"xyz": [-0.21635274950702887, -0.27170694333485274, -0.19952575498672842], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1683}, "mesh_info": {"face_index": 58992, "face_uv": [0.4697218897461823, 0.4052235823904428, 0.12505452786337504]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a27db3ddc9bab11a5fceaa39a8353bde", "keypoints": [{"xyz": [0.23038939279014398, 0.4788909834351045, 0.247676655038035], "rgb": [54, 73, 124], "semantic_id": 0, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 16285, "face_uv": [0.17632852263674664, 0.004664041983180461, 0.8190074353800731]}}, {"xyz": [-0.2279366063591598, 0.47326366887324745, 0.24344635413873028], "rgb": [54, 73, 124], "semantic_id": 1, "pcd_info": {"point_index": 1268}, "mesh_info": {"face_index": 16252, "face_uv": [0.026919585283278976, 0.001358576274080814, 0.9717218384426408]}}, {"xyz": [0.227558612021193, 0.12993000447750092, 0.20985145759128487], "rgb": [58, 90, 137], "semantic_id": 2, "pcd_info": {"point_index": 1559}, "mesh_info": {"face_index": 14701, "face_uv": [0.09807610132015201, 0.004306693160514632, 0.8976172055193333]}}, {"xyz": [-0.2260021994796119, 0.12850502884152548, 0.21326116857105915], "rgb": [224, 224, 199], "semantic_id": 3, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 16150, "face_uv": [0.37831290877831597, 0.5946585575920404, 0.027028533629636843]}}, {"xyz": [0.22899408252176554, 0.12984288796380872, -0.17662646022912454], "rgb": [54, 73, 124], "semantic_id": 4, "pcd_info": {"point_index": 957}, "mesh_info": {"face_index": 13698, "face_uv": [0.07403730289487087, 0.655675230017915, 0.27028746708721463]}}, {"xyz": [-0.21203497574019597, 0.12993000447750092, -0.17417083770787256], "rgb": [59, 91, 138], "semantic_id": 5, "pcd_info": {"point_index": 967}, "mesh_info": {"face_index": 14395, "face_uv": [0.37494148050687975, 0.005674665763452093, 0.6193838537296681]}}, {"xyz": [0.23906929104100733, -0.26682678119154324, -0.17249847712594352], "rgb": [150, 150, 150], "semantic_id": 17, "pcd_info": {"point_index": 426}, "mesh_info": {"face_index": 7707, "face_uv": [0.059563949322593346, 0.0547456256083048, 0.8856904250691012]}}, {"xyz": [0.23794998659959044, -0.2595984941274463, 0.232991726985962], "rgb": [208, 208, 208], "semantic_id": 18, "pcd_info": {"point_index": 1886}, "mesh_info": {"face_index": 10982, "face_uv": [0.0017415055263349756, 0.6183390319015163, 0.3799194625721487]}}, {"xyz": [-0.23684935293986115, -0.2826593083906981, 0.22346782563008605], "rgb": [182, 182, 182], "semantic_id": 19, "pcd_info": {"point_index": 1417}, "mesh_info": {"face_index": 3387, "face_uv": [0.09169083449633783, 0.7762902887818439, 0.13201887672181808]}}, {"xyz": [-0.2370923854499653, -0.2786279471402986, -0.16330828082273896], "rgb": [163, 163, 163], "semantic_id": 20, "pcd_info": {"point_index": 1595}, "mesh_info": {"face_index": 5255, "face_uv": [0.13841528615903556, 0.1339338413356216, 0.727650872505344]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e7ae6edc3fc6c92ac423490470c47d79", "keypoints": [{"xyz": [0.2189291772148202, 0.40368786709386556, 0.33158877792246977], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1000}, "mesh_info": {"face_index": 1374, "face_uv": [0.7750346630766539, 0.18647794317327454, 0.038487393750071326]}}, {"xyz": [-0.22258494226008116, 0.39761248085722445, 0.33989081060284665], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 1182, "face_uv": [0.25470343068806567, 0.39829882268853534, 0.34699774662339844]}}, {"xyz": [0.17708004075248335, 0.1539709617917422, 0.19850319837704133], "rgb": [73, 40, 35], "semantic_id": 2, "pcd_info": {"point_index": 713}, "mesh_info": {"face_index": 1518, "face_uv": [0.5942267400720079, 0.008157590127519394, 0.39761566980047286]}}, {"xyz": [-0.18124835310992135, 0.1516501014584316, 0.2004801757248842], "rgb": [75, 45, 40], "semantic_id": 3, "pcd_info": {"point_index": 1421}, "mesh_info": {"face_index": 1443, "face_uv": [0.49749618117639355, 0.013502749353512108, 0.4890010694700945]}}, {"xyz": [0.19566415690876893, 0.1437109550865876, -0.15913934805470165], "rgb": [60, 38, 31], "semantic_id": 4, "pcd_info": {"point_index": 117}, "mesh_info": {"face_index": 1525, "face_uv": [0.1386971807304605, 0.01303900072276011, 0.8482638185467796]}}, {"xyz": [-0.18843921389802196, 0.14203411017332646, -0.16787187150453797], "rgb": [74, 41, 34], "semantic_id": 5, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 1485, "face_uv": [0.03117786788949494, 0.9370855609651262, 0.031736571145378256]}}, {"xyz": [0.23978446642232845, 0.2561293419660935, -0.15281866084999024], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 1896, "face_uv": [0.8226251398535507, 0.005731256584286941, 0.17164360356216324]}}, {"xyz": [0.2412391552433259, 0.25589443049679317, 0.26776150315798286], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1284}, "mesh_info": {"face_index": 1228, "face_uv": [0.6933504715830352, 0.017407674925741946, 0.28924185349122256]}}, {"xyz": [-0.25187371103234707, 0.25330950543131214, -0.14971328775593612], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 423}, "mesh_info": {"face_index": 1805, "face_uv": [0.30212660890582504, 0.020327467927846416, 0.6775459231663286]}}, {"xyz": [-0.2367449823885634, 0.25633127030519165, 0.271154351255309], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 326}, "mesh_info": {"face_index": 1131, "face_uv": [0.8940486022251687, 0.0014601681217232944, 0.10449122965310857]}}, {"xyz": [0.2163171375603843, -0.1795294519555326, -0.13140774370965294], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 736}, "mesh_info": {"face_index": 226, "face_uv": [0.39667048657498044, 0.3450529609348171, 0.25827655249020304]}}, {"xyz": [0.2179896095553624, -0.18769000470638275, 0.26524153845955906], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1625}, "mesh_info": {"face_index": 508, "face_uv": [0.6004373406532766, 0.2996006648750517, 0.09996199447167178]}}, {"xyz": [-0.21433082614977522, -0.18769000470638275, 0.25281482369821245], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 656}, "mesh_info": {"face_index": 395, "face_uv": [0.4564748658160421, 0.3168350835217101, 0.2266900506622478]}}, {"xyz": [-0.21550626880272433, -0.17892999947071075, -0.12958118587681375], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 0}, "mesh_info": {"face_index": 945, "face_uv": [0.29502964608407345, 0.49667617129258756, 0.20829418262333887]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "73f16e230ac102536e07666ce67ff5a", "keypoints": [{"xyz": [0.1526475137144816, 0.26334958901993377, 0.21416770450739486], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1729}, "mesh_info": {"face_index": 58, "face_uv": [0.1693528949674601, 0.8109081330483672, 0.019738971984187125]}}, {"xyz": [-0.14399706443009813, 0.26746013055601403, 0.21695071041949188], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 732}, "mesh_info": {"face_index": 59, "face_uv": [0.8315428664298248, 0.12770292857937066, 0.040754204990815016]}}, {"xyz": [0.20243550969417876, -0.10341899842023827, -0.036623723350380805], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 95}, "mesh_info": {"face_index": 1749, "face_uv": [0.06950047572779218, 0.9287051212423415, 0.0017944030298641773]}}, {"xyz": [-0.20114700496196747, -0.10427327772555306, -0.03178769976815343], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 527}, "mesh_info": {"face_index": 2752, "face_uv": [0.2581676488072056, 0.41947389897407555, 0.3223584522187188]}}, {"xyz": [0.1819829940795898, -0.04943665259336605, -0.3623867541003227], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 2717, "face_uv": [0.5855469694366306, 0.3074751626165347, 0.10697786794683439]}}, {"xyz": [-0.17996899783611287, -0.05130264381425653, -0.3629251304901771], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 99}, "mesh_info": {"face_index": 2857, "face_uv": [0.14791150852012555, 0.31314610219699657, 0.5389423892828773]}}, {"xyz": [0.22877115904082027, 0.06476431660442161, -0.3674898304958384], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 40}, "mesh_info": {"face_index": 3852, "face_uv": [0.44371508486861844, 0.4538678811336032, 0.10241703399777863]}}, {"xyz": [0.22559989138557288, 0.027678845769786076, 0.11935666924954741], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1280}, "mesh_info": {"face_index": 1208, "face_uv": [0.4751243431073496, 0.02961686689159231, 0.49525879000105755]}}, {"xyz": [-0.2247362014225871, 0.06603526451445818, -0.36475873733841757], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1175}, "mesh_info": {"face_index": 2185, "face_uv": [0.0770120980832534, 0.44849796654363105, 0.4744899353731163]}}, {"xyz": [-0.23370971654730338, 0.02428022718795031, 0.11318248725767055], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 764}, "mesh_info": {"face_index": 2086, "face_uv": [0.06627031346032743, 0.8804144777762383, 0.053315208763441604]}}, {"xyz": [0.21276393765517757, -0.2824699878692629, -0.36347327550468833], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1436}, "mesh_info": {"face_index": 2714, "face_uv": [0.062482402752497335, 0.42900978487583263, 0.508507812371671]}}, {"xyz": [0.2000954898375955, -0.2735280282907968, 0.01975400000810623], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1030}, "mesh_info": {"face_index": 2696, "face_uv": [0.029479507208591892, 0.6640110195484209, 0.3065094732429871]}}, {"xyz": [-0.2100598407004366, -0.2824699878692627, 0.013199219676489404], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 903}, "mesh_info": {"face_index": 2830, "face_uv": [0.009265207201358188, 0.4325356912226233, 0.5581991015760185]}}, {"xyz": [-0.2083329903188735, -0.2824699878692627, -0.3591484970793251], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 2029}, "mesh_info": {"face_index": 2862, "face_uv": [0.13413314332921383, 0.4738347745068472, 0.392032082163939]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "38fed916a35dd43d7c8c503b4b873379", "keypoints": [{"xyz": [0.3414141922235177, 0.19357091464823295, 0.13620706264734672], "rgb": [210, 18, 4], "semantic_id": 0, "pcd_info": {"point_index": 1893}, "mesh_info": {"face_index": 1744, "face_uv": [0.0252492506591442, 0.006825983217909668, 0.9679247661229431]}}, {"xyz": [-0.352091271039331, 0.1933019354972414, 0.13312531709172137], "rgb": [211, 19, 5], "semantic_id": 1, "pcd_info": {"point_index": 333}, "mesh_info": {"face_index": 660, "face_uv": [0.0018129987897670971, 0.3683570626067071, 0.6298299386035285]}}, {"xyz": [0.34621555381340496, -0.024365509498958104, 0.03848681043621949], "rgb": [211, 19, 5], "semantic_id": 2, "pcd_info": {"point_index": 1468}, "mesh_info": {"face_index": 1567, "face_uv": [0.018805245077758593, 0.8428784083725365, 0.13831634654970945]}}, {"xyz": [-0.3461784998459174, -0.024109641357549005, 0.037249275860510744], "rgb": [211, 19, 5], "semantic_id": 3, "pcd_info": {"point_index": 1420}, "mesh_info": {"face_index": 492, "face_uv": [0.0189102581487948, 0.9296133819892631, 0.051476359861942496]}}, {"xyz": [0.33430361201500675, -0.02003464353383322, -0.18669735000375054], "rgb": [211, 19, 5], "semantic_id": 4, "pcd_info": {"point_index": 1547}, "mesh_info": {"face_index": 1284, "face_uv": [0.09825353670760711, 0.8491820913216087, 0.052564371970787095]}}, {"xyz": [-0.3377473112617063, -0.018692066165753918, -0.1837723784046057], "rgb": [211, 19, 5], "semantic_id": 5, "pcd_info": {"point_index": 659}, "mesh_info": {"face_index": 218, "face_uv": [0.042804730611020636, 0.16593703748856184, 0.7912582319004191]}}, {"xyz": [0.3847655740168643, -0.00010182367054722974, -0.1856196824092573], "rgb": [211, 19, 5], "semantic_id": 6, "pcd_info": {"point_index": 21}, "mesh_info": {"face_index": 2372, "face_uv": [0.3091546675940192, 0.5168434270902079, 0.17400190531577306]}}, {"xyz": [0.3860235787866664, 0.0784150842893816, 0.16755378156585676], "rgb": [210, 18, 4], "semantic_id": 7, "pcd_info": {"point_index": 999}, "mesh_info": {"face_index": 2248, "face_uv": [0.5371886388607842, 2.766131293771472e-05, 0.46278369982627776]}}, {"xyz": [-0.38600266468362865, -0.0022281325675901353, -0.18813445417367758], "rgb": [211, 19, 5], "semantic_id": 8, "pcd_info": {"point_index": 489}, "mesh_info": {"face_index": 2983, "face_uv": [0.006356199440865271, 0.5368776048228755, 0.4567661957362632]}}, {"xyz": [-0.38434477897380726, 0.0772856761187184, 0.16212428673815737], "rgb": [211, 19, 5], "semantic_id": 9, "pcd_info": {"point_index": 1575}, "mesh_info": {"face_index": 2821, "face_uv": [0.49372023202609766, 0.016308591326339973, 0.4899711766475701]}}, {"xyz": [0.38834740691012903, -0.17286738984435024, -0.17692905427875338], "rgb": [217, 217, 217], "semantic_id": 17, "pcd_info": {"point_index": 1274}, "mesh_info": {"face_index": 1135, "face_uv": [0.09343944131700649, 0.26298607772337923, 0.6435744809596149]}}, {"xyz": [0.38370357126095056, -0.17085954941050008, 0.21169868073486342], "rgb": [202, 202, 202], "semantic_id": 18, "pcd_info": {"point_index": 274}, "mesh_info": {"face_index": 49, "face_uv": [0.4737880933304408, 0.053266210869087116, 0.4729456958004789]}}, {"xyz": [-0.38343574481048803, -0.17285348346704965, 0.21515225062094445], "rgb": [203, 203, 203], "semantic_id": 19, "pcd_info": {"point_index": 91}, "mesh_info": {"face_index": 24, "face_uv": [0.458606927423218, 0.003036120775179083, 0.5383569518016034]}}, {"xyz": [-0.38312561096957554, -0.16422295031032585, -0.17875192206301382], "rgb": [204, 204, 204], "semantic_id": 20, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 0, "face_uv": [0.44102765814549383, 0.0992351244274542, 0.4597372174270523]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c0e3582a0c8273653c4f66791e25960f", "keypoints": [{"xyz": [0.16357258600838143, 0.4706460013315309, 0.16691339335462763], "rgb": [101, 119, 121], "semantic_id": 0, "pcd_info": {"point_index": 104}, "mesh_info": {"face_index": 2723, "face_uv": [0.016321016963466873, 0.02406283292300964, 0.9596161501135213]}}, {"xyz": [-0.1644434573712678, 0.4750070866807127, 0.16748753759711943], "rgb": [101, 119, 121], "semantic_id": 1, "pcd_info": {"point_index": 1779}, "mesh_info": {"face_index": 4932, "face_uv": [0.02128906565052044, 0.977736448712937, 0.0009744856365409861]}}, {"xyz": [0.16545082868098326, 0.02169143853473865, 0.125123992562294], "rgb": [82, 96, 99], "semantic_id": 2, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 2516, "face_uv": [0.004324688927598381, 0.9766653628930051, 0.01900994817939653]}}, {"xyz": [-0.17210100591182703, 0.03422193955197761, 0.11344176809183426], "rgb": [102, 116, 119], "semantic_id": 3, "pcd_info": {"point_index": 1652}, "mesh_info": {"face_index": 2542, "face_uv": [0.05094711730097609, 0.15448638914678658, 0.794566493552237]}}, {"xyz": [0.1642663528867744, 0.019462000578642114, -0.21815059438801887], "rgb": [106, 120, 123], "semantic_id": 4, "pcd_info": {"point_index": 842}, "mesh_info": {"face_index": 2573, "face_uv": [0.022045775584553996, 0.005899694151927325, 0.9720545302635302]}}, {"xyz": [-0.16147687675371003, 0.017790446899268453, -0.2188269942998886], "rgb": [104, 118, 121], "semantic_id": 5, "pcd_info": {"point_index": 194}, "mesh_info": {"face_index": 4889, "face_uv": [0.012851043268325238, 0.03088858570589445, 0.9562603710257803]}}, {"xyz": [0.1879029045291149, 0.1197159777291561, -0.10417699813842773], "rgb": [104, 120, 123], "semantic_id": 6, "pcd_info": {"point_index": 1726}, "mesh_info": {"face_index": 2019, "face_uv": [0.4587558847643005, 0.460871413744728, 0.08037270149097146]}}, {"xyz": [0.18820158704399353, 0.13411299884319328, 0.11769330895217789], "rgb": [106, 121, 124], "semantic_id": 7, "pcd_info": {"point_index": 333}, "mesh_info": {"face_index": 2504, "face_uv": [0.45192474102512337, 0.032405806827998755, 0.5156694521468795]}}, {"xyz": [-0.20574025009674513, 0.13404128122527426, -0.10417699813842773], "rgb": [97, 115, 117], "semantic_id": 8, "pcd_info": {"point_index": 895}, "mesh_info": {"face_index": 4058, "face_uv": [0.25556447183826936, 0.6881390315574358, 0.056296496604294734]}}, {"xyz": [-0.18757863438868805, 0.13411299884319305, 0.11355947918119336], "rgb": [107, 123, 125], "semantic_id": 9, "pcd_info": {"point_index": 1765}, "mesh_info": {"face_index": 4066, "face_uv": [0.5633383117829827, 0.05043376980518317, 0.3862279184118342]}}, {"xyz": [0.13120362186338638, -0.3053799867630005, -0.17928746957756223], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 5087, "face_uv": [0.534754972589139, 0.4370776306177337, 0.02816739679312744]}}, {"xyz": [0.1322613930762974, -0.3053799867630007, 0.08257893350730439], "rgb": [183, 108, 43], "semantic_id": 18, "pcd_info": {"point_index": 32}, "mesh_info": {"face_index": 124, "face_uv": [0.37518154263795434, 0.4863466883997066, 0.13847176896233987]}}, {"xyz": [-0.1353446093241452, -0.3053799867630005, 0.08596258172420013], "rgb": [182, 108, 43], "semantic_id": 19, "pcd_info": {"point_index": 59}, "mesh_info": {"face_index": 1316, "face_uv": [0.4752469053031075, 0.33260919211953355, 0.192143902577359]}}, {"xyz": [-0.13761522310057278, -0.3053799867630005, -0.17920969906367776], "rgb": [185, 110, 45], "semantic_id": 20, "pcd_info": {"point_index": 723}, "mesh_info": {"face_index": 680, "face_uv": [0.10857645480020751, 0.4653857162834267, 0.4260378289163658]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9e3dba0e6fd3408bf382e154aede1b6a", "keypoints": [{"xyz": [0.2332734525656152, 0.24670988008205053, 0.1629291878187511], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1405}, "mesh_info": {"face_index": 4047, "face_uv": [0.4515116940266322, 0.5030541791681243, 0.04543412680524207]}}, {"xyz": [-0.24275983880756158, 0.24963932568960323, 0.16367215330378992], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 2786, "face_uv": [0.6345678700927138, 0.0020988288551485657, 0.36333330105213757]}}, {"xyz": [0.19428930700411973, -0.049238114978989056, 0.09051213809204128], "rgb": [63, 53, 37], "semantic_id": 2, "pcd_info": {"point_index": 1474}, "mesh_info": {"face_index": 1826, "face_uv": [0.016123273909315613, 0.400034417796952, 0.5838423082937194]}}, {"xyz": [-0.21011150975066106, -0.04724755952432319, 0.09222066217602443], "rgb": [154, 63, 63], "semantic_id": 3, "pcd_info": {"point_index": 1305}, "mesh_info": {"face_index": 534, "face_uv": [0.7222430726519016, 0.24161113515298915, 0.0361457921951208]}}, {"xyz": [0.20296046724736697, -0.10205756044423644, -0.28408479026430467], "rgb": [78, 51, 40], "semantic_id": 4, "pcd_info": {"point_index": 114}, "mesh_info": {"face_index": 634, "face_uv": [0.5877041487751857, 0.26577096807463313, 0.14652488315018083]}}, {"xyz": [-0.20290415863633632, -0.11345900115552471, -0.286316108370815], "rgb": [104, 80, 67], "semantic_id": 5, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 89, "face_uv": [0.08242812220185936, 0.6772547192477779, 0.24031715855036312]}}, {"xyz": [0.24310273083727751, 0.02186268358668042, -0.35418701171875], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 464}, "mesh_info": {"face_index": 2717, "face_uv": [0.1242450361790757, 0.5332327981308908, 0.3425221656900335]}}, {"xyz": [0.2594894376798159, 0.02625400014221646, 0.1787235224835796], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 443}, "mesh_info": {"face_index": 2955, "face_uv": [0.6175318723615675, 0.007704111593904148, 0.37476401604452]}}, {"xyz": [-0.272076343764931, 0.026254000142216682, -0.3528850343142022], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 748}, "mesh_info": {"face_index": 2531, "face_uv": [0.16366921969290266, 0.002633172413488763, 0.8336976078936085]}}, {"xyz": [-0.2771572706023864, 0.026254000142216682, 0.17524333114857527], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 471}, "mesh_info": {"face_index": 3869, "face_uv": [0.14386383016816004, 0.1788353274114773, 0.6773008424203627]}}, {"xyz": [0.23304370733615182, -0.2918440103530884, -0.31672803141528205], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 2713, "face_uv": [0.5034458947616337, 0.029905536471591783, 0.4666485687667745]}}, {"xyz": [0.23069179878358775, -0.2893911077163291, 0.1544471670954517], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1719}, "mesh_info": {"face_index": 4112, "face_uv": [0.29594498521850454, 0.5699873394017662, 0.13406767537972503]}}, {"xyz": [-0.24907251705611738, -0.2918440103530884, 0.16238497707892452], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 505}, "mesh_info": {"face_index": 3206, "face_uv": [0.24050800891382906, 0.2154530984632812, 0.5440388926228897]}}, {"xyz": [-0.2462674791550205, -0.2890925965701085, -0.31884199380874634], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1389}, "mesh_info": {"face_index": 2372, "face_uv": [0.019461535143917325, 0.4646749968114564, 0.5158634680446262]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "44aed693950b077d4f9691cdd5f8749", "keypoints": [{"xyz": [0.22425507430113256, 0.2521706124854386, 0.14675383735044006], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 979}, "mesh_info": {"face_index": 82, "face_uv": [0.14762213292630766, 0.45679218694713014, 0.39558568012656203]}}, {"xyz": [-0.22172141030165923, 0.25327976932491714, 0.14318392785957762], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1673}, "mesh_info": {"face_index": 86, "face_uv": [0.21751666844506903, 0.6101365178633746, 0.17234681369155588]}}, {"xyz": [0.22843734949965527, -0.057378001511096954, 0.10948668946081919], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1154}, "mesh_info": {"face_index": 2, "face_uv": [0.021627347741518563, 0.9758234220846831, 0.0025492301737985224]}}, {"xyz": [-0.2240763015738211, -0.057378001511096954, 0.11019470098850281], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 393}, "mesh_info": {"face_index": 1, "face_uv": [0.012048108333514853, 0.0228498937535745, 0.9651019979129106]}}, {"xyz": [0.22477649689528056, -0.0607528558224137, -0.4112809896469116], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1081}, "mesh_info": {"face_index": 6, "face_uv": [0.9277717584455589, 0.06981638393938833, 0.0024118576150527786]}}, {"xyz": [-0.22492540850287202, -0.06408222469651227, -0.4112809896469116], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 452}, "mesh_info": {"face_index": 37, "face_uv": [0.07829594381168295, 0.9121936830599959, 0.009510373128321087]}}, {"xyz": [0.20391335273898645, -0.36435601115226735, -0.3839153503328483], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1476}, "mesh_info": {"face_index": 52, "face_uv": [0.4817233995774087, 0.4869582775772054, 0.03131832284538558]}}, {"xyz": [0.20066451009475716, -0.36435601115226757, 0.15083404617711388], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1734}, "mesh_info": {"face_index": 127, "face_uv": [0.009344732720218442, 0.53328798966276, 0.45736727761702184]}}, {"xyz": [-0.2098487375848002, -0.36435601115226735, 0.15531426264313203], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 751}, "mesh_info": {"face_index": 142, "face_uv": [0.37045854978519893, 0.6172831402705867, 0.012258309944213959]}}, {"xyz": [-0.20739801705166483, -0.36435601115226746, -0.3730057898230171], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1526}, "mesh_info": {"face_index": 105, "face_uv": [0.13397427606457643, 0.2824295380654179, 0.5835961858700057]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e4602d2f261da4a314b029b11f36ab2d", "keypoints": [{"xyz": [0.19954205658659596, 0.2698569196501931, 0.10116486134209346], "rgb": [197, 162, 110], "semantic_id": 0, "pcd_info": {"point_index": 1976}, "mesh_info": {"face_index": 285, "face_uv": [0.5376464091180567, 0.0018582062768187314, 0.4604953846051141]}}, {"xyz": [-0.1991197800014758, 0.27313673465832544, 0.10435706048679694], "rgb": [200, 164, 109], "semantic_id": 1, "pcd_info": {"point_index": 448}, "mesh_info": {"face_index": 500, "face_uv": [0.6100072657406281, 0.15166288391829724, 0.2383298503410743]}}, {"xyz": [0.17266780475289928, -0.06812004784770753, 0.08537491320903812], "rgb": [186, 155, 108], "semantic_id": 2, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 1243, "face_uv": [0.7508187871394175, 0.20127836019323053, 0.04790285266735039]}}, {"xyz": [-0.18394585466096955, -0.06333217002750202, 0.08820275039248238], "rgb": [195, 167, 116], "semantic_id": 3, "pcd_info": {"point_index": 1546}, "mesh_info": {"face_index": 1310, "face_uv": [0.5455173036350025, 0.020757527447707917, 0.4337251689172889]}}, {"xyz": [0.17869819164330517, -0.09001080529468325, -0.29929552540974913], "rgb": [182, 153, 101], "semantic_id": 4, "pcd_info": {"point_index": 1832}, "mesh_info": {"face_index": 1640, "face_uv": [0.383990715256095, 0.46317387848308417, 0.15283540626082107]}}, {"xyz": [-0.18360983238243966, -0.09203374589271263, -0.30022867726915314], "rgb": [177, 148, 98], "semantic_id": 5, "pcd_info": {"point_index": 13}, "mesh_info": {"face_index": 1436, "face_uv": [0.49563712324587206, 0.030911954481263555, 0.47345092227286384]}}, {"xyz": [0.19711151352250195, -0.47108990648503224, -0.3133475226074949], "rgb": [181, 149, 106], "semantic_id": 17, "pcd_info": {"point_index": 154}, "mesh_info": {"face_index": 202, "face_uv": [0.09741926296420385, 0.3293132210135827, 0.5732675160222136]}}, {"xyz": [0.20123262236509026, -0.47798169214325326, 0.14839898668103602], "rgb": [189, 158, 111], "semantic_id": 18, "pcd_info": {"point_index": 885}, "mesh_info": {"face_index": 944, "face_uv": [0.020847154957059893, 0.5517392221624204, 0.4274136228805199]}}, {"xyz": [-0.20609770638454106, -0.4810049925034787, 0.16515468901492678], "rgb": [185, 154, 104], "semantic_id": 19, "pcd_info": {"point_index": 1163}, "mesh_info": {"face_index": 1062, "face_uv": [0.7666079417144046, 0.12085322101257653, 0.1125388372730188]}}, {"xyz": [-0.20518762120685363, -0.47539341608394714, -0.30901927686537134], "rgb": [184, 152, 108], "semantic_id": 20, "pcd_info": {"point_index": 1862}, "mesh_info": {"face_index": 398, "face_uv": [0.40858256864411524, 0.28251150999381996, 0.308905921362065]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e67c305a676930b123c95a77265c8dd", "keypoints": [{"xyz": [0.22784344758055974, 0.5487025029686292, 0.18474761393940153], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1707}, "mesh_info": {"face_index": 5423, "face_uv": [0.009501685610878805, 0.08687540141894577, 0.9036229129701758]}}, {"xyz": [-0.20242685386769693, 0.5476500390265641, 0.2242787988000643], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 5421, "face_uv": [0.0053377651835324535, 0.0020992170065169276, 0.9925630178099505]}}, {"xyz": [0.20000335997410446, 0.15906158378151658, 0.1426232652262331], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 627}, "mesh_info": {"face_index": 4374, "face_uv": [0.6991956633057632, 0.25136265273533753, 0.04944168395889743]}}, {"xyz": [-0.1938189630711744, 0.1517037052299205, 0.19134192468077155], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1578}, "mesh_info": {"face_index": 5476, "face_uv": [0.05928717925446797, 0.5622898913371078, 0.37842292940842825]}}, {"xyz": [0.18582580545982164, 0.13285139218253672, -0.24446727183819827], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1995}, "mesh_info": {"face_index": 5432, "face_uv": [0.9829624146448034, 0.013125207715535006, 0.003912377639662128]}}, {"xyz": [-0.23088910438164198, 0.131581506146637, -0.20729588065420834], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 280}, "mesh_info": {"face_index": 5443, "face_uv": [0.2585070456617479, 0.018394554326150784, 0.7230984000121011]}}, {"xyz": [0.19041762313042715, 0.2527121783326407, -0.11616316636078228], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 367}, "mesh_info": {"face_index": 5861, "face_uv": [0.37421928762038936, 0.009608138003929281, 0.616172574375681]}}, {"xyz": [0.21595962222729728, 0.2828308129886119, 0.11110335381374814], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 623}, "mesh_info": {"face_index": 5853, "face_uv": [0.430173643081636, 0.2613473099924957, 0.30847904692586803]}}, {"xyz": [-0.21819028714791322, 0.23569739585844296, -0.09041010391794158], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 874}, "mesh_info": {"face_index": 5715, "face_uv": [0.012990597758219194, 0.34101889207285874, 0.6459905101689218]}}, {"xyz": [-0.19455120540356885, 0.2677638500909445, 0.1738591096719344], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1373}, "mesh_info": {"face_index": 5683, "face_uv": [0.19064067352015812, 0.3487268906699733, 0.46063243580986885]}}, {"xyz": [-0.015894568278543908, -0.07471935779233152, -0.270340916164432], "rgb": [195, 199, 202], "semantic_id": 17, "pcd_info": {"point_index": 1108}, "mesh_info": {"face_index": 3100, "face_uv": [0.03316394217084234, 0.285714942196123, 0.6811211156330236]}}, {"xyz": [0.25662221847960287, -0.07471963750267796, -0.015802683743929374], "rgb": [152, 153, 157], "semantic_id": 18, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 3427, "face_uv": [0.020658756628023488, 0.6800111582868291, 0.2993300850851241]}}, {"xyz": [0.0013425969316581549, -0.07471921167212692, 0.2530404720299169], "rgb": [193, 199, 199], "semantic_id": 19, "pcd_info": {"point_index": 1732}, "mesh_info": {"face_index": 974, "face_uv": [0.16187017731099507, 0.4899276324781999, 0.34820219021080384]}}, {"xyz": [-0.2674078879104437, -0.07449262593459416, -0.0032625581488454625], "rgb": [193, 199, 199], "semantic_id": 20, "pcd_info": {"point_index": 1687}, "mesh_info": {"face_index": 2183, "face_uv": [0.6954940563908228, 0.20343947105576754, 0.1010664725534093]}}, {"xyz": [-0.0021635615389581364, 0.1158281997112614, -0.020032944288294496], "rgb": [142, 154, 154], "semantic_id": 15, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 911, "face_uv": [0.5537685760692141, 0.02325469769802156, 0.4229767262327648]}}, {"xyz": [0.0056292275753884735, -0.05967300012707688, -0.00933120431270773], "rgb": [160, 172, 170], "semantic_id": 16, "pcd_info": {"point_index": 641}, "mesh_info": {"face_index": 1327, "face_uv": [0.27496221890707373, 0.20907245750089784, 0.5159653235920248]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "9b12d223347d4bdd4a11872aa986426d", "keypoints": [{"xyz": [0.15166076652121718, 0.42650599627579266, 0.36074454417292934], "rgb": [157, 160, 94], "semantic_id": 0, "pcd_info": {"point_index": 1535}, "mesh_info": {"face_index": 354, "face_uv": [0.5367907082767321, 0.04363056000663712, 0.4195787317166312]}}, {"xyz": [-0.15171287250587684, 0.4298190043129697, 0.35208985366348755], "rgb": [154, 163, 100], "semantic_id": 1, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 360, "face_uv": [0.12081524325322657, 0.0436573341261403, 0.8355274226206334]}}, {"xyz": [0.12898868224577284, -0.0345100015401838, 0.13730147370426837], "rgb": [155, 160, 95], "semantic_id": 2, "pcd_info": {"point_index": 503}, "mesh_info": {"face_index": 886, "face_uv": [0.610087050644782, 0.32566030810865276, 0.06425264124655893]}}, {"xyz": [-0.13556191915628513, -0.02927899919450283, 0.12072458028572663], "rgb": [148, 156, 97], "semantic_id": 3, "pcd_info": {"point_index": 126}, "mesh_info": {"face_index": 966, "face_uv": [0.9559748142910904, 0.03464612082640277, 0.009379064882506881]}}, {"xyz": [0.1347953825241579, -0.02927899919450261, -0.16027679325157507], "rgb": [167, 168, 102], "semantic_id": 4, "pcd_info": {"point_index": 930}, "mesh_info": {"face_index": 966, "face_uv": [0.007952575333987725, 0.965365759669625, 0.026681664996379927]}}, {"xyz": [-0.1436542064587031, -0.00342458500165832, -0.17077800631523132], "rgb": [155, 161, 100], "semantic_id": 5, "pcd_info": {"point_index": 590}, "mesh_info": {"face_index": 1833, "face_uv": [0.33733299226716684, 0.6348795021684381, 0.027787505564395066]}}, {"xyz": [0.1884614451455446, 0.07329445916513166, -0.18080180614674876], "rgb": [153, 161, 97], "semantic_id": 6, "pcd_info": {"point_index": 2027}, "mesh_info": {"face_index": 1950, "face_uv": [0.25072177006259333, 0.6609825825831729, 0.08829564735423547]}}, {"xyz": [0.19438471398110857, 0.0797762340162591, 0.18857881044105176], "rgb": [161, 161, 97], "semantic_id": 7, "pcd_info": {"point_index": 1903}, "mesh_info": {"face_index": 2234, "face_uv": [0.830277764824024, 0.16060582666920742, 0.009116408506766661]}}, {"xyz": [-0.20513623052286883, 0.07660002636919638, -0.16318092116371677], "rgb": [147, 154, 89], "semantic_id": 8, "pcd_info": {"point_index": 321}, "mesh_info": {"face_index": 1762, "face_uv": [0.020948056830428784, 0.6159760091534787, 0.3630759340160922]}}, {"xyz": [-0.1953852586375608, 0.0804157389862481, 0.18774598553992464], "rgb": [164, 163, 97], "semantic_id": 9, "pcd_info": {"point_index": 396}, "mesh_info": {"face_index": 1723, "face_uv": [0.4164121063177022, 0.5721750697726944, 0.011412823909607451]}}, {"xyz": [0.20465328557043821, -0.17661400139331818, -0.16450972183554857], "rgb": [161, 91, 42], "semantic_id": 17, "pcd_info": {"point_index": 393}, "mesh_info": {"face_index": 2460, "face_uv": [0.024226998966257, 0.0224800475660112, 0.9532929534677317]}}, {"xyz": [0.2039692996919394, -0.17661400139331795, 0.2534470586111384], "rgb": [146, 82, 34], "semantic_id": 18, "pcd_info": {"point_index": 296}, "mesh_info": {"face_index": 2489, "face_uv": [0.0048953774167558054, 0.9759273579240632, 0.01917726465917974]}}, {"xyz": [-0.20731769516197873, -0.17661400139331818, 0.2508872120599937], "rgb": [146, 82, 34], "semantic_id": 19, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 2488, "face_uv": [0.02503609602921136, 0.018285642505190932, 0.9566782614655976]}}, {"xyz": [-0.20381838006788772, -0.17661400139331818, -0.165174686155082], "rgb": [148, 87, 40], "semantic_id": 20, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 2460, "face_uv": [0.022705066406084044, 0.9735665430697826, 0.003728390524133236]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f35abb8246614d7ff38854b09cdc7cc5", "keypoints": [{"xyz": [0.19387959584734898, 0.3067801444834136, 0.08459781640921649], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1369}, "mesh_info": {"face_index": 145, "face_uv": [0.43378998202939023, 0.03524629258690077, 0.5309637253837091]}}, {"xyz": [-0.1883062327849773, 0.31203059688531176, 0.08062167859313085], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 60, "face_uv": [0.2668978429080075, 0.48639135315595144, 0.24671080393604092]}}, {"xyz": [0.1933407485580873, -0.09325424919250991, 0.041797999292612076], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 209, "face_uv": [0.0012879240854752172, 0.9962116632378865, 0.002500412676638466]}}, {"xyz": [-0.19087979824488144, -0.09376899898052216, 0.0300966251383884], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 970}, "mesh_info": {"face_index": 41, "face_uv": [0.947675215124338, 0.04209036459761652, 0.010234420278045329]}}, {"xyz": [0.18410918440320156, -0.10117285179383129, -0.2362080067396165], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 918}, "mesh_info": {"face_index": 42, "face_uv": [4.3778913229357986e-05, 0.20907751891548612, 0.790878702171285]}}, {"xyz": [-0.18620103552279105, -0.09584209381655551, -0.23620800673961617], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 145}, "mesh_info": {"face_index": 165, "face_uv": [0.038566164864356545, 0.9414578415152661, 0.0199759936203764]}}, {"xyz": [0.16039776590622795, -0.4598500132560729, -0.19220456599406502], "rgb": [174, 165, 149], "semantic_id": 17, "pcd_info": {"point_index": 1933}, "mesh_info": {"face_index": 3, "face_uv": [0.326868439227904, 0.5374793979263711, 0.13565216284572465]}}, {"xyz": [0.16660706583392343, -0.4598500132560731, 0.07682214157976643], "rgb": [180, 173, 165], "semantic_id": 18, "pcd_info": {"point_index": 743}, "mesh_info": {"face_index": 1, "face_uv": [0.44053438912516946, 0.517130575163846, 0.042335035710984785]}}, {"xyz": [-0.16542852049624382, -0.459850013256073, 0.07193761168551326], "rgb": [203, 195, 181], "semantic_id": 19, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 4, "face_uv": [0.43980289922282656, 0.5410116676679404, 0.019185433109233145]}}, {"xyz": [-0.17524175108042372, -0.459850013256073, -0.18921497036459597], "rgb": [185, 177, 162], "semantic_id": 20, "pcd_info": {"point_index": 802}, "mesh_info": {"face_index": 6, "face_uv": [0.39752578739490363, 0.5739957710041471, 0.028478441600949266]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a59a49a0f9e8f4cda249f8489bc060dd", "keypoints": [{"xyz": [0.14892901642176196, 0.18465909427371974, 0.10405765606484074], "rgb": [204, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 1738}, "mesh_info": {"face_index": 4292, "face_uv": [0.4982191520359349, 0.3492439281502279, 0.15253691981384418]}}, {"xyz": [-0.1356841731784285, 0.17627716786777498, 0.10112583031845324], "rgb": [204, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 299}, "mesh_info": {"face_index": 4523, "face_uv": [0.23562568657586822, 0.23095248659973078, 0.5334218268244033]}}, {"xyz": [0.1631250811956597, -0.14888638077357141, 0.08070777078597002], "rgb": [203, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1580}, "mesh_info": {"face_index": 6138, "face_uv": [0.018113928170245538, 0.2795035877494396, 0.7023824840803067]}}, {"xyz": [-0.14872753197729188, -0.14792267336775095, 0.07669233103154216], "rgb": [203, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 751}, "mesh_info": {"face_index": 4451, "face_uv": [0.3214464471076744, 0.2998301043501786, 0.3787234485421432]}}, {"xyz": [0.15186185524047371, -0.1500299979519546, -0.2610081003083362], "rgb": [203, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1706}, "mesh_info": {"face_index": 926, "face_uv": [0.12738691128884372, 0.09643381258944078, 0.7761792761217151]}}, {"xyz": [-0.1510928628758735, -0.1543203409859455, -0.2635895027775923], "rgb": [204, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 314}, "mesh_info": {"face_index": 642, "face_uv": [0.7145982898797204, 0.12816057733242778, 0.15724113278785193]}}, {"xyz": [0.15274019951706708, -0.5905939936637878, -0.24128455873859622], "rgb": [143, 69, 22], "semantic_id": 17, "pcd_info": {"point_index": 119}, "mesh_info": {"face_index": 6840, "face_uv": [0.3079951597041326, 0.4577766836430768, 0.23422815665279062]}}, {"xyz": [0.15060491811714793, -0.5905939936637878, 0.12796911882965045], "rgb": [148, 69, 23], "semantic_id": 18, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 6694, "face_uv": [0.5423410067842731, 0.3739316312611527, 0.0837273619545742]}}, {"xyz": [-0.149596682708461, -0.5905939936637878, 0.13034077966751012], "rgb": [149, 75, 29], "semantic_id": 19, "pcd_info": {"point_index": 506}, "mesh_info": {"face_index": 6720, "face_uv": [0.44922148673987183, 0.4544461580064723, 0.09633235525365591]}}, {"xyz": [-0.15352550326211944, -0.5905939936637881, -0.24602893443197205], "rgb": [152, 73, 27], "semantic_id": 20, "pcd_info": {"point_index": 1643}, "mesh_info": {"face_index": 7009, "face_uv": [0.17566478949729158, 0.3300888848356448, 0.49424632566706395]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b81b9e3fe60a49bc55182f299fe41fdc", "keypoints": [{"xyz": [0.2257751777519512, 0.3801495529575035, 0.21650059728295257], "rgb": [114, 163, 193], "semantic_id": 0, "pcd_info": {"point_index": 1129}, "mesh_info": {"face_index": 51, "face_uv": [0.9623712671033888, 0.021972679817105063, 0.015656053079512046]}}, {"xyz": [-0.225760093031583, 0.38409732136257413, 0.21822348272161585], "rgb": [113, 162, 192], "semantic_id": 1, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 51, "face_uv": [0.017878666835260952, 0.9779953817363192, 0.004125951428418763]}}, {"xyz": [0.22949950395202753, 0.04907273991462313, 0.07201202507134807], "rgb": [113, 162, 192], "semantic_id": 2, "pcd_info": {"point_index": 18}, "mesh_info": {"face_index": 7, "face_uv": [0.9826198961962015, 0.014087270576651406, 0.0032928332271456263]}}, {"xyz": [-0.22619401955314963, 0.050820755914928295, 0.07277489436976192], "rgb": [113, 162, 192], "semantic_id": 3, "pcd_info": {"point_index": 1253}, "mesh_info": {"face_index": 57, "face_uv": [0.9564286522401995, 0.021085878062359387, 0.02248546969743842]}}, {"xyz": [0.234419287274416, 0.06003473898923173, -0.29899200797080994], "rgb": [114, 162, 192], "semantic_id": 4, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 83, "face_uv": [0.36434995664977055, 0.6319792891546014, 0.0036707541956279037]}}, {"xyz": [-0.22205202500797763, 0.04280919338203382, -0.29899200797080994], "rgb": [114, 163, 193], "semantic_id": 5, "pcd_info": {"point_index": 1125}, "mesh_info": {"face_index": 36, "face_uv": [0.029855604532540204, 0.7649684355566869, 0.2051759599107729]}}, {"xyz": [0.2416236835537486, 0.2256470024585724, -0.2964092993506351], "rgb": [219, 219, 219], "semantic_id": 6, "pcd_info": {"point_index": 248}, "mesh_info": {"face_index": 110, "face_uv": [0.7075283255494419, 0.004248441960430028, 0.28822323249012805]}}, {"xyz": [0.25485798716545105, 0.2201288172281669, 0.2762256596744015], "rgb": [218, 218, 218], "semantic_id": 7, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 102, "face_uv": [0.6602890933460692, 0.29499532967118103, 0.04471557698274974]}}, {"xyz": [-0.2493141291453067, 0.2256470024585724, -0.29543936368476686], "rgb": [219, 219, 219], "semantic_id": 8, "pcd_info": {"point_index": 330}, "mesh_info": {"face_index": 168, "face_uv": [0.29035459245309286, 0.7036159440525334, 0.006029463494373903]}}, {"xyz": [-0.25023394824260636, 0.2256470024585726, 0.2838272956687651], "rgb": [219, 219, 219], "semantic_id": 9, "pcd_info": {"point_index": 1855}, "mesh_info": {"face_index": 273, "face_uv": [0.033681555200573914, 0.247208966360948, 0.719109478438479]}}, {"xyz": [0.2366553909120107, -0.22122800433151202, -0.28209400177001953], "rgb": [218, 218, 218], "semantic_id": 17, "pcd_info": {"point_index": 1317}, "mesh_info": {"face_index": 285, "face_uv": [0.027939763066501075, 0.026858320186862402, 0.9452019167466365]}}, {"xyz": [0.2392857566002553, -0.22327800095081307, 0.295947493629258], "rgb": [218, 218, 218], "semantic_id": 18, "pcd_info": {"point_index": 777}, "mesh_info": {"face_index": 94, "face_uv": [0.1674821327870913, 0.3060946958959976, 0.5264231713169101]}}, {"xyz": [-0.24743318199116277, -0.2232780009508133, 0.304004170021291], "rgb": [219, 219, 219], "semantic_id": 19, "pcd_info": {"point_index": 1108}, "mesh_info": {"face_index": 279, "face_uv": [0.1337602813930909, 0.2631824007930613, 0.6030573178138479]}}, {"xyz": [-0.2397554251094024, -0.22327800095081307, -0.29260275598935537], "rgb": [218, 218, 218], "semantic_id": 20, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 211, "face_uv": [0.19259140816644083, 0.6218931449347307, 0.18551544689882749]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "104256e5bb73b0b719fb4103277a6b93", "keypoints": [{"xyz": [0.22898767020479727, 0.32976462218863933, 0.19210748379117382], "rgb": [222, 199, 164], "semantic_id": 0, "pcd_info": {"point_index": 70}, "mesh_info": {"face_index": 22467, "face_uv": [0.10648845933476415, 0.8551019504057841, 0.038409590259451565]}}, {"xyz": [-0.23956091585801165, 0.32532424846967023, 0.1756631211388192], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 88}, "mesh_info": {"face_index": 23398, "face_uv": [0.03887309049121748, 0.56850423121897, 0.39262267828981273]}}, {"xyz": [0.1615530392252919, 0.034380977761304, 0.0963659532239095], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 613}, "mesh_info": {"face_index": 29620, "face_uv": [0.02003941988620459, 0.9212135495461753, 0.05874703056762171]}}, {"xyz": [-0.1744187952983499, 0.024164450769927015, 0.08352759014903999], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 292}, "mesh_info": {"face_index": 25869, "face_uv": [0.14879151232087656, 0.5186947165123393, 0.33251377116678943]}}, {"xyz": [0.1807773933526563, 0.02332058384588298, -0.2544234826774984], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 462}, "mesh_info": {"face_index": 27698, "face_uv": [0.1084252411199912, 0.2593932983976937, 0.6321814604823159]}}, {"xyz": [-0.19570989098699196, 0.024048945121470933, -0.25494452401902806], "rgb": [222, 199, 164], "semantic_id": 5, "pcd_info": {"point_index": 1700}, "mesh_info": {"face_index": 605, "face_uv": [0.8632726393999784, 0.13054620637721767, 0.006181154222803653]}}, {"xyz": [0.24704417507222864, 0.1763337408032688, -0.2586042288057259], "rgb": [223, 200, 165], "semantic_id": 6, "pcd_info": {"point_index": 827}, "mesh_info": {"face_index": 10228, "face_uv": [0.1274862788174085, 0.8361965309617512, 0.036317190220841636]}}, {"xyz": [0.23575052352845283, 0.17310733056254501, 0.17310916495946838], "rgb": [223, 200, 165], "semantic_id": 7, "pcd_info": {"point_index": 1816}, "mesh_info": {"face_index": 10528, "face_uv": [0.2677875179999024, 0.7320462805871072, 0.0001662014129903968]}}, {"xyz": [-0.2491749249313413, 0.17568641386124617, -0.25839923947830645], "rgb": [222, 199, 165], "semantic_id": 8, "pcd_info": {"point_index": 1324}, "mesh_info": {"face_index": 252, "face_uv": [0.2258456629445401, 0.13471834890520995, 0.6394359881502498]}}, {"xyz": [-0.23127231356656497, 0.17405535803316008, 0.17383031573451374], "rgb": [223, 200, 165], "semantic_id": 9, "pcd_info": {"point_index": 597}, "mesh_info": {"face_index": 651, "face_uv": [0.28650595814662205, 0.19413397938519483, 0.5193600624681833]}}, {"xyz": [0.2422138285086767, -0.3402869999408722, -0.23380615739733857], "rgb": [165, 76, 19], "semantic_id": 17, "pcd_info": {"point_index": 1395}, "mesh_info": {"face_index": 14363, "face_uv": [0.07794697111744436, 0.3800892392183233, 0.5419637896642323]}}, {"xyz": [0.2223777605099231, -0.3402869999408722, 0.15923835551875487], "rgb": [170, 78, 20], "semantic_id": 18, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 19305, "face_uv": [0.20281672646438983, 0.38085462235349593, 0.4163286511821142]}}, {"xyz": [-0.21591089832277965, -0.3402869999408722, 0.14829452770963125], "rgb": [178, 81, 20], "semantic_id": 19, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 7281, "face_uv": [0.2644711367302705, 0.0656351064807397, 0.6698937567889898]}}, {"xyz": [-0.2450126795303138, -0.3402869999408722, -0.2359676393748898], "rgb": [159, 75, 19], "semantic_id": 20, "pcd_info": {"point_index": 433}, "mesh_info": {"face_index": 6197, "face_uv": [0.2663577022609578, 0.5280868354929898, 0.2055554622460524]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f0337929bdf10321d22730b0728b2fc9", "keypoints": [{"xyz": [0.21104102263671187, 0.4117513895445444, 0.21236220008124196], "rgb": [76, 52, 32], "semantic_id": 0, "pcd_info": {"point_index": 124}, "mesh_info": {"face_index": 3959, "face_uv": [0.06499705414143715, 0.36037006253971954, 0.5746328833188433]}}, {"xyz": [-0.1994478420832517, 0.4150662677810695, 0.21157980590441836], "rgb": [68, 45, 34], "semantic_id": 1, "pcd_info": {"point_index": 697}, "mesh_info": {"face_index": 3865, "face_uv": [0.6977566685744934, 0.2636320742331865, 0.03861125719231872]}}, {"xyz": [0.2215679182811097, 0.10014932592130821, 0.09504071961448168], "rgb": [60, 42, 31], "semantic_id": 2, "pcd_info": {"point_index": 1491}, "mesh_info": {"face_index": 3206, "face_uv": [0.4521573223292337, 0.13810142064464953, 0.4097412570261163]}}, {"xyz": [-0.2229321556895003, 0.10122990867520398, 0.09761973408089031], "rgb": [65, 46, 32], "semantic_id": 3, "pcd_info": {"point_index": 1240}, "mesh_info": {"face_index": 4966, "face_uv": [0.18852264079007505, 0.2734942899143926, 0.537983069295534]}}, {"xyz": [0.2002419288760808, 0.10237261814139442, -0.2086503606880046], "rgb": [69, 48, 34], "semantic_id": 4, "pcd_info": {"point_index": 1604}, "mesh_info": {"face_index": 2723, "face_uv": [0.009493312428901066, 0.5159901635900509, 0.4745165239810454]}}, {"xyz": [-0.2184240165302854, 0.10546754041461548, -0.19982587865427573], "rgb": [65, 46, 32], "semantic_id": 5, "pcd_info": {"point_index": 9}, "mesh_info": {"face_index": 4381, "face_uv": [0.637936612625724, 0.024174411366057576, 0.3378889760082179]}}, {"xyz": [0.23214675816908054, -0.3096480071544645, -0.19453004150541853], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 84}, "mesh_info": {"face_index": 1586, "face_uv": [0.18604447486766923, 0.5766003640395186, 0.2373551610928114]}}, {"xyz": [0.23271722833176817, -0.3096480071544647, 0.18153452387365865], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 1837, "face_uv": [0.12590862022231858, 0.5665448982885213, 0.30754648148916014]}}, {"xyz": [-0.2353899807399577, -0.3096480071544647, 0.17938433148510025], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 186}, "mesh_info": {"face_index": 1350, "face_uv": [0.37275424963636866, 0.21978689898954007, 0.4074588513740912]}}, {"xyz": [-0.24043917058319947, -0.30964800715446494, -0.19281967144672524], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1319}, "mesh_info": {"face_index": 1102, "face_uv": [0.803360690220577, 0.1221971814876601, 0.07444212829176367]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2a8554af80cfa5e719fb4103277a6b93", "keypoints": [{"xyz": [0.30582038995990596, 0.16176452870974267, 0.1082250677719252], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 1338}, "mesh_info": {"face_index": 15900, "face_uv": [0.24238053138024654, 0.1927112737897547, 0.5649081948299989]}}, {"xyz": [-0.30419113823919164, 0.15788467340215995, 0.09918519685198368], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1217}, "mesh_info": {"face_index": 21800, "face_uv": [0.5090435152648504, 0.03319450230705893, 0.45776198242809313]}}, {"xyz": [0.30453234347612257, -0.031585000455379486, 0.03043985886896805], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1674}, "mesh_info": {"face_index": 16802, "face_uv": [0.08756417523997127, 0.007250791269404022, 0.9051850334906247]}}, {"xyz": [-0.30571603581490847, -0.0315850004553796, 0.0352966707551281], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 716}, "mesh_info": {"face_index": 19082, "face_uv": [0.9220626735442778, 0.007624585915576348, 0.07031274054014928]}}, {"xyz": [0.30954822971975676, -0.03706038424451297, -0.24318263165006604], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 1944}, "mesh_info": {"face_index": 334, "face_uv": [0.292591931348023, 0.6066330897291228, 0.10077497892285396]}}, {"xyz": [-0.30663293351553594, -0.04235514271370744, -0.2516451099984518], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 1179}, "mesh_info": {"face_index": 19216, "face_uv": [0.021989704483557682, 0.9764756255931294, 0.001534669923313587]}}, {"xyz": [0.3523319239837197, 0.07033592633685504, -0.24806403443662284], "rgb": [223, 200, 165], "semantic_id": 6, "pcd_info": {"point_index": 613}, "mesh_info": {"face_index": 3245, "face_uv": [0.5252520505959191, 0.23952000246827312, 0.23522794693580903]}}, {"xyz": [0.3474194116684699, 0.06325269135563372, 0.14998178527911496], "rgb": [223, 200, 165], "semantic_id": 7, "pcd_info": {"point_index": 1420}, "mesh_info": {"face_index": 1798, "face_uv": [0.014595777645026812, 0.3645174325391233, 0.62088678981585]}}, {"xyz": [-0.3578669408089032, 0.07121541217096716, -0.24452032231053208], "rgb": [223, 200, 165], "semantic_id": 8, "pcd_info": {"point_index": 941}, "mesh_info": {"face_index": 8984, "face_uv": [0.1918703946111854, 0.25284359446766896, 0.5552860109211462]}}, {"xyz": [-0.34753975170944473, 0.0627036500072844, 0.15051817407181123], "rgb": [222, 199, 165], "semantic_id": 9, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 7405, "face_uv": [0.35511123098841185, 0.3244055618722374, 0.32048320713935063]}}, {"xyz": [0.3364643210145469, -0.27711400389671326, -0.22657111292854082], "rgb": [163, 75, 20], "semantic_id": 17, "pcd_info": {"point_index": 1393}, "mesh_info": {"face_index": 5324, "face_uv": [0.4311017359427993, 0.5045182668505369, 0.06437999720666378]}}, {"xyz": [0.3341384086861232, -0.27711400389671326, 0.11952161029023806], "rgb": [166, 74, 19], "semantic_id": 18, "pcd_info": {"point_index": 1516}, "mesh_info": {"face_index": 5424, "face_uv": [0.27105931192881466, 0.3518476644169313, 0.3770930236542539]}}, {"xyz": [-0.33218777880206074, -0.27711400389671326, 0.12384187273434175], "rgb": [157, 71, 19], "semantic_id": 19, "pcd_info": {"point_index": 298}, "mesh_info": {"face_index": 10845, "face_uv": [0.5378172536914991, 0.2972444088925154, 0.16493833741598543]}}, {"xyz": [-0.33719222240622787, -0.27711400389671303, -0.2239829365302935], "rgb": [165, 75, 20], "semantic_id": 20, "pcd_info": {"point_index": 532}, "mesh_info": {"face_index": 10793, "face_uv": [0.22243770956048328, 0.7644684716797827, 0.01309381875973327]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f23c1bb951fa8909bc01640b1b5116e7", "keypoints": [{"xyz": [0.16391786413059442, 0.23255400359630585, 0.020840724181227177], "rgb": [220, 202, 105], "semantic_id": 0, "pcd_info": {"point_index": 442}, "mesh_info": {"face_index": 475, "face_uv": [0.2650514459084753, 0.6435338459067607, 0.09141470818476408]}}, {"xyz": [-0.1676357683550986, 0.23255400359630585, 0.017714355228267475], "rgb": [209, 200, 111], "semantic_id": 1, "pcd_info": {"point_index": 1404}, "mesh_info": {"face_index": 1529, "face_uv": [0.36342057463433375, 0.05697949627486705, 0.5795999290907993]}}, {"xyz": [0.12339211297624453, -0.17298899590969086, -0.01437964235636724], "rgb": [210, 195, 115], "semantic_id": 2, "pcd_info": {"point_index": 20}, "mesh_info": {"face_index": 458, "face_uv": [0.29499479204121254, 0.006079397649446964, 0.6989258103093405]}}, {"xyz": [-0.13658512571191686, -0.1688051242348969, -0.0117580431682065], "rgb": [218, 204, 117], "semantic_id": 3, "pcd_info": {"point_index": 1077}, "mesh_info": {"face_index": 1346, "face_uv": [0.20357360305348146, 0.7806133186693558, 0.015813078277163627]}}, {"xyz": [0.14815287607952055, -0.17298899590969086, -0.26983638273528593], "rgb": [223, 211, 135], "semantic_id": 4, "pcd_info": {"point_index": 1443}, "mesh_info": {"face_index": 204, "face_uv": [0.05782113392827928, 0.8899270687141131, 0.05225179735760763]}}, {"xyz": [-0.16831181828823594, -0.17298899590969086, -0.2688997742933999], "rgb": [213, 201, 114], "semantic_id": 5, "pcd_info": {"point_index": 704}, "mesh_info": {"face_index": 599, "face_uv": [0.03456925180704814, 0.9412682918214523, 0.02416245637149951]}}, {"xyz": [0.14182710151192443, -0.625694990158081, -0.2658038837128046], "rgb": [218, 204, 121], "semantic_id": 17, "pcd_info": {"point_index": 135}, "mesh_info": {"face_index": 264, "face_uv": [0.4011445268493775, 0.4554099802708991, 0.14344549287972336]}}, {"xyz": [0.13492791266792803, -0.625694990158081, 0.02355347028086968], "rgb": [213, 196, 104], "semantic_id": 18, "pcd_info": {"point_index": 789}, "mesh_info": {"face_index": 26, "face_uv": [0.3585140417584082, 0.2184409128803833, 0.4230450453612085]}}, {"xyz": [-0.1645637485468442, -0.625694990158081, 0.017910878630122418], "rgb": [163, 147, 64], "semantic_id": 19, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 794, "face_uv": [0.36629202864115573, 0.5141165652672771, 0.11959140609156703]}}, {"xyz": [-0.15805799250899483, -0.6256949901580812, -0.25597077515333894], "rgb": [226, 216, 136], "semantic_id": 20, "pcd_info": {"point_index": 468}, "mesh_info": {"face_index": 448, "face_uv": [0.39301589423413874, 0.3226287130935516, 0.2843553926723098]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fd2c754ca43457107d910d51d878f708", "keypoints": [{"xyz": [0.2287343897255124, 0.29654084982097184, 0.21045593962478493], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1535}, "mesh_info": {"face_index": 374, "face_uv": [0.0067566420923936945, 0.21259242909192483, 0.7806509288156808]}}, {"xyz": [-0.2263951196644748, 0.2961081324059638, 0.21033954611011185], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 338, "face_uv": [0.007894653407862799, 0.6941315096864303, 0.2979738369057053]}}, {"xyz": [0.22304765794564055, -0.040194341287746016, 0.11987998624772356], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 236}, "mesh_info": {"face_index": 769, "face_uv": [0.33168776858549087, 0.5606548113677171, 0.1076574200467907]}}, {"xyz": [-0.2233945763744941, -0.037238407153611375, 0.12067508150176431], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1054}, "mesh_info": {"face_index": 733, "face_uv": [0.45905655339815093, 0.42551216219055926, 0.11543128441128851]}}, {"xyz": [0.22607573747293902, -0.04532298085605191, -0.29156801104545615], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 144, "face_uv": [0.3552831954775023, 0.017068385265329288, 0.6276484192571692]}}, {"xyz": [-0.23067957556447177, -0.06028199940919876, -0.2859108695114998], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1001}, "mesh_info": {"face_index": 33, "face_uv": [0.007233897989634334, 0.5293015499155713, 0.4634645520947943]}}, {"xyz": [0.2402481966371891, 0.10690800100564957, -0.2818386113031288], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1115}, "mesh_info": {"face_index": 453, "face_uv": [0.3081043420802178, 0.4453768494354411, 0.24651880848434107]}}, {"xyz": [0.2494469759146447, 0.10690800100564934, 0.17497910673983852], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 966}, "mesh_info": {"face_index": 131, "face_uv": [0.6133253445377387, 0.24951220575864438, 0.13716244970361488]}}, {"xyz": [-0.24815480778692803, 0.10690800100564957, -0.2765798508743982], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 219}, "mesh_info": {"face_index": 529, "face_uv": [0.32611051204937347, 0.23568889620591382, 0.43820059174471265]}}, {"xyz": [-0.2510711506759009, 0.10690800100564934, 0.17568109933602383], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 610, "face_uv": [0.4404458320092603, 0.2376444014504035, 0.32190976654033404]}}, {"xyz": [0.24819497996267592, -0.36129000782966614, -0.2885053358017867], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1750}, "mesh_info": {"face_index": 2, "face_uv": [0.5634012965262591, 0.28879400055588333, 0.14780470291785752]}}, {"xyz": [0.2506576290420697, -0.3612900078296659, 0.23525394758162932], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1605}, "mesh_info": {"face_index": 183, "face_uv": [0.33839917600585495, 0.49308406734863275, 0.16851675664551166]}}, {"xyz": [-0.2429675603367965, -0.3612900078296659, 0.23803817208685762], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 920}, "mesh_info": {"face_index": 291, "face_uv": [0.35495497689714056, 0.3820658913243992, 0.2629791317784596]}}, {"xyz": [-0.2478378637352623, -0.36129000782966614, -0.2835463745294583], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1050}, "mesh_info": {"face_index": 80, "face_uv": [0.4508389153969775, 0.48652775424772754, 0.0626333303552949]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "591e310f3cea35a6d6134c153bee8ea0", "keypoints": [{"xyz": [0.16832143891352647, 0.3748506937532372, 0.11376219367383289], "rgb": [216, 182, 129], "semantic_id": 0, "pcd_info": {"point_index": 469}, "mesh_info": {"face_index": 7717, "face_uv": [0.901268262102434, 0.08715375397325517, 0.011577983924310533]}}, {"xyz": [-0.16699895207121807, 0.377407142172139, 0.11393105874333442], "rgb": [217, 180, 125], "semantic_id": 1, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 7520, "face_uv": [0.08565485653025655, 0.005015521742583022, 0.9093296217271599]}}, {"xyz": [0.13604308256962128, 0.01860869859292491, 0.0736195943681337], "rgb": [229, 204, 153], "semantic_id": 2, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 5638, "face_uv": [0.20139991793103404, 0.16157732032145233, 0.6370227617475164]}}, {"xyz": [-0.1514700164363697, 0.014902264442496427, 0.07893126462542877], "rgb": [229, 212, 158], "semantic_id": 3, "pcd_info": {"point_index": 305}, "mesh_info": {"face_index": 7032, "face_uv": [0.02818364847218571, 0.0004755010901625818, 0.971340850437651]}}, {"xyz": [0.1508826525384808, -0.004024586266419383, -0.23411553173209754], "rgb": [229, 211, 157], "semantic_id": 4, "pcd_info": {"point_index": 729}, "mesh_info": {"face_index": 5940, "face_uv": [0.28946635523966074, 0.10560459916781403, 0.6049290455925252]}}, {"xyz": [-0.15405466468408785, -0.008464595437715272, -0.23262984266696907], "rgb": [224, 204, 151], "semantic_id": 5, "pcd_info": {"point_index": 55}, "mesh_info": {"face_index": 4903, "face_uv": [0.2326083980362856, 0.7160625503016332, 0.05132905166208122]}}, {"xyz": [0.18269542155967367, -0.3697893209121068, -0.24392598864479087], "rgb": [219, 183, 128], "semantic_id": 17, "pcd_info": {"point_index": 1102}, "mesh_info": {"face_index": 9385, "face_uv": [0.03339536071959614, 0.3843930511141338, 0.5822115881662703]}}, {"xyz": [0.18166637846989392, -0.36951478840320373, 0.13341274160686328], "rgb": [217, 183, 129], "semantic_id": 18, "pcd_info": {"point_index": 728}, "mesh_info": {"face_index": 8066, "face_uv": [0.017145110020316105, 0.37084174252825747, 0.6120131474514271]}}, {"xyz": [-0.1787923544120159, -0.3702994509390618, 0.1256270823809404], "rgb": [219, 182, 128], "semantic_id": 19, "pcd_info": {"point_index": 1140}, "mesh_info": {"face_index": 8205, "face_uv": [0.04710170453411038, 0.56316195580694, 0.3897363396589499]}}, {"xyz": [-0.18406884760232534, -0.3696758183481099, -0.24398051852415292], "rgb": [219, 183, 129], "semantic_id": 20, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 5069, "face_uv": [0.11290949545439762, 0.2854658989284532, 0.6016246056171494]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4dc7fe6e98c4db21d79b19c7c4f0e293", "keypoints": [{"xyz": [0.19152400548097948, 0.30523132588944035, 0.13584575489805384], "rgb": [75, 65, 66], "semantic_id": 0, "pcd_info": {"point_index": 1896}, "mesh_info": {"face_index": 510, "face_uv": [0.07859356172376775, 0.5409440193570275, 0.38046241891920346]}}, {"xyz": [-0.18854790179880396, 0.30535653678856245, 0.13848985198032182], "rgb": [74, 62, 64], "semantic_id": 1, "pcd_info": {"point_index": 1972}, "mesh_info": {"face_index": 182, "face_uv": [0.7155339597231409, 0.14593657078997999, 0.13852946948687933]}}, {"xyz": [0.1899494927719375, -0.03166755586011272, 0.03259150964385227], "rgb": [78, 68, 69], "semantic_id": 2, "pcd_info": {"point_index": 1608}, "mesh_info": {"face_index": 480, "face_uv": [0.06509418339114817, 0.3882008579178802, 0.5467049586909729]}}, {"xyz": [-0.1938807098573837, -0.03319877728479126, 0.031724030708822015], "rgb": [72, 62, 63], "semantic_id": 3, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 99, "face_uv": [0.3824472850025524, 0.004657990303410233, 0.6128947246940336]}}, {"xyz": [0.19827609536625285, -0.03825982249847226, -0.2770059066040387], "rgb": [67, 57, 58], "semantic_id": 4, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 2314, "face_uv": [0.2742807257082167, 0.15088215149932338, 0.5748371227924596]}}, {"xyz": [-0.2006922999580807, -0.036335760521466476, -0.27614388051932304], "rgb": [78, 68, 69], "semantic_id": 5, "pcd_info": {"point_index": 1544}, "mesh_info": {"face_index": 1884, "face_uv": [0.011931255946908846, 0.727377945371068, 0.26069079868204825]}}, {"xyz": [0.2300384792522584, 0.09523624240214468, -0.274350984767914], "rgb": [80, 70, 71], "semantic_id": 6, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 1696, "face_uv": [0.2820409155442992, 0.40300312995025833, 0.314955954505443]}}, {"xyz": [0.2261068766173595, 0.12425257598049266, 0.09936649588933186], "rgb": [73, 63, 64], "semantic_id": 7, "pcd_info": {"point_index": 616}, "mesh_info": {"face_index": 1787, "face_uv": [0.02771418303754627, 0.0009692878686787044, 0.9713165290937765]}}, {"xyz": [-0.22092856300982877, 0.09904039096114547, -0.27583745853516195], "rgb": [89, 77, 79], "semantic_id": 8, "pcd_info": {"point_index": 297}, "mesh_info": {"face_index": 1551, "face_uv": [0.3022908186935333, 0.5323091776594168, 0.16540000364704815]}}, {"xyz": [-0.22187598305571998, 0.12352608515400121, 0.10558406078477903], "rgb": [85, 75, 76], "semantic_id": 9, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 1547, "face_uv": [0.04732125189456247, 0.14339045092891406, 0.8092882971765198]}}, {"xyz": [0.162932909686057, -0.42968795605956345, -0.20499987143924958], "rgb": [231, 231, 231], "semantic_id": 17, "pcd_info": {"point_index": 1418}, "mesh_info": {"face_index": 2864, "face_uv": [0.11457319649475958, 0.05904144350205745, 0.8263853600031834]}}, {"xyz": [0.16252594122725084, -0.43892746325445575, 0.11745987057058205], "rgb": [212, 212, 212], "semantic_id": 18, "pcd_info": {"point_index": 1625}, "mesh_info": {"face_index": 2947, "face_uv": [0.2376810355245594, 0.05871622570120163, 0.7036027387742393]}}, {"xyz": [-0.16635817003264197, -0.4365533144867092, 0.11858814784976246], "rgb": [229, 229, 229], "semantic_id": 19, "pcd_info": {"point_index": 1741}, "mesh_info": {"face_index": 2886, "face_uv": [0.4431017691424586, 0.02122310233448213, 0.535675128523055]}}, {"xyz": [-0.16465865339175018, -0.43350717198405286, -0.20972656418673985], "rgb": [231, 231, 231], "semantic_id": 20, "pcd_info": {"point_index": 1021}, "mesh_info": {"face_index": 2934, "face_uv": [0.08512977513002583, 0.2720303728064226, 0.6428398520635605]}}, {"xyz": [-0.0022468977060143835, -0.17118426366379857, -0.0625334167207634], "rgb": [212, 212, 212], "semantic_id": 15, "pcd_info": {"point_index": 431}, "mesh_info": {"face_index": 2486, "face_uv": [0.02735309264901004, 0.1795180851629211, 0.793128822188064]}}, {"xyz": [-0.0066294943176604115, -0.4280399978160858, -0.04107326143173928], "rgb": [178, 178, 178], "semantic_id": 16, "pcd_info": {"point_index": 1447}, "mesh_info": {"face_index": 2521, "face_uv": [0.5951027329956898, 0.13184636900996569, 0.2730508979943445]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "32284e0d1700dc55e7c7920f6a65a54d", "keypoints": [{"xyz": [0.18278926914191737, 0.30914956154490403, 0.17921410345858835], "rgb": [164, 58, 58], "semantic_id": 0, "pcd_info": {"point_index": 616}, "mesh_info": {"face_index": 371, "face_uv": [0.37562441702320576, 0.07203119562470968, 0.5523443873520845]}}, {"xyz": [-0.1738917462763842, 0.3165339665438942, 0.179573064946706], "rgb": [150, 61, 61], "semantic_id": 1, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 803, "face_uv": [0.26492100821747677, 0.3203470553269683, 0.4147319364555557]}}, {"xyz": [0.18080021152189374, -0.03430123542128238, -0.012308604478732388], "rgb": [176, 55, 54], "semantic_id": 2, "pcd_info": {"point_index": 1519}, "mesh_info": {"face_index": 1111, "face_uv": [0.6318819085545145, 0.07850982843617949, 0.2896082630093047]}}, {"xyz": [-0.1763304942246896, -0.026393511058225183, -0.007375011253504704], "rgb": [164, 58, 57], "semantic_id": 3, "pcd_info": {"point_index": 1403}, "mesh_info": {"face_index": 1766, "face_uv": [0.020212144905066575, 0.4495882739528832, 0.5301995811420492]}}, {"xyz": [0.1655963667353601, -0.04065819942914528, -0.1755895021854892], "rgb": [154, 61, 64], "semantic_id": 4, "pcd_info": {"point_index": 935}, "mesh_info": {"face_index": 3202, "face_uv": [0.24920233039237757, 0.4785427064312233, 0.2722549631763989]}}, {"xyz": [-0.1660000085223447, -0.03899315102163614, -0.17551258158056104], "rgb": [176, 58, 61], "semantic_id": 5, "pcd_info": {"point_index": 1160}, "mesh_info": {"face_index": 4548, "face_uv": [0.1845728880158335, 0.5692935142962475, 0.2461335976879189]}}, {"xyz": [0.17074066048682465, -0.4427570104599, -0.2456172886254422], "rgb": [169, 57, 59], "semantic_id": 17, "pcd_info": {"point_index": 604}, "mesh_info": {"face_index": 6790, "face_uv": [0.26576588499988885, 0.4317161400278069, 0.3025179749723045]}}, {"xyz": [0.16787049000010826, -0.4427570104598999, 0.12222250580260757], "rgb": [182, 56, 57], "semantic_id": 18, "pcd_info": {"point_index": 1232}, "mesh_info": {"face_index": 6304, "face_uv": [0.3295890401838683, 0.19606870461992562, 0.4743422551962061]}}, {"xyz": [-0.17334331252826987, -0.4427570104598999, 0.12021208113532497], "rgb": [190, 53, 53], "semantic_id": 19, "pcd_info": {"point_index": 1309}, "mesh_info": {"face_index": 6492, "face_uv": [0.031774352022114656, 0.6316909464871316, 0.3365347014907537]}}, {"xyz": [-0.16633803748636242, -0.4427570104598997, -0.25302974705948067], "rgb": [192, 52, 51], "semantic_id": 20, "pcd_info": {"point_index": 213}, "mesh_info": {"face_index": 6631, "face_uv": [0.14009885055018567, 0.08759338182139326, 0.7723077676284206]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "64ef0e07129b6bc4c3bd24f986301745", "keypoints": [{"xyz": [0.2363417122207186, 0.36792120670642525, 0.2107935305311439], "rgb": [102, 91, 80], "semantic_id": 0, "pcd_info": {"point_index": 1970}, "mesh_info": {"face_index": 1533, "face_uv": [0.7431032365911994, 0.04583552241111508, 0.21106124099768586]}}, {"xyz": [-0.2564521968426178, 0.3645758718344363, 0.20300861575026463], "rgb": [102, 91, 80], "semantic_id": 1, "pcd_info": {"point_index": 1249}, "mesh_info": {"face_index": 8729, "face_uv": [0.2772492842773013, 0.18624463049828954, 0.5365060852244096]}}, {"xyz": [0.2421444715207235, 0.020053098397845304, 0.10804633440585665], "rgb": [101, 90, 79], "semantic_id": 2, "pcd_info": {"point_index": 1813}, "mesh_info": {"face_index": 1072, "face_uv": [0.5075465647918163, 0.14086975711856614, 0.3515836780895972]}}, {"xyz": [-0.2721835016632923, 0.014143728432616243, 0.1074826022820572], "rgb": [102, 91, 80], "semantic_id": 3, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 583, "face_uv": [0.4239423554911577, 0.25016494224725744, 0.32589270226158595]}}, {"xyz": [0.24110109728174067, 0.06268369876126956, -0.3297253151610734], "rgb": [102, 91, 80], "semantic_id": 4, "pcd_info": {"point_index": 235}, "mesh_info": {"face_index": 2946, "face_uv": [0.11059004571705182, 0.21703834025353533, 0.6723716140294134]}}, {"xyz": [-0.2652593043348498, 0.051948022358385026, -0.33307625223852266], "rgb": [102, 91, 80], "semantic_id": 5, "pcd_info": {"point_index": 405}, "mesh_info": {"face_index": 4086, "face_uv": [0.2077013070307864, 0.009868118854650287, 0.7824305741145636]}}, {"xyz": [0.2584709817499955, -0.196278351693979, -0.2586000971674671], "rgb": [201, 210, 219], "semantic_id": 17, "pcd_info": {"point_index": 1771}, "mesh_info": {"face_index": 14076, "face_uv": [0.7109946900411602, 0.09575660786547967, 0.19324870209335399]}}, {"xyz": [0.25969482835089175, -0.1984963125210777, 0.11140853435523868], "rgb": [224, 224, 224], "semantic_id": 18, "pcd_info": {"point_index": 240}, "mesh_info": {"face_index": 11169, "face_uv": [0.36426518488489334, 0.2709356567246008, 0.36479915839050936]}}, {"xyz": [-0.28574807324149387, -0.19821704630223902, 0.10269072185496048], "rgb": [194, 194, 194], "semantic_id": 19, "pcd_info": {"point_index": 1458}, "mesh_info": {"face_index": 20926, "face_uv": [0.40363218059474504, 0.05660242830866739, 0.5397653910965876]}}, {"xyz": [-0.28237693779842943, -0.1981701725839733, -0.2533103392086421], "rgb": [202, 211, 220], "semantic_id": 20, "pcd_info": {"point_index": 666}, "mesh_info": {"face_index": 13488, "face_uv": [0.14920093760442207, 0.4849980942873083, 0.3658009681082695]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6cf7fc7979e949c72dc9485cd94746f7", "keypoints": [{"xyz": [0.1784266320513697, 0.22268096814711869, 0.09168219696532298], "rgb": [138, 68, 19], "semantic_id": 0, "pcd_info": {"point_index": 1080}, "mesh_info": {"face_index": 69, "face_uv": [0.4298040822856139, 0.05807083039858031, 0.5121250873158063]}}, {"xyz": [-0.1711677114760496, 0.23226793700323145, 0.08355649299588669], "rgb": [138, 68, 19], "semantic_id": 1, "pcd_info": {"point_index": 393}, "mesh_info": {"face_index": 801, "face_uv": [0.03396074364243487, 0.5857154655626798, 0.38032379079488543]}}, {"xyz": [0.1684208673736969, -0.11412646667854143, 0.04311208825118984], "rgb": [137, 67, 18], "semantic_id": 2, "pcd_info": {"point_index": 909}, "mesh_info": {"face_index": 75, "face_uv": [0.28038723631203877, 0.043360146624254546, 0.6762526170637044]}}, {"xyz": [-0.16234933269800816, -0.11227799952030182, 0.036180248020651895], "rgb": [237, 232, 170], "semantic_id": 3, "pcd_info": {"point_index": 1593}, "mesh_info": {"face_index": 1007, "face_uv": [0.9664372776216121, 0.01488645892914136, 0.018676263449246628]}}, {"xyz": [0.19323502411862392, -0.12961529401011168, -0.30639201402664173], "rgb": [176, 132, 78], "semantic_id": 4, "pcd_info": {"point_index": 1966}, "mesh_info": {"face_index": 1002, "face_uv": [0.38291897313217593, 0.00884025263652328, 0.6082407742313004]}}, {"xyz": [-0.18692836383525566, -0.12977950682932599, -0.30639201402664185], "rgb": [176, 131, 77], "semantic_id": 5, "pcd_info": {"point_index": 23}, "mesh_info": {"face_index": 986, "face_uv": [0.3859981808515532, 0.02486786110672192, 0.5891339580417249]}}, {"xyz": [0.18705081914408783, -0.505632996559143, -0.29693351856043837], "rgb": [137, 67, 18], "semantic_id": 17, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 469, "face_uv": [0.11800429018737418, 0.4350593136642221, 0.44693639614840347]}}, {"xyz": [0.16126095674328747, -0.5056329965591431, 0.04800789488692335], "rgb": [138, 68, 19], "semantic_id": 18, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 348, "face_uv": [0.1512975560899482, 0.459806659558812, 0.3888957843512398]}}, {"xyz": [-0.16155465173401753, -0.5056329965591431, 0.0508526840264787], "rgb": [138, 68, 19], "semantic_id": 19, "pcd_info": {"point_index": 1524}, "mesh_info": {"face_index": 594, "face_uv": [0.0076852618496875014, 0.5475530113319738, 0.4447617268183387]}}, {"xyz": [-0.187467604971143, -0.505632996559143, -0.29245866711342333], "rgb": [137, 67, 18], "semantic_id": 20, "pcd_info": {"point_index": 1967}, "mesh_info": {"face_index": 723, "face_uv": [0.3552648755853772, 0.45945529688537906, 0.18527982752924352]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bffe3e68857faf7f4d1242a685303c47", "keypoints": [{"xyz": [0.2142477587863164, 0.396328135222739, 0.20208928805541498], "rgb": [243, 162, 95], "semantic_id": 0, "pcd_info": {"point_index": 859}, "mesh_info": {"face_index": 80, "face_uv": [0.19422029614263986, 0.6255964935152404, 0.18018321034211945]}}, {"xyz": [-0.2076570526525393, 0.3962539733500544, 0.20240797337391236], "rgb": [244, 163, 96], "semantic_id": 1, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 149, "face_uv": [0.514993030478643, 0.358927338280965, 0.1260796312403921]}}, {"xyz": [0.1993360072374344, 0.09374673892205043, 0.12610858030693262], "rgb": [244, 163, 96], "semantic_id": 2, "pcd_info": {"point_index": 1229}, "mesh_info": {"face_index": 35, "face_uv": [0.4552330640742693, 0.3903074675725267, 0.1544594683532041]}}, {"xyz": [-0.20174057468461476, 0.10405699908733368, 0.11211092181837445], "rgb": [243, 162, 95], "semantic_id": 3, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 134, "face_uv": [0.7898534490890924, 0.058050756735327086, 0.15209579417558036]}}, {"xyz": [0.2063292691589999, 0.09707323332648699, -0.17775900661945343], "rgb": [244, 163, 96], "semantic_id": 4, "pcd_info": {"point_index": 896}, "mesh_info": {"face_index": 71, "face_uv": [0.369003750998457, 0.6221082076318218, 0.00888804136972124]}}, {"xyz": [-0.21266881058012144, 0.09780706488669766, -0.17775900661945354], "rgb": [244, 163, 96], "semantic_id": 5, "pcd_info": {"point_index": 1226}, "mesh_info": {"face_index": 138, "face_uv": [0.6697699718885403, 0.2441604974327632, 0.08606953067869708]}}, {"xyz": [0.208696943419801, 0.19932172431049422, -0.10039400309324242], "rgb": [243, 162, 95], "semantic_id": 6, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 87, "face_uv": [0.37416433851266045, 0.4941672438593646, 0.13166841762797268]}}, {"xyz": [0.210611959488889, 0.20625624770349138, 0.146481313752012], "rgb": [244, 163, 96], "semantic_id": 7, "pcd_info": {"point_index": 974}, "mesh_info": {"face_index": 82, "face_uv": [0.004086630021933542, 0.6093136299985983, 0.3865997399794697]}}, {"xyz": [-0.2137384938573238, 0.19854678852091145, -0.10039400309324253], "rgb": [243, 162, 95], "semantic_id": 8, "pcd_info": {"point_index": 521}, "mesh_info": {"face_index": 154, "face_uv": [0.5786295291797382, 0.18635542470025016, 0.2350150461200106]}}, {"xyz": [-0.20695124554398955, 0.20546400547027577, 0.14351042238104728], "rgb": [243, 162, 95], "semantic_id": 9, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 153, "face_uv": [0.5531344430952135, 0.011331864046667731, 0.43553369285811827]}}, {"xyz": [0.21332434279652318, -0.41338300704956055, -0.15001722934606693], "rgb": [244, 163, 96], "semantic_id": 17, "pcd_info": {"point_index": 761}, "mesh_info": {"face_index": 207, "face_uv": [0.1689365893094217, 0.5859182548356363, 0.24514515585494204]}}, {"xyz": [0.20967574757550386, -0.41338300704956055, 0.11039744262658929], "rgb": [244, 163, 96], "semantic_id": 18, "pcd_info": {"point_index": 659}, "mesh_info": {"face_index": 293, "face_uv": [0.5576973226392271, 0.3248219715368486, 0.11748070582392427]}}, {"xyz": [-0.20208247086979614, -0.41340500116348267, 0.11610632505455959], "rgb": [244, 163, 96], "semantic_id": 19, "pcd_info": {"point_index": 1581}, "mesh_info": {"face_index": 304, "face_uv": [0.18375975712454085, 0.36546808947631526, 0.4507721533991439]}}, {"xyz": [-0.20044246457570303, -0.4134050011634829, -0.15337875372891746], "rgb": [244, 163, 96], "semantic_id": 20, "pcd_info": {"point_index": 1235}, "mesh_info": {"face_index": 219, "face_uv": [0.136582412974151, 0.7682828323971385, 0.09513475462871099]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "83d3b40a6ff6a04af4b6538438a0b930", "keypoints": [{"xyz": [0.24247989771790351, 0.3565466952787453, 0.17222939036614793], "rgb": [196, 183, 86], "semantic_id": 0, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 787, "face_uv": [0.1688447159324283, 0.38820194065159, 0.4429533434159816]}}, {"xyz": [-0.25264747309148455, 0.3567727760769479, 0.1714415755738916], "rgb": [193, 182, 71], "semantic_id": 1, "pcd_info": {"point_index": 1833}, "mesh_info": {"face_index": 2873, "face_uv": [0.1819037970913321, 0.4804111564569512, 0.337685046451717]}}, {"xyz": [0.23957522452343405, 0.02462167694012707, 0.0836567177586025], "rgb": [194, 186, 99], "semantic_id": 2, "pcd_info": {"point_index": 1154}, "mesh_info": {"face_index": 241, "face_uv": [0.16777460673627767, 0.021015102096960055, 0.8112102911667658]}}, {"xyz": [-0.2531886510133105, 0.02513900657404111, 0.08604697266169037], "rgb": [200, 183, 83], "semantic_id": 3, "pcd_info": {"point_index": 1900}, "mesh_info": {"face_index": 2438, "face_uv": [0.13597047184573785, 0.015192276209706281, 0.8488372519445545]}}, {"xyz": [0.24628315160299938, 0.06890858358760288, -0.3020896519627906], "rgb": [191, 181, 70], "semantic_id": 4, "pcd_info": {"point_index": 346}, "mesh_info": {"face_index": 120, "face_uv": [0.4741431458406378, 0.028116885487344256, 0.4977399686720177]}}, {"xyz": [-0.25259086194007974, 0.06593767850202359, -0.3024544619426247], "rgb": [195, 180, 77], "semantic_id": 5, "pcd_info": {"point_index": 1513}, "mesh_info": {"face_index": 2188, "face_uv": [0.15671994103939002, 0.5632512767251563, 0.28002878223545363]}}, {"xyz": [0.22258089153152893, -0.2946319878101349, -0.24894891952960177], "rgb": [194, 183, 84], "semantic_id": 17, "pcd_info": {"point_index": 1005}, "mesh_info": {"face_index": 328, "face_uv": [0.3647823735338525, 0.5379647889079401, 0.09725283755820742]}}, {"xyz": [0.23227713978276182, -0.2946319878101349, 0.22388284225895239], "rgb": [198, 187, 72], "semantic_id": 18, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 1066, "face_uv": [0.4179703458182788, 0.38521927638070425, 0.19681037780101696]}}, {"xyz": [-0.23593731335291582, -0.2946319878101349, 0.22547365030875394], "rgb": [195, 184, 83], "semantic_id": 19, "pcd_info": {"point_index": 15}, "mesh_info": {"face_index": 2984, "face_uv": [0.19527238949658712, 0.3548988853642499, 0.449828725139163]}}, {"xyz": [-0.2348834014582858, -0.2946319878101349, -0.24968860760465758], "rgb": [198, 185, 72], "semantic_id": 20, "pcd_info": {"point_index": 1214}, "mesh_info": {"face_index": 1134, "face_uv": [0.4021792183604701, 0.47552049820725656, 0.12230028343227338]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4bc064672eb85023d84a8130bee3aae8", "keypoints": [{"xyz": [0.2140384546139213, 0.5399743056554093, 0.13959033947589053], "rgb": [61, 61, 61], "semantic_id": 0, "pcd_info": {"point_index": 59}, "mesh_info": {"face_index": 9366, "face_uv": [0.00399191503987109, 0.34701965292175796, 0.6489884320383709]}}, {"xyz": [-0.21118970380514035, 0.5391094442468588, 0.14881403057223583], "rgb": [63, 63, 63], "semantic_id": 1, "pcd_info": {"point_index": 455}, "mesh_info": {"face_index": 9340, "face_uv": [0.010565900494477615, 0.4590668310837908, 0.5303672684217317]}}, {"xyz": [0.2143048991225317, 0.14374898644921863, 0.04430079840701495], "rgb": [65, 65, 65], "semantic_id": 2, "pcd_info": {"point_index": 1951}, "mesh_info": {"face_index": 9542, "face_uv": [0.0033744449749065495, 0.3734611728603574, 0.6231643821647367]}}, {"xyz": [-0.20773187256670692, 0.14130687302144962, 0.059136354824917414], "rgb": [113, 113, 113], "semantic_id": 3, "pcd_info": {"point_index": 2017}, "mesh_info": {"face_index": 9554, "face_uv": [0.018579228637618437, 0.07910133166004518, 0.9023194397023364]}}, {"xyz": [0.21372307292452025, 0.17243181374206157, -0.2876580188718304], "rgb": [37, 37, 37], "semantic_id": 4, "pcd_info": {"point_index": 734}, "mesh_info": {"face_index": 9663, "face_uv": [0.4311847258405599, 0.5640924799085137, 0.004722794250926534]}}, {"xyz": [-0.2119535102164144, 0.1665410508535743, -0.2885048528669587], "rgb": [49, 49, 49], "semantic_id": 5, "pcd_info": {"point_index": 1449}, "mesh_info": {"face_index": 9614, "face_uv": [0.9181458327285399, 0.008795822376337106, 0.073058344895123]}}, {"xyz": [0.1990057553898432, -0.23252999782562234, -0.24593556936591843], "rgb": [152, 59, 13], "semantic_id": 17, "pcd_info": {"point_index": 1430}, "mesh_info": {"face_index": 7520, "face_uv": [0.3669225985854452, 0.00885121034932464, 0.6242261910652293]}}, {"xyz": [0.19910251469702794, -0.23252999782562234, 0.1409097284404126], "rgb": [170, 66, 22], "semantic_id": 18, "pcd_info": {"point_index": 1867}, "mesh_info": {"face_index": 4713, "face_uv": [0.11055492639670576, 0.47105117752008135, 0.41839389608321187]}}, {"xyz": [-0.1997363033731332, -0.23252999782562256, 0.1447321578993374], "rgb": [170, 69, 22], "semantic_id": 19, "pcd_info": {"point_index": 475}, "mesh_info": {"face_index": 2400, "face_uv": [0.29282997345694145, 0.005413016125074847, 0.7017570104179837]}}, {"xyz": [-0.19716261911226213, -0.23252999782562256, -0.245556644047148], "rgb": [152, 59, 13], "semantic_id": 20, "pcd_info": {"point_index": 640}, "mesh_info": {"face_index": 5876, "face_uv": [0.3440691606113439, 0.08178476120684484, 0.5741460781818112]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7a7b08cf81cf358a8616812464c86290", "keypoints": [{"xyz": [0.20342749441389002, 0.2867258472655805, 0.1751371556128225], "rgb": [152, 129, 120], "semantic_id": 0, "pcd_info": {"point_index": 2003}, "mesh_info": {"face_index": 292, "face_uv": [0.011548170302937262, 0.7487652358122999, 0.239686593884762]}}, {"xyz": [-0.20436784147392392, 0.2873090716345672, 0.17607094686932778], "rgb": [152, 129, 120], "semantic_id": 1, "pcd_info": {"point_index": 1780}, "mesh_info": {"face_index": 302, "face_uv": [0.009290293395259644, 0.05406626286872706, 0.9366434437360119]}}, {"xyz": [0.18934896326446377, -0.05352000147104263, 0.13134677306962472], "rgb": [153, 130, 121], "semantic_id": 2, "pcd_info": {"point_index": 122}, "mesh_info": {"face_index": 78, "face_uv": [0.01740765662842661, 0.9820327143055996, 0.0005596290659739198]}}, {"xyz": [-0.20387046925573332, -0.053644934777408615, 0.1370402306469094], "rgb": [152, 129, 120], "semantic_id": 3, "pcd_info": {"point_index": 15}, "mesh_info": {"face_index": 100, "face_uv": [0.027588846585713894, 0.35595785490091286, 0.6164532985133726]}}, {"xyz": [0.188413347273987, -0.05708083541227249, -0.18314652544414844], "rgb": [152, 129, 120], "semantic_id": 4, "pcd_info": {"point_index": 890}, "mesh_info": {"face_index": 52, "face_uv": [0.3451592552347905, 0.25115205551894865, 0.4036886892462587]}}, {"xyz": [-0.1925343610489756, -0.056083023069991356, -0.17963491967197598], "rgb": [153, 130, 121], "semantic_id": 5, "pcd_info": {"point_index": 165}, "mesh_info": {"face_index": 224, "face_uv": [0.8192254529305383, 0.04076923444342378, 0.14000531262603896]}}, {"xyz": [0.1754678169837729, -0.5070751794209958, -0.18072299659252167], "rgb": [152, 104, 65], "semantic_id": 17, "pcd_info": {"point_index": 1754}, "mesh_info": {"face_index": 348, "face_uv": [0.013232032844781002, 0.15197961413123548, 0.8347883530239836]}}, {"xyz": [0.18666664692158644, -0.4975429515926467, 0.2301881784895652], "rgb": [160, 110, 72], "semantic_id": 18, "pcd_info": {"point_index": 1857}, "mesh_info": {"face_index": 318, "face_uv": [0.6084226461187004, 0.03970229541385299, 0.3518750584674454]}}, {"xyz": [-0.18475076873481, -0.5124189853668214, 0.21762951282861928], "rgb": [146, 99, 58], "semantic_id": 19, "pcd_info": {"point_index": 5}, "mesh_info": {"face_index": 335, "face_uv": [0.46968402123611835, 0.46329222223944533, 0.06702375652443653]}}, {"xyz": [-0.18295643712360443, -0.5119529962539673, -0.16988518387118634], "rgb": [154, 107, 65], "semantic_id": 20, "pcd_info": {"point_index": 833}, "mesh_info": {"face_index": 347, "face_uv": [0.45717945521089337, 0.29724992345201917, 0.24557062133708746]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "29656461b26f620ff3c9c1464e55d580", "keypoints": [{"xyz": [0.12515575314807578, 0.4641314781503254, 0.11678710030120996], "rgb": [162, 169, 179], "semantic_id": 0, "pcd_info": {"point_index": 1159}, "mesh_info": {"face_index": 10815, "face_uv": [0.10968027649855436, 0.0749594016788286, 0.8153603218226171]}}, {"xyz": [-0.13292027508300275, 0.4637667016974927, 0.12097365858656212], "rgb": [169, 176, 184], "semantic_id": 1, "pcd_info": {"point_index": 1063}, "mesh_info": {"face_index": 3544, "face_uv": [0.2715769851638673, 0.0504132111810504, 0.6780098036550827]}}, {"xyz": [0.15319497214548808, -0.02542620752878344, 0.010913138068690043], "rgb": [172, 179, 187], "semantic_id": 2, "pcd_info": {"point_index": 74}, "mesh_info": {"face_index": 9009, "face_uv": [0.04196063359570245, 0.062196634293531776, 0.8958427321107574]}}, {"xyz": [-0.1620697933230873, -0.02631181007726302, 0.010859867163656112], "rgb": [167, 174, 182], "semantic_id": 3, "pcd_info": {"point_index": 1952}, "mesh_info": {"face_index": 548, "face_uv": [0.5190795273085406, 0.008589552936173323, 0.4723309197552817]}}, {"xyz": [0.1556016649576035, -0.02455199060225377, -0.23342713838776577], "rgb": [175, 182, 190], "semantic_id": 4, "pcd_info": {"point_index": 1492}, "mesh_info": {"face_index": 8957, "face_uv": [0.057578364596820183, 0.0022961949842529054, 0.9401254404189185]}}, {"xyz": [-0.15135476714883994, -0.024379804077873768, -0.2323093734548582], "rgb": [175, 182, 190], "semantic_id": 5, "pcd_info": {"point_index": 1639}, "mesh_info": {"face_index": 150, "face_uv": [0.50730393893313, 0.022201902110177318, 0.47049415895669244]}}, {"xyz": [0.1413519706567125, -0.38353713704216963, -0.2691430849877203], "rgb": [177, 184, 194], "semantic_id": 17, "pcd_info": {"point_index": 1129}, "mesh_info": {"face_index": 17124, "face_uv": [0.21178566983066868, 0.30114778537565434, 0.48706654479367717]}}, {"xyz": [0.15587547191112067, -0.3832060098648069, 0.07306040939548405], "rgb": [175, 182, 190], "semantic_id": 18, "pcd_info": {"point_index": 819}, "mesh_info": {"face_index": 17000, "face_uv": [0.45817673194220115, 0.1623122855086573, 0.379510982549141]}}, {"xyz": [-0.15530595586093887, -0.38320600986480713, 0.06998953601638974], "rgb": [179, 186, 194], "semantic_id": 19, "pcd_info": {"point_index": 2029}, "mesh_info": {"face_index": 8274, "face_uv": [0.08895297508935869, 0.0638594840378148, 0.8471875408728265]}}, {"xyz": [-0.13676855430178847, -0.3834037017024905, -0.2676567329618116], "rgb": [176, 183, 193], "semantic_id": 20, "pcd_info": {"point_index": 1487}, "mesh_info": {"face_index": 8504, "face_uv": [0.07678921971810108, 0.9160258883311124, 0.007184891950786365]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "22af872ac796ed26ff8d7c1096fae070", "keypoints": [{"xyz": [0.1845609005813169, 0.16576705248351664, 0.006970200803394472], "rgb": [163, 109, 62], "semantic_id": 0, "pcd_info": {"point_index": 1826}, "mesh_info": {"face_index": 297, "face_uv": [0.4051183375744665, 0.26253606179214295, 0.3323456006333901]}}, {"xyz": [-0.19260380407757094, 0.1587939099527722, 0.012060371437192408], "rgb": [155, 107, 67], "semantic_id": 1, "pcd_info": {"point_index": 1897}, "mesh_info": {"face_index": 73, "face_uv": [0.42570556048788893, 0.4760300801361208, 0.09826435937599029]}}, {"xyz": [0.1711996546907951, -0.21313628681888597, -0.005218999926000889], "rgb": [171, 127, 92], "semantic_id": 2, "pcd_info": {"point_index": 1146}, "mesh_info": {"face_index": 123, "face_uv": [0.008752554240090681, 0.0015915313143578646, 0.989655914445562]}}, {"xyz": [-0.18584703456747062, -0.21583600342273712, -0.007178101258641489], "rgb": [164, 115, 77], "semantic_id": 3, "pcd_info": {"point_index": 564}, "mesh_info": {"face_index": 244, "face_uv": [0.5192009873844043, 0.0058973015110391136, 0.4749017111045565]}}, {"xyz": [0.18689602884151546, -0.21583600342273668, -0.32604916849189636], "rgb": [162, 114, 69], "semantic_id": 4, "pcd_info": {"point_index": 1036}, "mesh_info": {"face_index": 195, "face_uv": [0.7698882976508634, 0.01702140316202736, 0.21309029918710704]}}, {"xyz": [-0.1885247824248085, -0.21583600342273757, -0.3254556716650546], "rgb": [138, 89, 52], "semantic_id": 5, "pcd_info": {"point_index": 1788}, "mesh_info": {"face_index": 245, "face_uv": [0.017439590711896984, 0.7525305442342628, 0.2300298650538423]}}, {"xyz": [0.17716648386707365, -0.5704140067100525, -0.31414196834778996], "rgb": [155, 108, 62], "semantic_id": 17, "pcd_info": {"point_index": 1247}, "mesh_info": {"face_index": 306, "face_uv": [0.32202466338644836, 0.2624845048603783, 0.4154908317531734]}}, {"xyz": [0.17661100380777683, -0.5704140067100523, 0.01902293704602831], "rgb": [162, 111, 66], "semantic_id": 18, "pcd_info": {"point_index": 1523}, "mesh_info": {"face_index": 109, "face_uv": [0.3069367034645324, 0.42484994312035507, 0.26821335341511215]}}, {"xyz": [-0.16501299289001503, -0.5704140067100525, 0.02631162354425942], "rgb": [169, 118, 71], "semantic_id": 19, "pcd_info": {"point_index": 9}, "mesh_info": {"face_index": 92, "face_uv": [0.37376296825564226, 0.5525871799495947, 0.07364985179476308]}}, {"xyz": [-0.16073455474430964, -0.5704140067100523, -0.312889316065772], "rgb": [159, 107, 63], "semantic_id": 20, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 302, "face_uv": [0.4048876713536755, 0.5601017472660468, 0.03501058138027742]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7fc8b858cad8f5849df6f10c48eb6cee", "keypoints": [{"xyz": [0.17531825776381268, 0.5280510187149049, 0.11983602814132956], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 603}, "mesh_info": {"face_index": 10, "face_uv": [0.5703857982899393, 0.4262422249482271, 0.003371976761833825]}}, {"xyz": [-0.18800970675553103, 0.528051018714905, 0.12072026236364881], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 2893, "face_uv": [0.47655618242416836, 0.4551453726221732, 0.0682984449536588]}}, {"xyz": [0.17947171310385218, -0.013729000464081764, 0.0875324537727118], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 2006}, "mesh_info": {"face_index": 1343, "face_uv": [0.46075372606711823, 0.06703696964908358, 0.47220930428379815]}}, {"xyz": [-0.18860364258267354, -0.013729000464081764, 0.09991038270248831], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 738}, "mesh_info": {"face_index": 2010, "face_uv": [0.5092385575199665, 0.4668037315563141, 0.023957710923719327]}}, {"xyz": [0.14934957754332956, -0.013729000464081764, -0.19734071058936398], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 1468, "face_uv": [0.007563418992760683, 0.2012477915080806, 0.7911887894991587]}}, {"xyz": [-0.15724933197540433, -0.013729000464081764, -0.18834531662690002], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 825}, "mesh_info": {"face_index": 2080, "face_uv": [0.05976234630214895, 0.34991667289979467, 0.5903209807980563]}}, {"xyz": [0.1834627360062866, 0.14130599796772025, -0.21572671996632617], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 433}, "mesh_info": {"face_index": 715, "face_uv": [0.0390829029028532, 0.17665598421650833, 0.78426111288064]}}, {"xyz": [0.17808861496206396, 0.14130599796772025, 0.09670473960972958], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1156}, "mesh_info": {"face_index": 346, "face_uv": [0.4700424085903529, 0.03121539575879021, 0.4987421956508584]}}, {"xyz": [-0.1866507771010439, 0.14131799340248108, -0.21980610999472347], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1059}, "mesh_info": {"face_index": 1167, "face_uv": [0.02917673283572189, 0.1765993036817383, 0.7942239634825397]}}, {"xyz": [-0.18840508537201944, 0.14131799340248108, 0.09423109739168906], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 761, "face_uv": [0.4293155271225654, 0.03867550929634185, 0.5320089635810928]}}, {"xyz": [0.18192868098536297, -0.20177773008994593, -0.2425131039456508], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 167}, "mesh_info": {"face_index": 676, "face_uv": [0.1985373299948657, 0.20400662133084566, 0.5974560486742891]}}, {"xyz": [0.17460406264264983, -0.1871922245200741, 0.22942551152160376], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 282}, "mesh_info": {"face_index": 411, "face_uv": [0.11816337621523106, 0.31100347946051077, 0.5708331443242581]}}, {"xyz": [-0.1844668281164291, -0.18680387070216575, 0.23177390689778762], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 757}, "mesh_info": {"face_index": 613, "face_uv": [0.44077445988752906, 0.2737785613404104, 0.28544697877206104]}}, {"xyz": [-0.1894636306801951, -0.20342844740034804, -0.23679970777153825], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1756}, "mesh_info": {"face_index": 1070, "face_uv": [0.44263039234683843, 0.3242730791969698, 0.23309652845619255]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "453a678dec4e9d40f36ea1eb6542fe7e", "keypoints": [{"xyz": [0.16683045623782494, 0.3167695138261244, 0.23395655790257922], "rgb": [125, 61, 29], "semantic_id": 0, "pcd_info": {"point_index": 931}, "mesh_info": {"face_index": 786, "face_uv": [0.460857154418912, 0.40640483362430585, 0.13273801195678223]}}, {"xyz": [-0.16727029897829848, 0.3159867429723262, 0.23598531057369349], "rgb": [126, 61, 29], "semantic_id": 1, "pcd_info": {"point_index": 1528}, "mesh_info": {"face_index": 721, "face_uv": [0.06422762265274305, 0.48757202296986557, 0.44820035437739175]}}, {"xyz": [0.16076458724991557, -0.025920421609262112, 0.04447178504007221], "rgb": [74, 25, 25], "semantic_id": 2, "pcd_info": {"point_index": 1367}, "mesh_info": {"face_index": 2470, "face_uv": [0.8274527167144837, 0.062069530096944873, 0.11047775318857114]}}, {"xyz": [-0.160621507128301, -0.025877913781070516, 0.036876930207069725], "rgb": [75, 26, 26], "semantic_id": 3, "pcd_info": {"point_index": 1301}, "mesh_info": {"face_index": 2458, "face_uv": [0.17772863723793209, 0.07866613845454254, 0.7436052243075362]}}, {"xyz": [0.16367952686636572, -0.05003491210854616, -0.28209791157976727], "rgb": [75, 26, 26], "semantic_id": 4, "pcd_info": {"point_index": 990}, "mesh_info": {"face_index": 2339, "face_uv": [0.6700298305185993, 0.03838134674402965, 0.2915888227373712]}}, {"xyz": [-0.17064287935773026, -0.04990146226104275, -0.28202665119002857], "rgb": [75, 26, 26], "semantic_id": 5, "pcd_info": {"point_index": 122}, "mesh_info": {"face_index": 2364, "face_uv": [0.021177435399600264, 0.7042463361821149, 0.27457622841828505]}}, {"xyz": [0.20866716629822568, 0.16504499316215493, -0.3232810747771777], "rgb": [126, 62, 29], "semantic_id": 6, "pcd_info": {"point_index": 706}, "mesh_info": {"face_index": 7041, "face_uv": [0.4962547651445694, 0.26541923121605815, 0.2383260036393712]}}, {"xyz": [0.21776175359619088, 0.16504499316215493, 0.1668263402141821], "rgb": [134, 71, 38], "semantic_id": 7, "pcd_info": {"point_index": 716}, "mesh_info": {"face_index": 6959, "face_uv": [0.20629974209267338, 0.4632598928295043, 0.33044036507782093]}}, {"xyz": [-0.21508106369431168, 0.16504499316215537, -0.32646351492303505], "rgb": [131, 67, 35], "semantic_id": 8, "pcd_info": {"point_index": 610}, "mesh_info": {"face_index": 6969, "face_uv": [0.5803031202770047, 0.04619643543742855, 0.37350044428556817]}}, {"xyz": [-0.22175178873440882, 0.16504499316215515, 0.16816919436621516], "rgb": [121, 58, 26], "semantic_id": 9, "pcd_info": {"point_index": 331}, "mesh_info": {"face_index": 6941, "face_uv": [0.09222826764621826, 0.3981581473703182, 0.5096135849834634]}}, {"xyz": [0.21260908759537517, -0.2838250100612638, -0.29892178853837603], "rgb": [127, 62, 30], "semantic_id": 17, "pcd_info": {"point_index": 270}, "mesh_info": {"face_index": 2750, "face_uv": [0.4459326262204746, 0.4721077529241219, 0.08195962085540272]}}, {"xyz": [0.20899953911178026, -0.28382501006126426, 0.14077814330388025], "rgb": [122, 57, 25], "semantic_id": 18, "pcd_info": {"point_index": 831}, "mesh_info": {"face_index": 3199, "face_uv": [0.4846120198172124, 0.4650239644799892, 0.05036401570279917]}}, {"xyz": [-0.2160463305406782, -0.2838250100612638, 0.14163863627409878], "rgb": [128, 63, 31], "semantic_id": 19, "pcd_info": {"point_index": 85}, "mesh_info": {"face_index": 3462, "face_uv": [0.3761847967764509, 0.46088131453307496, 0.16293388869047332]}}, {"xyz": [-0.21891830364816303, -0.28382501006126404, -0.30963500605679745], "rgb": [130, 65, 33], "semantic_id": 20, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 3802, "face_uv": [0.08007035539709699, 0.25329402909808735, 0.6666356155048156]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cd238045ebff9be59186f15d520c12ad", "keypoints": [{"xyz": [0.1074257067302883, 0.5190690159797668, 0.06944701846113066], "rgb": [226, 172, 126], "semantic_id": 0, "pcd_info": {"point_index": 418}, "mesh_info": {"face_index": 75, "face_uv": [0.007305581002737477, 0.00722038368606995, 0.9854740353111925]}}, {"xyz": [-0.1228317211469533, 0.5190690159797668, 0.09682915475815079], "rgb": [235, 193, 146], "semantic_id": 1, "pcd_info": {"point_index": 587}, "mesh_info": {"face_index": 90, "face_uv": [0.03870634209896603, 0.6621733416873742, 0.29912031621365975]}}, {"xyz": [0.09342099726200101, 0.011012691064999691, 0.0497185856813096], "rgb": [218, 165, 117], "semantic_id": 2, "pcd_info": {"point_index": 534}, "mesh_info": {"face_index": 163, "face_uv": [0.035283150896270835, 0.04170938465393319, 0.9230074644497958]}}, {"xyz": [-0.1027929926371749, 0.0049680001102387905, 0.06511064222798413], "rgb": [248, 188, 138], "semantic_id": 3, "pcd_info": {"point_index": 111}, "mesh_info": {"face_index": 186, "face_uv": [0.9812529313891455, 0.015045438900898558, 0.0037016297099559912]}}, {"xyz": [0.09366001189428885, 0.007543018756863862, -0.17962199449539185], "rgb": [230, 172, 129], "semantic_id": 4, "pcd_info": {"point_index": 989}, "mesh_info": {"face_index": 145, "face_uv": [0.014070206142566695, 0.9822319380714504, 0.0036978557859829115]}}, {"xyz": [-0.10352200269699102, 0.0060328751109499645, -0.17177212583267165], "rgb": [206, 172, 118], "semantic_id": 5, "pcd_info": {"point_index": 1585}, "mesh_info": {"face_index": 79, "face_uv": [0.9684073033866978, 0.007347816678375821, 0.02424487993492692]}}, {"xyz": [0.1571696290041494, 0.1471917638888116, -0.17962199449539207], "rgb": [254, 217, 175], "semantic_id": 6, "pcd_info": {"point_index": 270}, "mesh_info": {"face_index": 180, "face_uv": [0.004880193768840767, 0.00829618391949497, 0.9868236223116654]}}, {"xyz": [0.15557475444433078, 0.14989200234413147, 0.06367023273362643], "rgb": [200, 150, 110], "semantic_id": 7, "pcd_info": {"point_index": 451}, "mesh_info": {"face_index": 144, "face_uv": [0.017560981464285644, 0.0208425320892569, 0.9615964864464575]}}, {"xyz": [-0.16964655594337077, 0.14989200234413147, -0.17243153641253978], "rgb": [225, 152, 107], "semantic_id": 8, "pcd_info": {"point_index": 2017}, "mesh_info": {"face_index": 188, "face_uv": [0.022576450303159742, 0.028938823117009186, 0.9484847265798311]}}, {"xyz": [-0.16877396880736592, 0.1553958920694576, 0.06884899735450745], "rgb": [241, 196, 153], "semantic_id": 9, "pcd_info": {"point_index": 430}, "mesh_info": {"face_index": 42, "face_uv": [0.018549352376725416, 0.06403158590135677, 0.9174190617219178]}}, {"xyz": [0.15563619737766404, -0.3643830120563508, -0.17786372787804644], "rgb": [223, 180, 144], "semantic_id": 17, "pcd_info": {"point_index": 1334}, "mesh_info": {"face_index": 194, "face_uv": [0.017505960550193246, 0.017608727846688182, 0.9648853116031189]}}, {"xyz": [0.15332797683695218, -0.3631083108220231, 0.1516730040311814], "rgb": [229, 174, 126], "semantic_id": 18, "pcd_info": {"point_index": 1418}, "mesh_info": {"face_index": 111, "face_uv": [0.9298319464022837, 0.06859627141462546, 0.0015717821830911888]}}, {"xyz": [-0.16667546369271105, -0.3643830120563507, 0.14417682003301338], "rgb": [240, 180, 136], "semantic_id": 19, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 155, "face_uv": [0.0060093824087823966, 0.913358947223672, 0.08063167036754569]}}, {"xyz": [-0.1703770430258234, -0.35910857748138403, -0.17962199449539196], "rgb": [214, 151, 107], "semantic_id": 20, "pcd_info": {"point_index": 886}, "mesh_info": {"face_index": 93, "face_uv": [0.01025605838758392, 0.03515157406244571, 0.954592367549971]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b16dceadabff3976dec8d69f9356ec51", "keypoints": [{"xyz": [0.1887763794411358, 0.4831919968128203, 0.04912102328469572], "rgb": [101, 39, 18], "semantic_id": 0, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 105, "face_uv": [0.34873951585157426, 0.15078445507462526, 0.5004760290738003]}}, {"xyz": [-0.1731362198869093, 0.4831919968128203, 0.035910158999606624], "rgb": [101, 39, 18], "semantic_id": 1, "pcd_info": {"point_index": 382}, "mesh_info": {"face_index": 200, "face_uv": [0.11767493353365206, 0.493069498501044, 0.3892555679653037]}}, {"xyz": [0.15555250813073468, -0.0028852606911240475, 0.0699384604083938], "rgb": [102, 40, 19], "semantic_id": 2, "pcd_info": {"point_index": 116}, "mesh_info": {"face_index": 10, "face_uv": [0.7893328050118363, 0.05776469236905072, 0.15290250261911348]}}, {"xyz": [-0.15792362478161087, -0.004558423859648109, 0.07513226847729404], "rgb": [101, 39, 18], "semantic_id": 3, "pcd_info": {"point_index": 1669}, "mesh_info": {"face_index": 49, "face_uv": [0.14936344666738363, 0.03397173329677318, 0.8166648200358424]}}, {"xyz": [0.15169100372840771, -0.004022793830278593, -0.21327125932112523], "rgb": [101, 39, 18], "semantic_id": 4, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 86, "face_uv": [0.01901917607539662, 0.16898862676412588, 0.8119921971604761]}}, {"xyz": [-0.15527374517110643, -0.011127003337241481, -0.21986299753189087], "rgb": [102, 40, 19], "semantic_id": 5, "pcd_info": {"point_index": 920}, "mesh_info": {"face_index": 19, "face_uv": [0.908694424844104, 0.025880091992175534, 0.06542548316372043]}}, {"xyz": [0.12838483874206855, -0.36344799399375916, -0.18698733309254573], "rgb": [102, 40, 19], "semantic_id": 17, "pcd_info": {"point_index": 845}, "mesh_info": {"face_index": 985, "face_uv": [0.4608774096583603, 0.45002876975616396, 0.08909382058547573]}}, {"xyz": [0.12733031399767028, -0.36344799399375904, 0.058379605655843526], "rgb": [101, 39, 18], "semantic_id": 18, "pcd_info": {"point_index": 1195}, "mesh_info": {"face_index": 1838, "face_uv": [0.5765542493606741, 0.3839058705285094, 0.03953988011081613]}}, {"xyz": [-0.12742071993386805, -0.36344799399375904, 0.05780200893147907], "rgb": [101, 39, 18], "semantic_id": 19, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 1178, "face_uv": [0.42740024210626326, 0.40440838007299545, 0.16819137782074095]}}, {"xyz": [-0.1325758177062073, -0.36344799399375927, -0.1850042721641223], "rgb": [102, 40, 19], "semantic_id": 20, "pcd_info": {"point_index": 724}, "mesh_info": {"face_index": 417, "face_uv": [0.3896132400179232, 0.520417473662045, 0.08996928632003207]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f4e24cf8c5d0c5c31dbb0393636b3531", "keypoints": [{"xyz": [0.15960582110655705, 0.34047311352276755, 0.10408953961838985], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1859}, "mesh_info": {"face_index": 390, "face_uv": [0.03487770073287814, 0.01869059507560145, 0.9464317041915206]}}, {"xyz": [-0.1675382205537593, 0.33305522785158415, 0.10893519304878341], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 687}, "mesh_info": {"face_index": 408, "face_uv": [0.08827605774564612, 0.8756978815844053, 0.0360260606699487]}}, {"xyz": [0.21483555331665882, -0.06250599771738052, 0.09341735163164677], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 65, "face_uv": [0.01773448318058432, 0.966468366973283, 0.01579714984613283]}}, {"xyz": [-0.21957070544414334, -0.06250599771738052, 0.09899149753067094], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 87}, "mesh_info": {"face_index": 263, "face_uv": [0.9333337626093341, 0.013585287644011302, 0.053080949746654504]}}, {"xyz": [0.21328981951763903, -0.09346977742518914, -0.2271180498977492], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1312}, "mesh_info": {"face_index": 110, "face_uv": [0.3852862440288022, 0.019265424730684218, 0.5954483312405158]}}, {"xyz": [-0.21870117183250623, -0.09028541416851898, -0.2254393751174757], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 150, "face_uv": [0.09998135094961866, 0.011445098257286287, 0.8885735507930926]}}, {"xyz": [0.19681691824156722, -0.38681700825691223, -0.1991840285834523], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1189}, "mesh_info": {"face_index": 1, "face_uv": [0.5557530411426342, 0.4395621619593723, 0.0046847968979934]}}, {"xyz": [0.19423291500489193, -0.38681700825691223, 0.14571867419322038], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 202, "face_uv": [0.4568274130110412, 0.3900637988158044, 0.15310878817315446]}}, {"xyz": [-0.18081325878136495, -0.38681700825691223, 0.12122678922030139], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 208}, "mesh_info": {"face_index": 253, "face_uv": [0.1795716537441978, 0.33008110907347393, 0.4903472371823282]}}, {"xyz": [-0.19128715272236213, -0.38681700825691223, -0.2176456630732846], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 146, "face_uv": [0.41216468854815486, 0.22743750219370967, 0.3603978092581354]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "beccd4a6031f6a5a3eaabea23fed5ec2", "keypoints": [{"xyz": [0.20676773682702893, 0.20762755280600276, 0.19012559166293183], "rgb": [245, 245, 245], "semantic_id": 0, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 31581, "face_uv": [0.14954477066768906, 0.3896600168447392, 0.4607952124875705]}}, {"xyz": [-0.20031206453667028, 0.20705568070041225, 0.19556832912746328], "rgb": [242, 242, 242], "semantic_id": 1, "pcd_info": {"point_index": 1142}, "mesh_info": {"face_index": 19436, "face_uv": [0.025265486489258682, 0.6976756673669385, 0.27705884614380366]}}, {"xyz": [0.15076397510200598, -0.031857633651192874, 0.13587706857780177], "rgb": [245, 245, 245], "semantic_id": 2, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 31717, "face_uv": [0.6799430763968085, 0.2822405759826734, 0.03781634762051751]}}, {"xyz": [-0.15017889324612196, -0.03579806236837757, 0.13276275403289367], "rgb": [236, 236, 236], "semantic_id": 3, "pcd_info": {"point_index": 934}, "mesh_info": {"face_index": 24159, "face_uv": [0.17464196553945135, 0.29461720901829525, 0.5307408254422536]}}, {"xyz": [0.18114748570654796, -0.028778267889525255, -0.20400390259150414], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 24703, "face_uv": [0.09186539407466629, 0.5425097112414766, 0.36562489468385867]}}, {"xyz": [-0.18239761922811587, -0.034397744579333034, -0.21159610152908115], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1463}, "mesh_info": {"face_index": 19780, "face_uv": [0.07888966425659927, 0.649460173823922, 0.27165016191947916]}}, {"xyz": [0.26037528242901675, 0.10159059436778095, -0.1635096186151972], "rgb": [239, 239, 239], "semantic_id": 6, "pcd_info": {"point_index": 381}, "mesh_info": {"face_index": 26062, "face_uv": [0.8500813829658223, 0.048150635977301716, 0.10176798105687598]}}, {"xyz": [0.19784105395956128, 0.20239817956174988, 0.1802673150589984], "rgb": [245, 245, 245], "semantic_id": 7, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 31316, "face_uv": [0.3479726501411533, 0.054740352871440356, 0.5972869969873997]}}, {"xyz": [-0.2451464265459929, 0.09760925256472353, -0.1696845842899613], "rgb": [240, 240, 240], "semantic_id": 8, "pcd_info": {"point_index": 1781}, "mesh_info": {"face_index": 19681, "face_uv": [0.23631508787007838, 0.3108527621864857, 0.4528321499434354]}}, {"xyz": [-0.19922917047637262, 0.20175982480124066, 0.18209593357397458], "rgb": [240, 240, 240], "semantic_id": 9, "pcd_info": {"point_index": 553}, "mesh_info": {"face_index": 7644, "face_uv": [0.3112542871437631, 0.48762971515165754, 0.2011159977045854]}}, {"xyz": [0.17535959698425496, -0.4015179872512816, -0.1885855280607576], "rgb": [197, 197, 197], "semantic_id": 17, "pcd_info": {"point_index": 907}, "mesh_info": {"face_index": 33063, "face_uv": [0.3556315849353343, 0.07643185658922241, 0.567936558475443]}}, {"xyz": [0.17600541482201051, -0.4015179872512816, 0.16523471117022065], "rgb": [197, 197, 197], "semantic_id": 18, "pcd_info": {"point_index": 1468}, "mesh_info": {"face_index": 31902, "face_uv": [0.44302524562281403, 0.08086160894746604, 0.47611314542971966]}}, {"xyz": [-0.17319907214921287, -0.4015179872512816, 0.16417716543819777], "rgb": [197, 197, 197], "semantic_id": 19, "pcd_info": {"point_index": 1889}, "mesh_info": {"face_index": 32650, "face_uv": [0.2689241542496708, 0.5309244764841781, 0.20015136926615085]}}, {"xyz": [-0.1750690118121327, -0.40151798725128174, -0.18701292790029045], "rgb": [198, 198, 198], "semantic_id": 20, "pcd_info": {"point_index": 135}, "mesh_info": {"face_index": 32272, "face_uv": [0.5576403236635485, 0.4083700096092322, 0.033989666727219314]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "55185010b0b6e42eb98f36033d4304b1", "keypoints": [{"xyz": [0.19324616070974834, 0.32128626825232964, 0.05417999997735046], "rgb": [152, 83, 41], "semantic_id": 0, "pcd_info": {"point_index": 33}, "mesh_info": {"face_index": 1314, "face_uv": [0.1639599714411124, 0.22758587835666405, 0.6084541502022276]}}, {"xyz": [-0.193443571091569, 0.3267508947069496, 0.05653240237522672], "rgb": [146, 81, 41], "semantic_id": 1, "pcd_info": {"point_index": 783}, "mesh_info": {"face_index": 1055, "face_uv": [0.07830117578816553, 0.27195710677460533, 0.649741717437229]}}, {"xyz": [0.14716601392165563, -0.06282006151610298, 0.054179999977350235], "rgb": [151, 86, 43], "semantic_id": 2, "pcd_info": {"point_index": 1246}, "mesh_info": {"face_index": 225, "face_uv": [0.3071567643804368, 0.5204646106588259, 0.17237862496073736]}}, {"xyz": [-0.15220359713673073, -0.06160572813176057, 0.054179999977350235], "rgb": [156, 88, 45], "semantic_id": 3, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 594, "face_uv": [0.003320582100528799, 0.8481373282017859, 0.1485420896976854]}}, {"xyz": [0.1518090915772053, -0.06799399852752663, -0.2240406938465238], "rgb": [153, 83, 41], "semantic_id": 4, "pcd_info": {"point_index": 644}, "mesh_info": {"face_index": 196, "face_uv": [0.03135804820564809, 0.9160278202653265, 0.05261413152902225]}}, {"xyz": [-0.14974846472553804, -0.06890011613073965, -0.22889000177383445], "rgb": [169, 98, 56], "semantic_id": 5, "pcd_info": {"point_index": 1190}, "mesh_info": {"face_index": 4, "face_uv": [0.9690723734709651, 0.02396873131020026, 0.0069588952188356385]}}, {"xyz": [0.1386843784912417, -0.528626024723053, -0.2151151792982393], "rgb": [154, 83, 41], "semantic_id": 17, "pcd_info": {"point_index": 1330}, "mesh_info": {"face_index": 1904, "face_uv": [0.5622455264375915, 0.4373034141096581, 0.0004510594527503865]}}, {"xyz": [0.13969410892097467, -0.528626024723053, 0.06816628017316184], "rgb": [148, 77, 35], "semantic_id": 18, "pcd_info": {"point_index": 487}, "mesh_info": {"face_index": 1973, "face_uv": [0.5101258389499149, 0.4693878797722027, 0.02048628127788241]}}, {"xyz": [-0.14004431352947108, -0.528626024723053, 0.0650585865964245], "rgb": [152, 84, 43], "semantic_id": 19, "pcd_info": {"point_index": 940}, "mesh_info": {"face_index": 1987, "face_uv": [0.39114200445916336, 0.47013839052640605, 0.13871960501443065]}}, {"xyz": [-0.14252916167887822, -0.5286260247230531, -0.21861428675840278], "rgb": [154, 87, 43], "semantic_id": 20, "pcd_info": {"point_index": 719}, "mesh_info": {"face_index": 1911, "face_uv": [0.3265552224013892, 0.549102666440877, 0.12434211115773397]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ca5d7ee5cc56f989490ad276cd2af3a4", "keypoints": [{"xyz": [0.15063551246887555, 0.47722142994300265, 0.061622509599263076], "rgb": [107, 112, 110], "semantic_id": 0, "pcd_info": {"point_index": 1309}, "mesh_info": {"face_index": 364, "face_uv": [0.2764015216889756, 0.7071460636214145, 0.0164524146896103]}}, {"xyz": [-0.13914805060049545, 0.47606886232027823, 0.05782732470775853], "rgb": [107, 112, 110], "semantic_id": 1, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 477, "face_uv": [0.22351435995684266, 0.7729893477907869, 0.003496292252370771]}}, {"xyz": [0.15499004018139959, 0.06858500093221664, 0.0008774589494434659], "rgb": [106, 111, 109], "semantic_id": 2, "pcd_info": {"point_index": 1940}, "mesh_info": {"face_index": 527, "face_uv": [0.9939845650383263, 0.0029878519174379634, 0.0030275830442355093]}}, {"xyz": [-0.1441198505955253, 0.06858500093221664, 0.0012045523650510148], "rgb": [107, 112, 110], "semantic_id": 3, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 298, "face_uv": [0.2846497964207253, 0.09386564753266691, 0.6214845560466079]}}, {"xyz": [0.18067700652828256, 0.06751706078993203, -0.3074943319761432], "rgb": [107, 112, 110], "semantic_id": 4, "pcd_info": {"point_index": 965}, "mesh_info": {"face_index": 222, "face_uv": [0.7049665258618419, 0.0031812241000726523, 0.2918522500380866]}}, {"xyz": [-0.1708875579127943, 0.06650803230428948, -0.3111715506014795], "rgb": [107, 112, 110], "semantic_id": 5, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 201, "face_uv": [0.31040902538280274, 0.6895371521264225, 5.382249077624481e-05]}}, {"xyz": [0.17427091157441785, -0.3262380063533783, -0.3016296292042189], "rgb": [70, 55, 35], "semantic_id": 17, "pcd_info": {"point_index": 1884}, "mesh_info": {"face_index": 776, "face_uv": [0.529800951845926, 0.4648901292146564, 0.005308918939417638]}}, {"xyz": [0.15334379307174828, -0.3262380063533781, 0.11920842429359824], "rgb": [43, 34, 26], "semantic_id": 18, "pcd_info": {"point_index": 593}, "mesh_info": {"face_index": 760, "face_uv": [0.15858450386936787, 0.3873417678197408, 0.4540737283108907]}}, {"xyz": [-0.145241731706639, -0.3262380063533785, 0.1232128246428652], "rgb": [35, 28, 26], "semantic_id": 19, "pcd_info": {"point_index": 1869}, "mesh_info": {"face_index": 976, "face_uv": [0.39292497520595054, 0.5652220759826012, 0.041852948811448965]}}, {"xyz": [-0.16678420558306173, -0.3262380063533783, -0.2955049120307176], "rgb": [41, 36, 24], "semantic_id": 20, "pcd_info": {"point_index": 211}, "mesh_info": {"face_index": 22, "face_uv": [0.024411079098140203, 0.6820708737148784, 0.2935180471869814]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8844e3830bbc5610d5cba62773b8025b", "keypoints": [{"xyz": [0.21047684790224414, 0.23615735931249926, 0.11431216335813543], "rgb": [226, 226, 226], "semantic_id": 0, "pcd_info": {"point_index": 699}, "mesh_info": {"face_index": 727, "face_uv": [0.9750903063602778, 0.012419346290852682, 0.012490347348871108]}}, {"xyz": [-0.2135273670618458, 0.2331866231264922, 0.12244564347859077], "rgb": [226, 226, 226], "semantic_id": 1, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 322, "face_uv": [0.11846458438651032, 0.005147403661047097, 0.876388011952443]}}, {"xyz": [0.2154997868690911, 0.036767985360065314, 0.026885738764460543], "rgb": [226, 226, 226], "semantic_id": 2, "pcd_info": {"point_index": 258}, "mesh_info": {"face_index": 698, "face_uv": [0.03525639285306496, 0.017872425258995513, 0.9468711818879412]}}, {"xyz": [-0.2122710223677693, 0.038746706180451396, 0.031430522350314294], "rgb": [225, 225, 225], "semantic_id": 3, "pcd_info": {"point_index": 61}, "mesh_info": {"face_index": 350, "face_uv": [0.011403555660728731, 0.3627915970590016, 0.6258048472802683]}}, {"xyz": [0.22160651227420008, -0.05613377573897815, -0.2601883160659919], "rgb": [226, 226, 226], "semantic_id": 4, "pcd_info": {"point_index": 1334}, "mesh_info": {"face_index": 607, "face_uv": [0.27866319905243625, 0.008869941340443326, 0.712466859607121]}}, {"xyz": [-0.21742401139118656, -0.05690608947544484, -0.25976655205685395], "rgb": [225, 225, 225], "semantic_id": 5, "pcd_info": {"point_index": 1409}, "mesh_info": {"face_index": 344, "face_uv": [0.0060532899497026706, 0.6268644221685318, 0.3670822878817653]}}, {"xyz": [0.3722986044610746, 0.07722599336855862, -0.26160499453544617], "rgb": [225, 225, 225], "semantic_id": 6, "pcd_info": {"point_index": 783}, "mesh_info": {"face_index": 188, "face_uv": [0.22665156628241115, 0.05197795316609409, 0.7213704805514947]}}, {"xyz": [0.37220600676633275, 0.08453822142628709, 0.21802847614045384], "rgb": [226, 226, 226], "semantic_id": 7, "pcd_info": {"point_index": 1121}, "mesh_info": {"face_index": 194, "face_uv": [0.01625148112645594, 0.4603990965212532, 0.5233494223522909]}}, {"xyz": [-0.362652622632365, 0.08463444971198619, -0.2616049945354464], "rgb": [226, 226, 226], "semantic_id": 8, "pcd_info": {"point_index": 411}, "mesh_info": {"face_index": 297, "face_uv": [0.04060784440522037, 0.5166698059095391, 0.44272234968524127]}}, {"xyz": [-0.3503155124723375, 0.09029900282621384, 0.20691649084208175], "rgb": [225, 225, 225], "semantic_id": 9, "pcd_info": {"point_index": 666}, "mesh_info": {"face_index": 332, "face_uv": [0.03904263259387458, 0.8922885459902213, 0.06866882141590398]}}, {"xyz": [0.30977956802970696, -0.17724747212507436, -0.15897682182547546], "rgb": [225, 225, 225], "semantic_id": 17, "pcd_info": {"point_index": 233}, "mesh_info": {"face_index": 794, "face_uv": [0.23619626178125588, 0.4973624384295508, 0.26644129978919245]}}, {"xyz": [0.3051859871303486, -0.19040298425383057, 0.13115222398930815], "rgb": [226, 226, 226], "semantic_id": 18, "pcd_info": {"point_index": 1614}, "mesh_info": {"face_index": 779, "face_uv": [0.03532914315619732, 0.4596438442763572, 0.5050270125674479]}}, {"xyz": [-0.3321792547565695, -0.1796272017761003, 0.19742278505632815], "rgb": [226, 226, 226], "semantic_id": 19, "pcd_info": {"point_index": 352}, "mesh_info": {"face_index": 809, "face_uv": [0.3679716405671625, 0.08874437066705793, 0.5432839887657797]}}, {"xyz": [-0.32786769605879285, -0.1793327105326767, -0.1599632665492119], "rgb": [226, 226, 226], "semantic_id": 20, "pcd_info": {"point_index": 325}, "mesh_info": {"face_index": 759, "face_uv": [0.3516644541039372, 0.14564292612935886, 0.5026926197667066]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8b45782142fe42b02314deb821327685", "keypoints": [{"xyz": [0.16173215282040865, 0.2838200205439102, 0.1145630031824112], "rgb": [95, 55, 19], "semantic_id": 0, "pcd_info": {"point_index": 380}, "mesh_info": {"face_index": 1888, "face_uv": [0.0441626491028287, 0.09235197649167984, 0.8634853744054913]}}, {"xyz": [-0.1616759448341637, 0.28686479186840974, 0.10822799362015656], "rgb": [99, 55, 20], "semantic_id": 1, "pcd_info": {"point_index": 1558}, "mesh_info": {"face_index": 2206, "face_uv": [0.20838253522562952, 0.6225567370585519, 0.1690607277158187]}}, {"xyz": [0.1935979541709012, -0.029532290836790986, 0.0977789983153341], "rgb": [84, 75, 66], "semantic_id": 2, "pcd_info": {"point_index": 1974}, "mesh_info": {"face_index": 1757, "face_uv": [0.7865552038770898, 0.005822436082805294, 0.2076223600401025]}}, {"xyz": [-0.18156329850442463, -0.030704999342560768, 0.09648799339812308], "rgb": [103, 59, 23], "semantic_id": 3, "pcd_info": {"point_index": 1136}, "mesh_info": {"face_index": 582, "face_uv": [0.4575606830631751, 0.006409739833745843, 0.536029577103079]}}, {"xyz": [0.16658156874756977, -0.04030245027847579, -0.2154130947831424], "rgb": [98, 54, 19], "semantic_id": 4, "pcd_info": {"point_index": 1070}, "mesh_info": {"face_index": 982, "face_uv": [0.5673274503512333, 0.4282126812289288, 0.004459868419838338]}}, {"xyz": [-0.16768693886310215, -0.030704999342560713, -0.206585311561979], "rgb": [97, 57, 21], "semantic_id": 5, "pcd_info": {"point_index": 52}, "mesh_info": {"face_index": 601, "face_uv": [0.3890211579243832, 0.01770031211283188, 0.5932785299627831]}}, {"xyz": [0.22243781644228494, 0.06549846205532756, -0.1931252895629052], "rgb": [97, 55, 24], "semantic_id": 6, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 315, "face_uv": [0.2682636626284467, 0.65134587965922, 0.08039045771233362]}}, {"xyz": [0.22664895565473187, 0.07000099867582321, 0.11174806046307781], "rgb": [93, 51, 18], "semantic_id": 7, "pcd_info": {"point_index": 1535}, "mesh_info": {"face_index": 249, "face_uv": [0.48336671688925753, 0.008317872420579766, 0.5083154106901628]}}, {"xyz": [-0.20179513541670477, 0.05792079702572017, -0.22215301134982712], "rgb": [100, 57, 22], "semantic_id": 8, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 45, "face_uv": [0.19715412088420572, 0.28025479566447453, 0.5225910834513198]}}, {"xyz": [-0.2252886063136464, 0.07000099867582321, 0.10993610855619013], "rgb": [106, 63, 26], "semantic_id": 9, "pcd_info": {"point_index": 81}, "mesh_info": {"face_index": 35, "face_uv": [0.013672007938224179, 0.49197869449117315, 0.4943492975706024]}}, {"xyz": [0.2020619958639145, -0.36302599650060785, -0.29837268324273036], "rgb": [105, 61, 25], "semantic_id": 17, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 1099, "face_uv": [0.20060777620595074, 0.610173603769915, 0.18921862002413406]}}, {"xyz": [0.19984068613467143, -0.36639299988746643, 0.08490540390375415], "rgb": [101, 58, 23], "semantic_id": 18, "pcd_info": {"point_index": 1315}, "mesh_info": {"face_index": 1366, "face_uv": [0.3779821750512622, 0.005514329400639441, 0.6165034955480984]}}, {"xyz": [-0.20076300203800201, -0.36492290898436897, 0.08243783221894038], "rgb": [101, 57, 23], "semantic_id": 19, "pcd_info": {"point_index": 1126}, "mesh_info": {"face_index": 1201, "face_uv": [0.004609837182332531, 0.45700395585640907, 0.5383862069612584]}}, {"xyz": [-0.2007630020380019, -0.364406992487045, -0.30424637319854064], "rgb": [94, 51, 19], "semantic_id": 20, "pcd_info": {"point_index": 262}, "mesh_info": {"face_index": 1089, "face_uv": [0.01392058053166321, 0.6069518581161893, 0.37912756135214687]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "86c4bc3f46e1bf7bad179769eda42205", "keypoints": [{"xyz": [0.15907210706841185, 0.3797342922584497, 0.07782271944290031], "rgb": [177, 106, 39], "semantic_id": 0, "pcd_info": {"point_index": 1791}, "mesh_info": {"face_index": 259, "face_uv": [0.006817659946799568, 0.9825632208313925, 0.010619119221807827]}}, {"xyz": [-0.16273699700832367, 0.36816312976704735, 0.0780573775825677], "rgb": [179, 107, 48], "semantic_id": 1, "pcd_info": {"point_index": 276}, "mesh_info": {"face_index": 190, "face_uv": [0.29080421850055216, 0.6385678150261491, 0.07062796647329866]}}, {"xyz": [0.1595410343782696, -0.06196200102567673, 0.06585464135544505], "rgb": [178, 106, 46], "semantic_id": 2, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 202, "face_uv": [0.9819256518632733, 0.016005027480812464, 0.00206932065591415]}}, {"xyz": [-0.1577946954079407, -0.06196200102567673, 0.06355710324720998], "rgb": [178, 106, 43], "semantic_id": 3, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 66, "face_uv": [0.008499706275737328, 0.9849099241840141, 0.0065903695402487195]}}, {"xyz": [0.16265097647458326, -0.06196200102567673, -0.28120665121935484], "rgb": [178, 106, 46], "semantic_id": 4, "pcd_info": {"point_index": 1885}, "mesh_info": {"face_index": 66, "face_uv": [0.9734298987333786, 0.00650960089392378, 0.020060500372697555]}}, {"xyz": [-0.15766217859678233, -0.06870682503909875, -0.2906999886035919], "rgb": [183, 117, 51], "semantic_id": 5, "pcd_info": {"point_index": 1102}, "mesh_info": {"face_index": 65, "face_uv": [0.9161183273787035, 0.08199209044914471, 0.0018895821721518081]}}, {"xyz": [0.11269522121948372, -0.4564740061759949, -0.27926025259886855], "rgb": [179, 105, 42], "semantic_id": 17, "pcd_info": {"point_index": 1451}, "mesh_info": {"face_index": 111, "face_uv": [0.1641282354685077, 0.776826646377932, 0.05904511815356032]}}, {"xyz": [0.14031975588447654, -0.45647400617599493, 0.09646740073819204], "rgb": [171, 99, 38], "semantic_id": 18, "pcd_info": {"point_index": 1884}, "mesh_info": {"face_index": 68, "face_uv": [0.4177484289406831, 0.565229268628215, 0.017022302431102043]}}, {"xyz": [-0.13065849770848514, -0.4564740061759948, 0.10980529944469541], "rgb": [180, 108, 42], "semantic_id": 19, "pcd_info": {"point_index": 1945}, "mesh_info": {"face_index": 137, "face_uv": [0.22050565918582657, 0.5495058080854718, 0.2299885327287015]}}, {"xyz": [-0.12620073112455432, -0.4564740061759948, -0.25089719835052726], "rgb": [179, 103, 40], "semantic_id": 20, "pcd_info": {"point_index": 1662}, "mesh_info": {"face_index": 250, "face_uv": [0.019245060316175757, 0.40969615578695, 0.5710587838968741]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "277fb4da6bea894c19fb4103277a6b93", "keypoints": [{"xyz": [0.26239669568840196, 0.3002278753895242, 0.2521420769954555], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 722}, "mesh_info": {"face_index": 2288, "face_uv": [0.0032365395761727676, 0.7356234499860499, 0.2611400104377777]}}, {"xyz": [-0.2642427108833588, 0.3003539026776634, 0.2476947430927764], "rgb": [222, 199, 164], "semantic_id": 1, "pcd_info": {"point_index": 346}, "mesh_info": {"face_index": 13664, "face_uv": [0.04630198649331801, 0.3007543585631084, 0.6529436549435731]}}, {"xyz": [0.2610309904616118, 0.03599350651927602, 0.051507037270619005], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 19608, "face_uv": [0.0724327455970909, 0.5751795075545431, 0.3523877468483735]}}, {"xyz": [-0.2604529870225678, 0.03585528657397119, 0.05482694780915787], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 1529}, "mesh_info": {"face_index": 17732, "face_uv": [0.4180876732184475, 0.5176996261788601, 0.06421270060269442]}}, {"xyz": [0.2554076715206099, 0.03089804286598896, -0.25009815978019667], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 20551, "face_uv": [0.5696371269886327, 0.34956131270146734, 0.08080156030989977]}}, {"xyz": [-0.25550655417131446, 0.031005828325612994, -0.2499955800604644], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 1725}, "mesh_info": {"face_index": 16745, "face_uv": [0.06417560119977966, 0.33497994721314794, 0.6008444515870734]}}, {"xyz": [0.30101382032492213, 0.13815267365912764, -0.2500115205638852], "rgb": [223, 200, 165], "semantic_id": 6, "pcd_info": {"point_index": 624}, "mesh_info": {"face_index": 41864, "face_uv": [0.23357780771043057, 0.16297303915863975, 0.6034491531309301]}}, {"xyz": [0.3002245845042179, 0.18075513970784796, 0.23475871858835287], "rgb": [223, 200, 165], "semantic_id": 7, "pcd_info": {"point_index": 1517}, "mesh_info": {"face_index": 41688, "face_uv": [0.44991320309801397, 0.4702926569906577, 0.07979413991132892]}}, {"xyz": [-0.29211263859298997, 0.13476340312465418, -0.25045057533481907], "rgb": [223, 200, 165], "semantic_id": 8, "pcd_info": {"point_index": 1160}, "mesh_info": {"face_index": 46514, "face_uv": [0.4143525632139454, 0.3376140310748498, 0.24803340571120547]}}, {"xyz": [-0.30489879004460224, 0.1829076106613725, 0.23084940066863352], "rgb": [222, 199, 164], "semantic_id": 9, "pcd_info": {"point_index": 743}, "mesh_info": {"face_index": 50857, "face_uv": [0.2265317754063734, 0.32088015361418887, 0.4525880709794365]}}, {"xyz": [0.2961165052811451, -0.23642799258232117, -0.21538521961945137], "rgb": [169, 78, 20], "semantic_id": 17, "pcd_info": {"point_index": 1029}, "mesh_info": {"face_index": 36728, "face_uv": [0.3887166461880846, 0.02913173021774412, 0.5821516235941713]}}, {"xyz": [0.29664026024611034, -0.23642799258232117, 0.22228537354669994], "rgb": [164, 74, 20], "semantic_id": 18, "pcd_info": {"point_index": 1118}, "mesh_info": {"face_index": 36771, "face_uv": [0.39884305546783844, 0.4166519799064384, 0.18450496462572327]}}, {"xyz": [-0.2930768872546361, -0.23642799258232094, 0.2188450740241909], "rgb": [166, 75, 20], "semantic_id": 19, "pcd_info": {"point_index": 433}, "mesh_info": {"face_index": 36908, "face_uv": [0.01077022945645565, 0.3849343829704385, 0.6042953875731049]}}, {"xyz": [-0.29462812380100756, -0.23642799258232117, -0.20870596441672545], "rgb": [162, 73, 19], "semantic_id": 20, "pcd_info": {"point_index": 1391}, "mesh_info": {"face_index": 37088, "face_uv": [0.38920765442004585, 0.03531626766210064, 0.5754760779178536]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "55dadd6acaa2a0c0dab72035db8eafd", "keypoints": [{"xyz": [0.2054717499607997, 0.21407200396060944, 0.11248491231913826], "rgb": [159, 111, 64], "semantic_id": 0, "pcd_info": {"point_index": 335}, "mesh_info": {"face_index": 2637, "face_uv": [0.453939734031716, 0.4290392703570146, 0.11702099561126937]}}, {"xyz": [-0.1955008044765989, 0.21407200396060944, 0.1108383251795758], "rgb": [164, 113, 68], "semantic_id": 1, "pcd_info": {"point_index": 360}, "mesh_info": {"face_index": 1285, "face_uv": [0.5954984266159636, 0.06314631069441626, 0.3413552626896202]}}, {"xyz": [0.18176200890792105, -0.07991435770360844, 0.12299655599798442], "rgb": [49, 49, 255], "semantic_id": 2, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 28, "face_uv": [0.018539394889714823, 0.0036161245148063604, 0.9778444805954803]}}, {"xyz": [-0.1721216891238801, -0.08287757538549562, 0.1304659992456435], "rgb": [48, 48, 254], "semantic_id": 3, "pcd_info": {"point_index": 1316}, "mesh_info": {"face_index": 158, "face_uv": [0.05944579322125997, 0.6580988667906585, 0.28245533998808064]}}, {"xyz": [0.18423908552737206, -0.08280838127676654, -0.32647163173732596], "rgb": [48, 48, 254], "semantic_id": 4, "pcd_info": {"point_index": 1153}, "mesh_info": {"face_index": 93, "face_uv": [0.03859072151540715, 0.6121965938243404, 0.349212684660252]}}, {"xyz": [-0.18132628481875956, -0.08350147282639742, -0.32877847154348705], "rgb": [49, 49, 255], "semantic_id": 5, "pcd_info": {"point_index": 226}, "mesh_info": {"face_index": 566, "face_uv": [0.7163523836642308, 0.05689320693766847, 0.2267544093981009]}}, {"xyz": [0.20887980299376524, -0.5368260145187377, -0.32295211315014216], "rgb": [166, 118, 72], "semantic_id": 17, "pcd_info": {"point_index": 1015}, "mesh_info": {"face_index": 2633, "face_uv": [0.014349138755680104, 0.4458991080650968, 0.5397517531792229]}}, {"xyz": [0.205431318353126, -0.5368260145187378, 0.1299820017742456], "rgb": [167, 117, 69], "semantic_id": 18, "pcd_info": {"point_index": 1861}, "mesh_info": {"face_index": 2632, "face_uv": [0.0014992376646202313, 0.4275555955521442, 0.5709451667832356]}}, {"xyz": [-0.2051617683374723, -0.5368260145187378, 0.12869188624719965], "rgb": [157, 109, 63], "semantic_id": 19, "pcd_info": {"point_index": 1680}, "mesh_info": {"face_index": 1296, "face_uv": [0.00430244733399924, 0.5823357886862824, 0.41336176397971836]}}, {"xyz": [-0.20475000006187077, -0.5368260145187378, -0.32537347791986915], "rgb": [147, 99, 57], "semantic_id": 20, "pcd_info": {"point_index": 597}, "mesh_info": {"face_index": 1297, "face_uv": [0.00908790982439672, 0.4025539980151157, 0.5883580921604875]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2ff12e3a324071c0525a3d382a240768", "keypoints": [{"xyz": [0.14995724970054938, 0.5441349744796753, 0.1506621100234713], "rgb": [169, 100, 35], "semantic_id": 0, "pcd_info": {"point_index": 1112}, "mesh_info": {"face_index": 530, "face_uv": [0.14948195127276792, 0.6202573960269058, 0.23026065270032628]}}, {"xyz": [-0.12820188429001012, 0.5441349744796751, 0.14738638813257987], "rgb": [179, 105, 42], "semantic_id": 1, "pcd_info": {"point_index": 957}, "mesh_info": {"face_index": 479, "face_uv": [0.14773335572558144, 0.4873133853445228, 0.3649532589298954]}}, {"xyz": [0.13928281945032867, 0.012193957030675717, 0.1225536055130434], "rgb": [182, 112, 50], "semantic_id": 2, "pcd_info": {"point_index": 1953}, "mesh_info": {"face_index": 704, "face_uv": [0.15611834628210777, 0.5474536533028901, 0.2964280004150021]}}, {"xyz": [-0.14651485807154105, 0.011734916081985736, 0.1219570434204158], "rgb": [178, 105, 44], "semantic_id": 3, "pcd_info": {"point_index": 98}, "mesh_info": {"face_index": 698, "face_uv": [0.2364837500589932, 0.02091014843838861, 0.7426061015026055]}}, {"xyz": [0.1327248467362225, 0.07021397293119236, -0.21108351430340327], "rgb": [182, 112, 50], "semantic_id": 4, "pcd_info": {"point_index": 1876}, "mesh_info": {"face_index": 885, "face_uv": [0.7309173304331873, 0.03536814019204047, 0.2337145293747706]}}, {"xyz": [-0.1334489671227339, 0.07144034429763924, -0.20899009739759372], "rgb": [175, 106, 44], "semantic_id": 5, "pcd_info": {"point_index": 729}, "mesh_info": {"face_index": 873, "face_uv": [0.5405178280096524, 0.06506778345403522, 0.3944143885363119]}}, {"xyz": [0.1495332240205101, -0.2757050096988678, -0.1440887728937003], "rgb": [185, 112, 47], "semantic_id": 17, "pcd_info": {"point_index": 532}, "mesh_info": {"face_index": 67, "face_uv": [0.046108022054887954, 0.36282799035021734, 0.5910639875948948]}}, {"xyz": [0.14899560859280409, -0.2757050096988678, 0.16079007383779134], "rgb": [173, 102, 34], "semantic_id": 18, "pcd_info": {"point_index": 87}, "mesh_info": {"face_index": 598, "face_uv": [0.6108381795271453, 0.3593116586868561, 0.029850161785998638]}}, {"xyz": [-0.12113390439791633, -0.2757050096988678, 0.14876383673094318], "rgb": [186, 110, 47], "semantic_id": 19, "pcd_info": {"point_index": 1779}, "mesh_info": {"face_index": 476, "face_uv": [0.6170611383219888, 0.15871523394634574, 0.22422362773166543]}}, {"xyz": [-0.14684220249100516, -0.2757050096988678, -0.1588133007514705], "rgb": [185, 108, 47], "semantic_id": 20, "pcd_info": {"point_index": 1380}, "mesh_info": {"face_index": 287, "face_uv": [0.4565819784037776, 0.340628331400387, 0.20278969019583543]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e7316ceb5b944b6fd0a96520c31993ad", "keypoints": [{"xyz": [0.18019193417673735, 0.3813413724726622, 0.1175032495883056], "rgb": [254, 190, 0], "semantic_id": 0, "pcd_info": {"point_index": 214}, "mesh_info": {"face_index": 1158, "face_uv": [0.2893550158382901, 0.1079684180283314, 0.6026765661333777]}}, {"xyz": [-0.18037658339617324, 0.3810498178776065, 0.11996361622155088], "rgb": [255, 191, 0], "semantic_id": 1, "pcd_info": {"point_index": 1277}, "mesh_info": {"face_index": 1155, "face_uv": [0.00127215327573607, 0.5065153110268222, 0.49221253569744217]}}, {"xyz": [0.18253222711815908, 0.01452435956344833, 0.06881769464274345], "rgb": [254, 190, 0], "semantic_id": 2, "pcd_info": {"point_index": 1546}, "mesh_info": {"face_index": 1012, "face_uv": [0.38944308735607286, 0.007986311054830735, 0.6025706015890877]}}, {"xyz": [-0.17974315052448153, 0.02179390709945017, 0.07019312683570833], "rgb": [254, 190, 0], "semantic_id": 3, "pcd_info": {"point_index": 1758}, "mesh_info": {"face_index": 2684, "face_uv": [0.5079881567541233, 0.014159616683679014, 0.47785222656219734]}}, {"xyz": [0.18098354649279136, 0.0035999931966423926, -0.27763808265098566], "rgb": [255, 191, 0], "semantic_id": 4, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 2548, "face_uv": [0.0027534500824989133, 0.5643426115229778, 0.43290393839452324]}}, {"xyz": [-0.1727481000628367, 0.01005600020289421, -0.2804420257276692], "rgb": [255, 191, 0], "semantic_id": 5, "pcd_info": {"point_index": 251}, "mesh_info": {"face_index": 142, "face_uv": [0.011176150341800611, 0.23318918091481733, 0.755634668743382]}}, {"xyz": [0.16991547244326155, -0.4493379890918734, -0.26870319455203195], "rgb": [255, 191, 0], "semantic_id": 17, "pcd_info": {"point_index": 1155}, "mesh_info": {"face_index": 930, "face_uv": [0.2748363571369188, 0.33072889703377656, 0.3944347458293051]}}, {"xyz": [0.17178934656494194, -0.44933798909187317, 0.07169359655691765], "rgb": [255, 191, 0], "semantic_id": 18, "pcd_info": {"point_index": 1037}, "mesh_info": {"face_index": 2859, "face_uv": [0.11553143665900362, 0.5828609482895603, 0.30160761505143624]}}, {"xyz": [-0.16867606265643942, -0.44933798909187317, 0.06917226833919476], "rgb": [255, 191, 0], "semantic_id": 19, "pcd_info": {"point_index": 101}, "mesh_info": {"face_index": 542, "face_uv": [0.25604650887991726, 0.5228590579856013, 0.22109443313448146]}}, {"xyz": [-0.17475208940829223, -0.44933798909187317, -0.2737355430973849], "rgb": [255, 191, 0], "semantic_id": 20, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 466, "face_uv": [0.12030143071596257, 0.30765645946261944, 0.572042109821418]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "75acccc933a08ebd2afe8d5254a0d04", "keypoints": [{"xyz": [0.1740290483715669, 0.3118194725550789, 0.21022159850595434], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 546}, "mesh_info": {"face_index": 1887, "face_uv": [0.1922948044407764, 0.3444306183244786, 0.4632745772347426]}}, {"xyz": [-0.17181115284111037, 0.31027137703832364, 0.20983865299395132], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1120}, "mesh_info": {"face_index": 17220, "face_uv": [0.9047858185378979, 0.009359345646742803, 0.08585483581535738]}}, {"xyz": [0.19211402047046827, -0.01442743109199629, 0.0910106233525978], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1015}, "mesh_info": {"face_index": 10597, "face_uv": [0.006760611641188561, 0.6965615669065122, 0.2966778214523006]}}, {"xyz": [-0.19518292626858694, -0.01436857785899881, 0.0920717120046024], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 23346, "face_uv": [0.18704087485961576, 0.21440803291449387, 0.5985510922258791]}}, {"xyz": [0.1836048954224312, -0.011981531361356934, -0.250175539338632], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 341}, "mesh_info": {"face_index": 26144, "face_uv": [0.18992901922149028, 0.6534498064162091, 0.15662117436229936]}}, {"xyz": [-0.1842656854459468, -0.010405430642050573, -0.2487345238445804], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1600}, "mesh_info": {"face_index": 25533, "face_uv": [0.8294157611687907, 0.08135444314432148, 0.08922979568688753]}}, {"xyz": [0.2267738152891448, 0.1843654671485797, -0.2230276827407634], "rgb": [168, 168, 168], "semantic_id": 6, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 43028, "face_uv": [0.48984150471749194, 0.06692519459706177, 0.4432333006854465]}}, {"xyz": [0.23237688927746586, 0.12064040705664425, 0.0054824791349340485], "rgb": [167, 167, 167], "semantic_id": 7, "pcd_info": {"point_index": 633}, "mesh_info": {"face_index": 70636, "face_uv": [0.39559521245214674, 0.3533210523181419, 0.2510837352297104]}}, {"xyz": [-0.22889881706848222, 0.18436402451996692, -0.22001241163383722], "rgb": [168, 168, 168], "semantic_id": 8, "pcd_info": {"point_index": 462}, "mesh_info": {"face_index": 71486, "face_uv": [0.3291508907293499, 0.2472104224826157, 0.42363868678803424]}}, {"xyz": [-0.228414714568244, 0.12103955591693194, 0.004965396484306384], "rgb": [168, 168, 168], "semantic_id": 9, "pcd_info": {"point_index": 993}, "mesh_info": {"face_index": 41552, "face_uv": [0.14017995733515662, 0.31543676461260334, 0.5443832780522404]}}, {"xyz": [0.2360977306556522, -0.38734758360531174, -0.21734405921493494], "rgb": [168, 168, 168], "semantic_id": 17, "pcd_info": {"point_index": 1180}, "mesh_info": {"face_index": 47326, "face_uv": [0.4416578178802989, 0.5444944855442678, 0.013847696575433235]}}, {"xyz": [0.23634298538669296, -0.40389112267658955, 0.23299669002839352], "rgb": [168, 168, 168], "semantic_id": 18, "pcd_info": {"point_index": 802}, "mesh_info": {"face_index": 42603, "face_uv": [0.27851575891880587, 0.6548207057547154, 0.06666353532647919]}}, {"xyz": [-0.22777986591634714, -0.39848508757619827, 0.23126619756176203], "rgb": [167, 167, 167], "semantic_id": 19, "pcd_info": {"point_index": 1270}, "mesh_info": {"face_index": 42190, "face_uv": [0.038950176556841395, 0.5688001009141241, 0.3922497225290322]}}, {"xyz": [-0.22247098111775648, -0.4015036967858374, -0.23150837844618755], "rgb": [168, 168, 168], "semantic_id": 20, "pcd_info": {"point_index": 699}, "mesh_info": {"face_index": 48588, "face_uv": [0.13996915624095052, 0.12839633703628978, 0.7316345067227602]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "661fcd8f87d948f2fff16555386d173d", "keypoints": [{"xyz": [0.26427856520130744, 0.2543089985847473, 0.2867753138480037], "rgb": [118, 108, 92], "semantic_id": 0, "pcd_info": {"point_index": 723}, "mesh_info": {"face_index": 3024, "face_uv": [0.03387627523943289, 0.6860025954682151, 0.28012112929235206]}}, {"xyz": [-0.25981713159535247, 0.2543089985847471, 0.28461499740520835], "rgb": [69, 36, 17], "semantic_id": 1, "pcd_info": {"point_index": 1552}, "mesh_info": {"face_index": 3027, "face_uv": [0.7152347818143195, 0.23606677175209873, 0.04869844643358097]}}, {"xyz": [0.19432846002779053, 0.08202188078783412, 0.1047405160757604], "rgb": [244, 243, 214], "semantic_id": 2, "pcd_info": {"point_index": 160}, "mesh_info": {"face_index": 220, "face_uv": [0.01882272288414969, 0.0720516694717169, 0.9091256076441334]}}, {"xyz": [-0.22353756308464565, 0.022289037061099082, 0.13332611999700594], "rgb": [250, 248, 221], "semantic_id": 3, "pcd_info": {"point_index": 539}, "mesh_info": {"face_index": 3955, "face_uv": [0.4064982605763571, 0.213515119714191, 0.37998661970945186]}}, {"xyz": [0.2173280109051513, 0.026465852626801567, -0.31981414753886483], "rgb": [251, 250, 229], "semantic_id": 4, "pcd_info": {"point_index": 37}, "mesh_info": {"face_index": 3873, "face_uv": [0.1545123736753307, 0.008064273105198338, 0.8374233532194709]}}, {"xyz": [-0.2286228836007671, 0.00658259755360846, -0.303919755150337], "rgb": [252, 251, 225], "semantic_id": 5, "pcd_info": {"point_index": 1980}, "mesh_info": {"face_index": 2820, "face_uv": [0.6123306553155233, 0.29471543151399404, 0.09295391317048254]}}, {"xyz": [0.24379036295453915, 0.11082721117596295, -0.3187044442985172], "rgb": [250, 249, 217], "semantic_id": 6, "pcd_info": {"point_index": 1798}, "mesh_info": {"face_index": 1242, "face_uv": [0.3554386499746353, 0.0141546018104016, 0.6304067482149678]}}, {"xyz": [0.24691773688745455, 0.11674948803616991, 0.1282257307571839], "rgb": [251, 249, 228], "semantic_id": 7, "pcd_info": {"point_index": 1725}, "mesh_info": {"face_index": 1210, "face_uv": [0.94682819243911, 0.036254422394948756, 0.016917385165932983]}}, {"xyz": [-0.25767218722368024, 0.1090799025146989, -0.320160257742117], "rgb": [249, 248, 229], "semantic_id": 8, "pcd_info": {"point_index": 1984}, "mesh_info": {"face_index": 2416, "face_uv": [0.0016260400140368412, 0.9924727404763681, 0.005901219509595495]}}, {"xyz": [-0.25737489443534123, 0.1090800017118454, 0.12471100157875133], "rgb": [247, 247, 211], "semantic_id": 9, "pcd_info": {"point_index": 450}, "mesh_info": {"face_index": 2445, "face_uv": [0.3107204636058403, 0.002827422336964017, 0.6864521140571956]}}, {"xyz": [0.25520124759383955, -0.21601100265979767, -0.31540893024243116], "rgb": [70, 34, 14], "semantic_id": 17, "pcd_info": {"point_index": 1086}, "mesh_info": {"face_index": 4907, "face_uv": [0.0016139461538272398, 0.9969592639396234, 0.0014267899065493065]}}, {"xyz": [0.26020453723555703, -0.21975700557231903, 0.27737816508731894], "rgb": [64, 31, 13], "semantic_id": 18, "pcd_info": {"point_index": 1674}, "mesh_info": {"face_index": 4297, "face_uv": [0.5663822047218009, 0.020721111887487147, 0.41289668339071206]}}, {"xyz": [-0.28064657521004255, -0.21975700557231925, 0.29516986780356724], "rgb": [68, 33, 14], "semantic_id": 19, "pcd_info": {"point_index": 212}, "mesh_info": {"face_index": 4972, "face_uv": [0.24147927981279532, 0.578221918243398, 0.18029880194380765]}}, {"xyz": [-0.2701039305151435, -0.21975700557231903, -0.2925821691361376], "rgb": [68, 33, 13], "semantic_id": 20, "pcd_info": {"point_index": 480}, "mesh_info": {"face_index": 4630, "face_uv": [0.07711275945223488, 0.11129751639159303, 0.8115897241561721]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3a0e5dbb68e58cf543fad16a067ce812", "keypoints": [{"xyz": [0.2175051549730076, 0.5168456578889427, 0.29502241349935787], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1152}, "mesh_info": {"face_index": 621, "face_uv": [0.041844008404380455, 0.008187625856764755, 0.949968365738855]}}, {"xyz": [-0.21554234285072343, 0.515147882053191, 0.29433383377150857], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 188, "face_uv": [0.10013572816508284, 0.0144726523288814, 0.8853916195060335]}}, {"xyz": [0.22027985178614884, 0.11934712253119906, 0.2848186188673121], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 697}, "mesh_info": {"face_index": 179, "face_uv": [0.0019254457839022084, 0.4155257086907814, 0.5825488455253162]}}, {"xyz": [-0.21319298487977778, 0.10953699797391891, 0.28656973506269845], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1480}, "mesh_info": {"face_index": 189, "face_uv": [0.46207885904364543, 0.008292614018436069, 0.5296285269379185]}}, {"xyz": [0.21577541084681784, 0.10953699797391891, -0.20171560278243805], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 29}, "mesh_info": {"face_index": 595, "face_uv": [0.168467999616938, 0.8259368618015348, 0.005595138581527215]}}, {"xyz": [-0.21972383561609188, 0.10953699797391891, -0.2037642604176444], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 92}, "mesh_info": {"face_index": 603, "face_uv": [0.004598594243951722, 0.9713530345184612, 0.02404837123758727]}}, {"xyz": [0.2158204504703351, -0.21212886039549406, -0.13283651000017027], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1209}, "mesh_info": {"face_index": 8, "face_uv": [0.9021705075433349, 0.08593186927395885, 0.011902800269133637]}}, {"xyz": [0.21828667738787333, -0.22562000155448914, 0.29197116573879567], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1813}, "mesh_info": {"face_index": 1, "face_uv": [0.0023112041009688005, 0.9840785879848251, 0.01361020791420622]}}, {"xyz": [-0.22150325635186674, -0.22562000155448914, 0.28607635691547495], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1577}, "mesh_info": {"face_index": 72, "face_uv": [0.02115211744989783, 0.002214544828784336, 0.9766333377213179]}}, {"xyz": [-0.22195500135421753, -0.22323783161319533, -0.13410721227607414], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1631}, "mesh_info": {"face_index": 321, "face_uv": [0.17478679135338665, 0.42972965998365914, 0.3954835486629542]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bfb71bd97fdedc6c48ff063e62e02115", "keypoints": [{"xyz": [0.18077926565918537, 0.3588768068624226, 0.2148510397503351], "rgb": [236, 236, 236], "semantic_id": 0, "pcd_info": {"point_index": 360}, "mesh_info": {"face_index": 895, "face_uv": [0.48773639403008073, 0.013894160677170956, 0.49836944529274835]}}, {"xyz": [-0.1855658259347441, 0.36437141082932634, 0.21411983035774373], "rgb": [252, 252, 252], "semantic_id": 1, "pcd_info": {"point_index": 1161}, "mesh_info": {"face_index": 892, "face_uv": [0.48082162999140765, 0.0057182418934530795, 0.5134601281151391]}}, {"xyz": [0.15156245312919364, 0.10083825735786256, 0.09193709956809054], "rgb": [239, 239, 239], "semantic_id": 2, "pcd_info": {"point_index": 144}, "mesh_info": {"face_index": 837, "face_uv": [0.10690174663630432, 0.8017594331552315, 0.09133882020846429]}}, {"xyz": [-0.15609776927375663, 0.06271599978208564, 0.09630668815079493], "rgb": [244, 244, 244], "semantic_id": 3, "pcd_info": {"point_index": 966}, "mesh_info": {"face_index": 922, "face_uv": [0.6399370284378784, 0.21873045325348833, 0.14133251830863686]}}, {"xyz": [0.16602444172439504, 0.05754700269360802, -0.24734799563884746], "rgb": [244, 244, 244], "semantic_id": 4, "pcd_info": {"point_index": 388}, "mesh_info": {"face_index": 903, "face_uv": [0.07416171129401489, 0.10696405398742205, 0.8188742347185635]}}, {"xyz": [-0.17306712889458364, 0.06271599978208531, -0.24614840709014385], "rgb": [231, 231, 231], "semantic_id": 5, "pcd_info": {"point_index": 1637}, "mesh_info": {"face_index": 911, "face_uv": [0.10377223193006187, 0.8889262928445325, 0.007301475225403944]}}, {"xyz": [0.23785097694574453, 0.25318410011695136, -0.2472971523742502], "rgb": [33, 19, 14], "semantic_id": 6, "pcd_info": {"point_index": 99}, "mesh_info": {"face_index": 790, "face_uv": [0.6344267587757404, 0.020345450220137274, 0.3452277910041224]}}, {"xyz": [0.2156695011678438, 0.25501900911331166, 0.28645648670852203], "rgb": [14, 4, 4], "semantic_id": 7, "pcd_info": {"point_index": 1}, "mesh_info": {"face_index": 731, "face_uv": [0.023131652926729928, 0.9189428398219646, 0.057925507251305075]}}, {"xyz": [-0.2533671646754291, 0.2476064975448622, -0.24734799563884735], "rgb": [30, 21, 14], "semantic_id": 8, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 636, "face_uv": [0.017720601181541555, 0.5715681634877885, 0.41071123533066994]}}, {"xyz": [-0.22075437604435688, 0.25501900911331177, 0.2863418557083508], "rgb": [49, 35, 21], "semantic_id": 9, "pcd_info": {"point_index": 2009}, "mesh_info": {"face_index": 706, "face_uv": [0.31674077129853795, 0.06256859005990195, 0.62069063864156]}}, {"xyz": [0.26147635636108957, -0.24745390235882214, -0.20439421827501336], "rgb": [73, 40, 20], "semantic_id": 17, "pcd_info": {"point_index": 2003}, "mesh_info": {"face_index": 519, "face_uv": [0.07252520072488179, 0.6305703439417628, 0.29690445533335486]}}, {"xyz": [0.22197185563590982, -0.24810633163636764, 0.28145179011432886], "rgb": [53, 24, 11], "semantic_id": 18, "pcd_info": {"point_index": 1850}, "mesh_info": {"face_index": 566, "face_uv": [0.27905706706412897, 0.5427402689943205, 0.1782026639415509]}}, {"xyz": [-0.21824369506344218, -0.24810767851276838, 0.27927793721080896], "rgb": [73, 39, 23], "semantic_id": 19, "pcd_info": {"point_index": 1081}, "mesh_info": {"face_index": 268, "face_uv": [0.5235111718373265, 0.05672897351958204, 0.4197598546430905]}}, {"xyz": [-0.2633443220705205, -0.2474576923766323, -0.21032387558361493], "rgb": [65, 33, 16], "semantic_id": 20, "pcd_info": {"point_index": 892}, "mesh_info": {"face_index": 251, "face_uv": [0.4404035005381306, 0.4382022026430138, 0.12139429681885552]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "587d174c5f2b19c1d7e48afa5cc5db41", "keypoints": [{"xyz": [0.21454044820000073, 0.3396547783895171, 0.1086263015627782], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1694}, "mesh_info": {"face_index": 385, "face_uv": [0.21542906543839485, 0.01737543697086328, 0.7671954975907347]}}, {"xyz": [-0.21567198351748085, 0.34113300732944374, 0.10906241855154364], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 70}, "mesh_info": {"face_index": 384, "face_uv": [0.8324642858849423, 0.007592479809208281, 0.15994323430587734]}}, {"xyz": [0.20367952456853955, -0.019516126229188968, 0.021739223768391547], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 272, "face_uv": [0.5034502487353734, 0.29606152724065954, 0.20048822402395464]}}, {"xyz": [-0.20305086027598768, -0.023333295329199366, 0.021016547449325795], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1656}, "mesh_info": {"face_index": 33, "face_uv": [0.027127689254480974, 0.14820611379895463, 0.8246661969465604]}}, {"xyz": [0.20459320325831326, -0.04562242819816864, -0.33682000637054466], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1788}, "mesh_info": {"face_index": 12, "face_uv": [0.4149520139185689, 0.5738935214125097, 0.011154464668921974]}}, {"xyz": [-0.19908277327721935, -0.047294927777450924, -0.3368200063705442], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 109, "face_uv": [0.48370737257817775, 0.49239204717771085, 0.023900580244110743]}}, {"xyz": [0.2125088248428173, -0.4219520092010498, -0.32843835218839834], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1033}, "mesh_info": {"face_index": 105, "face_uv": [0.21463196827421116, 0.3117481458318514, 0.47361988589393744]}}, {"xyz": [0.21361459492772827, -0.4219520092010498, 0.09041485790764381], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 501}, "mesh_info": {"face_index": 65, "face_uv": [0.35113170111963765, 0.3419043912380117, 0.30696390764235065]}}, {"xyz": [-0.20191701482039204, -0.42195200920105, 0.0885326253008134], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1841}, "mesh_info": {"face_index": 347, "face_uv": [0.5385526280017935, 0.19758939636762263, 0.2638579756305844]}}, {"xyz": [-0.20126972457772674, -0.4219520092010498, -0.3282612041026691], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 340}, "mesh_info": {"face_index": 0, "face_uv": [0.48362994528389797, 0.08587695731389638, 0.4304930974022056]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a39f54db298e53b035d20a1a3ca345", "keypoints": [{"xyz": [0.15272314235884563, 0.4165013313060292, 0.16948500275611877], "rgb": [121, 121, 120], "semantic_id": 0, "pcd_info": {"point_index": 185}, "mesh_info": {"face_index": 476, "face_uv": [0.8631125727932747, 0.07804873480954487, 0.05883869239718033]}}, {"xyz": [-0.15467074881370513, 0.40886771471222283, 0.16948500275611877], "rgb": [121, 121, 118], "semantic_id": 1, "pcd_info": {"point_index": 74}, "mesh_info": {"face_index": 347, "face_uv": [0.07469267112186913, 0.014619766920064028, 0.9106875619580667]}}, {"xyz": [0.14855967722985594, -0.06032260050690508, 0.169485002756119], "rgb": [117, 117, 117], "semantic_id": 2, "pcd_info": {"point_index": 302}, "mesh_info": {"face_index": 246, "face_uv": [0.044803521417192065, 0.9104756577924503, 0.044720820790358835]}}, {"xyz": [-0.1486678322865575, -0.0642908327910281, 0.16948500275611877], "rgb": [120, 120, 118], "semantic_id": 3, "pcd_info": {"point_index": 635}, "mesh_info": {"face_index": 246, "face_uv": [0.02965227651125351, 0.09123829145837506, 0.8791094320303715]}}, {"xyz": [0.16168063438383487, -0.07205700129270542, -0.16559090456890213], "rgb": [104, 105, 97], "semantic_id": 4, "pcd_info": {"point_index": 614}, "mesh_info": {"face_index": 233, "face_uv": [0.05335952556558813, 0.8849422713896535, 0.061698203044756726]}}, {"xyz": [-0.15837379381825914, -0.07205700129270576, -0.1862422814823952], "rgb": [117, 117, 115], "semantic_id": 5, "pcd_info": {"point_index": 1521}, "mesh_info": {"face_index": 86, "face_uv": [0.002829533404206684, 0.9355138970449993, 0.06165656955079717]}}, {"xyz": [0.19175132048847635, 0.20749199390411377, -0.186733716669312], "rgb": [104, 105, 100], "semantic_id": 6, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 273, "face_uv": [0.5356834172742323, 0.06056994075324238, 0.4037466419725253]}}, {"xyz": [0.19469757832690793, 0.20749199390411355, 0.15569244277203143], "rgb": [111, 112, 105], "semantic_id": 7, "pcd_info": {"point_index": 1821}, "mesh_info": {"face_index": 79, "face_uv": [0.5920316361954623, 0.008343583053012301, 0.39962478075152424]}}, {"xyz": [-0.18202825656707275, 0.19799299538135529, -0.18928291556882404], "rgb": [115, 116, 112], "semantic_id": 8, "pcd_info": {"point_index": 1611}, "mesh_info": {"face_index": 927, "face_uv": [0.32674013599901336, 0.012112726648795815, 0.6611471373521908]}}, {"xyz": [-0.18285385720027453, 0.19799299538135529, 0.14084985835731045], "rgb": [117, 118, 112], "semantic_id": 9, "pcd_info": {"point_index": 672}, "mesh_info": {"face_index": 724, "face_uv": [0.3154534734202251, 0.02642417962373071, 0.6581223469560442]}}, {"xyz": [0.15830381724344572, -0.40534201264381386, -0.15190453285051814], "rgb": [116, 117, 111], "semantic_id": 17, "pcd_info": {"point_index": 1648}, "mesh_info": {"face_index": 442, "face_uv": [0.4690388077376173, 0.4428464352400783, 0.08811475702230391]}}, {"xyz": [0.15350829359367543, -0.40534201264381386, 0.15121382714756737], "rgb": [114, 114, 109], "semantic_id": 18, "pcd_info": {"point_index": 631}, "mesh_info": {"face_index": 827, "face_uv": [0.18626608290350116, 0.24576529630085414, 0.5679686207956441]}}, {"xyz": [-0.1521916294248375, -0.4053420126438141, 0.13743395345589493], "rgb": [118, 119, 113], "semantic_id": 19, "pcd_info": {"point_index": 306}, "mesh_info": {"face_index": 483, "face_uv": [0.38979705948838667, 0.43111816101948947, 0.17908477949212387]}}, {"xyz": [-0.1523457310986982, -0.4053420126438141, -0.14489440581513824], "rgb": [122, 123, 118], "semantic_id": 20, "pcd_info": {"point_index": 244}, "mesh_info": {"face_index": 597, "face_uv": [0.3929761833756462, 0.34855205078315565, 0.25847176584119813]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d7e5de817d603fefa123ce0dff5bf4e6", "keypoints": [{"xyz": [0.22145307699918404, 0.22774265283338058, 0.2699513370561206], "rgb": [124, 124, 124], "semantic_id": 0, "pcd_info": {"point_index": 1058}, "mesh_info": {"face_index": 10380, "face_uv": [0.8431263499184944, 0.04072608986127907, 0.11614756022022595]}}, {"xyz": [-0.23120224761667219, 0.22635005861331536, 0.2694972930733015], "rgb": [73, 73, 73], "semantic_id": 1, "pcd_info": {"point_index": 129}, "mesh_info": {"face_index": 10412, "face_uv": [0.03203386221224699, 0.3969839609775227, 0.5709821768102308]}}, {"xyz": [0.15515514207506803, 0.006440000142902358, 0.21520086092229196], "rgb": [145, 145, 145], "semantic_id": 2, "pcd_info": {"point_index": 1035}, "mesh_info": {"face_index": 7172, "face_uv": [0.07967097025840165, 0.7312799206566712, 0.1890491090849621]}}, {"xyz": [-0.14872750287213599, 0.006440000142902136, 0.2135198331228534], "rgb": [127, 127, 127], "semantic_id": 3, "pcd_info": {"point_index": 46}, "mesh_info": {"face_index": 7161, "face_uv": [0.6150917145266777, 0.2718459911545373, 0.11306229431878494]}}, {"xyz": [0.15306365195534055, 0.006440000142902136, -0.17272690317767392], "rgb": [90, 90, 90], "semantic_id": 4, "pcd_info": {"point_index": 1490}, "mesh_info": {"face_index": 7172, "face_uv": [0.0852270308929592, 0.009918869937378358, 0.9048540991696632]}}, {"xyz": [-0.15020661382581568, 0.006440000142902358, -0.1733892198219118], "rgb": [169, 169, 169], "semantic_id": 5, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 7172, "face_uv": [0.8908669760451667, 0.008687276134082421, 0.10044574782078527]}}, {"xyz": [0.24614756960874967, 0.11611517547613404, -0.16163769632780833], "rgb": [99, 99, 99], "semantic_id": 6, "pcd_info": {"point_index": 582}, "mesh_info": {"face_index": 19023, "face_uv": [0.6470423715400505, 0.08319585474816603, 0.26976177371178234]}}, {"xyz": [0.2659793054078837, 0.12802677129145779, 0.33203934038404537], "rgb": [94, 94, 94], "semantic_id": 7, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 11474, "face_uv": [0.5904720689115805, 0.044049409578150976, 0.36547852151027177]}}, {"xyz": [-0.2601053094613861, 0.11642258920747262, -0.16072102330415183], "rgb": [88, 88, 88], "semantic_id": 8, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 32316, "face_uv": [0.3023316193491142, 0.4547157296804083, 0.24295265097047594]}}, {"xyz": [-0.26804573162407996, 0.12701127158852232, 0.3448760567574004], "rgb": [114, 114, 114], "semantic_id": 9, "pcd_info": {"point_index": 669}, "mesh_info": {"face_index": 25497, "face_uv": [0.05321787658794877, 0.01873114181449859, 0.928050981597552]}}, {"xyz": [0.2461417062865845, -0.19881300628185272, -0.12202717829939447], "rgb": [74, 74, 74], "semantic_id": 17, "pcd_info": {"point_index": 1425}, "mesh_info": {"face_index": 14481, "face_uv": [0.3453167267656368, 0.060380620020546734, 0.5943026532138165]}}, {"xyz": [0.22689630801836563, -0.19881300628185272, 0.32011984912906855], "rgb": [90, 90, 90], "semantic_id": 18, "pcd_info": {"point_index": 1785}, "mesh_info": {"face_index": 14293, "face_uv": [0.4734631210884586, 0.06755860479775981, 0.4589782741137815]}}, {"xyz": [-0.2492951247205813, -0.1988130062818525, 0.3282030280485312], "rgb": [95, 95, 95], "semantic_id": 19, "pcd_info": {"point_index": 1891}, "mesh_info": {"face_index": 28191, "face_uv": [0.24025001515614017, 0.05161589154367205, 0.7081340933001867]}}, {"xyz": [-0.22171007214602662, -0.1988130062818525, -0.12113886131777377], "rgb": [74, 74, 74], "semantic_id": 20, "pcd_info": {"point_index": 80}, "mesh_info": {"face_index": 28378, "face_uv": [0.5516146193449897, 0.062132676118502525, 0.3862527045365067]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "79bd56e6a44e5bf1a3f600c356573d21", "keypoints": [{"xyz": [0.2477293708565044, 0.1846901993534673, 0.2217201894711427], "rgb": [100, 81, 57], "semantic_id": 0, "pcd_info": {"point_index": 2004}, "mesh_info": {"face_index": 356, "face_uv": [0.144720834451487, 0.42018698025972623, 0.43509218528878674]}}, {"xyz": [-0.23346182014901729, 0.18442384363030562, 0.22570971735736398], "rgb": [101, 81, 57], "semantic_id": 1, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 656, "face_uv": [0.04308408737857514, 0.6360910034388474, 0.32082490918257867]}}, {"xyz": [0.2075964666973115, -0.06029548169240617, 0.049581487949436176], "rgb": [61, 51, 42], "semantic_id": 2, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 18506, "face_uv": [0.143406250673938, 0.4400900775053658, 0.41650367182071363]}}, {"xyz": [-0.2029394502957943, -0.06277994588308267, 0.07891528766585676], "rgb": [67, 57, 50], "semantic_id": 3, "pcd_info": {"point_index": 977}, "mesh_info": {"face_index": 18916, "face_uv": [0.13215832067446567, 0.39923567680005323, 0.4686060025254969]}}, {"xyz": [0.22384199500083923, -0.06192490144228491, -0.34607574936235935], "rgb": [110, 90, 66], "semantic_id": 4, "pcd_info": {"point_index": 1976}, "mesh_info": {"face_index": 405, "face_uv": [0.4473873473101312, 0.5525155442555277, 9.710843434108081e-05]}}, {"xyz": [-0.20570903165049456, -0.0466313244442742, -0.342029863704927], "rgb": [65, 55, 45], "semantic_id": 5, "pcd_info": {"point_index": 2011}, "mesh_info": {"face_index": 17890, "face_uv": [0.798723823170648, 0.006301263626813883, 0.19497491320253954]}}, {"xyz": [0.22968097091203143, 0.0715021723716911, -0.34364187869741736], "rgb": [107, 87, 63], "semantic_id": 6, "pcd_info": {"point_index": 1299}, "mesh_info": {"face_index": 226, "face_uv": [0.8617576204538817, 0.12530786051203957, 0.012934519034076377]}}, {"xyz": [0.24034755834035054, 0.0545448050012487, 0.1608012780757021], "rgb": [109, 89, 65], "semantic_id": 7, "pcd_info": {"point_index": 800}, "mesh_info": {"face_index": 245, "face_uv": [0.3824250762447967, 0.6060800169482564, 0.011494906806943398]}}, {"xyz": [-0.24926087329114988, 0.07127421173032666, -0.3368605674810103], "rgb": [109, 89, 65], "semantic_id": 8, "pcd_info": {"point_index": 1014}, "mesh_info": {"face_index": 530, "face_uv": [0.21218091294485006, 0.7617698144792437, 0.02604927257590444]}}, {"xyz": [-0.2509336240717641, 0.05444249795790379, 0.16384468020161091], "rgb": [108, 88, 64], "semantic_id": 9, "pcd_info": {"point_index": 35}, "mesh_info": {"face_index": 544, "face_uv": [0.7982848812701596, 0.19610601594165003, 0.005609102788186707]}}, {"xyz": [0.23789546312869292, -0.341482013463974, -0.370137773352339], "rgb": [101, 82, 58], "semantic_id": 17, "pcd_info": {"point_index": 1136}, "mesh_info": {"face_index": 146, "face_uv": [0.07566083668772675, 0.31617254281889, 0.6081666204933833]}}, {"xyz": [0.2561344520155524, -0.3414804122192726, 0.19076672649776838], "rgb": [97, 79, 57], "semantic_id": 18, "pcd_info": {"point_index": 409}, "mesh_info": {"face_index": 334, "face_uv": [0.0695969643107134, 0.8352000160647004, 0.09520301962458626]}}, {"xyz": [-0.23767154296563753, -0.34147065826727263, 0.1799831703197059], "rgb": [100, 81, 58], "semantic_id": 19, "pcd_info": {"point_index": 362}, "mesh_info": {"face_index": 608, "face_uv": [0.04105978083427806, 0.46539465496435106, 0.49354556420137097]}}, {"xyz": [-0.2437063496000329, -0.34148201346397394, -0.36569587107845114], "rgb": [102, 84, 60], "semantic_id": 20, "pcd_info": {"point_index": 991}, "mesh_info": {"face_index": 440, "face_uv": [0.06329301088063624, 0.3665124897992716, 0.570194499320092]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "95e1571acdd75922afdb9a672b7d3b8a", "keypoints": [{"xyz": [0.16451400518417358, 0.3188987512657574, 0.08578002795079676], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 454}, "mesh_info": {"face_index": 191, "face_uv": [0.3596011529621174, 0.010797200215988482, 0.6296016468218942]}}, {"xyz": [-0.16313299536705017, 0.32103136122916687, 0.07444868223459666], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 2034}, "mesh_info": {"face_index": 6, "face_uv": [0.5646393270289094, 0.003877233439458697, 0.4314834395316318]}}, {"xyz": [0.1559228389147872, -0.0389907943708101, 0.041494723806616785], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1323}, "mesh_info": {"face_index": 40, "face_uv": [0.026220799381444518, 0.9707777827350077, 0.0030014178835434746]}}, {"xyz": [-0.1575151805407068, -0.03907517912076042, 0.0455355695667804], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1398}, "mesh_info": {"face_index": 41, "face_uv": [0.01714593698978395, 0.01490272676164291, 0.9679513362485708]}}, {"xyz": [0.15565797172561735, -0.03345119583239775, -0.22377433582979223], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1150}, "mesh_info": {"face_index": 153, "face_uv": [0.9422234071590248, 0.03074740153552218, 0.027029191305448882]}}, {"xyz": [-0.15152419588548227, -0.03347095692905255, -0.2228280565117945], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1158}, "mesh_info": {"face_index": 40, "face_uv": [0.9645691873814296, 0.03410071876460228, 0.0013300938539733379]}}, {"xyz": [0.13370531529703777, -0.48584699630737305, -0.1878596631225291], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1007}, "mesh_info": {"face_index": 215, "face_uv": [0.12217090573648595, 0.31876892093113096, 0.5590601733323831]}}, {"xyz": [0.14394989664956936, -0.48584699630737305, 0.08246749267753528], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 136}, "mesh_info": {"face_index": 70, "face_uv": [0.37316010917368414, 0.44666035227553014, 0.18017953855078572]}}, {"xyz": [-0.13578823089305803, -0.48584699630737305, 0.0821262050560031], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 209}, "mesh_info": {"face_index": 177, "face_uv": [0.09290324715352716, 0.45287869662915015, 0.4542180562173227]}}, {"xyz": [-0.14455502820035837, -0.4858469963073728, -0.19026666162940142], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1370}, "mesh_info": {"face_index": 161, "face_uv": [0.015261809420507554, 0.3555411295264178, 0.6291970610530742]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d9943f96dfbdf331b17743c18fb63dc", "keypoints": [{"xyz": [0.13731934459900738, 0.4153887076817434, 0.15504526351071202], "rgb": [152, 118, 78], "semantic_id": 0, "pcd_info": {"point_index": 843}, "mesh_info": {"face_index": 6470, "face_uv": [0.43112240952130815, 0.029614344813097285, 0.5392632456655937]}}, {"xyz": [-0.13256790945471955, 0.4085209411623125, 0.15466547516541707], "rgb": [142, 112, 81], "semantic_id": 1, "pcd_info": {"point_index": 2018}, "mesh_info": {"face_index": 7328, "face_uv": [0.8080011670149913, 0.1594126392320255, 0.03258619375298188]}}, {"xyz": [0.13389914548806756, 0.04081900045275688, 0.13196481836279883], "rgb": [223, 208, 196], "semantic_id": 2, "pcd_info": {"point_index": 1962}, "mesh_info": {"face_index": 1, "face_uv": [0.8982357551782596, 0.0435574940853689, 0.05820675073637145]}}, {"xyz": [-0.14629063837796208, 0.0438866683912853, 0.13627687068469885], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1348}, "mesh_info": {"face_index": 6977, "face_uv": [0.14426421458136351, 0.11242736921429361, 0.7433084162043425]}}, {"xyz": [0.20302443223071273, 0.0311895525325272, -0.2696099877357482], "rgb": [245, 242, 240], "semantic_id": 4, "pcd_info": {"point_index": 1581}, "mesh_info": {"face_index": 17, "face_uv": [0.23852388629714474, 0.017897661871406397, 0.7435784518314484]}}, {"xyz": [-0.20097567393044136, 0.04081900045275688, -0.26948400010914375], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1934}, "mesh_info": {"face_index": 2, "face_uv": [0.019612241986451704, 0.00030006842927833544, 0.9800876895842695]}}, {"xyz": [0.18036154076906252, -0.306892991065979, -0.25433456181700786], "rgb": [134, 102, 72], "semantic_id": 17, "pcd_info": {"point_index": 1159}, "mesh_info": {"face_index": 5590, "face_uv": [0.027371697933745883, 0.527032454102988, 0.44559584796326607]}}, {"xyz": [0.15243124099565075, -0.3068929910659788, 0.13284441809645686], "rgb": [149, 116, 86], "semantic_id": 18, "pcd_info": {"point_index": 2029}, "mesh_info": {"face_index": 204, "face_uv": [0.26613217165533487, 0.5390153767532891, 0.19485245159137532]}}, {"xyz": [-0.15289750391138038, -0.2981046938044698, 0.1379152601511068], "rgb": [134, 102, 72], "semantic_id": 19, "pcd_info": {"point_index": 1828}, "mesh_info": {"face_index": 592, "face_uv": [0.6179912185738516, 0.3385564067608676, 0.043452374665280895]}}, {"xyz": [-0.17868439424905, -0.306892991065979, -0.25354174017380215], "rgb": [144, 111, 81], "semantic_id": 20, "pcd_info": {"point_index": 977}, "mesh_info": {"face_index": 4043, "face_uv": [0.42117757255530947, 0.5024846013023005, 0.07633782614239]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "be4c88a130e622a21961e650f3cfa396", "keypoints": [{"xyz": [0.21447978198089665, 0.3118296228405242, 0.1770860649000937], "rgb": [28, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 411}, "mesh_info": {"face_index": 5640, "face_uv": [0.7778763993702704, 0.07361692879610882, 0.14850667183362048]}}, {"xyz": [-0.20790894339579347, 0.3150057653959448, 0.17951481064767427], "rgb": [28, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 622}, "mesh_info": {"face_index": 5204, "face_uv": [0.23358550731591915, 0.29670019566938177, 0.4697142970146988]}}, {"xyz": [0.2074644301069169, 0.0025307710253282822, 0.13967619434947287], "rgb": [29, 29, 29], "semantic_id": 2, "pcd_info": {"point_index": 5}, "mesh_info": {"face_index": 6067, "face_uv": [0.7181212128318701, 0.07031447126457537, 0.211564315903557]}}, {"xyz": [-0.21312187044329411, 0.0005321702855112243, 0.1413605746926745], "rgb": [28, 28, 28], "semantic_id": 3, "pcd_info": {"point_index": 1010}, "mesh_info": {"face_index": 6073, "face_uv": [0.6091619344505506, 0.20610408001130576, 0.1847339855381406]}}, {"xyz": [0.20853026335261546, 0.001421678935414672, -0.33017950132610663], "rgb": [29, 29, 29], "semantic_id": 4, "pcd_info": {"point_index": 1776}, "mesh_info": {"face_index": 7469, "face_uv": [0.013932527876668646, 0.8763294484782118, 0.10973802364511982]}}, {"xyz": [-0.21845909943681419, -0.0023774190116331306, -0.32690628321215787], "rgb": [28, 28, 28], "semantic_id": 5, "pcd_info": {"point_index": 1529}, "mesh_info": {"face_index": 8521, "face_uv": [0.17258973959481946, 0.6389937310107573, 0.18841652939442144]}}, {"xyz": [0.29055815747714797, 0.13545787020225575, -0.31162240227917803], "rgb": [57, 57, 57], "semantic_id": 6, "pcd_info": {"point_index": 320}, "mesh_info": {"face_index": 14944, "face_uv": [0.14927987054224698, 0.40246917872453863, 0.4482509507332141]}}, {"xyz": [0.2906416911546701, 0.13744970876813167, 0.21920224111656483], "rgb": [57, 57, 57], "semantic_id": 7, "pcd_info": {"point_index": 1572}, "mesh_info": {"face_index": 14932, "face_uv": [0.6406018809685935, 0.3161810414989032, 0.04321707753250316]}}, {"xyz": [-0.2908659875392914, 0.13705978167402866, -0.30916037906021576], "rgb": [58, 58, 58], "semantic_id": 8, "pcd_info": {"point_index": 1467}, "mesh_info": {"face_index": 12921, "face_uv": [0.14272541527602806, 0.8552880080563614, 0.001986576667610656]}}, {"xyz": [-0.29080307402872485, 0.1366568216849069, 0.21845460689898893], "rgb": [58, 58, 58], "semantic_id": 9, "pcd_info": {"point_index": 135}, "mesh_info": {"face_index": 12834, "face_uv": [0.2630016138802266, 0.5074584404300778, 0.2295399456896959]}}, {"xyz": [0.19346292896128764, -0.2514300048351288, -0.2613737989371043], "rgb": [203, 210, 220], "semantic_id": 17, "pcd_info": {"point_index": 1080}, "mesh_info": {"face_index": 17483, "face_uv": [0.23778316326677235, 0.5305203634951324, 0.23169647323809525]}}, {"xyz": [0.18444242734078875, -0.25058438865070576, 0.139729654224925], "rgb": [199, 206, 216], "semantic_id": 18, "pcd_info": {"point_index": 1723}, "mesh_info": {"face_index": 17280, "face_uv": [0.008947183197251275, 0.8600802809831338, 0.1309725358196125]}}, {"xyz": [-0.19093929868692106, -0.253895280281079, 0.14454518260290627], "rgb": [207, 214, 224], "semantic_id": 19, "pcd_info": {"point_index": 1331}, "mesh_info": {"face_index": 16994, "face_uv": [0.6610368040107206, 0.33031549901693946, 0.008647696972338404]}}, {"xyz": [-0.20409397434205623, -0.25168371283086355, -0.24788051749814627], "rgb": [200, 207, 217], "semantic_id": 20, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 17759, "face_uv": [0.31739032195478684, 0.03488359616105127, 0.6477260818841618]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c7786437606ac263b04cb542e2c50eb4", "keypoints": [{"xyz": [0.1976158445157488, 0.25182961731407794, 0.23411689276419279], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1495}, "mesh_info": {"face_index": 1849, "face_uv": [0.1666171733286647, 0.825566899731535, 0.007815926939799598]}}, {"xyz": [-0.19720921195442626, 0.2519900100513941, 0.23187975330783184], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 760}, "mesh_info": {"face_index": 1866, "face_uv": [0.008828690216758184, 0.34133402433852816, 0.6498372854447136]}}, {"xyz": [0.19615734264493795, -0.05814304997607178, 0.011063458152282157], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 2035}, "mesh_info": {"face_index": 2057, "face_uv": [0.2384677968245033, 0.7500837163410172, 0.011448486834484437]}}, {"xyz": [-0.19882057980370324, -0.057472514153566134, 0.012549100390943924], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 2008, "face_uv": [0.004815400729780329, 0.9770435792921759, 0.018141019978044657]}}, {"xyz": [0.19872563055722242, -0.01464449520568345, -0.35075291143513754], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 2025}, "mesh_info": {"face_index": 2345, "face_uv": [0.6990451116247046, 0.2959030060669177, 0.005051882308376684]}}, {"xyz": [-0.19769957398364815, -0.014669876652190661, -0.3507961801053505], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 2328, "face_uv": [0.007607389458168007, 0.7077208439636117, 0.2846717665782203]}}, {"xyz": [0.22522013216710635, 0.12443510623233167, -0.21667843098564488], "rgb": [216, 174, 132], "semantic_id": 6, "pcd_info": {"point_index": 1582}, "mesh_info": {"face_index": 727, "face_uv": [0.12937460157471145, 0.3277418730708397, 0.5428835253544486]}}, {"xyz": [0.2252625796385026, 0.09117451327808856, 0.26001279784864645], "rgb": [215, 173, 127], "semantic_id": 7, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 461, "face_uv": [0.337865558103131, 0.11830904169305172, 0.5438254002038182]}}, {"xyz": [-0.22107812946475613, 0.11663458593622433, -0.22765076316973953], "rgb": [222, 183, 142], "semantic_id": 8, "pcd_info": {"point_index": 1374}, "mesh_info": {"face_index": 1373, "face_uv": [0.11023087531899692, 0.4388032591403777, 0.4509658655406242]}}, {"xyz": [-0.22573956128208728, 0.08660316492594666, 0.2652144868093014], "rgb": [217, 177, 128], "semantic_id": 9, "pcd_info": {"point_index": 178}, "mesh_info": {"face_index": 935, "face_uv": [0.16898851957920544, 0.3854084334984822, 0.44560304692231323]}}, {"xyz": [0.23130919986693277, -0.2702665105020816, -0.3299782314396942], "rgb": [219, 179, 133], "semantic_id": 17, "pcd_info": {"point_index": 702}, "mesh_info": {"face_index": 146, "face_uv": [0.6779949827383033, 0.06433291735656557, 0.25767209990513107]}}, {"xyz": [0.2342285477808368, -0.27612113662979954, 0.2549600409590522], "rgb": [220, 183, 137], "semantic_id": 18, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 126, "face_uv": [0.2572270626218898, 0.45972048605122, 0.28305245132689066]}}, {"xyz": [-0.24052864086383557, -0.2697960933189891, 0.2634625086914456], "rgb": [218, 177, 132], "semantic_id": 19, "pcd_info": {"point_index": 687}, "mesh_info": {"face_index": 897, "face_uv": [0.2687199149744346, 0.6138274100823806, 0.11745267494318475]}}, {"xyz": [-0.2373882373958447, -0.27311718864988654, -0.3256416409016627], "rgb": [214, 171, 125], "semantic_id": 20, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 1228, "face_uv": [0.18713412878142902, 0.38919557596867393, 0.4236702952498967]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "30ba0d3e750dd7e0876b399a99a15c0f", "keypoints": [{"xyz": [0.18492795319701988, 0.2040692905014455, 0.18798405149933162], "rgb": [216, 216, 216], "semantic_id": 0, "pcd_info": {"point_index": 1884}, "mesh_info": {"face_index": 10688, "face_uv": [0.20678054834895823, 0.7415742972352676, 0.051645154415774344]}}, {"xyz": [-0.18434094999496956, 0.20512433882178838, 0.1870583332788257], "rgb": [215, 215, 215], "semantic_id": 1, "pcd_info": {"point_index": 2044}, "mesh_info": {"face_index": 10938, "face_uv": [0.3548330563240024, 0.25601557198814157, 0.3891513716878558]}}, {"xyz": [0.14546816489499031, -0.08236733700067189, 0.058111344470177684], "rgb": [216, 216, 216], "semantic_id": 2, "pcd_info": {"point_index": 469}, "mesh_info": {"face_index": 47795, "face_uv": [0.37340861067388403, 0.0634937651700628, 0.5630976241560534]}}, {"xyz": [-0.14458219147057305, -0.08232251806288993, 0.05933127682749828], "rgb": [216, 216, 216], "semantic_id": 3, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 47108, "face_uv": [0.005475145125956711, 0.7093964645167135, 0.28512839035733006]}}, {"xyz": [0.16708219456558382, -0.09267489659219066, -0.21041956567035103], "rgb": [215, 215, 215], "semantic_id": 4, "pcd_info": {"point_index": 1818}, "mesh_info": {"face_index": 10801, "face_uv": [0.1490978377473103, 0.6298872104518388, 0.22101495180085068]}}, {"xyz": [-0.15089204574694515, -0.0917147533840752, -0.21019355813662066], "rgb": [215, 215, 215], "semantic_id": 5, "pcd_info": {"point_index": 980}, "mesh_info": {"face_index": 9959, "face_uv": [0.3156827427495513, 0.31688929217699247, 0.36742796507345465]}}, {"xyz": [0.23318187796279494, -0.007197991781584867, -0.1555405551710064], "rgb": [216, 216, 216], "semantic_id": 6, "pcd_info": {"point_index": 1986}, "mesh_info": {"face_index": 10774, "face_uv": [0.017745533301982103, 0.03698546329655693, 0.945269003401461]}}, {"xyz": [0.22307282676000972, 0.036207047532689884, 0.031578309905655286], "rgb": [216, 216, 216], "semantic_id": 7, "pcd_info": {"point_index": 569}, "mesh_info": {"face_index": 11557, "face_uv": [0.0038680899343192434, 0.4042880418363197, 0.5918438682293614]}}, {"xyz": [-0.23748874516385937, -0.01237943582101586, -0.1553702709082332], "rgb": [215, 215, 215], "semantic_id": 8, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 49104, "face_uv": [0.1721827241782028, 0.0698425348449315, 0.7579747409768649]}}, {"xyz": [-0.22742776220646804, 0.026995935820616546, 0.02290456826366727], "rgb": [215, 215, 215], "semantic_id": 9, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 49136, "face_uv": [0.05073140068608512, 0.6977725894044192, 0.2514960099094954]}}, {"xyz": [0.20379422727002072, -0.5348280072212219, -0.20382536748769087], "rgb": [216, 216, 216], "semantic_id": 17, "pcd_info": {"point_index": 564}, "mesh_info": {"face_index": 30, "face_uv": [0.1802631919250649, 0.08134705746181642, 0.7383897506131187]}}, {"xyz": [0.1899305961572776, -0.5348280072212219, 0.19207907482887493], "rgb": [216, 216, 216], "semantic_id": 18, "pcd_info": {"point_index": 1799}, "mesh_info": {"face_index": 143, "face_uv": [0.3026564347448498, 0.4598539677017112, 0.23748959755343896]}}, {"xyz": [-0.19119236997007982, -0.534828007221222, 0.19515234233806156], "rgb": [216, 216, 216], "semantic_id": 19, "pcd_info": {"point_index": 1798}, "mesh_info": {"face_index": 54, "face_uv": [0.3683671057736796, 0.09649237529170973, 0.5351405189346109]}}, {"xyz": [-0.20375778216870355, -0.5348280072212218, -0.20588169808820653], "rgb": [215, 215, 215], "semantic_id": 20, "pcd_info": {"point_index": 358}, "mesh_info": {"face_index": 94, "face_uv": [0.10493138849838814, 0.3027547427087355, 0.5923138687928762]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a2bffa12e0737e66febad4f49b26ec52", "keypoints": [{"xyz": [0.22317819737529743, 0.2782902553305022, 0.13437456752171367], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 214}, "mesh_info": {"face_index": 1459, "face_uv": [0.49744036864689434, 0.22010570954084452, 0.2824539218122604]}}, {"xyz": [-0.22586152933610504, 0.28103387600043184, 0.13897229897445612], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 944}, "mesh_info": {"face_index": 952, "face_uv": [0.4296607639746293, 0.20391238527651961, 0.36642685074885123]}}, {"xyz": [0.21762039740840183, -0.043455746825820096, 0.07874300330877304], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 813}, "mesh_info": {"face_index": 1330, "face_uv": [0.10603038641584728, 0.38576230842897913, 0.5082073051551735]}}, {"xyz": [-0.22032164550790045, -0.03765662020746785, 0.07874300330877315], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1483}, "mesh_info": {"face_index": 995, "face_uv": [0.22672015540478094, 0.11897693926742127, 0.6543029053277992]}}, {"xyz": [0.1891736517390583, -0.04265932286124918, -0.2712729871273041], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1159}, "mesh_info": {"face_index": 200, "face_uv": [0.02776881241334089, 0.3386102401284339, 0.6336209474582252]}}, {"xyz": [-0.19635899364948273, -0.03873568191873289, -0.27770204426033307], "rgb": [141, 109, 64], "semantic_id": 5, "pcd_info": {"point_index": 1129}, "mesh_info": {"face_index": 1674, "face_uv": [0.2037566108844705, 0.5585708616733184, 0.23767252744221115]}}, {"xyz": [0.22287497884150392, 0.12707099318504333, -0.3022102925431319], "rgb": [92, 67, 38], "semantic_id": 6, "pcd_info": {"point_index": 956}, "mesh_info": {"face_index": 1569, "face_uv": [0.13515001015864062, 0.019418225444965964, 0.8454317643963934]}}, {"xyz": [0.22378830035057456, 0.12707099318504333, 0.10682565541386912], "rgb": [133, 102, 56], "semantic_id": 7, "pcd_info": {"point_index": 939}, "mesh_info": {"face_index": 1528, "face_uv": [0.11438339459022634, 0.0037676149281571877, 0.8818489904816164]}}, {"xyz": [-0.2238105649251056, 0.12706999480724335, -0.3006781553686636], "rgb": [95, 69, 40], "semantic_id": 8, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 1656, "face_uv": [0.13907282793293038, 0.05312344122155831, 0.8078037308455113]}}, {"xyz": [-0.2232906901333265, 0.12706999480724335, 0.10689256816523013], "rgb": [131, 100, 55], "semantic_id": 9, "pcd_info": {"point_index": 279}, "mesh_info": {"face_index": 1615, "face_uv": [0.21506902720972268, 0.0035847132512797247, 0.7813462595389977]}}, {"xyz": [0.2225305732129552, -0.459320992231369, -0.3004358239379387], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 306}, "mesh_info": {"face_index": 351, "face_uv": [0.42675473157447785, 0.23380230895423865, 0.33944295947128356]}}, {"xyz": [0.22284202690044816, -0.459320992231369, 0.18753839313403375], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 893}, "mesh_info": {"face_index": 1234, "face_uv": [0.3170298452777696, 0.35653516978258776, 0.32643498493964274]}}, {"xyz": [-0.22293015658269985, -0.45932099223136913, 0.18961171432038065], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 457}, "mesh_info": {"face_index": 896, "face_uv": [0.38677836424248196, 0.4692331081499469, 0.14398852760757144]}}, {"xyz": [-0.22616484547876545, -0.459320992231369, -0.29977890500803694], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 363}, "mesh_info": {"face_index": 387, "face_uv": [0.2916042566943534, 0.17722375898070805, 0.5311719843249385]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5ca11d3f35d870e1b724bccd568c5fc1", "keypoints": [{"xyz": [0.1524469104344825, 0.39843620792479406, 0.11986448181561715], "rgb": [219, 165, 54], "semantic_id": 0, "pcd_info": {"point_index": 667}, "mesh_info": {"face_index": 4597, "face_uv": [0.31736342959754144, 0.46015976959816723, 0.22247680080429083]}}, {"xyz": [-0.1554617492854452, 0.39860765539914333, 0.11859305024583788], "rgb": [220, 165, 54], "semantic_id": 1, "pcd_info": {"point_index": 1157}, "mesh_info": {"face_index": 3198, "face_uv": [0.15824036345582315, 0.5503006891664375, 0.2914589473777394]}}, {"xyz": [0.15417697097761088, -0.02272105651991363, 0.06063700094819069], "rgb": [229, 167, 56], "semantic_id": 2, "pcd_info": {"point_index": 187}, "mesh_info": {"face_index": 3904, "face_uv": [0.24951782471190587, 0.41872427570990134, 0.3317578995781928]}}, {"xyz": [-0.15350461328783094, -0.02459682374852923, 0.06063700094819069], "rgb": [229, 167, 56], "semantic_id": 3, "pcd_info": {"point_index": 1888}, "mesh_info": {"face_index": 2506, "face_uv": [0.3281965592516513, 0.47020401391548017, 0.2015994268328685]}}, {"xyz": [0.19547126941566811, -0.028859000653028488, -0.2449556878188437], "rgb": [219, 161, 46], "semantic_id": 4, "pcd_info": {"point_index": 594}, "mesh_info": {"face_index": 1676, "face_uv": [0.05278424208875604, 0.8456507156549888, 0.10156504225625503]}}, {"xyz": [-0.19599055537655458, -0.02885900065302871, -0.24302195139243343], "rgb": [220, 163, 48], "semantic_id": 5, "pcd_info": {"point_index": 1286}, "mesh_info": {"face_index": 847, "face_uv": [0.014460523832124738, 0.0507076539175868, 0.9348318222502962]}}, {"xyz": [0.19108904550340067, -0.4139580130577085, -0.24437276740867264], "rgb": [224, 170, 60], "semantic_id": 17, "pcd_info": {"point_index": 1460}, "mesh_info": {"face_index": 1766, "face_uv": [0.09819114760959112, 0.4947376037950821, 0.40707124859532623]}}, {"xyz": [0.15483457093228514, -0.41395801305770874, 0.085414031383507], "rgb": [218, 158, 45], "semantic_id": 18, "pcd_info": {"point_index": 1051}, "mesh_info": {"face_index": 4607, "face_uv": [0.18384213873791902, 0.5288377957775091, 0.2873200654845719]}}, {"xyz": [-0.16055429618647088, -0.4139580130577085, 0.07343342082621263], "rgb": [216, 156, 43], "semantic_id": 19, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 2519, "face_uv": [0.32870851362338627, 0.3032186576125319, 0.3680728287640814]}}, {"xyz": [-0.18997855214299936, -0.4139580130577085, -0.23855617795064776], "rgb": [225, 172, 62], "semantic_id": 20, "pcd_info": {"point_index": 1321}, "mesh_info": {"face_index": 986, "face_uv": [0.4256220039748815, 0.5337814259348329, 0.04059657009028507]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bd0918d75e22cbf9febad4f49b26ec52", "keypoints": [{"xyz": [0.27438126162678594, 0.303600996732712, 0.19626314007648857], "rgb": [232, 232, 232], "semantic_id": 0, "pcd_info": {"point_index": 545}, "mesh_info": {"face_index": 16671, "face_uv": [0.31087291522917404, 0.2624992477971066, 0.42662783697372003]}}, {"xyz": [-0.28195755622012886, 0.3036009967327118, 0.19652851731745696], "rgb": [232, 232, 232], "semantic_id": 1, "pcd_info": {"point_index": 327}, "mesh_info": {"face_index": 16546, "face_uv": [0.49045403294654916, 0.2846317568311316, 0.22491421022231925]}}, {"xyz": [0.19027190173047004, -0.06697600334882736, -0.024808961138659935], "rgb": [63, 66, 84], "semantic_id": 2, "pcd_info": {"point_index": 1954}, "mesh_info": {"face_index": 33273, "face_uv": [0.7055168943772893, 0.27030230122240057, 0.024180804400310313]}}, {"xyz": [-0.20084452868461503, -0.06697600334882736, -0.025395887284021687], "rgb": [73, 76, 94], "semantic_id": 3, "pcd_info": {"point_index": 974}, "mesh_info": {"face_index": 33174, "face_uv": [0.006520104430107128, 0.7505010924940297, 0.24297880307586314]}}, {"xyz": [0.2091814976739806, -0.06697600334882758, -0.31337760329969344], "rgb": [28, 32, 44], "semantic_id": 4, "pcd_info": {"point_index": 2036}, "mesh_info": {"face_index": 35302, "face_uv": [0.03737345466481804, 0.9491371923465395, 0.01348935298864574]}}, {"xyz": [-0.21192701496400135, -0.06697600334882736, -0.318447516878149], "rgb": [30, 33, 50], "semantic_id": 5, "pcd_info": {"point_index": 1051}, "mesh_info": {"face_index": 35082, "face_uv": [0.030874719623776806, 0.36917630140031177, 0.5999489789759115]}}, {"xyz": [0.2669242022640971, 0.05824499949812889, -0.3122291376124576], "rgb": [233, 233, 233], "semantic_id": 6, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 16244, "face_uv": [0.23503675982011615, 0.4201431088570453, 0.34482013132283856]}}, {"xyz": [0.26847201712689506, 0.049998380139484544, -0.05865184471625244], "rgb": [188, 160, 125], "semantic_id": 7, "pcd_info": {"point_index": 1517}, "mesh_info": {"face_index": 18693, "face_uv": [0.302592249177286, 0.07199568111115845, 0.6254120697115491]}}, {"xyz": [-0.2740333490451767, 0.05824499949812889, -0.31037170658523894], "rgb": [231, 231, 231], "semantic_id": 8, "pcd_info": {"point_index": 356}, "mesh_info": {"face_index": 16976, "face_uv": [0.478433795258044, 0.5037428618544443, 0.017823342887511757]}}, {"xyz": [-0.2597867334851675, 0.04873015436557293, -0.022310033488042592], "rgb": [234, 234, 234], "semantic_id": 9, "pcd_info": {"point_index": 79}, "mesh_info": {"face_index": 17904, "face_uv": [0.399951364076825, 0.41509938955110737, 0.18494924637206797]}}, {"xyz": [0.2373372898990897, -0.26677098870277427, -0.3105388308631525], "rgb": [231, 231, 231], "semantic_id": 17, "pcd_info": {"point_index": 1772}, "mesh_info": {"face_index": 16299, "face_uv": [0.03764653009183236, 0.47318903045596983, 0.4891644394521987]}}, {"xyz": [0.2744693733458803, -0.23894804534786385, 0.18866822283014387], "rgb": [232, 232, 232], "semantic_id": 18, "pcd_info": {"point_index": 1651}, "mesh_info": {"face_index": 18903, "face_uv": [0.06532537128676592, 0.9104626235831966, 0.024212005130037125]}}, {"xyz": [-0.2821088007398775, -0.24338512216081898, 0.1916036870440521], "rgb": [232, 232, 232], "semantic_id": 19, "pcd_info": {"point_index": 69}, "mesh_info": {"face_index": 18418, "face_uv": [0.13899055583469294, 0.22288525007364723, 0.6381241940916592]}}, {"xyz": [-0.25028057288209843, -0.26677098870277405, -0.30936615309423776], "rgb": [231, 231, 231], "semantic_id": 20, "pcd_info": {"point_index": 1339}, "mesh_info": {"face_index": 17018, "face_uv": [0.36049659613868895, 0.4900094996237321, 0.14949390423757897]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bf37159b9ca55259e6fe3612af521500", "keypoints": [{"xyz": [0.240071623851074, 0.3842312096980276, 0.27739176539890287], "rgb": [34, 34, 34], "semantic_id": 0, "pcd_info": {"point_index": 1506}, "mesh_info": {"face_index": 1054, "face_uv": [0.49568082998950147, 0.028023840206110852, 0.4762953298043871]}}, {"xyz": [-0.23349215599262763, 0.385212254153235, 0.27264119406439896], "rgb": [35, 35, 35], "semantic_id": 1, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 917, "face_uv": [0.6008586887081868, 0.3629084366184085, 0.03623287467340535]}}, {"xyz": [0.2360156045341612, -0.012734398619192566, 0.07135702710102193], "rgb": [34, 34, 34], "semantic_id": 2, "pcd_info": {"point_index": 1144}, "mesh_info": {"face_index": 191, "face_uv": [0.2512202420584059, 0.7127413841041471, 0.03603837383736295]}}, {"xyz": [-0.23453215340890177, -0.013031764101820498, 0.07327669995738467], "rgb": [34, 34, 34], "semantic_id": 3, "pcd_info": {"point_index": 401}, "mesh_info": {"face_index": 137, "face_uv": [0.3435500820821698, 0.6222720369754204, 0.03417788094234272]}}, {"xyz": [0.2416865653518572, 0.08297905065708178, -0.26653190258618087], "rgb": [35, 35, 35], "semantic_id": 4, "pcd_info": {"point_index": 255}, "mesh_info": {"face_index": 1738, "face_uv": [0.024832779720618165, 0.4124018087827605, 0.562765411496623]}}, {"xyz": [-0.24066821001356645, 0.08172508901966569, -0.2615496190739891], "rgb": [35, 35, 35], "semantic_id": 5, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 1731, "face_uv": [0.8566792403199129, 0.12126748372086911, 0.022053275959226317]}}, {"xyz": [0.26554874069785106, -0.23651933280387238, -0.25646613073545055], "rgb": [214, 214, 214], "semantic_id": 17, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 4583, "face_uv": [0.41327295812312215, 0.08374505367934984, 0.5029819881975289]}}, {"xyz": [0.263510265415854, -0.23616777776375852, 0.2435209442571504], "rgb": [214, 214, 214], "semantic_id": 18, "pcd_info": {"point_index": 822}, "mesh_info": {"face_index": 3826, "face_uv": [0.4073160742458149, 0.16652241797586922, 0.42616150777831696]}}, {"xyz": [-0.26134648709999764, -0.2367995079441123, 0.2405491164664583], "rgb": [214, 214, 214], "semantic_id": 19, "pcd_info": {"point_index": 1840}, "mesh_info": {"face_index": 4819, "face_uv": [0.4010362503331075, 0.017774844169692553, 0.5811889054971999]}}, {"xyz": [-0.2597897523546245, -0.2356427094878688, -0.26059000135851806], "rgb": [214, 214, 214], "semantic_id": 20, "pcd_info": {"point_index": 616}, "mesh_info": {"face_index": 4868, "face_uv": [0.3503079632537778, 0.29015531466189803, 0.3595367220843242]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "250e0d866303abedfebad4f49b26ec52", "keypoints": [{"xyz": [0.2654122501091836, 0.2466433772146237, 0.2712949634611729], "rgb": [49, 43, 44], "semantic_id": 0, "pcd_info": {"point_index": 361}, "mesh_info": {"face_index": 1607, "face_uv": [0.09200744380337011, 0.8883190988053331, 0.019673457391296927]}}, {"xyz": [-0.2576767586852263, 0.24630655200973384, 0.26919473633263163], "rgb": [39, 30, 32], "semantic_id": 1, "pcd_info": {"point_index": 300}, "mesh_info": {"face_index": 3571, "face_uv": [0.009374350580801256, 0.6513582953719552, 0.3392673540472459]}}, {"xyz": [0.21328686515575884, -0.04959802447738637, 0.1638256890716943], "rgb": [47, 41, 41], "semantic_id": 2, "pcd_info": {"point_index": 894}, "mesh_info": {"face_index": 1855, "face_uv": [0.40057649437754783, 0.03134469795654151, 0.5680788076659102]}}, {"xyz": [-0.20471149095925495, -0.04986261238238243, 0.16699954837591408], "rgb": [32, 25, 26], "semantic_id": 3, "pcd_info": {"point_index": 505}, "mesh_info": {"face_index": 1773, "face_uv": [0.31026492940588574, 0.058726069312987406, 0.631009001281129]}}, {"xyz": [0.23218763823336647, -0.05037517353559173, -0.22907912446631237], "rgb": [43, 33, 35], "semantic_id": 4, "pcd_info": {"point_index": 1360}, "mesh_info": {"face_index": 1713, "face_uv": [0.5035588214510264, 0.014789922845446585, 0.4816512557035307]}}, {"xyz": [-0.22095443057336284, -0.04887734176145586, -0.22650733315429863], "rgb": [48, 39, 40], "semantic_id": 5, "pcd_info": {"point_index": 154}, "mesh_info": {"face_index": 1702, "face_uv": [0.34651789957413914, 0.036322872900851295, 0.6171592275250136]}}, {"xyz": [0.28547525996663803, 0.1269400769608222, -0.22377778198326523], "rgb": [48, 39, 40], "semantic_id": 6, "pcd_info": {"point_index": 1897}, "mesh_info": {"face_index": 1013, "face_uv": [0.1225747548418474, 0.021050044514846926, 0.8563752006433059]}}, {"xyz": [0.2754800049736145, 0.11725765421151557, 0.22993364606088243], "rgb": [45, 37, 39], "semantic_id": 7, "pcd_info": {"point_index": 969}, "mesh_info": {"face_index": 998, "face_uv": [0.34767012361753796, 0.025432151722907255, 0.6268977246595524]}}, {"xyz": [-0.27524205782817984, 0.1269240460582335, -0.22288128797964157], "rgb": [40, 29, 33], "semantic_id": 8, "pcd_info": {"point_index": 1034}, "mesh_info": {"face_index": 977, "face_uv": [0.017723013367126783, 0.02293411209741982, 0.9593428745354516]}}, {"xyz": [-0.2641818512462879, 0.11713886152962161, 0.23591600345759134], "rgb": [40, 29, 33], "semantic_id": 9, "pcd_info": {"point_index": 1572}, "mesh_info": {"face_index": 950, "face_uv": [0.054530221905942276, 0.012859657547875552, 0.9326101205461813]}}, {"xyz": [0.2669172197807668, -0.3731729984283447, -0.22362708529298125], "rgb": [135, 107, 52], "semantic_id": 17, "pcd_info": {"point_index": 1767}, "mesh_info": {"face_index": 390, "face_uv": [0.45417365833469403, 0.3919621054710232, 0.15386423619428277]}}, {"xyz": [0.24412709413164912, -0.37369000911712624, 0.23915237743096335], "rgb": [150, 120, 62], "semantic_id": 18, "pcd_info": {"point_index": 246}, "mesh_info": {"face_index": 56, "face_uv": [0.5680872380640968, 0.3242074628730342, 0.10770529906286845]}}, {"xyz": [-0.23803737900752386, -0.37369000911712646, 0.2372527980675555], "rgb": [135, 105, 55], "semantic_id": 19, "pcd_info": {"point_index": 1577}, "mesh_info": {"face_index": 514, "face_uv": [0.06142952723934729, 0.6059375260512482, 0.33263294670940446]}}, {"xyz": [-0.2583715796040176, -0.3731729984283447, -0.23033269501292442], "rgb": [126, 96, 45], "semantic_id": 20, "pcd_info": {"point_index": 617}, "mesh_info": {"face_index": 358, "face_uv": [0.03041916303214115, 0.7093902974270464, 0.26019053954081245]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "66de742ac6ee931390a9ce3e4b15521e", "keypoints": [{"xyz": [0.20390393631348366, 0.22262134028032676, 0.1674870147953479], "rgb": [138, 8, 19], "semantic_id": 0, "pcd_info": {"point_index": 508}, "mesh_info": {"face_index": 1740, "face_uv": [0.3789464849275643, 0.5277131851278528, 0.0933403299445834]}}, {"xyz": [-0.1851580327961094, 0.22468459357006987, 0.14872229040487286], "rgb": [138, 8, 19], "semantic_id": 1, "pcd_info": {"point_index": 343}, "mesh_info": {"face_index": 980, "face_uv": [0.5002367656931247, 0.38718398663417575, 0.1125792476726998]}}, {"xyz": [0.2043879228285368, -0.07408799976110458, 0.08773432770238748], "rgb": [138, 7, 19], "semantic_id": 2, "pcd_info": {"point_index": 1283}, "mesh_info": {"face_index": 188, "face_uv": [0.7255858242433317, 0.26063963901853976, 0.013774536738128491]}}, {"xyz": [-0.1881931662809824, -0.07408799976110458, 0.09515661670335412], "rgb": [138, 8, 19], "semantic_id": 3, "pcd_info": {"point_index": 1254}, "mesh_info": {"face_index": 271, "face_uv": [0.004579182268396279, 0.00324417966047256, 0.9921766380711312]}}, {"xyz": [0.20481655819337433, -0.07348442126241717, -0.3104139291381631], "rgb": [138, 8, 19], "semantic_id": 4, "pcd_info": {"point_index": 1412}, "mesh_info": {"face_index": 273, "face_uv": [0.9747391210894356, 0.020678428018822307, 0.004582450891742558]}}, {"xyz": [-0.18449597504917478, -0.07660118465182689, -0.3098980337792093], "rgb": [137, 7, 18], "semantic_id": 5, "pcd_info": {"point_index": 1715}, "mesh_info": {"face_index": 222, "face_uv": [0.12314099336558496, 0.018048740308451973, 0.8588102663259629]}}, {"xyz": [0.2469650290428273, 0.052826555683752385, -0.3098559555458924], "rgb": [138, 8, 19], "semantic_id": 6, "pcd_info": {"point_index": 1091}, "mesh_info": {"face_index": 1150, "face_uv": [0.4503061914015715, 0.4638311237869507, 0.08586268481147809]}}, {"xyz": [0.24925133622180654, 0.07144391613721557, 0.2011905499592762], "rgb": [138, 8, 19], "semantic_id": 7, "pcd_info": {"point_index": 539}, "mesh_info": {"face_index": 353, "face_uv": [0.06292557276291841, 0.42581709625013026, 0.5112573309869516]}}, {"xyz": [-0.2318528570614461, 0.06480839197616517, -0.30115764732411], "rgb": [138, 8, 19], "semantic_id": 8, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 526, "face_uv": [0.2985531349625956, 0.4381147115924225, 0.26333215344498223]}}, {"xyz": [-0.24547632656414653, 0.06147928987633988, 0.2109483908165938], "rgb": [138, 8, 19], "semantic_id": 9, "pcd_info": {"point_index": 820}, "mesh_info": {"face_index": 647, "face_uv": [0.3168527420825287, 0.269702948820647, 0.41344430909682434]}}, {"xyz": [0.2462187872706303, -0.3410789966583251, -0.23194633576655987], "rgb": [55, 39, 32], "semantic_id": 17, "pcd_info": {"point_index": 19}, "mesh_info": {"face_index": 50, "face_uv": [0.6468051346161809, 0.26836831095442726, 0.08482655442939147]}}, {"xyz": [0.26600562675559636, -0.33063700795173656, 0.18138704390528237], "rgb": [56, 40, 33], "semantic_id": 18, "pcd_info": {"point_index": 1393}, "mesh_info": {"face_index": 26, "face_uv": [0.6415961717181532, 0.283101101291626, 0.07530272699022104]}}, {"xyz": [-0.27124084399504395, -0.33094799518585194, 0.18206401810204936], "rgb": [55, 39, 32], "semantic_id": 19, "pcd_info": {"point_index": 1740}, "mesh_info": {"face_index": 13, "face_uv": [0.32013140096212755, 0.4207396571590014, 0.2591289418788707]}}, {"xyz": [-0.24794140507061163, -0.3413900136947631, -0.22790015812690623], "rgb": [55, 39, 32], "semantic_id": 20, "pcd_info": {"point_index": 301}, "mesh_info": {"face_index": 85, "face_uv": [0.4793141839319852, 0.20413164849028623, 0.31655416757772825]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c50976d44eac9f3cd7aac2535b43ae4e", "keypoints": [{"xyz": [0.21708647446627588, 0.39081600308418296, 0.14036730990157187], "rgb": [40, 39, 40], "semantic_id": 0, "pcd_info": {"point_index": 810}, "mesh_info": {"face_index": 386, "face_uv": [0.10117829817624553, 0.4741661626820622, 0.42465553914169285]}}, {"xyz": [-0.21697883693693346, 0.3954789936542511, 0.14394972922282834], "rgb": [152, 149, 150], "semantic_id": 1, "pcd_info": {"point_index": 2026}, "mesh_info": {"face_index": 335, "face_uv": [0.02447971058954285, 0.2861912386809827, 0.6893290507294745]}}, {"xyz": [0.20688788597973007, 0.035891998559236526, 0.10351045513354928], "rgb": [139, 125, 120], "semantic_id": 2, "pcd_info": {"point_index": 839}, "mesh_info": {"face_index": 34, "face_uv": [0.5125814167414625, 0.012255263856548794, 0.4751633194019888]}}, {"xyz": [-0.19726868401139802, 0.035891998559236526, 0.11903613173012051], "rgb": [123, 120, 112], "semantic_id": 3, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 51, "face_uv": [0.05550731161156644, 0.014785448731472119, 0.9297072396569613]}}, {"xyz": [0.2091508143534669, 0.035891998559236304, -0.26095544177485464], "rgb": [143, 138, 146], "semantic_id": 4, "pcd_info": {"point_index": 1668}, "mesh_info": {"face_index": 33, "face_uv": [0.008924165188662278, 0.5454571241372017, 0.44561871067412984]}}, {"xyz": [-0.21871970026876836, 0.035891998559236526, -0.2670732226397897], "rgb": [148, 147, 152], "semantic_id": 5, "pcd_info": {"point_index": 1919}, "mesh_info": {"face_index": 61, "face_uv": [0.0024342909523680264, 0.418413762745133, 0.5791519463024989]}}, {"xyz": [0.17453578806456804, -0.34419900178909324, -0.2092005211825811], "rgb": [110, 106, 100], "semantic_id": 17, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 12, "face_uv": [0.23831741062721942, 0.4342083222751214, 0.3274742670976598]}}, {"xyz": [0.16495038852453514, -0.3441990017890928, 0.07768528045632399], "rgb": [123, 115, 107], "semantic_id": 18, "pcd_info": {"point_index": 1543}, "mesh_info": {"face_index": 86, "face_uv": [0.46297246566547634, 0.25503514916730324, 0.2819923851672198]}}, {"xyz": [-0.18012434720196385, -0.344199001789093, 0.08399771998587745], "rgb": [138, 132, 127], "semantic_id": 19, "pcd_info": {"point_index": 34}, "mesh_info": {"face_index": 314, "face_uv": [0.5024806975270723, 0.3888485886265915, 0.10867071384633625]}}, {"xyz": [-0.16820012298692164, -0.34419900178909324, -0.23737946174684849], "rgb": [145, 140, 135], "semantic_id": 20, "pcd_info": {"point_index": 1794}, "mesh_info": {"face_index": 298, "face_uv": [0.4240750413862725, 0.29037747188149277, 0.2855474867322353]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "74615c2f7098738ca9764f2d2db668a", "keypoints": [{"xyz": [0.1441729915996013, 0.38721610303640497, 0.20466711847561858], "rgb": [150, 117, 72], "semantic_id": 0, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 278, "face_uv": [0.781850732758359, 0.040491946764661106, 0.17765732047699923]}}, {"xyz": [-0.15830796162614294, 0.39100747940942226, 0.20674231699052648], "rgb": [147, 119, 76], "semantic_id": 1, "pcd_info": {"point_index": 1883}, "mesh_info": {"face_index": 240, "face_uv": [0.9166321462995123, 0.030218530088061055, 0.05314932361248416]}}, {"xyz": [0.14156605169658806, 0.006597941494783877, 0.12210413045720903], "rgb": [136, 123, 101], "semantic_id": 2, "pcd_info": {"point_index": 2024}, "mesh_info": {"face_index": 265, "face_uv": [0.48842438659988563, 0.048501052506710975, 0.4630745608933963]}}, {"xyz": [-0.15248976992258662, 0.0060121414028226905, 0.11696032049534444], "rgb": [161, 139, 99], "semantic_id": 3, "pcd_info": {"point_index": 77}, "mesh_info": {"face_index": 348, "face_uv": [0.06957494746404885, 0.048093323644832646, 0.8823317288910999]}}, {"xyz": [0.1391625468351393, -0.025762369668231422, -0.22816175168136743], "rgb": [157, 143, 111], "semantic_id": 4, "pcd_info": {"point_index": 1239}, "mesh_info": {"face_index": 487, "face_uv": [0.6780084476827221, 0.05588516004393039, 0.2661063922733511]}}, {"xyz": [-0.1593670266962246, -0.027802126521365267, -0.23120223449517563], "rgb": [153, 130, 93], "semantic_id": 5, "pcd_info": {"point_index": 285}, "mesh_info": {"face_index": 496, "face_uv": [0.4007632432284844, 0.026964843984948344, 0.5722719127865689]}}, {"xyz": [0.1724936695802076, 0.11611983918404345, -0.20974371845860618], "rgb": [171, 171, 171], "semantic_id": 6, "pcd_info": {"point_index": 1988}, "mesh_info": {"face_index": 1739, "face_uv": [0.5974771421005773, 0.23593263339705356, 0.1665902245023685]}}, {"xyz": [0.1710394466091751, 0.15644625978944493, 0.1783657675981497], "rgb": [231, 231, 231], "semantic_id": 7, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 1630, "face_uv": [0.3776007035631054, 0.5400909799979436, 0.08230831643895203]}}, {"xyz": [-0.1821533237828996, 0.11837599950653233, -0.20885288617121345], "rgb": [178, 178, 178], "semantic_id": 8, "pcd_info": {"point_index": 684}, "mesh_info": {"face_index": 1599, "face_uv": [0.3954231880424096, 0.0517446845309217, 0.5528321274266701]}}, {"xyz": [-0.18286919107739635, 0.15140462076391503, 0.19181745338275152], "rgb": [202, 202, 202], "semantic_id": 9, "pcd_info": {"point_index": 452}, "mesh_info": {"face_index": 1373, "face_uv": [0.21568456081167683, 0.5810814931871299, 0.2032339460011945]}}, {"xyz": [0.11343522926150998, -0.3604390025138855, -0.20268019577261853], "rgb": [151, 124, 83], "semantic_id": 17, "pcd_info": {"point_index": 636}, "mesh_info": {"face_index": 878, "face_uv": [0.5436866179943448, 0.0312053938228899, 0.42510798818276524]}}, {"xyz": [0.1200780995923719, -0.3604390025138855, 0.1223888345128552], "rgb": [149, 124, 83], "semantic_id": 18, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 726, "face_uv": [0.21749201845085386, 0.1861928113433152, 0.5963151702058309]}}, {"xyz": [-0.10466507875151343, -0.3604390025138855, 0.11669346584082874], "rgb": [161, 147, 118], "semantic_id": 19, "pcd_info": {"point_index": 352}, "mesh_info": {"face_index": 753, "face_uv": [0.17595716581548992, 0.5334272673668934, 0.2906155668176167]}}, {"xyz": [-0.10967004979787304, -0.3604390025138855, -0.2012951501910054], "rgb": [155, 137, 101], "semantic_id": 20, "pcd_info": {"point_index": 1533}, "mesh_info": {"face_index": 884, "face_uv": [0.31973995554536383, 0.23717010827333873, 0.4430899361812974]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f46ccdbf92b738e64b3c42e318f3affc", "keypoints": [{"xyz": [0.22174820236470089, 0.5201005705631729, 0.4104931215309745], "rgb": [198, 196, 183], "semantic_id": 0, "pcd_info": {"point_index": 1819}, "mesh_info": {"face_index": 24254, "face_uv": [0.3409814190996119, 0.012799231269680265, 0.6462193496307082]}}, {"xyz": [-0.23119191404859357, 0.5216176515129733, 0.4175008981170309], "rgb": [198, 196, 183], "semantic_id": 1, "pcd_info": {"point_index": 79}, "mesh_info": {"face_index": 24244, "face_uv": [0.5602694596227903, 0.10934761388424963, 0.33038292649296064]}}, {"xyz": [0.16314620116011835, 0.13384899497032166, 0.3101253842317424], "rgb": [182, 154, 142], "semantic_id": 2, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 24362, "face_uv": [0.9814952529650274, 0.004564144265987792, 0.013940602768984857]}}, {"xyz": [-0.16633098418457903, 0.13574387589640824, 0.31538455825571465], "rgb": [191, 183, 175], "semantic_id": 3, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 24361, "face_uv": [0.8224256412908812, 0.17270960288876236, 0.004864755820356727]}}, {"xyz": [0.22220651367445216, 0.13384899497032166, -0.0381027248639314], "rgb": [198, 196, 183], "semantic_id": 4, "pcd_info": {"point_index": 471}, "mesh_info": {"face_index": 24525, "face_uv": [0.006693950032456465, 0.051448908619473134, 0.9418571413480703]}}, {"xyz": [-0.22661511591786843, 0.13384899497032166, -0.03495762243739575], "rgb": [197, 195, 182], "semantic_id": 5, "pcd_info": {"point_index": 1817}, "mesh_info": {"face_index": 24357, "face_uv": [0.0056904300971083585, 0.9721334182303955, 0.022176151672496126]}}, {"xyz": [0.23710917936406756, 0.31190366673112857, 0.09046724721608057], "rgb": [198, 196, 183], "semantic_id": 6, "pcd_info": {"point_index": 212}, "mesh_info": {"face_index": 23622, "face_uv": [0.28293183881993833, 0.00609786173677773, 0.710970299443284]}}, {"xyz": [0.22442928326913275, 0.3141500024872306, 0.35912265048318337], "rgb": [199, 197, 187], "semantic_id": 7, "pcd_info": {"point_index": 1921}, "mesh_info": {"face_index": 24376, "face_uv": [0.4648105651381009, 0.0018700951862554668, 0.5333193396756439]}}, {"xyz": [-0.24267846400987053, 0.31232124248221105, 0.0937798196719496], "rgb": [198, 196, 183], "semantic_id": 8, "pcd_info": {"point_index": 1410}, "mesh_info": {"face_index": 24013, "face_uv": [0.7424494618301597, 0.018367966255146972, 0.23918257191469222]}}, {"xyz": [-0.25069873181616126, 0.31124720394402416, 0.3584504661020458], "rgb": [199, 197, 184], "semantic_id": 9, "pcd_info": {"point_index": 1175}, "mesh_info": {"face_index": 24199, "face_uv": [0.42579951154967505, 0.0012651020305811046, 0.5729353864197437]}}, {"xyz": [0.1953677254076937, -0.09313199669122696, -0.020953826215899918], "rgb": [187, 159, 148], "semantic_id": 17, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 11672, "face_uv": [0.6872153987642009, 0.027093170088353272, 0.28569143114744583]}}, {"xyz": [0.18556636920639688, -0.09281300008296967, 0.3569182340307061], "rgb": [194, 173, 157], "semantic_id": 18, "pcd_info": {"point_index": 1119}, "mesh_info": {"face_index": 24224, "face_uv": [0.3165351097114359, 0.3724918275931912, 0.31097306269537295]}}, {"xyz": [-0.19443394259961871, -0.09281300008296967, 0.3561377506349541], "rgb": [195, 175, 160], "semantic_id": 19, "pcd_info": {"point_index": 697}, "mesh_info": {"face_index": 11721, "face_uv": [0.06648211589885213, 0.4132907050297419, 0.520227179071406]}}, {"xyz": [-0.19483640438943978, -0.09313199669122696, -0.014856626584364818], "rgb": [190, 166, 154], "semantic_id": 20, "pcd_info": {"point_index": 327}, "mesh_info": {"face_index": 23398, "face_uv": [0.3162589495495489, 0.47702543939359365, 0.20671561105685743]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fc07472e4dd1b6698ae97f14e63e7e01", "keypoints": [{"xyz": [0.12711706295212644, 0.41620500118978565, 0.07926099747419357], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1361}, "mesh_info": {"face_index": 4506, "face_uv": [0.003937197427927898, 0.00529631173885594, 0.9907664908332164]}}, {"xyz": [-0.1476822327466913, 0.4237152174523682, 0.08139508941391727], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 638}, "mesh_info": {"face_index": 4982, "face_uv": [0.07805198182159932, 0.3012799635920938, 0.6206680545863064]}}, {"xyz": [0.1371416111764865, -0.10504256054733585, 0.09391400218009949], "rgb": [146, 82, 34], "semantic_id": 2, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 3534, "face_uv": [0.011803613883554854, 0.8670175360501096, 0.12117885006633562]}}, {"xyz": [-0.1375665063676656, -0.1001767112164822, 0.09391400218009949], "rgb": [153, 89, 45], "semantic_id": 3, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 3737, "face_uv": [0.09221246475255691, 0.17402522902093942, 0.7337623062265037]}}, {"xyz": [0.1448151612554025, -0.12373213829186436, -0.3223089873790741], "rgb": [216, 194, 178], "semantic_id": 4, "pcd_info": {"point_index": 1527}, "mesh_info": {"face_index": 2999, "face_uv": [0.6583574028838336, 0.02792960339373297, 0.3137129937224334]}}, {"xyz": [-0.1571953012536002, -0.12186466121212047, -0.32230898737907365], "rgb": [202, 168, 145], "semantic_id": 5, "pcd_info": {"point_index": 1298}, "mesh_info": {"face_index": 2998, "face_uv": [0.4900906972685984, 0.03825957622640631, 0.471649726504994]}}, {"xyz": [0.13624107254314588, -0.37821000814437866, -0.30554941049246914], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 194}, "mesh_info": {"face_index": 269, "face_uv": [0.01861458072473534, 0.39077556594437124, 0.5906098533308934]}}, {"xyz": [0.1383802882025263, -0.37821000814437866, 0.08736198690295904], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 602}, "mesh_info": {"face_index": 1308, "face_uv": [0.19262451565653838, 0.4478644560543056, 0.3595110282891561]}}, {"xyz": [-0.14840935422656507, -0.37821000814437866, 0.07959752245513418], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1183}, "mesh_info": {"face_index": 2079, "face_uv": [0.45354516884251606, 0.37109505854547814, 0.17535977261200583]}}, {"xyz": [-0.14698722533942726, -0.37821000814437866, -0.30524267744696765], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1708}, "mesh_info": {"face_index": 789, "face_uv": [0.1153681755208174, 0.39792752331541253, 0.48670430116377006]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "459bef9cabed55cc593ebeeedbff73b", "keypoints": [{"xyz": [0.21230097745867593, 0.2380415877667701, 0.19591598099706642], "rgb": [216, 175, 119], "semantic_id": 0, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 350, "face_uv": [0.04315458240165774, 0.4061897163542034, 0.5506557012441394]}}, {"xyz": [-0.21371337073159946, 0.23619916674194452, 0.19396332426267893], "rgb": [218, 177, 120], "semantic_id": 1, "pcd_info": {"point_index": 62}, "mesh_info": {"face_index": 8688, "face_uv": [0.8644141219998611, 0.0779524394007133, 0.057633438599432756]}}, {"xyz": [0.20784481662984436, -0.07574294257501657, 0.12959426943681884], "rgb": [216, 177, 117], "semantic_id": 2, "pcd_info": {"point_index": 120}, "mesh_info": {"face_index": 12370, "face_uv": [0.05588388671688369, 0.7865880031771989, 0.1575281101059159]}}, {"xyz": [-0.20423298089480657, -0.07795349364061599, 0.14072092417469406], "rgb": [219, 179, 125], "semantic_id": 3, "pcd_info": {"point_index": 1585}, "mesh_info": {"face_index": 26688, "face_uv": [0.15180623729703457, 0.7566817320416322, 0.09151203066133327]}}, {"xyz": [0.22340621229123464, -0.058007431025108525, -0.24683855359242557], "rgb": [221, 177, 121], "semantic_id": 4, "pcd_info": {"point_index": 587}, "mesh_info": {"face_index": 39941, "face_uv": [0.018742998921624555, 0.7252375229751434, 0.25601947810323283]}}, {"xyz": [-0.22442442362459936, -0.05757682457372659, -0.24683760105954144], "rgb": [215, 175, 115], "semantic_id": 5, "pcd_info": {"point_index": 426}, "mesh_info": {"face_index": 40917, "face_uv": [0.054784252738368726, 0.2011790113773601, 0.7440367358842718]}}, {"xyz": [0.23604542913060234, 0.10350977130996886, -0.17781011205128228], "rgb": [224, 182, 128], "semantic_id": 6, "pcd_info": {"point_index": 1853}, "mesh_info": {"face_index": 34088, "face_uv": [0.36958566709650104, 0.5324736710162113, 0.09794066188728641]}}, {"xyz": [0.23827523000546103, 0.061316927520471465, 0.10490800062551098], "rgb": [222, 187, 126], "semantic_id": 7, "pcd_info": {"point_index": 558}, "mesh_info": {"face_index": 6431, "face_uv": [0.24329577361109186, 0.6006218445978719, 0.15608238179103598]}}, {"xyz": [-0.24209908310448308, 0.10036353041903912, -0.1806186664976568], "rgb": [212, 174, 112], "semantic_id": 8, "pcd_info": {"point_index": 169}, "mesh_info": {"face_index": 37402, "face_uv": [0.024611157751366564, 0.6486918625364886, 0.3266969797121437]}}, {"xyz": [-0.2390884063711554, 0.07975249745712243, 0.08594155016585334], "rgb": [227, 188, 133], "semantic_id": 9, "pcd_info": {"point_index": 74}, "mesh_info": {"face_index": 29147, "face_uv": [0.19830684836436896, 0.37573124192511614, 0.4259619097105157]}}, {"xyz": [0.22590101773715984, -0.47539201378822327, -0.22273292039537473], "rgb": [222, 179, 129], "semantic_id": 17, "pcd_info": {"point_index": 1374}, "mesh_info": {"face_index": 15909, "face_uv": [0.23733356620334867, 0.33870024728578296, 0.4239661865108684]}}, {"xyz": [0.20283058896565181, -0.47539201378822327, 0.20788013890783152], "rgb": [224, 187, 126], "semantic_id": 18, "pcd_info": {"point_index": 363}, "mesh_info": {"face_index": 5014, "face_uv": [0.04059252997378163, 0.5210090647965511, 0.43839840522966733]}}, {"xyz": [-0.20260314335383017, -0.47539201378822327, 0.20752566397227956], "rgb": [223, 183, 125], "semantic_id": 19, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 20521, "face_uv": [0.019913882962733463, 0.4891774801998227, 0.49090863683744385]}}, {"xyz": [-0.22164439005487008, -0.47539201378822304, -0.21629701369185783], "rgb": [221, 179, 117], "semantic_id": 20, "pcd_info": {"point_index": 1459}, "mesh_info": {"face_index": 19236, "face_uv": [0.1876628041400807, 0.28345071540316324, 0.5288864804567556]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6b881cd27826bd6b97a79b27e081b077", "keypoints": [{"xyz": [0.14685676545475246, 0.48838478633603843, 0.16303978843115108], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 2035}, "mesh_info": {"face_index": 1095, "face_uv": [0.2961529466723091, 0.26982400410041896, 0.4340230492272721]}}, {"xyz": [-0.14464270093539972, 0.4887438185969859, 0.16749685987128157], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1113}, "mesh_info": {"face_index": 1100, "face_uv": [0.15416375542865363, 0.47592687297497804, 0.3699093715963678]}}, {"xyz": [0.19065780510147962, 0.08711160685178054, 0.07094581018184903], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1906}, "mesh_info": {"face_index": 24, "face_uv": [0.028500645088378046, 0.39149035415663874, 0.5800090007549833]}}, {"xyz": [-0.1881260477954501, 0.08672531693481234, 0.07270310473572167], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 680}, "mesh_info": {"face_index": 10, "face_uv": [0.03121574422993828, 0.5298834855203317, 0.43890077024972884]}}, {"xyz": [0.1913412637353241, 0.05960262782467307, -0.19019771867597612], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 255}, "mesh_info": {"face_index": 217, "face_uv": [0.5729978737811453, 0.40019808183578126, 0.026804044383073867]}}, {"xyz": [-0.19162932522996576, 0.059233237025884566, -0.19087466110979945], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 873}, "mesh_info": {"face_index": 191, "face_uv": [0.3063540917396214, 0.6711266127574725, 0.022519295502906326]}}, {"xyz": [0.1899928708471963, -0.2850370109081266, -0.15636209195606673], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1568}, "mesh_info": {"face_index": 1550, "face_uv": [0.47210668813175066, 0.5175894011388458, 0.010303910729402751]}}, {"xyz": [0.19110198467515938, -0.2850370109081266, 0.20249627590872885], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 613}, "mesh_info": {"face_index": 901, "face_uv": [0.0486551631085339, 0.43835968880532916, 0.5129851480861362]}}, {"xyz": [-0.18974180143273428, -0.28503701090812683, 0.19895284567666743], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 17}, "mesh_info": {"face_index": 701, "face_uv": [0.031245139722841472, 0.5647312443602023, 0.40402361591695624]}}, {"xyz": [-0.18924257975732534, -0.28503701090812683, -0.15688632056435517], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 26}, "mesh_info": {"face_index": 1444, "face_uv": [0.4978546640165489, 0.45509644921543774, 0.047048886768013394]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "662409af279f322eeb82005949031741", "keypoints": [{"xyz": [0.09472532052255811, 0.3519499834027978, 0.1006842158092569], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 142}, "mesh_info": {"face_index": 656, "face_uv": [0.27482946515760737, 0.009053872733163434, 0.7161166621092304]}}, {"xyz": [-0.10369545895185542, 0.34941431329851447, 0.101938392101387], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1331}, "mesh_info": {"face_index": 721, "face_uv": [0.036648335467506996, 0.6006503502308049, 0.36270131430168767]}}, {"xyz": [0.12138846128663049, -0.01709048965054527, 0.026496768291557338], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 820}, "mesh_info": {"face_index": 1434, "face_uv": [0.053307801777282074, 0.9162529962903384, 0.030439201932380155]}}, {"xyz": [-0.12897293447003394, -0.017001388597491784, 0.034134090569793996], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 263}, "mesh_info": {"face_index": 1435, "face_uv": [0.9410032924317925, 0.016771553295941488, 0.04222515427226386]}}, {"xyz": [0.1363504949368467, -0.03475087822751377, -0.27152936059220445], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1762}, "mesh_info": {"face_index": 1339, "face_uv": [0.3681014345987433, 0.013715121261250162, 0.6181834441400084]}}, {"xyz": [-0.14210938020822927, -0.03297588741217572, -0.27081259204223374], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1109}, "mesh_info": {"face_index": 1415, "face_uv": [0.39864467716541785, 0.022590254644099524, 0.5787650681904819]}}, {"xyz": [0.16769164867698189, -0.43057355415742515, -0.2871295375821891], "rgb": [28, 28, 152], "semantic_id": 17, "pcd_info": {"point_index": 40}, "mesh_info": {"face_index": 8, "face_uv": [0.3386337845619157, 0.3881846591058856, 0.2731815563321985]}}, {"xyz": [0.18113769177623223, -0.4291405987436776, 0.1475744641216719], "rgb": [28, 28, 152], "semantic_id": 18, "pcd_info": {"point_index": 221}, "mesh_info": {"face_index": 229, "face_uv": [0.31469298050583705, 0.3636502770753915, 0.3216567424187709]}}, {"xyz": [-0.19126573522615353, -0.4291580959704837, 0.14746272070699545], "rgb": [28, 28, 152], "semantic_id": 19, "pcd_info": {"point_index": 1483}, "mesh_info": {"face_index": 293, "face_uv": [0.19987883446969282, 0.6319512399529299, 0.16816992557737642]}}, {"xyz": [-0.17494551295774582, -0.4305520405646788, -0.28748124670181263], "rgb": [29, 29, 153], "semantic_id": 20, "pcd_info": {"point_index": 662}, "mesh_info": {"face_index": 78, "face_uv": [0.3348516289563162, 0.5981125564955813, 0.06703581454810328]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a1f46215051dec0871a782a4379556c7", "keypoints": [{"xyz": [0.16871524991686043, 0.38707302905100494, 0.15525170359875762], "rgb": [255, 214, 0], "semantic_id": 0, "pcd_info": {"point_index": 909}, "mesh_info": {"face_index": 1461, "face_uv": [0.21884650238892175, 0.4950212678610596, 0.2861322297500189]}}, {"xyz": [-0.1662640946685942, 0.38620529716350627, 0.15485107134318266], "rgb": [255, 214, 0], "semantic_id": 1, "pcd_info": {"point_index": 222}, "mesh_info": {"face_index": 774, "face_uv": [0.7431109747196899, 0.22581513938857153, 0.03107388589173876]}}, {"xyz": [0.1653661380620608, 0.050608214454408884, 0.07858437698983445], "rgb": [255, 214, 0], "semantic_id": 2, "pcd_info": {"point_index": 1451}, "mesh_info": {"face_index": 921, "face_uv": [0.019685634303514863, 0.08319976025889389, 0.8971146054376059]}}, {"xyz": [-0.16660055241582525, 0.050602283984549246, 0.07857447032354292], "rgb": [255, 214, 0], "semantic_id": 3, "pcd_info": {"point_index": 173}, "mesh_info": {"face_index": 922, "face_uv": [0.005361178837965302, 0.9171739775151514, 0.07746484364694195]}}, {"xyz": [0.16513881188821025, 0.06378050357817333, -0.24393318784009232], "rgb": [255, 214, 0], "semantic_id": 4, "pcd_info": {"point_index": 1902}, "mesh_info": {"face_index": 934, "face_uv": [0.7689832283657619, 0.02035326868975542, 0.21066350294448286]}}, {"xyz": [-0.17091099224305167, 0.06381324024753943, -0.23184169835761548], "rgb": [191, 191, 191], "semantic_id": 5, "pcd_info": {"point_index": 443}, "mesh_info": {"face_index": 2312, "face_uv": [0.03301091526986397, 0.05755920068488066, 0.9094298840452565]}}, {"xyz": [0.22334919963937563, 0.27672633639068156, -0.04726056557568137], "rgb": [35, 35, 35], "semantic_id": 6, "pcd_info": {"point_index": 1239}, "mesh_info": {"face_index": 5403, "face_uv": [0.7402164738973976, 0.009572247816315776, 0.25021127828628775]}}, {"xyz": [0.22072874056408312, 0.26546294492244904, 0.08504630398261043], "rgb": [191, 191, 191], "semantic_id": 7, "pcd_info": {"point_index": 36}, "mesh_info": {"face_index": 4442, "face_uv": [0.11494549971115121, 0.3273356088173777, 0.5577188914714728]}}, {"xyz": [-0.22545876913781793, 0.2729993756636462, -0.04950126615308592], "rgb": [34, 34, 34], "semantic_id": 8, "pcd_info": {"point_index": 14}, "mesh_info": {"face_index": 5015, "face_uv": [0.09524360165358353, 0.46940303041516, 0.43535336793125623]}}, {"xyz": [-0.22866276889863746, 0.2631770830452209, 0.06555109358921998], "rgb": [190, 190, 190], "semantic_id": 9, "pcd_info": {"point_index": 1022}, "mesh_info": {"face_index": 4623, "face_uv": [0.5129347168503727, 0.46372942119527305, 0.023335861954353762]}}, {"xyz": [0.22680750380488124, -0.338673800109067, -0.2114054274182201], "rgb": [35, 35, 35], "semantic_id": 17, "pcd_info": {"point_index": 1171}, "mesh_info": {"face_index": 18, "face_uv": [0.41007508429336587, 0.3522542838880959, 0.2376706318185386]}}, {"xyz": [0.21792858779323282, -0.3380570113658905, 0.2008195716750511], "rgb": [35, 35, 35], "semantic_id": 18, "pcd_info": {"point_index": 1493}, "mesh_info": {"face_index": 186, "face_uv": [0.5162230286087262, 0.18227343006290558, 0.30150354132836826]}}, {"xyz": [-0.21343733089937678, -0.3380835804034382, 0.1998081733849493], "rgb": [35, 35, 35], "semantic_id": 19, "pcd_info": {"point_index": 1032}, "mesh_info": {"face_index": 747, "face_uv": [0.01517384582401756, 0.5245298247178721, 0.4602963294581105]}}, {"xyz": [-0.21811999269977822, -0.3380570113658906, -0.20896820574797342], "rgb": [35, 35, 35], "semantic_id": 20, "pcd_info": {"point_index": 1524}, "mesh_info": {"face_index": 435, "face_uv": [0.5309289810729487, 0.43112655972424707, 0.037944459202804634]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6dd44ada2f481c776dddf6f75fbd4a4c", "keypoints": [{"xyz": [0.18514184843908443, 0.3682093717183599, 0.14648690557901145], "rgb": [255, 68, 0], "semantic_id": 0, "pcd_info": {"point_index": 1928}, "mesh_info": {"face_index": 2912, "face_uv": [0.14978024801347103, 0.2733982110281445, 0.5768215409583846]}}, {"xyz": [-0.18771063924475376, 0.3673536061675293, 0.13993539824860646], "rgb": [255, 68, 0], "semantic_id": 1, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 2993, "face_uv": [0.5527979184884511, 0.1351286576240599, 0.312073423887489]}}, {"xyz": [0.16752624754227366, -0.020476521101556733, 0.07354440579957222], "rgb": [254, 67, 0], "semantic_id": 2, "pcd_info": {"point_index": 1906}, "mesh_info": {"face_index": 2639, "face_uv": [0.13091040100483728, 0.23397130024245644, 0.6351182987527048]}}, {"xyz": [-0.16905744948881296, -0.014836292357391034, 0.07457273456269187], "rgb": [255, 68, 0], "semantic_id": 3, "pcd_info": {"point_index": 1786}, "mesh_info": {"face_index": 3361, "face_uv": [0.48249642382647373, 0.1953690283342715, 0.32213454783925616]}}, {"xyz": [0.13751650591770836, -0.041471273858579794, -0.29490319688590105], "rgb": [255, 68, 0], "semantic_id": 4, "pcd_info": {"point_index": 824}, "mesh_info": {"face_index": 482, "face_uv": [0.07830535181309556, 0.4414593495401574, 0.4802352986467472]}}, {"xyz": [-0.1485847550298344, -0.047943485024784516, -0.2932586329204574], "rgb": [254, 67, 0], "semantic_id": 5, "pcd_info": {"point_index": 1811}, "mesh_info": {"face_index": 592, "face_uv": [0.1882903548160651, 0.16131246559733872, 0.6503971795865955]}}, {"xyz": [0.21090826650263017, 0.14651489157948738, -0.09422363847560589], "rgb": [49, 40, 115], "semantic_id": 6, "pcd_info": {"point_index": 2046}, "mesh_info": {"face_index": 1200, "face_uv": [0.4110907533447822, 0.5361988985216901, 0.05271034813352833]}}, {"xyz": [0.208647627133832, 0.15826499462127686, 0.06952001751906955], "rgb": [69, 48, 232], "semantic_id": 7, "pcd_info": {"point_index": 562}, "mesh_info": {"face_index": 986, "face_uv": [0.35147075477018463, 0.5557268417966406, 0.09280240343317477]}}, {"xyz": [-0.2158663422318133, 0.14568610678744287, -0.0954073382912175], "rgb": [44, 38, 86], "semantic_id": 8, "pcd_info": {"point_index": 1839}, "mesh_info": {"face_index": 1695, "face_uv": [0.2601278600318766, 0.4012862811518193, 0.3385858588163058]}}, {"xyz": [-0.20958943551111273, 0.15826499462127708, 0.0722035214848964], "rgb": [70, 49, 232], "semantic_id": 9, "pcd_info": {"point_index": 450}, "mesh_info": {"face_index": 1060, "face_uv": [0.5830734823045395, 0.3414278885645082, 0.07549862913095375]}}, {"xyz": [0.20443740483311293, -0.3352986349552738, -0.23108277380497555], "rgb": [35, 35, 35], "semantic_id": 17, "pcd_info": {"point_index": 257}, "mesh_info": {"face_index": 1396, "face_uv": [0.01373579108915083, 0.2066415044121495, 0.7796227044987]}}, {"xyz": [0.21326780916229857, -0.3443950116634369, 0.151456860577043], "rgb": [42, 41, 35], "semantic_id": 18, "pcd_info": {"point_index": 512}, "mesh_info": {"face_index": 1520, "face_uv": [0.2901214966549809, 0.6563690968545909, 0.053509406490428235]}}, {"xyz": [-0.21064497714611735, -0.3443950116634369, 0.1453092125651574], "rgb": [44, 44, 36], "semantic_id": 19, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 1876, "face_uv": [0.06998679553737437, 0.6671939870370728, 0.26281921742555286]}}, {"xyz": [-0.21607925293367553, -0.3433380991327313, -0.20822633250964184], "rgb": [116, 115, 45], "semantic_id": 20, "pcd_info": {"point_index": 722}, "mesh_info": {"face_index": 2117, "face_uv": [0.230735440974772, 0.39044340857702015, 0.3788211504482079]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d02fc4ae6bc4278b68c4c9cb55925fb2", "keypoints": [{"xyz": [0.11833319978983063, 0.39066899162355107, 0.11875477283216468], "rgb": [45, 22, 5], "semantic_id": 0, "pcd_info": {"point_index": 1143}, "mesh_info": {"face_index": 2635, "face_uv": [0.5252059620139712, 0.023555056125705756, 0.45123898186032246]}}, {"xyz": [-0.11901704589743428, 0.3906969024406495, 0.11793051646039689], "rgb": [43, 20, 4], "semantic_id": 1, "pcd_info": {"point_index": 409}, "mesh_info": {"face_index": 667, "face_uv": [0.40484182921835565, 0.5759369609478403, 0.01922120983380407]}}, {"xyz": [0.10008073803122859, 0.11343645286355475, 0.08775951077453933], "rgb": [58, 37, 28], "semantic_id": 2, "pcd_info": {"point_index": 736}, "mesh_info": {"face_index": 3953, "face_uv": [0.8968191839612617, 0.01789519931945526, 0.08528561671928164]}}, {"xyz": [-0.10413887460780966, 0.11369859933470039, 0.08850114450418638], "rgb": [78, 45, 33], "semantic_id": 3, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 3952, "face_uv": [0.9160798409346901, 0.05404051420025343, 0.029879644865057616]}}, {"xyz": [0.13834394808957196, 0.11418307075854717, -0.15490657548816922], "rgb": [54, 30, 12], "semantic_id": 4, "pcd_info": {"point_index": 347}, "mesh_info": {"face_index": 2185, "face_uv": [0.25730524733885035, 0.19697539646256054, 0.5457193561985895]}}, {"xyz": [-0.14067142679366218, 0.11411601650277237, -0.1570984556443572], "rgb": [49, 25, 8], "semantic_id": 5, "pcd_info": {"point_index": 1580}, "mesh_info": {"face_index": 211, "face_uv": [0.09447475216081985, 0.5749309169262077, 0.3305943309129709]}}, {"xyz": [0.168461776869041, -0.4779706515239672, -0.1740188540823171], "rgb": [91, 48, 14], "semantic_id": 17, "pcd_info": {"point_index": 85}, "mesh_info": {"face_index": 2250, "face_uv": [0.0031985498919601518, 0.4781171605593052, 0.5186842895487352]}}, {"xyz": [0.14570174957694, -0.47815187827225225, 0.1067599565769316], "rgb": [44, 28, 14], "semantic_id": 18, "pcd_info": {"point_index": 584}, "mesh_info": {"face_index": 2534, "face_uv": [0.027325385544423583, 0.44417660932421704, 0.5284980051313588]}}, {"xyz": [-0.14407528793560004, -0.47826650493067446, 0.10835056144911628], "rgb": [42, 26, 10], "semantic_id": 19, "pcd_info": {"point_index": 1173}, "mesh_info": {"face_index": 776, "face_uv": [0.3978404126594488, 0.520025796165073, 0.0821337911754779]}}, {"xyz": [-0.16952565048708848, -0.4778549295041554, -0.17395126926979343], "rgb": [87, 46, 13], "semantic_id": 20, "pcd_info": {"point_index": 705}, "mesh_info": {"face_index": 52, "face_uv": [0.5058420101952841, 0.4011602522355027, 0.09299773756921303]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6ad7e3a8e6f3ed1dd068cfb43a81fc7", "keypoints": [{"xyz": [0.21633576140666533, 0.38798228858266204, 0.2657449920749333], "rgb": [179, 177, 186], "semantic_id": 0, "pcd_info": {"point_index": 1533}, "mesh_info": {"face_index": 24167, "face_uv": [0.01965879888045677, 0.380612226822627, 0.5997289742969159]}}, {"xyz": [-0.20610738287473218, 0.39229814012689634, 0.2780052934606073], "rgb": [166, 166, 169], "semantic_id": 1, "pcd_info": {"point_index": 531}, "mesh_info": {"face_index": 25757, "face_uv": [0.2436678032699172, 0.05478326268809669, 0.7015489340419863]}}, {"xyz": [0.18397133677855065, 0.018332044773591516, 0.1438571526396915], "rgb": [188, 184, 206], "semantic_id": 2, "pcd_info": {"point_index": 111}, "mesh_info": {"face_index": 692, "face_uv": [0.0006278817203015449, 0.9510570253956331, 0.048315092884063625]}}, {"xyz": [-0.1807131264925681, 0.018123999238014443, 0.1522614792504024], "rgb": [213, 213, 215], "semantic_id": 3, "pcd_info": {"point_index": 1086}, "mesh_info": {"face_index": 686, "face_uv": [0.968835672585957, 0.013381500968384192, 0.017782826445671054]}}, {"xyz": [0.22442053426127767, 0.01834969667583941, -0.1466585382543648], "rgb": [81, 80, 87], "semantic_id": 4, "pcd_info": {"point_index": 1273}, "mesh_info": {"face_index": 1516, "face_uv": [0.0007793499154502458, 0.7472023288034109, 0.25201832128114243]}}, {"xyz": [-0.22483467350267608, 0.015897244683532374, -0.15276839958916], "rgb": [213, 211, 223], "semantic_id": 5, "pcd_info": {"point_index": 600}, "mesh_info": {"face_index": 7, "face_uv": [0.058735628957981616, 0.7930045858510643, 0.14825978519095218]}}, {"xyz": [0.23456551980746365, 0.13017059264997566, -0.006892080921673455], "rgb": [189, 187, 195], "semantic_id": 6, "pcd_info": {"point_index": 1518}, "mesh_info": {"face_index": 20474, "face_uv": [0.38963934765419583, 0.31993864369613473, 0.29042200864966944]}}, {"xyz": [0.20516762768703856, 0.1402880380068905, 0.15933595302910175], "rgb": [196, 195, 200], "semantic_id": 7, "pcd_info": {"point_index": 860}, "mesh_info": {"face_index": 24214, "face_uv": [0.4487467198080366, 0.18882485794535683, 0.36242842224660643]}}, {"xyz": [-0.2084509911721385, 0.13477703068875768, 0.003938441856117823], "rgb": [144, 143, 145], "semantic_id": 8, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 35870, "face_uv": [0.6779129621990106, 0.29104673038291246, 0.031040307418076514]}}, {"xyz": [-0.2053152267494741, 0.13408482790685605, 0.16978588615900164], "rgb": [223, 221, 232], "semantic_id": 9, "pcd_info": {"point_index": 1036}, "mesh_info": {"face_index": 26525, "face_uv": [0.8308299697553003, 0.0498437451206156, 0.11932628512408389]}}, {"xyz": [0.20975205904304922, -0.2664079398106427, -0.14066989540209263], "rgb": [123, 62, 62], "semantic_id": 17, "pcd_info": {"point_index": 1227}, "mesh_info": {"face_index": 37059, "face_uv": [0.4539774386455239, 0.44204275524145376, 0.1039798061130218]}}, {"xyz": [0.201931011372824, -0.28491801023483276, 0.23428064914901126], "rgb": [156, 88, 40], "semantic_id": 18, "pcd_info": {"point_index": 1258}, "mesh_info": {"face_index": 39909, "face_uv": [0.1921694853884234, 0.362721558911687, 0.44510895569988956]}}, {"xyz": [-0.20158290465302742, -0.284918010234833, 0.23427960064259612], "rgb": [157, 89, 41], "semantic_id": 19, "pcd_info": {"point_index": 1670}, "mesh_info": {"face_index": 40237, "face_uv": [0.042729332324157585, 0.3626700580180655, 0.5946006096577777]}}, {"xyz": [-0.214944688726659, -0.26085922645999315, -0.13322548091837894], "rgb": [123, 62, 62], "semantic_id": 20, "pcd_info": {"point_index": 1298}, "mesh_info": {"face_index": 39073, "face_uv": [0.04034079195528728, 0.22950918337770937, 0.7301500246670031]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4fd20c1142b642221403e6cccbe91852", "keypoints": [{"xyz": [0.14201934133716926, 0.36152384120739567, 0.08574172295243176], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 375}, "mesh_info": {"face_index": 2374, "face_uv": [0.15542715416374991, 0.3781558130864839, 0.46641703274977375]}}, {"xyz": [-0.1504597450683816, 0.36471352619798214, 0.085551388615702], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 3272, "face_uv": [0.20676795890703126, 0.41259546206618075, 0.38063657902678777]}}, {"xyz": [0.13416116225809688, 0.111399050979051, 0.06215933579025745], "rgb": [219, 219, 219], "semantic_id": 2, "pcd_info": {"point_index": 67}, "mesh_info": {"face_index": 299, "face_uv": [0.04196850077661288, 0.742421888203848, 0.21560961101954004]}}, {"xyz": [-0.13003837801207815, 0.11086672302176548, 0.06751736644188311], "rgb": [238, 238, 238], "semantic_id": 3, "pcd_info": {"point_index": 1983}, "mesh_info": {"face_index": 961, "face_uv": [0.4520641771311921, 0.4559310909224584, 0.09200473194634694]}}, {"xyz": [0.14751916907899754, 0.1244428561201133, -0.19746638284603657], "rgb": [218, 218, 218], "semantic_id": 4, "pcd_info": {"point_index": 24}, "mesh_info": {"face_index": 487, "face_uv": [0.244467870617628, 0.15546111978965027, 0.6000710095927209]}}, {"xyz": [-0.16248457190782384, 0.11186415674614592, -0.19381043670164777], "rgb": [218, 218, 218], "semantic_id": 5, "pcd_info": {"point_index": 933}, "mesh_info": {"face_index": 159, "face_uv": [0.9059488690441062, 0.005072528709344582, 0.08897860224654856]}}, {"xyz": [0.18855608984237426, -0.4506327771595058, -0.21947969396568534], "rgb": [219, 219, 219], "semantic_id": 17, "pcd_info": {"point_index": 1171}, "mesh_info": {"face_index": 6354, "face_uv": [0.1390112592665306, 0.29610242663816067, 0.5648863140953092]}}, {"xyz": [0.17463644052670313, -0.4504453419790919, 0.15569485797068916], "rgb": [219, 219, 219], "semantic_id": 18, "pcd_info": {"point_index": 1208}, "mesh_info": {"face_index": 4969, "face_uv": [0.5516128123678129, 0.1256516159249029, 0.32273557170728423]}}, {"xyz": [-0.18476895144552985, -0.44935024312818306, 0.15904957479106097], "rgb": [219, 219, 219], "semantic_id": 19, "pcd_info": {"point_index": 2028}, "mesh_info": {"face_index": 4023, "face_uv": [0.4279435175330832, 0.24297611286346343, 0.32908036960345366]}}, {"xyz": [-0.18987463431633989, -0.4463984353850734, -0.22603803842452086], "rgb": [218, 218, 218], "semantic_id": 20, "pcd_info": {"point_index": 1767}, "mesh_info": {"face_index": 6724, "face_uv": [0.0762806599579797, 0.21155299790379764, 0.7121663421382199]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "91645c82e357ec502744bf8869518694", "keypoints": [{"xyz": [0.17067031453534215, 0.31645138797495886, 0.08705518267578416], "rgb": [223, 168, 81], "semantic_id": 0, "pcd_info": {"point_index": 1336}, "mesh_info": {"face_index": 2879, "face_uv": [0.1652704683987851, 0.675995428567327, 0.15873410303388705]}}, {"xyz": [-0.16815609170403548, 0.31695632916668914, 0.08744663297469324], "rgb": [223, 162, 78], "semantic_id": 1, "pcd_info": {"point_index": 1741}, "mesh_info": {"face_index": 1325, "face_uv": [0.36506675581887577, 0.5890917746970827, 0.04584146948404242]}}, {"xyz": [0.17905149086890093, -0.03894999995827653, 0.0038390645100311316], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 2037}, "mesh_info": {"face_index": 6706, "face_uv": [0.5920155554643534, 0.004813029611947063, 0.40317141492369385]}}, {"xyz": [-0.18278333242296227, -0.03924867562321688, 0.0032145935019468608], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 8668, "face_uv": [0.21351830883562226, 0.392313217127135, 0.3941684740372351]}}, {"xyz": [0.17564023126083422, -0.0491987394575184, -0.3780417771999087], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 676}, "mesh_info": {"face_index": 8653, "face_uv": [0.8559451279763672, 0.00894589651478068, 0.13510897550885298]}}, {"xyz": [-0.17061577841730682, -0.04317274730124554, -0.3744754128001446], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1870}, "mesh_info": {"face_index": 8856, "face_uv": [0.974905734947123, 0.006199460112130714, 0.018894804940745906]}}, {"xyz": [0.17727252060579413, -0.43136999011039734, -0.3289597276082084], "rgb": [226, 167, 81], "semantic_id": 17, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 995, "face_uv": [0.05919064464278172, 0.6781011731584152, 0.26270818219880304]}}, {"xyz": [0.172303634061223, -0.43136999011039734, 0.026127036663782514], "rgb": [225, 167, 81], "semantic_id": 18, "pcd_info": {"point_index": 34}, "mesh_info": {"face_index": 2096, "face_uv": [0.07926069570826816, 0.4574622767122044, 0.46327702757952743]}}, {"xyz": [-0.17530602786934554, -0.43136999011039734, 0.03330915236966425], "rgb": [216, 155, 72], "semantic_id": 19, "pcd_info": {"point_index": 1266}, "mesh_info": {"face_index": 3865, "face_uv": [0.011963909692409997, 0.31191471200846593, 0.6761213782991241]}}, {"xyz": [-0.16712718279744784, -0.43136999011039756, -0.3374522575448733], "rgb": [221, 156, 70], "semantic_id": 20, "pcd_info": {"point_index": 216}, "mesh_info": {"face_index": 212, "face_uv": [0.4693030955625766, 0.5008331148025943, 0.02986378963482962]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b5b77de7a8a05ab4f09df371fae9d63d", "keypoints": [{"xyz": [0.20885502831210212, 0.3823043543404381, 0.23438375912372258], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 596}, "mesh_info": {"face_index": 636, "face_uv": [0.30235416191773135, 0.45981945574965755, 0.23782638233261144]}}, {"xyz": [-0.21066317605604626, 0.38088921494590655, 0.22731587532162562], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 942}, "mesh_info": {"face_index": 503, "face_uv": [0.15362269739959944, 0.6344408884161495, 0.21193641418425108]}}, {"xyz": [0.21814361939004667, 0.09498800337314606, 0.14623012517048295], "rgb": [240, 238, 236], "semantic_id": 2, "pcd_info": {"point_index": 1439}, "mesh_info": {"face_index": 680, "face_uv": [0.10336789130962092, 0.8892851504363501, 0.007346958254029152]}}, {"xyz": [-0.21052867314944773, 0.09498800337314617, 0.14887426898754486], "rgb": [246, 245, 243], "semantic_id": 3, "pcd_info": {"point_index": 1419}, "mesh_info": {"face_index": 695, "face_uv": [0.01831368317440024, 0.1053754855248387, 0.8763108313007623]}}, {"xyz": [0.21557226810522437, 0.08653533551140624, -0.2941589951515198], "rgb": [124, 111, 91], "semantic_id": 4, "pcd_info": {"point_index": 196}, "mesh_info": {"face_index": 673, "face_uv": [0.09907946757514303, 0.013191443202365424, 0.8877290892224915]}}, {"xyz": [-0.2122974587778257, 0.09261014540779, -0.29415899515151966], "rgb": [171, 163, 144], "semantic_id": 5, "pcd_info": {"point_index": 1303}, "mesh_info": {"face_index": 672, "face_uv": [0.9721275099139767, 0.014293368625038624, 0.013579121460984214]}}, {"xyz": [0.2701607361178164, 0.1831407434622031, -0.2917916628218298], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1167}, "mesh_info": {"face_index": 197, "face_uv": [0.13596345559871753, 0.3218315362282701, 0.5422050081730121]}}, {"xyz": [0.25875161040327643, 0.19200045694103296, 0.25962663804140945], "rgb": [158, 158, 149], "semantic_id": 7, "pcd_info": {"point_index": 1095}, "mesh_info": {"face_index": 110, "face_uv": [0.28693891627933543, 0.2326285143509101, 0.4804325693697548]}}, {"xyz": [-0.25669462871664894, 0.19078910863659715, -0.2838025234226505], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1512}, "mesh_info": {"face_index": 323, "face_uv": [0.028155049146973928, 0.4420875984444108, 0.5297573524086148]}}, {"xyz": [-0.2580666684903895, 0.19259212875512466, 0.25703512906217596], "rgb": [163, 152, 130], "semantic_id": 9, "pcd_info": {"point_index": 369}, "mesh_info": {"face_index": 334, "face_uv": [0.30321426442069366, 0.14795532436925132, 0.548830411210055]}}, {"xyz": [0.19295918742739873, -0.19117085592808816, -0.26225027993165895], "rgb": [50, 23, 0], "semantic_id": 17, "pcd_info": {"point_index": 1930}, "mesh_info": {"face_index": 944, "face_uv": [0.0013625853923150903, 0.01755878963542, 0.9810786249722645]}}, {"xyz": [0.19974113510015945, -0.18808089299008712, 0.17624516820595848], "rgb": [51, 24, 0], "semantic_id": 18, "pcd_info": {"point_index": 1833}, "mesh_info": {"face_index": 1404, "face_uv": [0.19245400234915044, 0.06187511012532826, 0.7456708875255215]}}, {"xyz": [-0.19559996947785196, -0.1892617878201544, 0.1813944033147442], "rgb": [51, 24, 0], "semantic_id": 19, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 1749, "face_uv": [0.04545942983188291, 0.4953497477524954, 0.4591908224156225]}}, {"xyz": [-0.20065303197424234, -0.18984428670041079, -0.25888896463700617], "rgb": [50, 24, 0], "semantic_id": 20, "pcd_info": {"point_index": 1882}, "mesh_info": {"face_index": 1171, "face_uv": [0.03736208267943809, 0.9026239153727195, 0.060014001947842434]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "68b26c9353e65419c3e46f55b34610cf", "keypoints": [{"xyz": [0.14028175502850104, 0.29762731254426167, 0.2645519507029339], "rgb": [180, 134, 50], "semantic_id": 0, "pcd_info": {"point_index": 470}, "mesh_info": {"face_index": 1503, "face_uv": [0.16931184119337342, 0.5211268498388582, 0.3095613089677675]}}, {"xyz": [-0.32120910852305806, 0.293726674816178, 0.2628041548139075], "rgb": [180, 134, 50], "semantic_id": 1, "pcd_info": {"point_index": 939}, "mesh_info": {"face_index": 828, "face_uv": [0.22970351939322892, 0.5687297513810126, 0.20156672922575594]}}, {"xyz": [0.11860615983618722, -0.041764119990927995, 0.15921848197770427], "rgb": [181, 135, 51], "semantic_id": 2, "pcd_info": {"point_index": 1089}, "mesh_info": {"face_index": 1606, "face_uv": [0.42428589450231996, 0.015294952938348875, 0.5604191525593322]}}, {"xyz": [-0.3052114355207714, -0.042154481798809984, 0.16175392886720097], "rgb": [180, 134, 50], "semantic_id": 3, "pcd_info": {"point_index": 1336}, "mesh_info": {"face_index": 1614, "face_uv": [0.6687682327169924, 0.005782662367257122, 0.3254491049157421]}}, {"xyz": [0.11503014799490452, -0.023252295192465633, -0.18857855303782955], "rgb": [181, 135, 51], "semantic_id": 4, "pcd_info": {"point_index": 1626}, "mesh_info": {"face_index": 883, "face_uv": [0.8925486677197929, 0.08248454284997199, 0.02496678943023908]}}, {"xyz": [-0.29433645073973125, -0.023298629277275218, -0.18997726917455837], "rgb": [180, 134, 50], "semantic_id": 5, "pcd_info": {"point_index": 464}, "mesh_info": {"face_index": 873, "face_uv": [0.03239408038536733, 0.9367491996894209, 0.03085671992520517]}}, {"xyz": [0.1426686214254081, 0.1969837476398435, -0.2044284176739538], "rgb": [180, 134, 50], "semantic_id": 6, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 1131, "face_uv": [0.07060034097783636, 0.43327810325195676, 0.4961215557702066]}}, {"xyz": [0.14216069734320452, 0.12773384442708635, 0.17523526387629185], "rgb": [180, 134, 50], "semantic_id": 7, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 1261, "face_uv": [0.2940328131552803, 0.5865558765358478, 0.1194113103088713]}}, {"xyz": [-0.3285835932454139, 0.19710558526833188, -0.1999789395409538], "rgb": [181, 135, 51], "semantic_id": 8, "pcd_info": {"point_index": 648}, "mesh_info": {"face_index": 472, "face_uv": [0.009591361726170582, 0.5445569310461551, 0.4458517072276752]}}, {"xyz": [-0.3295108742940765, 0.12679977659242736, 0.17777259807771217], "rgb": [181, 135, 51], "semantic_id": 9, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 594, "face_uv": [0.2657619966163816, 0.4312500043930705, 0.30298799899054907]}}, {"xyz": [0.14902138931083725, -0.3714999854564671, -0.18090858069696655], "rgb": [181, 135, 51], "semantic_id": 17, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 1302, "face_uv": [0.07373504164010786, 0.4500360455844618, 0.4762289127754315]}}, {"xyz": [0.14832370411480955, -0.35973986455501744, 0.2657172429714707], "rgb": [180, 134, 50], "semantic_id": 18, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 1357, "face_uv": [0.5389882337911451, 0.05088890893379828, 0.41012285727505643]}}, {"xyz": [-0.3351782751401944, -0.3551320439656567, 0.2651362755832153], "rgb": [180, 134, 50], "semantic_id": 19, "pcd_info": {"point_index": 150}, "mesh_info": {"face_index": 690, "face_uv": [0.3738472238750106, 0.0708280714917586, 0.5553247046332306]}}, {"xyz": [-0.3325450611955144, -0.3714999854564667, -0.17073325637030257], "rgb": [181, 135, 51], "semantic_id": 20, "pcd_info": {"point_index": 297}, "mesh_info": {"face_index": 634, "face_uv": [0.3697821020787176, 0.4923206477954247, 0.13789725012585774]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "92e6546c4aca4ed14b96b665a8ac321", "keypoints": [{"xyz": [0.25680315264385073, 0.41635756440467997, 0.2489332287203836], "rgb": [132, 132, 132], "semantic_id": 0, "pcd_info": {"point_index": 1501}, "mesh_info": {"face_index": 2013, "face_uv": [0.5296791319851711, 0.3134932878947174, 0.1568275801201114]}}, {"xyz": [-0.26512644913022476, 0.4095632230855642, 0.2508313088021983], "rgb": [117, 117, 117], "semantic_id": 1, "pcd_info": {"point_index": 686}, "mesh_info": {"face_index": 3184, "face_uv": [0.20108945303476328, 0.5352032575491871, 0.26370728941604993]}}, {"xyz": [0.19467100501060497, 0.1122255140830325, 0.11162187025587333], "rgb": [144, 144, 144], "semantic_id": 2, "pcd_info": {"point_index": 209}, "mesh_info": {"face_index": 27, "face_uv": [0.5902345947079972, 0.16517696867605694, 0.24458843661594643]}}, {"xyz": [-0.17642740061464846, 0.12496780529728563, 0.08388172762998658], "rgb": [142, 142, 142], "semantic_id": 3, "pcd_info": {"point_index": 901}, "mesh_info": {"face_index": 3417, "face_uv": [0.20326636341029802, 0.4475217549504987, 0.34921188163920397]}}, {"xyz": [0.19794490022269073, 0.022224537177022274, -0.27002708160155353], "rgb": [168, 168, 168], "semantic_id": 4, "pcd_info": {"point_index": 1723}, "mesh_info": {"face_index": 147, "face_uv": [0.6982442269464358, 0.003454660132688398, 0.2983011129208698]}}, {"xyz": [-0.19096920540818846, 0.021605443542941548, -0.27505519675834256], "rgb": [109, 109, 109], "semantic_id": 5, "pcd_info": {"point_index": 235}, "mesh_info": {"face_index": 420, "face_uv": [0.5985013136536043, 0.036143173592749774, 0.3653555127536462]}}, {"xyz": [0.23210118659248277, 0.413095688983234, -0.2714072514278278], "rgb": [133, 133, 133], "semantic_id": 6, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 1066, "face_uv": [0.2625124798451635, 0.45802180092480194, 0.27946571923003455]}}, {"xyz": [-0.23004392912101052, 0.41442514858292845, -0.2700635207168005], "rgb": [145, 145, 145], "semantic_id": 7, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 3127, "face_uv": [0.5381374165771999, 0.28510804652208815, 0.17675453690071205]}}, {"xyz": [-0.23004392912101052, 0.41442514858292845, -0.2700635207168005], "rgb": [145, 145, 145], "semantic_id": 8, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 3127, "face_uv": [0.5381374165771999, 0.28510804652208815, 0.17675453690071205]}}, {"xyz": [-0.23073770728863435, 0.417726993560791, 0.24045947785161326], "rgb": [151, 151, 151], "semantic_id": 9, "pcd_info": {"point_index": 1518}, "mesh_info": {"face_index": 1819, "face_uv": [0.043359305398132715, 0.8911646688018106, 0.06547602580005671]}}, {"xyz": [0.24654708808229148, -0.23107121867795244, -0.25280625564096193], "rgb": [199, 206, 216], "semantic_id": 17, "pcd_info": {"point_index": 1210}, "mesh_info": {"face_index": 8857, "face_uv": [0.4183731398483074, 0.5740619006176255, 0.007564959534066997]}}, {"xyz": [0.2501356845471873, -0.2309086195133272, 0.2432523113462075], "rgb": [198, 205, 215], "semantic_id": 18, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 10619, "face_uv": [0.679519309766349, 0.08514237109060298, 0.2353529472488057]}}, {"xyz": [-0.253570823273626, -0.2299240524289008, 0.2453411123262053], "rgb": [195, 202, 212], "semantic_id": 19, "pcd_info": {"point_index": 440}, "mesh_info": {"face_index": 12171, "face_uv": [0.42272585710560046, 0.2983403777363467, 0.2790084210870809]}}, {"xyz": [-0.2539544032713825, -0.22983020640708784, -0.25916864611364687], "rgb": [200, 207, 217], "semantic_id": 20, "pcd_info": {"point_index": 1322}, "mesh_info": {"face_index": 11933, "face_uv": [0.2595843778207819, 0.2165684889253759, 0.5238755491760272]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cd47ea438a9387c0ee088de33038f12a", "keypoints": [{"xyz": [0.13475047714109462, 0.3675738402392821, 0.13696576959843187], "rgb": [61, 61, 61], "semantic_id": 0, "pcd_info": {"point_index": 1018}, "mesh_info": {"face_index": 74262, "face_uv": [0.17837281820893156, 0.05172281223860726, 0.7699043695524616]}}, {"xyz": [-0.1344431155117799, 0.3688705356596884, 0.13745934906567991], "rgb": [61, 61, 61], "semantic_id": 1, "pcd_info": {"point_index": 217}, "mesh_info": {"face_index": 68268, "face_uv": [0.7202507967817607, 0.24581228543945136, 0.03393691777878842]}}, {"xyz": [0.1730127163296986, 0.03264894454437339, 0.098215263767637], "rgb": [61, 61, 61], "semantic_id": 2, "pcd_info": {"point_index": 202}, "mesh_info": {"face_index": 70743, "face_uv": [0.04017638256316881, 0.639676615353497, 0.320147002083336]}}, {"xyz": [-0.1736229611947252, 0.030684699466872134, 0.09663171278814509], "rgb": [60, 60, 60], "semantic_id": 3, "pcd_info": {"point_index": 1277}, "mesh_info": {"face_index": 65211, "face_uv": [0.9483714309296267, 0.036620781234874424, 0.01500778783549507]}}, {"xyz": [0.1791660102371365, 0.04946365765241767, -0.25583004372355833], "rgb": [61, 61, 61], "semantic_id": 4, "pcd_info": {"point_index": 171}, "mesh_info": {"face_index": 78806, "face_uv": [0.2088282639832229, 0.2509321506302946, 0.5402395853864833]}}, {"xyz": [-0.18437172216707998, 0.053274512144039, -0.24880947125824315], "rgb": [61, 61, 61], "semantic_id": 5, "pcd_info": {"point_index": 550}, "mesh_info": {"face_index": 76858, "face_uv": [0.03584339226962945, 0.5977693415394817, 0.3663872661908895]}}, {"xyz": [0.22838712839810218, 0.22534054608478682, -0.11852077515327694], "rgb": [23, 23, 23], "semantic_id": 6, "pcd_info": {"point_index": 1952}, "mesh_info": {"face_index": 45354, "face_uv": [0.06570276864823374, 0.3463152190118871, 0.5879820123398789]}}, {"xyz": [0.22243740362886763, 0.20631056837087902, 0.09809333295392536], "rgb": [24, 24, 24], "semantic_id": 7, "pcd_info": {"point_index": 2}, "mesh_info": {"face_index": 54251, "face_uv": [0.11071034691803941, 0.36039998288399344, 0.5288896701979684]}}, {"xyz": [-0.2232118174782427, 0.2166720475672661, -0.1288192473288656], "rgb": [23, 23, 23], "semantic_id": 8, "pcd_info": {"point_index": 1492}, "mesh_info": {"face_index": 52152, "face_uv": [0.06663465136810696, 0.6852606727905938, 0.24810467584129833]}}, {"xyz": [-0.22487357433239197, 0.20795036617601426, 0.094119243997557], "rgb": [24, 24, 24], "semantic_id": 9, "pcd_info": {"point_index": 1862}, "mesh_info": {"face_index": 59227, "face_uv": [0.11657373268479516, 0.6562846979652052, 0.22714156934999954]}}, {"xyz": [0.19696197876203142, -0.38238066001084786, -0.2366424182518454], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 929}, "mesh_info": {"face_index": 2536, "face_uv": [0.26326374972100614, 0.1924664466962647, 0.5442698035827291]}}, {"xyz": [0.2059723534982163, -0.3772487481582012, 0.16075593052966974], "rgb": [24, 24, 24], "semantic_id": 18, "pcd_info": {"point_index": 1134}, "mesh_info": {"face_index": 41314, "face_uv": [0.5871467808462566, 0.0304358274533192, 0.382417391700428]}}, {"xyz": [-0.19067934568766431, -0.37030075670240753, 0.16723324433729903], "rgb": [23, 23, 23], "semantic_id": 19, "pcd_info": {"point_index": 1424}, "mesh_info": {"face_index": 42616, "face_uv": [0.3511922505295368, 0.26442025428413346, 0.38438749518632925]}}, {"xyz": [-0.20236035876464542, -0.38244002799588395, -0.228304133325276], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 21}, "mesh_info": {"face_index": 5035, "face_uv": [0.7246261431027704, 0.07008564121768868, 0.2052882156795409]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bb5791b1d4cb5fe81c1b3b2ed8d13bf8", "keypoints": [{"xyz": [0.2287613287879281, 0.4006097526257144, 0.09707398180691612], "rgb": [86, 86, 86], "semantic_id": 0, "pcd_info": {"point_index": 609}, "mesh_info": {"face_index": 220, "face_uv": [0.15643219800119024, 0.3581313535447168, 0.4854364484540984]}}, {"xyz": [-0.22712593844677442, 0.40049547830433263, 0.1330375384525487], "rgb": [85, 85, 85], "semantic_id": 1, "pcd_info": {"point_index": 936}, "mesh_info": {"face_index": 635, "face_uv": [0.8024264654362351, 0.062120356390738124, 0.13545317817302]}}, {"xyz": [0.15509159612047002, 0.0565590001642704, 0.048278571309611384], "rgb": [86, 86, 86], "semantic_id": 2, "pcd_info": {"point_index": 1379}, "mesh_info": {"face_index": 451, "face_uv": [0.8196252379502452, 0.007232259899117868, 0.1731425021506368]}}, {"xyz": [-0.1733365814761117, 0.08900099097793857, 0.0792429357863969], "rgb": [85, 85, 85], "semantic_id": 3, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 520, "face_uv": [0.2519734894673832, 0.29094928898865363, 0.45707722154396296]}}, {"xyz": [0.14253457698302174, 0.05655900016427062, -0.3278227380977917], "rgb": [86, 86, 86], "semantic_id": 4, "pcd_info": {"point_index": 1415}, "mesh_info": {"face_index": 495, "face_uv": [0.9593093287327823, 0.01674851371175584, 0.02394215755546581]}}, {"xyz": [-0.19568174362902713, 0.0565590001642704, -0.3059370743041191], "rgb": [86, 86, 86], "semantic_id": 5, "pcd_info": {"point_index": 366}, "mesh_info": {"face_index": 494, "face_uv": [0.010260596131133917, 0.9596915041117509, 0.03004789975711528]}}, {"xyz": [0.16903538227966125, 0.22221825972498244, -0.3314769122025512], "rgb": [85, 85, 85], "semantic_id": 6, "pcd_info": {"point_index": 1032}, "mesh_info": {"face_index": 956, "face_uv": [0.039534995080206206, 0.5904907591913632, 0.3699742457284304]}}, {"xyz": [0.20362353915985362, 0.28573337955592426, -0.01869095178911878], "rgb": [86, 86, 86], "semantic_id": 7, "pcd_info": {"point_index": 2003}, "mesh_info": {"face_index": 210, "face_uv": [0.4945513512909279, 0.22597770969950584, 0.2794709390095664]}}, {"xyz": [-0.22592863936958518, 0.23152165285785475, -0.305248636644575], "rgb": [85, 85, 85], "semantic_id": 8, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 847, "face_uv": [0.04054764934930793, 0.061672134525868144, 0.8977802161248234]}}, {"xyz": [-0.20846005203338674, 0.28173186729478017, 0.008488348146517236], "rgb": [86, 86, 86], "semantic_id": 9, "pcd_info": {"point_index": 788}, "mesh_info": {"face_index": 705, "face_uv": [0.16171733792487122, 0.5658639575026513, 0.2724187045724776]}}, {"xyz": [0.1549502352377825, -0.3054549992084501, -0.3382015765886816], "rgb": [85, 85, 85], "semantic_id": 17, "pcd_info": {"point_index": 1731}, "mesh_info": {"face_index": 901, "face_uv": [0.3415537911246325, 0.17520975333841918, 0.4832364555369475]}}, {"xyz": [0.24463329813645435, -0.3067116415151525, 0.0989267853832441], "rgb": [198, 198, 198], "semantic_id": 18, "pcd_info": {"point_index": 1640}, "mesh_info": {"face_index": 2135, "face_uv": [0.18912643290686842, 0.8091163819023642, 0.0017571851907677964]}}, {"xyz": [-0.23101896400498706, -0.3054168289614827, 0.14080740917457724], "rgb": [198, 198, 198], "semantic_id": 19, "pcd_info": {"point_index": 1427}, "mesh_info": {"face_index": 1157, "face_uv": [0.0029955486396805865, 0.1905843187227418, 0.8064201326375781]}}, {"xyz": [-0.21192894543448826, -0.3054549992084503, -0.3074294103513515], "rgb": [86, 86, 86], "semantic_id": 20, "pcd_info": {"point_index": 951}, "mesh_info": {"face_index": 817, "face_uv": [0.344776918691361, 0.3529002562454641, 0.3023228250631748]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b89cbb45476e94a5e65235d5580cc3e0", "keypoints": [{"xyz": [0.18571999669075012, 0.3001561319316439, 0.0849848619812697], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1580}, "mesh_info": {"face_index": 72, "face_uv": [0.41552995814905647, 0.0011274937194761946, 0.5833425481314674]}}, {"xyz": [-0.18793603025648364, 0.30060412100368084, 0.08480379587610232], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1506}, "mesh_info": {"face_index": 14, "face_uv": [0.0003501140842600615, 0.5863501151308204, 0.41329977078492014]}}, {"xyz": [0.17988654597097264, -0.08659313851719741, 0.04496600106358528], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 306}, "mesh_info": {"face_index": 3, "face_uv": [0.9842178224297674, 0.0028036736352924333, 0.012978503934940286]}}, {"xyz": [-0.17915280720495697, -0.0877629965543747, 0.033343286073796996], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 220}, "mesh_info": {"face_index": 20, "face_uv": [0.9643834455985721, 0.023526986783558683, 0.012089567617869262]}}, {"xyz": [0.18322565312779826, -0.0877629965543747, -0.2794528095238136], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1257}, "mesh_info": {"face_index": 20, "face_uv": [0.005853604232352056, 0.9933246349168604, 0.0008217608507874298]}}, {"xyz": [-0.18794399499893188, -0.08935164442332622, -0.2803369578292334], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 159}, "mesh_info": {"face_index": 64, "face_uv": [0.0008152421383800252, 0.01334841203790764, 0.9858363458237124]}}, {"xyz": [0.15482474757181702, -0.42469799518585205, -0.24915595082294806], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 144, "face_uv": [0.4189971463239771, 0.44975835127517727, 0.1312445024008456]}}, {"xyz": [0.15665021446885158, -0.42469799518585183, 0.10171234072244725], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1118}, "mesh_info": {"face_index": 152, "face_uv": [0.4742706208105896, 0.4231840718849334, 0.1025453073044764]}}, {"xyz": [-0.14731293705797244, -0.42469799518585205, 0.10857612536121505], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1723}, "mesh_info": {"face_index": 75, "face_uv": [0.036128929957949536, 0.5293535568596954, 0.43451751318235504]}}, {"xyz": [-0.15407858010621456, -0.42469799518585205, -0.2476289187307903], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 659}, "mesh_info": {"face_index": 130, "face_uv": [0.43886304210063204, 0.5587912612554063, 0.0023456966439616505]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a487bfde2aa50faa6d7bcadc05e0f4c2", "keypoints": [{"xyz": [0.19408379503696618, 0.23369525312961098, 0.3136172522235592], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 525}, "mesh_info": {"face_index": 2136, "face_uv": [0.7037272057047423, 0.28853829677906145, 0.007734497516197775]}}, {"xyz": [-0.19584255499526576, 0.23661824278282995, 0.32149854188416827], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 606}, "mesh_info": {"face_index": 2190, "face_uv": [0.0031946436861744754, 0.5769653454889041, 0.4198400108249219]}}, {"xyz": [0.1957581646518989, -0.014230838560317899, 0.24154988662457977], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1232}, "mesh_info": {"face_index": 2001, "face_uv": [0.09605334057864703, 0.003487361633102501, 0.9004592977882515]}}, {"xyz": [-0.19710199534893047, -0.012532890189152351, 0.23155119271483282], "rgb": [39, 42, 151], "semantic_id": 3, "pcd_info": {"point_index": 626}, "mesh_info": {"face_index": 278, "face_uv": [0.025188470609853752, 0.18678947472973292, 0.7880220546604139]}}, {"xyz": [0.19946576708513303, -0.022750211129590747, -0.1629379757822922], "rgb": [234, 234, 245], "semantic_id": 4, "pcd_info": {"point_index": 1201}, "mesh_info": {"face_index": 1155, "face_uv": [0.057774718618586504, 0.03264541593334007, 0.9095798654480753]}}, {"xyz": [-0.20131528442146607, -0.02576734847877371, -0.1650810005924086], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 2121, "face_uv": [0.6667932354577899, 0.027046209624201855, 0.30616055491800914]}}, {"xyz": [0.30053873511920626, 0.08898226719086366, -0.15704800188541412], "rgb": [44, 38, 147], "semantic_id": 6, "pcd_info": {"point_index": 1244}, "mesh_info": {"face_index": 276, "face_uv": [0.13781618046873673, 0.06844549485927776, 0.7937383246719855]}}, {"xyz": [0.30418135111907263, 0.09340744918108412, 0.409514688891639], "rgb": [29, 26, 139], "semantic_id": 7, "pcd_info": {"point_index": 198}, "mesh_info": {"face_index": 401, "face_uv": [0.013780827838079638, 0.9443570023815969, 0.04186216978032381]}}, {"xyz": [-0.3044058005747023, 0.08547889312155799, -0.15704800188541412], "rgb": [29, 30, 151], "semantic_id": 8, "pcd_info": {"point_index": 371}, "mesh_info": {"face_index": 134, "face_uv": [0.043780236037053305, 0.13078605782951508, 0.8254337061334316]}}, {"xyz": [-0.29899361703761523, 0.09597827097939926, 0.40680046401844394], "rgb": [34, 31, 148], "semantic_id": 9, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 677, "face_uv": [0.0034327068729991675, 0.009642949091934213, 0.9869243440350659]}}, {"xyz": [0.22784238859346045, -0.2639720141887665, -0.11330013164330222], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1558}, "mesh_info": {"face_index": 823, "face_uv": [0.21603968262032547, 0.2707489818213658, 0.5132113355583088]}}, {"xyz": [0.2223175285799857, -0.2639720141887666, 0.36299613340242276], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1470}, "mesh_info": {"face_index": 831, "face_uv": [0.12884148544980703, 0.25795442767257265, 0.6132040868776207]}}, {"xyz": [-0.23652633313464466, -0.2639720141887665, 0.3497968965416729], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 2006}, "mesh_info": {"face_index": 897, "face_uv": [0.27212224270214436, 0.42614869523835347, 0.3017290620595021]}}, {"xyz": [-0.23101595170571232, -0.2639720141887665, -0.10603448214747613], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1867}, "mesh_info": {"face_index": 878, "face_uv": [0.12030664672167163, 0.44556367958262866, 0.43412967369569966]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6e12481d3158dd4e8f8c11a24c52ebb", "keypoints": [{"xyz": [0.21355353678051558, 0.3392054942021726, 0.1271165089292936], "rgb": [126, 31, 0], "semantic_id": 0, "pcd_info": {"point_index": 1755}, "mesh_info": {"face_index": 9304, "face_uv": [0.365728780409342, 0.0031635135317073086, 0.6311077060589511]}}, {"xyz": [-0.1300952127438902, 0.3341777401510394, 0.12258779799729058], "rgb": [126, 31, 0], "semantic_id": 1, "pcd_info": {"point_index": 242}, "mesh_info": {"face_index": 9284, "face_uv": [0.33303257773649536, 0.5321797840867267, 0.134787638176778]}}, {"xyz": [0.21542129405017646, 0.028579553505917343, 0.038912496988589895], "rgb": [126, 31, 0], "semantic_id": 2, "pcd_info": {"point_index": 181}, "mesh_info": {"face_index": 12093, "face_uv": [0.006795267220962635, 0.4726105916725431, 0.5205941411064946]}}, {"xyz": [-0.12165507645670406, 0.027928222878974562, 0.03625218041901024], "rgb": [125, 30, 0], "semantic_id": 3, "pcd_info": {"point_index": 1347}, "mesh_info": {"face_index": 12305, "face_uv": [0.6146816263971322, 0.2611895120519694, 0.12412886155088522]}}, {"xyz": [0.22767389759859827, 0.013465811560599006, -0.30271975114796423], "rgb": [126, 31, 0], "semantic_id": 4, "pcd_info": {"point_index": 1346}, "mesh_info": {"face_index": 7755, "face_uv": [0.20247817743104163, 0.40742622671363066, 0.39009559585532777]}}, {"xyz": [-0.13838410913447347, 0.00630269404103978, -0.3040386978513352], "rgb": [126, 31, 0], "semantic_id": 5, "pcd_info": {"point_index": 1770}, "mesh_info": {"face_index": 8903, "face_uv": [0.005118396190183432, 0.2735012246535747, 0.7213803791562419]}}, {"xyz": [0.23636316872505103, -0.3354249894618988, -0.2458511718013372], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1036}, "mesh_info": {"face_index": 21190, "face_uv": [0.5296165633362793, 0.4255967379369724, 0.044786698726748314]}}, {"xyz": [0.27016749541977014, -0.3354249894618989, 0.15254583873095395], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 12}, "mesh_info": {"face_index": 22371, "face_uv": [0.25894547120727224, 0.6040239778838208, 0.1370305509089074]}}, {"xyz": [-0.18506905182251646, -0.3354249894618989, 0.14702104255237355], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1638}, "mesh_info": {"face_index": 6191, "face_uv": [0.42356264503904056, 0.49485337629106807, 0.08158397866989171]}}, {"xyz": [-0.1444302112777985, -0.3354249894618988, -0.24696186542622844], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1973}, "mesh_info": {"face_index": 4902, "face_uv": [0.3229397700894844, 0.44754417690098797, 0.2295160530095277]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bfe3afaa774eab6e29e17f7efc5a2421", "keypoints": [{"xyz": [0.1536028473829592, 0.356109916825903, 0.19807465094976068], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1401}, "mesh_info": {"face_index": 45420, "face_uv": [0.06339638232293493, 0.1986976441708734, 0.7379059735061916]}}, {"xyz": [-0.15291182684862953, 0.35579943152461246, 0.19570013097314287], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1544}, "mesh_info": {"face_index": 45470, "face_uv": [0.47247117643230946, 0.04744404553121596, 0.4800847780364745]}}, {"xyz": [0.16532695430949107, 0.06633573801967352, 0.09656662235853164], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 744}, "mesh_info": {"face_index": 18007, "face_uv": [0.4626973557098161, 0.009746142249596385, 0.5275565020405866]}}, {"xyz": [-0.16581637015106898, 0.05672297991981101, 0.08372270593577058], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1888}, "mesh_info": {"face_index": 15216, "face_uv": [0.034307774362050826, 0.6923323301093741, 0.2733598955285724]}}, {"xyz": [0.15815012052504107, 0.04841625626436752, -0.2320192953691465], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1264}, "mesh_info": {"face_index": 30310, "face_uv": [0.2630271319770431, 0.12988674468659211, 0.607086123336363]}}, {"xyz": [-0.15484044227096697, 0.04838628652711163, -0.2444182481594298], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1149}, "mesh_info": {"face_index": 34956, "face_uv": [0.20770010657156235, 0.014903439327285793, 0.7773964541011523]}}, {"xyz": [0.19929384021650637, -0.3647119566472541, -0.26045474969152616], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 57}, "mesh_info": {"face_index": 58150, "face_uv": [0.20990096445610357, 0.30301491597734775, 0.4870841195665489]}}, {"xyz": [0.2166443159093333, -0.3729290068149569, 0.2032015993661792], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 471}, "mesh_info": {"face_index": 59061, "face_uv": [0.07721989350561478, 0.06955719449153742, 0.8532229120028484]}}, {"xyz": [-0.21539690373021708, -0.37292900681495667, 0.2078286538328752], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 222}, "mesh_info": {"face_index": 60353, "face_uv": [0.24054094653612454, 0.0797820593324535, 0.679676994131422]}}, {"xyz": [-0.19406281024303068, -0.3705716629113469, -0.26303986399239954], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 768}, "mesh_info": {"face_index": 61106, "face_uv": [0.3822516586008899, 0.0693998101207774, 0.5483485312783323]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8ab6783b1dfbf3a8a5d9ad16964840ab", "keypoints": [{"xyz": [0.19059434564895755, 0.309942990541458, 0.06797407285579565], "rgb": [214, 174, 124], "semantic_id": 0, "pcd_info": {"point_index": 1684}, "mesh_info": {"face_index": 778, "face_uv": [0.5820637435519744, 0.01247258491706584, 0.4054636715309593]}}, {"xyz": [-0.18906760494911815, 0.3099429905414579, 0.070214630816094], "rgb": [217, 177, 129], "semantic_id": 1, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 846, "face_uv": [0.48981813017551623, 0.013103271647739468, 0.4970785981767436]}}, {"xyz": [0.1793937974758653, -0.11864600330591224, 0.03084353856134825], "rgb": [218, 180, 131], "semantic_id": 2, "pcd_info": {"point_index": 1544}, "mesh_info": {"face_index": 25, "face_uv": [0.8678203868783277, 0.041219433376274574, 0.09096017974539951]}}, {"xyz": [-0.18303210067995637, -0.11864600330591224, 0.028521116125250545], "rgb": [222, 182, 133], "semantic_id": 3, "pcd_info": {"point_index": 1879}, "mesh_info": {"face_index": 26, "face_uv": [0.9024168920276711, 0.02859373907122877, 0.06898936890110186]}}, {"xyz": [0.1782211465306897, -0.12623394077817313, -0.2957170009613036], "rgb": [215, 174, 124], "semantic_id": 4, "pcd_info": {"point_index": 511}, "mesh_info": {"face_index": 215, "face_uv": [0.461636962705589, 0.5131255356158089, 0.0252375016786018]}}, {"xyz": [-0.1827607302483068, -0.12264414365934487, -0.2957170009613037], "rgb": [228, 190, 143], "semantic_id": 5, "pcd_info": {"point_index": 1017}, "mesh_info": {"face_index": 213, "face_uv": [0.733786117083883, 0.25653775485453034, 0.009676128061586704]}}, {"xyz": [0.18301582518823467, -0.5238580107688904, -0.2783831134452534], "rgb": [223, 185, 139], "semantic_id": 17, "pcd_info": {"point_index": 1395}, "mesh_info": {"face_index": 255, "face_uv": [0.09072436272366542, 0.4327506786388819, 0.47652495863745264]}}, {"xyz": [0.18038016931453682, -0.5238580107688904, 0.051304215301178006], "rgb": [223, 185, 139], "semantic_id": 18, "pcd_info": {"point_index": 997}, "mesh_info": {"face_index": 2145, "face_uv": [0.11395162451480927, 0.39399308617345374, 0.49205528931173703]}}, {"xyz": [-0.18458557831156236, -0.5238580107688903, 0.05160265002327882], "rgb": [222, 184, 139], "semantic_id": 19, "pcd_info": {"point_index": 1744}, "mesh_info": {"face_index": 2248, "face_uv": [0.4341940738414034, 0.5172897771448663, 0.04851614901373005]}}, {"xyz": [-0.18095578124855816, -0.5238580107688904, -0.273746581024755], "rgb": [223, 185, 140], "semantic_id": 20, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 2187, "face_uv": [0.03008461283986234, 0.5478525851100139, 0.42206280205012375]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "597cb92a5bfb580eed98cca8f0ccd5f7", "keypoints": [{"xyz": [0.3910724586712183, 0.23196064113746706, 0.08490051269634014], "rgb": [28, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 423}, "mesh_info": {"face_index": 3030, "face_uv": [0.3428579000379213, 0.024408159627624527, 0.6327339403344537]}}, {"xyz": [-0.3909968426863898, 0.23370373237340392, 0.08648572113432251], "rgb": [28, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 232}, "mesh_info": {"face_index": 5928, "face_uv": [0.6679674241530019, 0.3208702224314049, 0.011162353415592987]}}, {"xyz": [0.3930761953907688, -0.02163753245869371, 0.04379793634606999], "rgb": [28, 28, 28], "semantic_id": 2, "pcd_info": {"point_index": 1731}, "mesh_info": {"face_index": 4076, "face_uv": [0.30787903908282244, 0.43840233790989164, 0.2537186230072856]}}, {"xyz": [-0.3929341347655496, 0.004003097756601015, 0.02780732944253017], "rgb": [29, 29, 29], "semantic_id": 3, "pcd_info": {"point_index": 1303}, "mesh_info": {"face_index": 6072, "face_uv": [0.16705177621435466, 0.0984304513589819, 0.7345177724266636]}}, {"xyz": [0.3821997005326549, 0.015508189540298645, -0.14810677475215095], "rgb": [192, 109, 48], "semantic_id": 4, "pcd_info": {"point_index": 1443}, "mesh_info": {"face_index": 1284, "face_uv": [0.2560221678240722, 0.005550769666330829, 0.7384270625095973]}}, {"xyz": [-0.38637976175247024, 0.019698230979175557, -0.14729592377993317], "rgb": [200, 114, 55], "semantic_id": 5, "pcd_info": {"point_index": 698}, "mesh_info": {"face_index": 1283, "face_uv": [0.24096474871696882, 0.7575801563697921, 0.0014550949132401101]}}, {"xyz": [0.3995617327736948, -0.2221599966287613, -0.14452165543420667], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 598}, "mesh_info": {"face_index": 5195, "face_uv": [0.22612268928345985, 0.44184033619002083, 0.33203697452651926]}}, {"xyz": [0.394342132022515, -0.22215999662876107, 0.11272206442564857], "rgb": [28, 28, 28], "semantic_id": 18, "pcd_info": {"point_index": 302}, "mesh_info": {"face_index": 5394, "face_uv": [0.3536211829177861, 0.5675588250748966, 0.07881999200731629]}}, {"xyz": [-0.40342161870211335, -0.2221599966287615, 0.11628010458748388], "rgb": [29, 29, 29], "semantic_id": 19, "pcd_info": {"point_index": 1167}, "mesh_info": {"face_index": 8314, "face_uv": [0.3996745443686871, 0.37401365625531424, 0.22631179937599957]}}, {"xyz": [-0.3975878628933722, -0.2221599966287613, -0.15497776664241503], "rgb": [29, 29, 29], "semantic_id": 20, "pcd_info": {"point_index": 1842}, "mesh_info": {"face_index": 8163, "face_uv": [0.2579803820571633, 0.5037965715523753, 0.23822304639046132]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "511e6440fad9bfa81fc8b86678ea0c8b", "keypoints": [{"xyz": [0.1135468625789276, 0.20289563164951407, 0.07450043982455812], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 340}, "mesh_info": {"face_index": 11924, "face_uv": [0.07752239566098286, 0.01646543802663639, 0.9060121663124081]}}, {"xyz": [-0.1316129055172507, 0.20309845369822654, 0.07297879916677408], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 571}, "mesh_info": {"face_index": 11892, "face_uv": [0.37067667706430435, 0.07766708024179979, 0.5516562426938962]}}, {"xyz": [0.12215005477898125, -0.08529117549891863, -0.041310832650874096], "rgb": [0, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 497}, "mesh_info": {"face_index": 6578, "face_uv": [0.28877968121633657, 0.4704185017162032, 0.24080181706746084]}}, {"xyz": [-0.1127233390569604, -0.08756584390773925, -0.0317448111019325], "rgb": [0, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 642}, "mesh_info": {"face_index": 6117, "face_uv": [0.1818364905914289, 0.4506458094662103, 0.3675176999423614]}}, {"xyz": [0.10811899567679539, -0.10744307321182056, -0.31795619110443774], "rgb": [0, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1268}, "mesh_info": {"face_index": 6501, "face_uv": [0.2699232760544961, 0.11243140215782353, 0.6176453217876804]}}, {"xyz": [-0.10767733905195201, -0.11237629181843278, -0.32141662007749416], "rgb": [0, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 6493, "face_uv": [0.0704850600069912, 0.6656773624365234, 0.2638375775564873]}}, {"xyz": [0.16882396349713907, 0.048235715440313465, -0.17775514560160688], "rgb": [34, 46, 65], "semantic_id": 6, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 3136, "face_uv": [0.3161726388517248, 0.5171051732370057, 0.166722187911268]}}, {"xyz": [0.16983630934007052, 0.05582319645846345, -0.01656286951352226], "rgb": [35, 47, 66], "semantic_id": 7, "pcd_info": {"point_index": 1511}, "mesh_info": {"face_index": 3326, "face_uv": [0.10342073671175657, 0.55248332869767, 0.34409593459057464]}}, {"xyz": [-0.17509181389436035, 0.045602319884002984, -0.18067568944662604], "rgb": [34, 46, 65], "semantic_id": 8, "pcd_info": {"point_index": 1505}, "mesh_info": {"face_index": 11106, "face_uv": [0.1218074205727477, 0.5173139484082909, 0.36087863101896067]}}, {"xyz": [-0.1716150954893194, 0.056428446362367324, -0.0217397021442417], "rgb": [35, 47, 66], "semantic_id": 9, "pcd_info": {"point_index": 1831}, "mesh_info": {"face_index": 11464, "face_uv": [0.0306422248923834, 0.48238273626457556, 0.4869750388430419]}}, {"xyz": [0.15898792440807197, -0.40734305722899355, -0.1385554848498699], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 949}, "mesh_info": {"face_index": 5350, "face_uv": [0.17764125841267087, 0.7871589747577463, 0.03519976682958353]}}, {"xyz": [0.0019943866015634804, -0.4017260142756669, 0.03132453713987371], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 52}, "mesh_info": {"face_index": 4637, "face_uv": [0.11892090311610606, 0.24279731412103836, 0.638281782762833]}}, {"xyz": [-0.15704792393210376, -0.40620004410666155, -0.13165712078384684], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1929}, "mesh_info": {"face_index": 5035, "face_uv": [0.02864569121231813, 0.13827836419675968, 0.8330759445909213]}}, {"xyz": [0.006759521624459974, -0.40694097870454904, -0.2938539022809673], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 659}, "mesh_info": {"face_index": 3741, "face_uv": [0.7447499808644504, 0.20015415250495797, 0.05509586663059184]}}, {"xyz": [0.009088535966496336, -0.1572080354409089, -0.14064024440094558], "rgb": [109, 115, 134], "semantic_id": 15, "pcd_info": {"point_index": 1486}, "mesh_info": {"face_index": 8778, "face_uv": [0.3132558487599911, 0.24182172609866534, 0.4449224251413418]}}, {"xyz": [0.0038309315484122974, -0.32421600818634033, -0.13517188298369887], "rgb": [114, 114, 114], "semantic_id": 16, "pcd_info": {"point_index": 1211}, "mesh_info": {"face_index": 8982, "face_uv": [0.06505550699902386, 0.48226389237712264, 0.4526806006238535]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "d36ecfec3f3c18a9a28fdea8831e592e", "keypoints": [{"xyz": [0.1721423351111222, 0.3064341348543449, 0.07585588994876369], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1487}, "mesh_info": {"face_index": 160, "face_uv": [0.22331093919660427, 0.3657724214950844, 0.41091663930831146]}}, {"xyz": [-0.1758865908946688, 0.30002186583304735, 0.08197131067215124], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1909}, "mesh_info": {"face_index": 26, "face_uv": [0.5009039190106798, 0.16687447191026003, 0.33222160907905984]}}, {"xyz": [0.1759028466438789, -0.14124299585819244, 0.04046710368348255], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 711}, "mesh_info": {"face_index": 87, "face_uv": [0.008728125452607047, 0.023868374165257875, 0.967403500382135]}}, {"xyz": [-0.173126501856325, -0.14124299585819244, 0.03950461336258615], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 545}, "mesh_info": {"face_index": 88, "face_uv": [0.016482065392719823, 0.9727977949230883, 0.01072013968419204]}}, {"xyz": [0.16044243700400193, -0.14124299585819244, -0.2354451978420864], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1812}, "mesh_info": {"face_index": 88, "face_uv": [0.9480931280406363, 0.02043894014119932, 0.03146793181816434]}}, {"xyz": [-0.1629138488511487, -0.14124993111054462, -0.24134600162506104], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 161}, "mesh_info": {"face_index": 86, "face_uv": [0.9548117860941333, 0.00020660302493677533, 0.04498161088092991]}}, {"xyz": [0.16299537943790932, -0.45329898595809914, -0.22599607268421767], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 215, "face_uv": [0.21117649195195082, 0.3858317213383604, 0.4029917867096883]}}, {"xyz": [0.16590968202227352, -0.41351500153541565, 0.09273705159342288], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1385}, "mesh_info": {"face_index": 57, "face_uv": [0.32973865394539614, 0.3974223669279911, 0.27283897912661276]}}, {"xyz": [-0.1577217810469013, -0.4135150015354154, 0.09842005401159817], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1927}, "mesh_info": {"face_index": 74, "face_uv": [0.5355475498465344, 0.4597311994614695, 0.004721250691995615]}}, {"xyz": [-0.15820777102076053, -0.4135150015354154, -0.22269140320401404], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 970}, "mesh_info": {"face_index": 192, "face_uv": [0.054434823116870645, 0.4688970123188716, 0.47666816456425726]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cf391bbecf5926ecfe51dc4aedc63243", "keypoints": [{"xyz": [0.12137357751271255, 0.5954920053482056, 0.10211902111436834], "rgb": [188, 88, 33], "semantic_id": 0, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 1, "face_uv": [0.03638617165731602, 0.4272902389096583, 0.5363235894330257]}}, {"xyz": [-0.146718831554539, 0.5954920053482056, 0.10340597669346388], "rgb": [180, 82, 29], "semantic_id": 1, "pcd_info": {"point_index": 1480}, "mesh_info": {"face_index": 0, "face_uv": [0.030440084403878496, 0.5092472765578107, 0.4603126390383108]}}, {"xyz": [0.12089170745083146, 0.18937599658966042, 0.08815336603432089], "rgb": [184, 85, 33], "semantic_id": 2, "pcd_info": {"point_index": 1971}, "mesh_info": {"face_index": 83, "face_uv": [0.019851681939607232, 0.5392421017953581, 0.44090621626503346]}}, {"xyz": [-0.14509223878719502, 0.18937599658966064, 0.08531256908950063], "rgb": [163, 67, 29], "semantic_id": 3, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 79, "face_uv": [0.5114280359293096, 0.030490892701398733, 0.45808107136929166]}}, {"xyz": [0.12541193233892345, 0.18937599658966042, -0.16265068777964733], "rgb": [189, 94, 38], "semantic_id": 4, "pcd_info": {"point_index": 1960}, "mesh_info": {"face_index": 81, "face_uv": [0.9591504914880137, 0.02264269443825204, 0.018206814073733087]}}, {"xyz": [-0.14478483996990787, 0.18937599658966064, -0.16268768241958248], "rgb": [175, 84, 31], "semantic_id": 5, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 80, "face_uv": [0.9249909395405429, 0.04071095803514018, 0.03429810242431693]}}, {"xyz": [0.12478092685723512, -0.3171060802271046, -0.1605744318669313], "rgb": [173, 77, 35], "semantic_id": 17, "pcd_info": {"point_index": 1366}, "mesh_info": {"face_index": 117, "face_uv": [0.36585008736407876, 0.35978488108108164, 0.27436503155483977]}}, {"xyz": [0.12413443812370167, -0.3171084392988157, 0.10282659441760389], "rgb": [190, 96, 43], "semantic_id": 18, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 108, "face_uv": [0.39772979389396435, 0.537817834327978, 0.06445237177805783]}}, {"xyz": [-0.14491021297264556, -0.31809734933232137, 0.10471333026066311], "rgb": [193, 93, 38], "semantic_id": 19, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 97, "face_uv": [0.49796405072250116, 0.4447789243593331, 0.05725702491816624]}}, {"xyz": [-0.144077481696058, -0.31809427026647885, -0.1639289897234783], "rgb": [187, 91, 39], "semantic_id": 20, "pcd_info": {"point_index": 1934}, "mesh_info": {"face_index": 121, "face_uv": [0.45690033632369187, 0.5251969752487244, 0.01790268842758336]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e89689500a1e3b95fa935eb36a2e89fe", "keypoints": [{"xyz": [0.21950973843147656, 0.048350636090151, 0.06150347742316531], "rgb": [88, 63, 48], "semantic_id": 2, "pcd_info": {"point_index": 474}, "mesh_info": {"face_index": 1440, "face_uv": [0.2311560539271305, 0.16755319035159047, 0.6012907557212768]}}, {"xyz": [-0.2015389699947321, 0.039072406489263134, 0.05846894739268116], "rgb": [75, 50, 40], "semantic_id": 3, "pcd_info": {"point_index": 1061}, "mesh_info": {"face_index": 2354, "face_uv": [0.05688557800840548, 0.3653787905918904, 0.5777356313997016]}}, {"xyz": [0.22769963988717987, 0.02607394566452076, -0.26632877953414713], "rgb": [88, 66, 51], "semantic_id": 4, "pcd_info": {"point_index": 1939}, "mesh_info": {"face_index": 89648, "face_uv": [0.1065702422149831, 0.01471705543670334, 0.8787127023483138]}}, {"xyz": [-0.23017692310030344, 0.027171867531515126, -0.2710284315787794], "rgb": [103, 78, 60], "semantic_id": 5, "pcd_info": {"point_index": 486}, "mesh_info": {"face_index": 22422, "face_uv": [0.724320694167158, 0.07074268531738254, 0.20493662051545966]}}, {"xyz": [0.30322296866999365, 0.17063026744816434, -0.2746536066666626], "rgb": [76, 55, 37], "semantic_id": 6, "pcd_info": {"point_index": 1607}, "mesh_info": {"face_index": 60327, "face_uv": [0.16085198709678705, 0.7184117548278431, 0.12073625807536997]}}, {"xyz": [0.3062850433961544, 0.18074367016483261, 0.26358008353268564], "rgb": [88, 64, 47], "semantic_id": 7, "pcd_info": {"point_index": 866}, "mesh_info": {"face_index": 97608, "face_uv": [0.7007981764067082, 0.25859772173307, 0.04060410186022166]}}, {"xyz": [-0.3047507743659854, 0.1751424771186436, -0.2714609103307587], "rgb": [65, 39, 26], "semantic_id": 8, "pcd_info": {"point_index": 2040}, "mesh_info": {"face_index": 13691, "face_uv": [0.38233702523533775, 0.19963844897566907, 0.4180245257889937]}}, {"xyz": [-0.3085737480115982, 0.17972850992032652, 0.2628142659977752], "rgb": [50, 24, 10], "semantic_id": 9, "pcd_info": {"point_index": 401}, "mesh_info": {"face_index": 95109, "face_uv": [0.06060296615259963, 0.13493357837944867, 0.8044634554679517]}}, {"xyz": [0.2856822324510349, -0.23255999386310577, -0.24546734060430386], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1768}, "mesh_info": {"face_index": 116155, "face_uv": [0.05342282666191628, 0.05449956199783174, 0.8920776113402519]}}, {"xyz": [0.28440850800832573, -0.23255999386310577, 0.2419288722088791], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 822}, "mesh_info": {"face_index": 116260, "face_uv": [0.7359966934661748, 0.12384861400044492, 0.14015469253338028]}}, {"xyz": [-0.2851002464375615, -0.23255999386310577, 0.23962252610877322], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1225}, "mesh_info": {"face_index": 116469, "face_uv": [0.07087318913895144, 0.817787996026349, 0.11133881483469953]}}, {"xyz": [-0.2820235176135205, -0.23255999386310577, -0.24341993770360976], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1068}, "mesh_info": {"face_index": 116339, "face_uv": [0.7449601994075061, 0.10631024813899664, 0.14872955245349714]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 6]}, {"kp_indexes": [5, 7]}, {"kp_indexes": [8, 11]}, {"kp_indexes": [9, 10]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9b359e42a5bc98572085b87de8f7581b", "keypoints": [{"xyz": [0.12882137200962562, 0.3967803225344231, 0.08924027839380833], "rgb": [151, 97, 49], "semantic_id": 0, "pcd_info": {"point_index": 923}, "mesh_info": {"face_index": 3522, "face_uv": [0.05470130564553443, 0.6371631634209315, 0.3081355309335344]}}, {"xyz": [-0.12256433878975997, 0.3986609876155853, 0.09829308632249101], "rgb": [143, 89, 32], "semantic_id": 1, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 3518, "face_uv": [0.9203011320677087, 0.0030554585190208355, 0.07664340941327052]}}, {"xyz": [0.12741182338168866, -0.05694799870252609, 0.005015771174021744], "rgb": [133, 66, 21], "semantic_id": 2, "pcd_info": {"point_index": 1061}, "mesh_info": {"face_index": 0, "face_uv": [0.03895539344622685, 0.027483008895507872, 0.9335615976582652]}}, {"xyz": [-0.12895524237247613, -0.05694799870252609, 0.005665888771653083], "rgb": [151, 96, 40], "semantic_id": 3, "pcd_info": {"point_index": 828}, "mesh_info": {"face_index": 2, "face_uv": [0.020723453489575622, 0.015498538844973101, 0.9637780076654513]}}, {"xyz": [0.12126092544386718, -0.05694799870252609, -0.21197672446160015], "rgb": [122, 65, 20], "semantic_id": 4, "pcd_info": {"point_index": 1619}, "mesh_info": {"face_index": 2, "face_uv": [0.0017385396732855166, 0.9495556844048832, 0.04870577592183125]}}, {"xyz": [-0.11981047381231055, -0.05694799870252609, -0.21150362808405848], "rgb": [136, 80, 36], "semantic_id": 5, "pcd_info": {"point_index": 77}, "mesh_info": {"face_index": 2, "face_uv": [0.8996691368315777, 0.0496359668643481, 0.050694896304074116]}}, {"xyz": [0.13760205339354523, -0.4927150011062622, -0.21591836193062824], "rgb": [151, 94, 42], "semantic_id": 17, "pcd_info": {"point_index": 1202}, "mesh_info": {"face_index": 2680, "face_uv": [0.48840707094891156, 0.21570607134854963, 0.2958868577025388]}}, {"xyz": [0.1354737711429451, -0.4920346836717222, 0.018118393905458607], "rgb": [140, 85, 29], "semantic_id": 18, "pcd_info": {"point_index": 334}, "mesh_info": {"face_index": 2432, "face_uv": [0.5289180479706842, 0.19229792185803296, 0.2787840301712827]}}, {"xyz": [-0.13162586345981406, -0.4919929115114525, 0.021124758949167863], "rgb": [141, 85, 30], "semantic_id": 19, "pcd_info": {"point_index": 1076}, "mesh_info": {"face_index": 1097, "face_uv": [0.43103328722735634, 0.40690621791150233, 0.1620604948611413]}}, {"xyz": [-0.13631772262099143, -0.492715001106262, -0.21583359638132218], "rgb": [152, 89, 39], "semantic_id": 20, "pcd_info": {"point_index": 973}, "mesh_info": {"face_index": 1334, "face_uv": [0.11839053487407672, 0.4790175136410281, 0.4025919514848948]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3b2710b509c3df0ea5e8cf3aa1686d66", "keypoints": [{"xyz": [0.16886917989296799, 0.20843073703360893, 0.24383388676258277], "rgb": [254, 203, 203], "semantic_id": 0, "pcd_info": {"point_index": 129}, "mesh_info": {"face_index": 1338, "face_uv": [0.5918891673817329, 0.04971906382664086, 0.3583917687916025]}}, {"xyz": [-0.1753572916024993, 0.2128501106234888, 0.23697035262927935], "rgb": [254, 203, 203], "semantic_id": 1, "pcd_info": {"point_index": 687}, "mesh_info": {"face_index": 1198, "face_uv": [0.9405962674299472, 0.03493048761603631, 0.02447324495401202]}}, {"xyz": [0.13316172550449587, -0.03254423724818656, 0.16365342360989332], "rgb": [254, 203, 203], "semantic_id": 2, "pcd_info": {"point_index": 1767}, "mesh_info": {"face_index": 886, "face_uv": [0.48096970445564874, 0.15722667739963248, 0.3618036181447185]}}, {"xyz": [-0.1537204728655875, -0.02808333987096856, 0.14322871841199014], "rgb": [254, 203, 203], "semantic_id": 3, "pcd_info": {"point_index": 1828}, "mesh_info": {"face_index": 1053, "face_uv": [0.22986435053612722, 0.4331791222996821, 0.33695652716418956]}}, {"xyz": [0.17671485606221451, -0.017509000375867112, -0.1630075473147199], "rgb": [255, 204, 204], "semantic_id": 4, "pcd_info": {"point_index": 1134}, "mesh_info": {"face_index": 940, "face_uv": [0.8756084882064105, 0.06091417826317086, 0.06347733353043145]}}, {"xyz": [-0.1441542916542762, -0.017509000375866668, -0.19164349952219117], "rgb": [254, 203, 203], "semantic_id": 5, "pcd_info": {"point_index": 1399}, "mesh_info": {"face_index": 940, "face_uv": [0.03703882317258095, 0.9346263836807073, 0.028334793146698962]}}, {"xyz": [0.24568593008237205, 0.11397472480053938, -0.16058400796878702], "rgb": [255, 204, 204], "semantic_id": 6, "pcd_info": {"point_index": 1385}, "mesh_info": {"face_index": 698, "face_uv": [0.05863685398641698, 0.3399121549861914, 0.6014509910273935]}}, {"xyz": [0.2481560155697915, 0.12329787931125313, 0.03447237921572066], "rgb": [255, 204, 204], "semantic_id": 7, "pcd_info": {"point_index": 1955}, "mesh_info": {"face_index": 796, "face_uv": [0.3733228122022034, 0.47812430598055505, 0.1485528818172467]}}, {"xyz": [-0.20139530155289606, 0.08174583309169603, -0.20769116416696776], "rgb": [255, 204, 204], "semantic_id": 8, "pcd_info": {"point_index": 1236}, "mesh_info": {"face_index": 1427, "face_uv": [0.37257501030799706, 0.4164557777238398, 0.21096921196817556]}}, {"xyz": [-0.24866381753689873, 0.12512803476411216, -0.008577764079016559], "rgb": [254, 203, 203], "semantic_id": 9, "pcd_info": {"point_index": 1664}, "mesh_info": {"face_index": 1315, "face_uv": [0.3425913607050288, 0.24358942301674555, 0.4138192162782185]}}, {"xyz": [0.14809410904547288, -0.42397499084472656, -0.2734788946702435], "rgb": [209, 179, 140], "semantic_id": 17, "pcd_info": {"point_index": 116}, "mesh_info": {"face_index": 129, "face_uv": [0.028216831557795967, 0.34899553981393255, 0.6227876286282714]}}, {"xyz": [0.15048245042924951, -0.4239749908447268, 0.22961664041186758], "rgb": [209, 179, 140], "semantic_id": 18, "pcd_info": {"point_index": 1790}, "mesh_info": {"face_index": 289, "face_uv": [0.06095437266654429, 0.47624496739803585, 0.4628006599354204]}}, {"xyz": [-0.1430109483090488, -0.42397499084472656, 0.23008326583446415], "rgb": [209, 179, 140], "semantic_id": 19, "pcd_info": {"point_index": 1886}, "mesh_info": {"face_index": 624, "face_uv": [0.18358532460444862, 0.5366345647572921, 0.27978011063825925]}}, {"xyz": [-0.1451669677554568, -0.42397499084472656, -0.26686618618725283], "rgb": [209, 179, 140], "semantic_id": 20, "pcd_info": {"point_index": 927}, "mesh_info": {"face_index": 472, "face_uv": [0.2608481546929631, 0.5315157206417698, 0.20763612466526718]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a3e3eee0669bec82c9f016d57db96408", "keypoints": [{"xyz": [0.18026472081384354, 0.3884029984474182, 0.11582023595257537], "rgb": [210, 144, 28], "semantic_id": 0, "pcd_info": {"point_index": 101}, "mesh_info": {"face_index": 2714, "face_uv": [0.01892909279059738, 0.447047296227612, 0.5340236109817906]}}, {"xyz": [-0.18292869312349433, 0.3884029984474182, 0.1161425104764964], "rgb": [206, 138, 24], "semantic_id": 1, "pcd_info": {"point_index": 1144}, "mesh_info": {"face_index": 2856, "face_uv": [0.11647018183745111, 0.35589319298289135, 0.5276366251796576]}}, {"xyz": [0.1855355973425569, -0.04048699885606766, 0.03454376420723004], "rgb": [217, 146, 31], "semantic_id": 2, "pcd_info": {"point_index": 523}, "mesh_info": {"face_index": 6985, "face_uv": [0.032181954669845116, 0.08636811367815236, 0.8814499316520025]}}, {"xyz": [-0.18396172437873987, -0.04048699885606766, 0.03510680311426817], "rgb": [212, 142, 30], "semantic_id": 3, "pcd_info": {"point_index": 929}, "mesh_info": {"face_index": 7784, "face_uv": [0.8955505810201003, 0.07914425254318393, 0.025305166436715702]}}, {"xyz": [0.19357947449684448, -0.04048699885606766, -0.22436663337130625], "rgb": [212, 143, 31], "semantic_id": 4, "pcd_info": {"point_index": 227}, "mesh_info": {"face_index": 11966, "face_uv": [0.07312316283347418, 0.5472123442360183, 0.37966449293050764]}}, {"xyz": [-0.18964401962164487, -0.04048699885606766, -0.22555373056461964], "rgb": [212, 146, 33], "semantic_id": 5, "pcd_info": {"point_index": 220}, "mesh_info": {"face_index": 13508, "face_uv": [0.05048606739263986, 0.3710041268619997, 0.5785098057453604]}}, {"xyz": [0.17753151325427566, -0.41891899704933155, -0.2093417143609495], "rgb": [219, 150, 31], "semantic_id": 17, "pcd_info": {"point_index": 1389}, "mesh_info": {"face_index": 23942, "face_uv": [0.041396065767758346, 0.4780147627497143, 0.4805891714825271]}}, {"xyz": [0.1784835457048539, -0.41891899704933167, 0.11703884313451411], "rgb": [204, 133, 17], "semantic_id": 18, "pcd_info": {"point_index": 1705}, "mesh_info": {"face_index": 11330, "face_uv": [0.019745378710670038, 0.5064775084733019, 0.47377711281602813]}}, {"xyz": [-0.17136708802735573, -0.4189189970493318, 0.11850044350105075], "rgb": [214, 141, 24], "semantic_id": 19, "pcd_info": {"point_index": 1134}, "mesh_info": {"face_index": 7722, "face_uv": [0.39587466054228615, 0.5659373719275294, 0.038187967530184705]}}, {"xyz": [-0.17006408720203095, -0.41891899704933155, -0.21050364324146079], "rgb": [213, 141, 24], "semantic_id": 20, "pcd_info": {"point_index": 2040}, "mesh_info": {"face_index": 23874, "face_uv": [0.38782424607618515, 0.6095342134293845, 0.0026415404944301725]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "51d67f7174881679f256a8c3e3396495", "keypoints": [{"xyz": [0.20802354067661985, 0.08405070545641513, -0.01759300008416176], "rgb": [180, 107, 42], "semantic_id": 0, "pcd_info": {"point_index": 383}, "mesh_info": {"face_index": 49, "face_uv": [0.8437293359211301, 0.0010638822461351966, 0.1552067818327348]}}, {"xyz": [-0.20188875778158122, 0.08704140306186492, -0.017593000084161314], "rgb": [180, 108, 45], "semantic_id": 1, "pcd_info": {"point_index": 579}, "mesh_info": {"face_index": 91, "face_uv": [0.6406383435221005, 0.07465751206797532, 0.28470414440989905]}}, {"xyz": [0.20579467214401048, -0.19047379459729818, -0.01759300008416176], "rgb": [181, 107, 43], "semantic_id": 2, "pcd_info": {"point_index": 492}, "mesh_info": {"face_index": 25, "face_uv": [0.05081559387855715, 0.947171648522335, 0.0020127575991077517]}}, {"xyz": [-0.2066483190531721, -0.18874847666860084, -0.01759300008416176], "rgb": [183, 104, 48], "semantic_id": 3, "pcd_info": {"point_index": 1060}, "mesh_info": {"face_index": 50, "face_uv": [0.06301991899399807, 0.9327939623005814, 0.004186118705420536]}}, {"xyz": [0.2043062085863722, -0.19321900606155396, -0.36534323020458914], "rgb": [172, 102, 43], "semantic_id": 4, "pcd_info": {"point_index": 1364}, "mesh_info": {"face_index": 272, "face_uv": [0.0006345182729854122, 0.9856223288239337, 0.013743152903081014]}}, {"xyz": [-0.20262461255882314, -0.19321900606155418, -0.3643566756704002], "rgb": [181, 111, 49], "semantic_id": 5, "pcd_info": {"point_index": 2004}, "mesh_info": {"face_index": 22, "face_uv": [0.0165411270813922, 0.020443889722010517, 0.9630149831965984]}}, {"xyz": [0.20550037640327679, -0.5332000255584719, -0.3646338197087051], "rgb": [174, 97, 43], "semantic_id": 17, "pcd_info": {"point_index": 1365}, "mesh_info": {"face_index": 2, "face_uv": [0.06552554061149217, 0.06222920327129715, 0.8722452561172112]}}, {"xyz": [0.2035844584551643, -0.5403259992599487, 0.06619642918838681], "rgb": [180, 105, 40], "semantic_id": 18, "pcd_info": {"point_index": 31}, "mesh_info": {"face_index": 59, "face_uv": [0.040157743939246905, 0.904584731415735, 0.055257524645018125]}}, {"xyz": [-0.2045823366809052, -0.5408359766006472, 0.062214185393389965], "rgb": [175, 99, 44], "semantic_id": 19, "pcd_info": {"point_index": 1446}, "mesh_info": {"face_index": 108, "face_uv": [0.08577597885931712, 0.09437792075307964, 0.8198461003876036]}}, {"xyz": [-0.2053524753479523, -0.5251179933547974, -0.3612484162094193], "rgb": [171, 100, 35], "semantic_id": 20, "pcd_info": {"point_index": 1067}, "mesh_info": {"face_index": 306, "face_uv": [0.03719123543624004, 0.0682663937344258, 0.8945423708293342]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4e358c2dc0513971f98c0761af40e04", "keypoints": [{"xyz": [0.17705935918685214, 0.30557350870925126, 0.14703073506476894], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1748}, "mesh_info": {"face_index": 9093, "face_uv": [0.02915014978193681, 0.4831924954601745, 0.4876573547578891]}}, {"xyz": [-0.16636687289915825, 0.3159848075299345, 0.16236295206543033], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1138}, "mesh_info": {"face_index": 7029, "face_uv": [0.09659065185412738, 0.8623100943531822, 0.041099253792690756]}}, {"xyz": [0.15831010790422317, -0.01290084933652702, 0.06741025716658579], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1404}, "mesh_info": {"face_index": 11353, "face_uv": [0.40814574104494444, 0.4759215163736533, 0.1159327425814016]}}, {"xyz": [-0.16991967801832963, -0.01033591496120767, 0.06897858933164196], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1106}, "mesh_info": {"face_index": 12084, "face_uv": [0.43254153540307866, 0.4973285194970439, 0.07012994509987258]}}, {"xyz": [0.18706103763354484, -0.01586669046444933, -0.251706454129142], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1991}, "mesh_info": {"face_index": 12284, "face_uv": [0.014389678113371334, 0.7768169031253395, 0.2087934187613283]}}, {"xyz": [-0.19210280288917725, -0.017100988419146868, -0.2507724085893263], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 34}, "mesh_info": {"face_index": 13666, "face_uv": [0.855581376559462, 0.01456195590830559, 0.1298566675322328]}}, {"xyz": [0.2383473852421138, 0.11112486317412062, -0.15225344269409952], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 4538, "face_uv": [0.6707078362232783, 0.01088579850077968, 0.3184063652759423]}}, {"xyz": [0.2226110338922231, 0.11679185374514356, 0.05207101944977671], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1704}, "mesh_info": {"face_index": 4834, "face_uv": [0.005476942348528021, 0.44907904378108854, 0.5454440138703839]}}, {"xyz": [-0.22991021522297234, 0.11151325100984577, -0.1500290360122527], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1270}, "mesh_info": {"face_index": 604, "face_uv": [0.2009619051759227, 0.2287116983847738, 0.5703263964393048]}}, {"xyz": [-0.21307256006970277, 0.11962461561519344, 0.04034230686732393], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 556}, "mesh_info": {"face_index": 820, "face_uv": [0.1855452550714478, 0.28695951111522755, 0.5274952338133249]}}, {"xyz": [0.1773825818486935, -0.3558503083405622, -0.25069141559991326], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1444}, "mesh_info": {"face_index": 3488, "face_uv": [0.06554764601796641, 0.7255899272451878, 0.208862426736846]}}, {"xyz": [0.1984955534603976, -0.3535568625663963, 0.22059199181863887], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 653}, "mesh_info": {"face_index": 4024, "face_uv": [0.07361850067369023, 0.09722378154165291, 0.8291577177846571]}}, {"xyz": [-0.21153915978580273, -0.35569939777230253, 0.22357091928202766], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 132}, "mesh_info": {"face_index": 2550, "face_uv": [0.2945612903459798, 0.12673371162282177, 0.5787049980311999]}}, {"xyz": [-0.1829534576623859, -0.3532890738708566, -0.2520249574690677], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 986, "face_uv": [0.08860065911505619, 0.3049798908576153, 0.6064194500273267]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a838d73a1ae66934b161f36d4e309050", "keypoints": [{"xyz": [0.20432037382687843, 0.29357620811968876, 0.2903852659617402], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 3951, "face_uv": [0.1756341182110247, 0.08340880359267631, 0.7409570781962993]}}, {"xyz": [-0.20169981951432392, 0.29554906421150196, 0.2892041273099617], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 531}, "mesh_info": {"face_index": 4072, "face_uv": [0.9020690278081142, 0.08226111664236059, 0.01566985554952534]}}, {"xyz": [0.1925414859083739, -0.03835219222780473, 0.08451804052830592], "rgb": [193, 77, 61], "semantic_id": 2, "pcd_info": {"point_index": 408}, "mesh_info": {"face_index": 1478, "face_uv": [0.6924989651330605, 0.08393147974065876, 0.2235695551262834]}}, {"xyz": [-0.18242123762427975, -0.031448290340125196, 0.06811313040012523], "rgb": [193, 77, 61], "semantic_id": 3, "pcd_info": {"point_index": 1377}, "mesh_info": {"face_index": 520, "face_uv": [0.05213540868156954, 0.012917928465771332, 0.9349466628526647]}}, {"xyz": [0.20089086833709519, -0.06868252782105144, -0.32727991038984683], "rgb": [192, 77, 60], "semantic_id": 4, "pcd_info": {"point_index": 1429}, "mesh_info": {"face_index": 1835, "face_uv": [0.16930500731187387, 0.07664880153954562, 0.7540461911485804]}}, {"xyz": [-0.19674910689224673, -0.07568882495811236, -0.329182549141643], "rgb": [193, 77, 61], "semantic_id": 5, "pcd_info": {"point_index": 373}, "mesh_info": {"face_index": 1924, "face_uv": [0.462277738686626, 0.3350750406631999, 0.20264722065017432]}}, {"xyz": [0.21160070753116267, -0.2871039018392705, -0.2984313541649681], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 682}, "mesh_info": {"face_index": 2532, "face_uv": [0.25061300889641736, 0.7392903488962158, 0.01009664220736719]}}, {"xyz": [0.20036533052505648, -0.326985391236583, 0.16237138034228826], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 940}, "mesh_info": {"face_index": 3008, "face_uv": [0.35066612144478154, 0.35531031417231046, 0.294023564382909]}}, {"xyz": [-0.19468997610408653, -0.32675154837892006, 0.1660623486249868], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 325}, "mesh_info": {"face_index": 3138, "face_uv": [0.2174064147933143, 0.5636148330749374, 0.21897875213174853]}}, {"xyz": [-0.2024983638760587, -0.2941533083074568, -0.2910944789771388], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1782}, "mesh_info": {"face_index": 880, "face_uv": [0.11612936054975631, 0.3694722306553902, 0.5143984087948544]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "77eb55272e3c00f2cb774aa5a7f9653", "keypoints": [{"xyz": [0.2055432264690528, 0.36939701437950134, 0.13993467003646753], "rgb": [174, 101, 36], "semantic_id": 0, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 331, "face_uv": [0.12095393928578421, 0.3618984819110433, 0.5171475788031725]}}, {"xyz": [-0.20399953095816992, 0.36939701437950134, 0.14196943720824504], "rgb": [175, 102, 37], "semantic_id": 1, "pcd_info": {"point_index": 1725}, "mesh_info": {"face_index": 368, "face_uv": [0.3196528308617131, 0.5696944804508193, 0.11065268868746765]}}, {"xyz": [0.1952751436960511, -0.06585799902677558, 0.09558563075973942], "rgb": [179, 107, 40], "semantic_id": 2, "pcd_info": {"point_index": 1407}, "mesh_info": {"face_index": 55, "face_uv": [0.5338423762500711, 0.010960808712244238, 0.45519681503768816]}}, {"xyz": [-0.19951140816806034, -0.06585799902677558, 0.0923576573488813], "rgb": [184, 116, 53], "semantic_id": 3, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 82, "face_uv": [0.2615341902530814, 0.02000422032785826, 0.7184615894190637]}}, {"xyz": [0.20620687283426173, -0.07386751826675281, -0.28718900680542003], "rgb": [176, 102, 37], "semantic_id": 4, "pcd_info": {"point_index": 1998}, "mesh_info": {"face_index": 411, "face_uv": [0.014219091312757679, 0.0986427468737326, 0.8871381618135101]}}, {"xyz": [-0.20109722684160122, -0.06685193103910697, -0.28718900680542003], "rgb": [176, 105, 41], "semantic_id": 5, "pcd_info": {"point_index": 1447}, "mesh_info": {"face_index": 357, "face_uv": [0.03341509806152448, 0.7917777875747027, 0.17480711436377316]}}, {"xyz": [0.18964346638898683, -0.4228000044822694, -0.2730578887431684], "rgb": [186, 115, 52], "semantic_id": 17, "pcd_info": {"point_index": 1987}, "mesh_info": {"face_index": 521, "face_uv": [0.34451046306925603, 0.47507520973210826, 0.18041432719863595]}}, {"xyz": [0.19098394628043963, -0.4228000044822694, 0.11612822345411294], "rgb": [176, 103, 40], "semantic_id": 18, "pcd_info": {"point_index": 1840}, "mesh_info": {"face_index": 385, "face_uv": [0.38957618835696756, 0.5590929925429934, 0.05133081910003926]}}, {"xyz": [-0.19346263893033191, -0.4228000044822693, 0.11707263320128478], "rgb": [178, 103, 38], "semantic_id": 19, "pcd_info": {"point_index": 711}, "mesh_info": {"face_index": 295, "face_uv": [0.05572462763768661, 0.4091568032976908, 0.5351185690646226]}}, {"xyz": [-0.19043315100754102, -0.4228000044822693, -0.268376749253354], "rgb": [187, 111, 49], "semantic_id": 20, "pcd_info": {"point_index": 1742}, "mesh_info": {"face_index": 572, "face_uv": [0.1991774336323257, 0.3675491802763882, 0.4332733860912861]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "65da0b239837b0f3f3ee5e8ea028d6", "keypoints": [{"xyz": [0.16176404709932402, 0.39015400409698475, 0.11107351071301569], "rgb": [181, 108, 48], "semantic_id": 0, "pcd_info": {"point_index": 376}, "mesh_info": {"face_index": 999, "face_uv": [0.14312622462465557, 0.6316418853196218, 0.22523189005572236]}}, {"xyz": [-0.16335799668127166, 0.39015400409698486, 0.10391826638996567], "rgb": [175, 100, 42], "semantic_id": 1, "pcd_info": {"point_index": 810}, "mesh_info": {"face_index": 1084, "face_uv": [0.021157823884264876, 0.01182974530919045, 0.9670124308065446]}}, {"xyz": [0.1273371981149945, 0.015983201966416782, 0.062226802124556224], "rgb": [184, 113, 53], "semantic_id": 2, "pcd_info": {"point_index": 1115}, "mesh_info": {"face_index": 1435, "face_uv": [0.02835745763714223, 0.14406297197764947, 0.8275795703852094]}}, {"xyz": [-0.1271578858759959, 0.00506300013512373, 0.07848514638061155], "rgb": [176, 105, 43], "semantic_id": 3, "pcd_info": {"point_index": 798}, "mesh_info": {"face_index": 851, "face_uv": [0.5274116760823309, 0.046129178134491675, 0.42645914578317756]}}, {"xyz": [0.18560130742108835, 0.00506300013512373, -0.2830369548788634], "rgb": [179, 110, 49], "semantic_id": 4, "pcd_info": {"point_index": 795}, "mesh_info": {"face_index": 1192, "face_uv": [0.005078097470973486, 0.8875530344512225, 0.10736886807780396]}}, {"xyz": [-0.19317991348725416, -0.004043164399768706, -0.2816833551490815], "rgb": [178, 107, 48], "semantic_id": 5, "pcd_info": {"point_index": 1738}, "mesh_info": {"face_index": 756, "face_uv": [0.10232101163885987, 0.47151279445578664, 0.42616619390535126]}}, {"xyz": [0.1358786616015153, -0.3439269959926605, -0.236635907587175], "rgb": [178, 108, 46], "semantic_id": 17, "pcd_info": {"point_index": 155}, "mesh_info": {"face_index": 16, "face_uv": [0.45689916941445885, 0.5370997622318938, 0.006001068353647343]}}, {"xyz": [0.1375739425108361, -0.3439269959926605, 0.04460872393667453], "rgb": [177, 107, 44], "semantic_id": 18, "pcd_info": {"point_index": 1432}, "mesh_info": {"face_index": 510, "face_uv": [0.46883131403992556, 0.33108825386412466, 0.20008043209594975]}}, {"xyz": [-0.14408993467880366, -0.3439269959926605, 0.041635731062287934], "rgb": [178, 107, 45], "semantic_id": 19, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 345, "face_uv": [0.5445941296027141, 0.43062265775910036, 0.02478321263818548]}}, {"xyz": [-0.14267539012875036, -0.34392699599266063, -0.2377988260996466], "rgb": [179, 108, 46], "semantic_id": 20, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 180, "face_uv": [0.49723427181354707, 0.5018354946102922, 0.000930233576161122]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b8c678c49e40ee5307776da88d1350f", "keypoints": [{"xyz": [0.19852398582720782, 0.3089521812915925, 0.23695309412783125], "rgb": [57, 117, 103], "semantic_id": 0, "pcd_info": {"point_index": 701}, "mesh_info": {"face_index": 3626, "face_uv": [0.602148820366219, 0.14408038910489232, 0.25377079052888857]}}, {"xyz": [-0.18379734007753898, 0.3168704397634763, 0.24309195623912208], "rgb": [61, 120, 101], "semantic_id": 1, "pcd_info": {"point_index": 1939}, "mesh_info": {"face_index": 27704, "face_uv": [0.2822067765017456, 0.6538533165922633, 0.0639399069059913]}}, {"xyz": [0.16241706836977143, 0.044495813055519085, 0.08258332805198848], "rgb": [72, 128, 110], "semantic_id": 2, "pcd_info": {"point_index": 533}, "mesh_info": {"face_index": 7503, "face_uv": [0.28584922229480564, 0.17553998201421678, 0.5386107956909771]}}, {"xyz": [-0.15093274642051546, 0.054232778715018304, 0.08328893313923408], "rgb": [58, 120, 106], "semantic_id": 3, "pcd_info": {"point_index": 2032}, "mesh_info": {"face_index": 12458, "face_uv": [0.5964261877519155, 0.2104062202909418, 0.19316759195714278]}}, {"xyz": [0.18337310503352888, 0.025097514726054593, -0.21911907005175124], "rgb": [54, 118, 97], "semantic_id": 4, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 7055, "face_uv": [0.08316542507698903, 0.8426786805083153, 0.07415589441469478]}}, {"xyz": [-0.1900782471400439, 0.022390103057736033, -0.22371012379239552], "rgb": [69, 126, 108], "semantic_id": 5, "pcd_info": {"point_index": 1795}, "mesh_info": {"face_index": 12574, "face_uv": [0.1865958049005388, 0.38307681150326023, 0.43032738359620143]}}, {"xyz": [0.23734561216582173, 0.13059867902837063, -0.1306675864669064], "rgb": [56, 116, 100], "semantic_id": 6, "pcd_info": {"point_index": 1361}, "mesh_info": {"face_index": 18217, "face_uv": [0.031234131277045076, 0.2931843196263153, 0.6755815490966378]}}, {"xyz": [0.2191009706585456, 0.20575630286327007, 0.10978767958268731], "rgb": [62, 123, 106], "semantic_id": 7, "pcd_info": {"point_index": 1922}, "mesh_info": {"face_index": 18255, "face_uv": [0.18971438072240449, 0.2282787190734633, 0.582006900204133]}}, {"xyz": [-0.24191381159315473, 0.12799133760832948, -0.13799636023295814], "rgb": [52, 114, 97], "semantic_id": 8, "pcd_info": {"point_index": 1889}, "mesh_info": {"face_index": 33124, "face_uv": [0.013033395186426463, 0.1897227924968417, 0.7972438123167315]}}, {"xyz": [-0.22666395669548484, 0.22361346070524335, 0.14149399374572613], "rgb": [64, 127, 105], "semantic_id": 9, "pcd_info": {"point_index": 1914}, "mesh_info": {"face_index": 14338, "face_uv": [0.4899713239527782, 0.3321687578692031, 0.17785991817801805]}}, {"xyz": [0.2384513383785799, -0.2880200147628784, -0.2241968625290225], "rgb": [19, 19, 19], "semantic_id": 17, "pcd_info": {"point_index": 1486}, "mesh_info": {"face_index": 35341, "face_uv": [0.7291433529243283, 0.1593729054953153, 0.1114837415803563]}}, {"xyz": [0.18315501980702578, -0.28474438284283976, 0.17976188006505878], "rgb": [19, 19, 19], "semantic_id": 18, "pcd_info": {"point_index": 1221}, "mesh_info": {"face_index": 38721, "face_uv": [0.20215237493759175, 0.06039612867964401, 0.7374514963827644]}}, {"xyz": [-0.1699263041618978, -0.28160235650012333, 0.18707388916641354], "rgb": [126, 126, 126], "semantic_id": 19, "pcd_info": {"point_index": 1152}, "mesh_info": {"face_index": 40846, "face_uv": [0.17045906987043083, 0.6033336084422082, 0.22620732168736163]}}, {"xyz": [-0.2425945642302746, -0.28802001476287864, -0.22381317173514187], "rgb": [19, 19, 19], "semantic_id": 20, "pcd_info": {"point_index": 1380}, "mesh_info": {"face_index": 33824, "face_uv": [0.14002900118432207, 0.1214795387048062, 0.7384914601108725]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3bb2201ba3b8709523f4da4464aa0c0b", "keypoints": [{"xyz": [0.193735027203642, 0.17550175905715648, 0.3612929731141332], "rgb": [111, 128, 120], "semantic_id": 0, "pcd_info": {"point_index": 1739}, "mesh_info": {"face_index": 6117, "face_uv": [0.1401867099552083, 0.652721427622117, 0.20709186242267452]}}, {"xyz": [-0.2636697359314629, 0.16382600495759436, 0.31879991808825414], "rgb": [119, 139, 130], "semantic_id": 1, "pcd_info": {"point_index": 96}, "mesh_info": {"face_index": 6088, "face_uv": [0.2629425168205493, 0.019175788574795627, 0.7178816946046558]}}, {"xyz": [0.17913626755884438, -0.06460099630325478, 0.1575077168003567], "rgb": [85, 54, 45], "semantic_id": 2, "pcd_info": {"point_index": 405}, "mesh_info": {"face_index": 4364, "face_uv": [0.07825955425475935, 0.17502031467292326, 0.7467201310723259]}}, {"xyz": [-0.17944816184905302, -0.10535478451059688, 0.13421705499883255], "rgb": [135, 105, 86], "semantic_id": 3, "pcd_info": {"point_index": 1600}, "mesh_info": {"face_index": 4869, "face_uv": [0.47900052397019804, 0.15578193849160957, 0.36521753753819236]}}, {"xyz": [0.2500933910797828, -0.07233440188982043, -0.1803845305271059], "rgb": [84, 52, 43], "semantic_id": 4, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 4514, "face_uv": [0.01678501054260488, 0.049650409081875235, 0.9335645803755197]}}, {"xyz": [-0.120668496423602, -0.06759430549428877, -0.20534399719130458], "rgb": [72, 42, 38], "semantic_id": 5, "pcd_info": {"point_index": 959}, "mesh_info": {"face_index": 4568, "face_uv": [0.056209266543553314, 0.16274508472904572, 0.7810456487274005]}}, {"xyz": [0.2928524230838774, 0.04541278245816183, -0.1623577044891722], "rgb": [114, 132, 123], "semantic_id": 6, "pcd_info": {"point_index": 1147}, "mesh_info": {"face_index": 5038, "face_uv": [0.21169843835138694, 0.454343582642609, 0.33395797900600444]}}, {"xyz": [0.23272321662825457, 0.05723406642676565, 0.24900347455780938], "rgb": [122, 139, 129], "semantic_id": 7, "pcd_info": {"point_index": 1498}, "mesh_info": {"face_index": 4905, "face_uv": [0.015158771818849079, 0.8814673467159565, 0.10337388146519327]}}, {"xyz": [-0.14215036932114508, 0.04636925243805301, -0.20728069304498375], "rgb": [115, 133, 125], "semantic_id": 8, "pcd_info": {"point_index": 1606}, "mesh_info": {"face_index": 5772, "face_uv": [0.32635756476863353, 0.6358645213567962, 0.03777791387456952]}}, {"xyz": [-0.2577106351888797, 0.059255225553024204, 0.2321921221480247], "rgb": [110, 127, 119], "semantic_id": 9, "pcd_info": {"point_index": 692}, "mesh_info": {"face_index": 5387, "face_uv": [0.4749130451240105, 0.20404153910928194, 0.3210454157667075]}}, {"xyz": [0.2839326591361302, -0.3036940097808838, -0.14310724818683696], "rgb": [65, 37, 24], "semantic_id": 17, "pcd_info": {"point_index": 479}, "mesh_info": {"face_index": 4221, "face_uv": [0.024831107352758067, 0.46749697478299446, 0.5076719178642475]}}, {"xyz": [0.19422715558470502, -0.3036940097808837, 0.2747377960857638], "rgb": [220, 196, 167], "semantic_id": 18, "pcd_info": {"point_index": 1593}, "mesh_info": {"face_index": 3963, "face_uv": [0.3110771519212204, 0.4990167828757712, 0.189906065203008]}}, {"xyz": [-0.2395857839076084, -0.3036940097808838, 0.23355253434511394], "rgb": [229, 211, 188], "semantic_id": 19, "pcd_info": {"point_index": 2014}, "mesh_info": {"face_index": 4051, "face_uv": [0.4276278488189203, 0.5199113400954579, 0.05246081108562185]}}, {"xyz": [-0.15432622279718597, -0.3036940097808837, -0.189755769227259], "rgb": [74, 54, 42], "semantic_id": 20, "pcd_info": {"point_index": 1848}, "mesh_info": {"face_index": 5894, "face_uv": [0.43949361134302717, 0.48367674543581446, 0.07682964322115798]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fdac1f9c0b030841c8687ff9b0b4e4ac", "keypoints": [{"xyz": [0.1811483607495652, 0.3032188762804746, 0.0956613756910723], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1539}, "mesh_info": {"face_index": 24, "face_uv": [0.40211985546733897, 0.19508208140509378, 0.40279806312756766]}}, {"xyz": [-0.17751708563654164, 0.30876108195071184, 0.09100698289427794], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1190}, "mesh_info": {"face_index": 63, "face_uv": [0.09438044378896517, 0.37057377400749986, 0.5350457822035348]}}, {"xyz": [0.18110492631266986, -0.07331199944019318, 0.04508624950945894], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1117}, "mesh_info": {"face_index": 148, "face_uv": [0.011016210765231545, 0.9787788221061509, 0.010204967128617373]}}, {"xyz": [-0.1771422355067919, -0.07331199944019318, 0.04562363343829201], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 520}, "mesh_info": {"face_index": 140, "face_uv": [0.10857743311510869, 0.019407505300503898, 0.8720150615843876]}}, {"xyz": [0.17198547327053035, -0.07331199944019318, -0.22968781658033516], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1970}, "mesh_info": {"face_index": 149, "face_uv": [0.9129458299039377, 0.05141541153444882, 0.035638758561613436]}}, {"xyz": [-0.17240090280289957, -0.0733119994401934, -0.23129115278661658], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1387}, "mesh_info": {"face_index": 153, "face_uv": [0.0038103656496780228, 0.9539958536322737, 0.04219378071805144]}}, {"xyz": [0.14980528278695127, -0.4436819851398468, -0.20729985149905839], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 259}, "mesh_info": {"face_index": 199, "face_uv": [0.03027281061330009, 0.49210052610318467, 0.4776266632835152]}}, {"xyz": [0.15287782131215177, -0.4436819851398468, 0.08870146702464679], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 142, "face_uv": [0.43614735178128455, 0.4960787115451945, 0.06777393667352091]}}, {"xyz": [-0.153690097265257, -0.4436819851398468, 0.08778982709704103], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 509}, "mesh_info": {"face_index": 160, "face_uv": [0.42518161546641625, 0.49161413776388574, 0.08320424676969806]}}, {"xyz": [-0.1482080499641964, -0.4436819851398468, -0.2116041738740202], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 595}, "mesh_info": {"face_index": 227, "face_uv": [0.05101960826092405, 0.4497910638206843, 0.49918932791839166]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2de10784fa2655d6ad01ec966c80ac91", "keypoints": [{"xyz": [0.20954099297523493, 0.174465032041335, 0.03991292899542323], "rgb": [246, 211, 142], "semantic_id": 0, "pcd_info": {"point_index": 433}, "mesh_info": {"face_index": 1678, "face_uv": [0.3736513304479893, 0.5286556192312412, 0.09769305032076919]}}, {"xyz": [-0.22168137565621315, 0.17725700139999412, 0.054609680836938984], "rgb": [249, 207, 146], "semantic_id": 1, "pcd_info": {"point_index": 49}, "mesh_info": {"face_index": 358, "face_uv": [0.13878727082524966, 0.32899077346648664, 0.5322219557082649]}}, {"xyz": [0.19368676164133114, -0.21680597969535564, -0.012179864649019129], "rgb": [240, 203, 151], "semantic_id": 2, "pcd_info": {"point_index": 1547}, "mesh_info": {"face_index": 1726, "face_uv": [0.04356787765924398, 0.16778639632806056, 0.7886457260126952]}}, {"xyz": [-0.20849040085625953, -0.21570999920368195, -0.005634154934854418], "rgb": [244, 198, 133], "semantic_id": 3, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 35, "face_uv": [0.03004149705788742, 0.47240648433061005, 0.49755201861150256]}}, {"xyz": [0.21086405191677465, -0.2532271813854242, -0.4153600037097931], "rgb": [250, 212, 153], "semantic_id": 4, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 116, "face_uv": [0.32604771396945054, 0.5834345745862672, 0.09051771144428211]}}, {"xyz": [-0.2129442538721018, -0.2435800237712401, -0.4153600037097931], "rgb": [252, 197, 116], "semantic_id": 5, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 6, "face_uv": [0.6627404753220457, 0.08126484865758073, 0.25599467602037357]}}, {"xyz": [0.21500152313608858, -0.558663010597229, -0.40534367177439423], "rgb": [235, 188, 105], "semantic_id": 17, "pcd_info": {"point_index": 1591}, "mesh_info": {"face_index": 783, "face_uv": [0.4212461090174837, 0.5581378764934536, 0.020616014489062567]}}, {"xyz": [0.22057325565447408, -0.5586630105972291, 0.04465781979777339], "rgb": [228, 175, 96], "semantic_id": 18, "pcd_info": {"point_index": 1825}, "mesh_info": {"face_index": 39, "face_uv": [0.02547293962142292, 0.5978237912767561, 0.37670326910182117]}}, {"xyz": [-0.2185148809869379, -0.5586630105972291, 0.055387541732892454], "rgb": [237, 194, 116], "semantic_id": 19, "pcd_info": {"point_index": 1690}, "mesh_info": {"face_index": 4, "face_uv": [0.4931946732763065, 0.42278614493679567, 0.08401918178689803]}}, {"xyz": [-0.2194926699123233, -0.558663010597229, -0.4012134583777961], "rgb": [252, 202, 138], "semantic_id": 20, "pcd_info": {"point_index": 179}, "mesh_info": {"face_index": 0, "face_uv": [0.031427967330961405, 0.5205653190285116, 0.4480067136405271]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "50d277986a78f9fc3eec26c23f5bc80b", "keypoints": [{"xyz": [0.164046850634298, 0.5815340280532837, 0.1813655120767863], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1512}, "mesh_info": {"face_index": 293, "face_uv": [0.48792140472065604, 0.4809386314287386, 0.03113996385060542]}}, {"xyz": [-0.16730898695996888, 0.5815340280532837, 0.18316903131482615], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 658}, "mesh_info": {"face_index": 301, "face_uv": [0.515473498164433, 0.4587490399837304, 0.025777461851836575]}}, {"xyz": [0.1692232688521771, 0.2711859941482544, 0.15864713982577772], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1923}, "mesh_info": {"face_index": 354, "face_uv": [0.016407192416725315, 0.9776957925352872, 0.005897015047987466]}}, {"xyz": [-0.1675817760120703, 0.2711859941482544, 0.15955190061129496], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 555}, "mesh_info": {"face_index": 256, "face_uv": [0.9551152947056332, 0.019883637193018538, 0.025001068101348268]}}, {"xyz": [0.16394836554232117, 0.2711859941482544, -0.19849352490106106], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 365}, "mesh_info": {"face_index": 354, "face_uv": [0.0314202654585257, 0.02221221092011656, 0.9463675236213578]}}, {"xyz": [-0.1685389365924732, 0.2711859941482546, -0.1972819117655903], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 256, "face_uv": [0.0031768625087407187, 0.9745462750979993, 0.022276862393260863]}}, {"xyz": [0.16028768968641804, -0.2632089853286743, -0.1956613228572162], "rgb": [160, 136, 114], "semantic_id": 17, "pcd_info": {"point_index": 1358}, "mesh_info": {"face_index": 35, "face_uv": [0.45427079537007614, 0.5163788971465672, 0.02935030748335671]}}, {"xyz": [0.16085242551778534, -0.2632089853286743, 0.18652124679865695], "rgb": [160, 137, 114], "semantic_id": 18, "pcd_info": {"point_index": 720}, "mesh_info": {"face_index": 119, "face_uv": [0.4752358495950604, 0.4853152471390775, 0.03944890326586217]}}, {"xyz": [-0.16102610983251497, -0.2632089853286743, 0.18783058843973954], "rgb": [160, 137, 113], "semantic_id": 19, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 99, "face_uv": [0.4821802782948322, 0.44967277783556403, 0.06814694386960375]}}, {"xyz": [-0.16099250733850953, -0.26320898532867454, -0.19471962762302134], "rgb": [160, 137, 114], "semantic_id": 20, "pcd_info": {"point_index": 1251}, "mesh_info": {"face_index": 28, "face_uv": [0.48104597861254345, 0.43994931014621336, 0.07900471124124407]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5d3cfbc8bae19e701f580a0f9153317f", "keypoints": [{"xyz": [0.13043126606492916, 0.4003258041851585, 0.08143833423843194], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 2004}, "mesh_info": {"face_index": 182, "face_uv": [0.03404043933967131, 0.21462726898451023, 0.7513322916758182]}}, {"xyz": [-0.14735959119186187, 0.4000975394839821, 0.08294768766723112], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 871}, "mesh_info": {"face_index": 180, "face_uv": [0.027175664172375547, 0.6936633497682236, 0.27916098605940076]}}, {"xyz": [0.13547797208418488, 0.011249000206589699, 0.01339096250249261], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1708}, "mesh_info": {"face_index": 185, "face_uv": [0.031464379344995075, 0.026006527508823343, 0.9425290931461815]}}, {"xyz": [-0.1368214476856961, 0.01124900020658992, 0.012421481121170974], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 85}, "mesh_info": {"face_index": 187, "face_uv": [0.01063835589090328, 0.9543675267051712, 0.03499411740394534]}}, {"xyz": [0.13990225118307797, 0.01124900020658992, -0.24675940324069337], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1978}, "mesh_info": {"face_index": 185, "face_uv": [0.9786333138956901, 0.010922660754937795, 0.010444025349391844]}}, {"xyz": [-0.1466698045775966, 0.01124900020658992, -0.2457953301131181], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 161}, "mesh_info": {"face_index": 184, "face_uv": [0.024876733512741944, 0.012056087225669747, 0.963067179261608]}}, {"xyz": [0.12142358885232674, -0.4387730062007904, -0.23999299985564693], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 562}, "mesh_info": {"face_index": 158, "face_uv": [0.3059026026296279, 0.5249469767794526, 0.1691504205909196]}}, {"xyz": [0.12356506202395129, -0.4387730062007904, 0.1791117611603424], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 807}, "mesh_info": {"face_index": 143, "face_uv": [0.05601963501672443, 0.47310034725113304, 0.4708800177321425]}}, {"xyz": [-0.12371655926925587, -0.4387730062007906, 0.18375406855124987], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1617}, "mesh_info": {"face_index": 62, "face_uv": [0.5832764072738731, 0.3586713024927546, 0.05805229023337283]}}, {"xyz": [-0.1374742789766254, -0.4387730062007906, -0.239689217660407], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 72, "face_uv": [0.6867426072269941, 0.3082442553232998, 0.005013137449706603]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4460e0885d82b7b5d9987a7cd00eb98d", "keypoints": [{"xyz": [0.15913576629231227, 0.4792642335280992, 0.048840022068675104], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 20, "face_uv": [0.029107367365342748, 0.31308441573940676, 0.6578082168952541]}}, {"xyz": [-0.1468716726777587, 0.4799280046997747, 0.04702010131872669], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 181, "face_uv": [0.16616622574872944, 0.8117044354659197, 0.022129338785352042]}}, {"xyz": [0.18014618104384042, 0.01019182035800692, 0.06288677907551143], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 180}, "mesh_info": {"face_index": 225, "face_uv": [0.6061019563136074, 0.3713047148313963, 0.022593328854996892]}}, {"xyz": [-0.17251691356453117, 0.016372090067487743, 0.05598156410340427], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1036}, "mesh_info": {"face_index": 286, "face_uv": [0.6466932592180299, 0.03622049708765034, 0.31708624369432026]}}, {"xyz": [0.18230227448294484, 0.004737914062217463, -0.22091408611223473], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1172}, "mesh_info": {"face_index": 260, "face_uv": [0.009593060273527272, 0.1282824218537125, 0.8621245178727593]}}, {"xyz": [-0.17229043819225953, -0.005819747056446056, -0.21720302903772026], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1443}, "mesh_info": {"face_index": 256, "face_uv": [0.2936445724959842, 0.2224719432644003, 0.4838834842396158]}}, {"xyz": [0.14916327522978265, -0.3636620044708252, -0.18528703825952977], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 878}, "mesh_info": {"face_index": 1132, "face_uv": [0.409824393749698, 0.5780200757524945, 0.012155530497807482]}}, {"xyz": [0.14630299301224592, -0.3636620044708252, 0.042028454347752764], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1144}, "mesh_info": {"face_index": 1477, "face_uv": [0.12653763464474793, 0.5065741894054339, 0.3668881759498182]}}, {"xyz": [-0.1661621723785052, -0.3636620044708252, 0.0533084889413199], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 1823, "face_uv": [0.008215915244171701, 0.3061607235282721, 0.6856233612275562]}}, {"xyz": [-0.15229017812250398, -0.36366200447082564, -0.18337360213567416], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 683}, "mesh_info": {"face_index": 790, "face_uv": [0.47851416354164433, 0.3932569825584704, 0.12822885389988642]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fbafdfd16d929c715b52e74a988c7255", "keypoints": [{"xyz": [0.25428622904633535, 0.2635242021663837, 0.12583943953863114], "rgb": [255, 0, 126], "semantic_id": 0, "pcd_info": {"point_index": 1590}, "mesh_info": {"face_index": 831, "face_uv": [0.5279521441200694, 0.07824176345811107, 0.39380609242181946]}}, {"xyz": [-0.11068025417101812, 0.2665444500052476, 0.1235431612047197], "rgb": [254, 0, 125], "semantic_id": 1, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 790, "face_uv": [0.5136207425956558, 0.009801994804359714, 0.47657726259998423]}}, {"xyz": [0.2800406458829444, -0.02177961567869513, 0.08545663322162644], "rgb": [254, 0, 125], "semantic_id": 2, "pcd_info": {"point_index": 817}, "mesh_info": {"face_index": 741, "face_uv": [0.7606853466813965, 0.23870684060767308, 0.0006078127109272291]}}, {"xyz": [-0.14080990671223642, -0.02171930790987231, 0.08461159095137538], "rgb": [254, 0, 125], "semantic_id": 3, "pcd_info": {"point_index": 1861}, "mesh_info": {"face_index": 779, "face_uv": [0.7579565183547657, 0.018349731280010804, 0.2236937503652209]}}, {"xyz": [0.28571225600285455, 0.0044810087839475266, -0.2827203669697417], "rgb": [254, 0, 125], "semantic_id": 4, "pcd_info": {"point_index": 1287}, "mesh_info": {"face_index": 726, "face_uv": [0.086976896050611, 0.8006905429233377, 0.11233256102604317]}}, {"xyz": [-0.14284218451262587, 0.004316107178665485, -0.2804103348119201], "rgb": [254, 0, 125], "semantic_id": 5, "pcd_info": {"point_index": 1492}, "mesh_info": {"face_index": 744, "face_uv": [0.1547493168019696, 0.7786694717056796, 0.06658121149234854]}}, {"xyz": [0.2687836139696582, -0.41512998938560486, -0.2780175478805319], "rgb": [255, 0, 126], "semantic_id": 17, "pcd_info": {"point_index": 4}, "mesh_info": {"face_index": 1057, "face_uv": [0.014518525316777005, 0.43915804208954046, 0.5463234325936825]}}, {"xyz": [0.27261734292512285, -0.4151299893856051, 0.1205441207849797], "rgb": [255, 0, 126], "semantic_id": 18, "pcd_info": {"point_index": 521}, "mesh_info": {"face_index": 1111, "face_uv": [0.03872999980721795, 0.432083240329898, 0.5291867598628845]}}, {"xyz": [-0.13523473003589265, -0.41512998938560486, 0.12513213335085513], "rgb": [255, 0, 126], "semantic_id": 19, "pcd_info": {"point_index": 757}, "mesh_info": {"face_index": 736, "face_uv": [0.4640580441969748, 0.4848532547653769, 0.051088701037648364]}}, {"xyz": [-0.13377334638158905, -0.4151299893856051, -0.2866107986266508], "rgb": [255, 0, 126], "semantic_id": 20, "pcd_info": {"point_index": 670}, "mesh_info": {"face_index": 673, "face_uv": [0.5321264887403188, 0.33548067551440236, 0.1323928357452794]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d18f361e22f7626b707cdefe012d0353", "keypoints": [{"xyz": [0.15537206360999678, 0.6704270243644713, 0.29893323012205486], "rgb": [138, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 981}, "mesh_info": {"face_index": 7717, "face_uv": [0.48940823964681673, 0.0019386744281530864, 0.50865308592503]}}, {"xyz": [-0.148994270233061, 0.6704270243644715, 0.2964604515095727], "rgb": [138, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 86}, "mesh_info": {"face_index": 7677, "face_uv": [0.36262243761785296, 0.01778075224640027, 0.619596810135747]}}, {"xyz": [0.151268635542623, 0.2671400010585785, 0.21506581377955394], "rgb": [138, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 200}, "mesh_info": {"face_index": 7712, "face_uv": [0.9630699383399451, 0.015154692007019294, 0.021775369653035587]}}, {"xyz": [-0.15110972873417844, 0.2671400010585785, 0.21694049234474033], "rgb": [138, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 1445}, "mesh_info": {"face_index": 7710, "face_uv": [0.006216662782661306, 0.010967439991599718, 0.982815897225739]}}, {"xyz": [0.14695253875790815, 0.2588816062672811, -0.18435700237751007], "rgb": [138, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 827}, "mesh_info": {"face_index": 7694, "face_uv": [0.02905565725907662, 0.6359375806133312, 0.3350067621275923]}}, {"xyz": [-0.14912135825576348, 0.2561953565635665, -0.18435700237751018], "rgb": [138, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 644}, "mesh_info": {"face_index": 7689, "face_uv": [0.017371436543889934, 0.4824828377519513, 0.5001457257041595]}}, {"xyz": [0.13182263354831558, -0.13722087291843632, -0.12963211063933658], "rgb": [190, 190, 190], "semantic_id": 17, "pcd_info": {"point_index": 615}, "mesh_info": {"face_index": 2746, "face_uv": [0.38134400218936454, 0.4996131937015562, 0.11904280410907718]}}, {"xyz": [0.125615112713846, -0.14072232789389805, 0.24128042564046562], "rgb": [190, 190, 190], "semantic_id": 18, "pcd_info": {"point_index": 873}, "mesh_info": {"face_index": 2159, "face_uv": [0.057965878937175745, 0.2467275803723104, 0.6953065406905137]}}, {"xyz": [-0.1268229052189225, -0.14111062926890883, 0.235270053552879], "rgb": [190, 190, 190], "semantic_id": 19, "pcd_info": {"point_index": 1944}, "mesh_info": {"face_index": 5372, "face_uv": [0.4762623932475898, 0.1641820351442287, 0.35955557160818125]}}, {"xyz": [-0.1317568995831332, -0.13457293183695485, -0.13432345614921065], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 262}, "mesh_info": {"face_index": 618, "face_uv": [0.025240289972514193, 0.16916572552743808, 0.8055939845000485]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3ff4401d898b488a601104cd2d998272", "keypoints": [{"xyz": [0.2543170014203895, 0.20807548072308146, 0.18308629934922704], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 239}, "mesh_info": {"face_index": 2371, "face_uv": [0.010728348590736538, 0.984593893494296, 0.004677757914965589]}}, {"xyz": [-0.2386927850023478, 0.20832431754284347, 0.18313017478995852], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 2393, "face_uv": [0.9683604780425177, 0.011861473437156904, 0.019778048520327045]}}, {"xyz": [0.22812647816030102, -0.041929619654269334, 0.07830115222203171], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 682}, "mesh_info": {"face_index": 2380, "face_uv": [0.015079769301583893, 0.8490433104037414, 0.13587692029467946]}}, {"xyz": [-0.22447019742927746, -0.04103086851259041, 0.07477884465398021], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1139}, "mesh_info": {"face_index": 2407, "face_uv": [0.7412300136495131, 0.254810550290435, 0.003959436060046737]}}, {"xyz": [0.23227993850344886, -0.026227313730253554, -0.2239851845310541], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 2027}, "mesh_info": {"face_index": 1823, "face_uv": [0.9317368115340742, 0.06218565444016864, 0.006077534025757408]}}, {"xyz": [-0.2247867721743238, -0.016766555756511425, -0.22238464087080945], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 677}, "mesh_info": {"face_index": 1881, "face_uv": [0.986762207430415, 0.009964502542443108, 0.0032732900271407192]}}, {"xyz": [0.2463190421402513, 0.08963787587708627, -0.20554019412340585], "rgb": [85, 85, 85], "semantic_id": 6, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 1378, "face_uv": [0.4704317363742913, 0.00935499588471929, 0.5202132677409889]}}, {"xyz": [0.23788693121206694, 0.034239865731618746, 0.14979274953938082], "rgb": [86, 86, 86], "semantic_id": 7, "pcd_info": {"point_index": 1673}, "mesh_info": {"face_index": 23, "face_uv": [0.38957167398840714, 0.12978349887048682, 0.480644827141107]}}, {"xyz": [-0.236190232583024, 0.09095005725510741, -0.2024276305913154], "rgb": [85, 85, 85], "semantic_id": 8, "pcd_info": {"point_index": 156}, "mesh_info": {"face_index": 539, "face_uv": [0.48260807931841165, 0.4213193476679521, 0.0960725730136349]}}, {"xyz": [-0.24241279473736405, 0.031450019809480256, 0.1560749091501875], "rgb": [86, 86, 86], "semantic_id": 9, "pcd_info": {"point_index": 1148}, "mesh_info": {"face_index": 73, "face_uv": [0.44641283513072, 0.2905590272262388, 0.2630281376430429]}}, {"xyz": [0.2482819431068627, -0.39999214127542726, -0.24785834720171018], "rgb": [86, 86, 86], "semantic_id": 17, "pcd_info": {"point_index": 458}, "mesh_info": {"face_index": 366, "face_uv": [0.0059281173976765385, 0.6111009442951528, 0.3829709383071711]}}, {"xyz": [0.2446278851368775, -0.39283016597865233, 0.33239491350916195], "rgb": [85, 85, 85], "semantic_id": 18, "pcd_info": {"point_index": 1233}, "mesh_info": {"face_index": 625, "face_uv": [0.525406958751189, 0.4419080789721957, 0.032684962276614125]}}, {"xyz": [-0.2322592086989438, -0.39227613312901594, 0.3321654262403657], "rgb": [86, 86, 86], "semantic_id": 19, "pcd_info": {"point_index": 17}, "mesh_info": {"face_index": 187, "face_uv": [0.23930220397076926, 0.03548995034523035, 0.7252078456840004]}}, {"xyz": [-0.23387028729885773, -0.40143962421089113, -0.24798498252828716], "rgb": [86, 86, 86], "semantic_id": 20, "pcd_info": {"point_index": 777}, "mesh_info": {"face_index": 1593, "face_uv": [0.6842608215390676, 0.0018396345412673288, 0.3138995439196652]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c2220851bf50eda931ecc34700496180", "keypoints": [{"xyz": [0.10002246871697319, 0.5187963979137029, 0.04044236882776195], "rgb": [102, 61, 19], "semantic_id": 0, "pcd_info": {"point_index": 1690}, "mesh_info": {"face_index": 9796, "face_uv": [0.11908874395649018, 0.5483026033642611, 0.33260865267924905]}}, {"xyz": [-0.09561416068345989, 0.5209555042599945, 0.04275932631295454], "rgb": [102, 61, 19], "semantic_id": 1, "pcd_info": {"point_index": 551}, "mesh_info": {"face_index": 9802, "face_uv": [0.2149917708371327, 0.5632075249268398, 0.2218007042360282]}}, {"xyz": [0.08524749823179442, 0.21705099940299988, 0.04837975350447726], "rgb": [102, 51, 0], "semantic_id": 2, "pcd_info": {"point_index": 1350}, "mesh_info": {"face_index": 7945, "face_uv": [0.9457449418578576, 0.053119905724099296, 0.0011351524180431124]}}, {"xyz": [-0.0850656139050561, 0.21705099940299966, 0.0503267434454473], "rgb": [101, 50, 0], "semantic_id": 3, "pcd_info": {"point_index": 1471}, "mesh_info": {"face_index": 7907, "face_uv": [0.8999670458348557, 0.043076770937889544, 0.056956183227253654]}}, {"xyz": [0.11607649256637256, 0.21705099940299988, -0.13300353229458228], "rgb": [102, 51, 0], "semantic_id": 4, "pcd_info": {"point_index": 2037}, "mesh_info": {"face_index": 7996, "face_uv": [0.09366279788552236, 0.7754733778926566, 0.13086382422182108]}}, {"xyz": [-0.11166055588092559, 0.21705099940299966, -0.13940253814799033], "rgb": [101, 50, 0], "semantic_id": 5, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 7962, "face_uv": [0.07681127308016247, 0.766762263155984, 0.15642646376385252]}}, {"xyz": [0.23407399965813908, -0.18218721238295, -0.03404913243078195], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1898}, "mesh_info": {"face_index": 5316, "face_uv": [0.22598650733893896, 0.5045368915244064, 0.2694766011366549]}}, {"xyz": [0.0029564228737755105, -0.18322344240405686, 0.20807499177341507], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 3447, "face_uv": [0.45604540196163323, 0.35485266801044235, 0.1891019300279235]}}, {"xyz": [-0.23072482915402276, -0.1833064946643339, -0.024476407916911774], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 4475, "face_uv": [0.32516389708727245, 0.6042117963317775, 0.07062430658094986]}}, {"xyz": [-0.005439579559750718, -0.18311342624127747, -0.26049823278779344], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1231}, "mesh_info": {"face_index": 1239, "face_uv": [0.10477753394505897, 0.5491777452655564, 0.3460447207893858]}}, {"xyz": [-0.0018345567713254074, 0.10969199985265732, -0.04430233522090621], "rgb": [142, 142, 142], "semantic_id": 15, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 633, "face_uv": [0.3114063577586889, 0.20768557356399825, 0.4809080686773129]}}, {"xyz": [0.001328157888082826, -0.07730700075626373, -0.02410342873476856], "rgb": [142, 142, 142], "semantic_id": 16, "pcd_info": {"point_index": 1463}, "mesh_info": {"face_index": 207, "face_uv": [0.1324814808445567, 0.49985673546601, 0.36766178368943336]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": [{"kp_indexes": [6, 7, 8, 9], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "7f11f4251d2faee4492d9da2668ec34c", "keypoints": [{"xyz": [0.17872725279213303, 0.38038750967889645, 0.19098706230092694], "rgb": [75, 56, 38], "semantic_id": 0, "pcd_info": {"point_index": 2013}, "mesh_info": {"face_index": 3085, "face_uv": [0.7928785845834915, 0.024626724674971626, 0.18249469074153712]}}, {"xyz": [-0.1792599051914579, 0.3834446667669805, 0.18729448297204204], "rgb": [75, 56, 38], "semantic_id": 1, "pcd_info": {"point_index": 1750}, "mesh_info": {"face_index": 2992, "face_uv": [0.39420728964228613, 0.5945504377781079, 0.011242272579607686]}}, {"xyz": [0.19284456926352403, 0.00519650021290019, 0.11759537665602027], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 1810, "face_uv": [0.036060347498877425, 0.4758114502898063, 0.48812820221131537]}}, {"xyz": [-0.2023045196346202, 0.004127875363414413, 0.12152484671403796], "rgb": [75, 56, 38], "semantic_id": 3, "pcd_info": {"point_index": 1945}, "mesh_info": {"face_index": 2413, "face_uv": [0.04345589752769951, 0.312943016558626, 0.6436010859136756]}}, {"xyz": [0.19865019536650558, 0.014001610222075911, -0.23582901082429075], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1831}, "mesh_info": {"face_index": 2122, "face_uv": [0.034928783271306024, 0.49519850132770543, 0.46987271540098774]}}, {"xyz": [-0.20118152112778687, 0.014007916338761972, -0.23664209875441133], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 1936, "face_uv": [0.24986650768726762, 0.07333252074969371, 0.6768009715630385]}}, {"xyz": [0.20810719959509258, 0.16739698092937227, -0.13057711465964594], "rgb": [50, 50, 50], "semantic_id": 6, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 171, "face_uv": [0.3386023750591672, 0.43924576484224903, 0.22215186009858273]}}, {"xyz": [0.21441595396761054, 0.14140432287098093, 0.12749070898914422], "rgb": [51, 51, 51], "semantic_id": 7, "pcd_info": {"point_index": 966}, "mesh_info": {"face_index": 2, "face_uv": [0.11213478302445101, 0.8600684373470919, 0.027796779628460038]}}, {"xyz": [-0.22559781581195654, 0.1640907069452524, -0.13560759248850074], "rgb": [51, 51, 51], "semantic_id": 8, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 519, "face_uv": [0.04029138109571541, 0.5085796858553356, 0.451128933048949]}}, {"xyz": [-0.22021708398519751, 0.13965892886797726, 0.13226526434243405], "rgb": [50, 50, 50], "semantic_id": 9, "pcd_info": {"point_index": 1775}, "mesh_info": {"face_index": 27, "face_uv": [0.018842074996255946, 0.049980588030781384, 0.9311773369729622]}}, {"xyz": [0.20970398183592814, -0.3494195638023676, -0.2036013173728115], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 196}, "mesh_info": {"face_index": 1181, "face_uv": [0.5577570796436419, 0.09827466549860558, 0.343968254857754]}}, {"xyz": [0.21035617508403098, -0.35597516631747617, 0.1597575666448806], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 556}, "mesh_info": {"face_index": 1236, "face_uv": [0.0013742514699413672, 0.3062208902628433, 0.6924048582672164]}}, {"xyz": [-0.21851448197621673, -0.35745120524085694, 0.15321261637021732], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1104}, "mesh_info": {"face_index": 767, "face_uv": [0.11797753535302427, 0.07260001581596225, 0.8094224488310141]}}, {"xyz": [-0.22514423119444985, -0.3397529907928587, -0.21674651228416408], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 796, "face_uv": [0.20744828034778728, 0.43835661947549065, 0.35419510017672245]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7f539a846e9e88f0d9fad8aba2c312b7", "keypoints": [{"xyz": [0.1356862510713995, 0.39691206910266286, 0.20187647991591628], "rgb": [168, 96, 61], "semantic_id": 0, "pcd_info": {"point_index": 22}, "mesh_info": {"face_index": 2514, "face_uv": [0.42046233077835565, 0.09784666175336147, 0.4816910074682838]}}, {"xyz": [-0.14837103186795966, 0.4090504760830741, 0.20802600532771254], "rgb": [168, 96, 61], "semantic_id": 1, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 4372, "face_uv": [0.3104827637641318, 0.49927472955254004, 0.19024250668332915]}}, {"xyz": [0.16222849168925252, -0.08064970479865341, 0.022989827033469856], "rgb": [167, 95, 60], "semantic_id": 2, "pcd_info": {"point_index": 1702}, "mesh_info": {"face_index": 2977, "face_uv": [0.3855756305098692, 0.3836366784007829, 0.23078769108934313]}}, {"xyz": [-0.16843186807497862, -0.07805732022879042, 0.03316538188900586], "rgb": [167, 95, 60], "semantic_id": 3, "pcd_info": {"point_index": 1114}, "mesh_info": {"face_index": 2168, "face_uv": [0.8001674833854817, 0.09444200758032652, 0.10539050903419142]}}, {"xyz": [0.16107413261932454, -0.03309790781579425, -0.2578959333766949], "rgb": [168, 96, 61], "semantic_id": 4, "pcd_info": {"point_index": 626}, "mesh_info": {"face_index": 4437, "face_uv": [0.4736186089182718, 0.2155111934901547, 0.310870197591589]}}, {"xyz": [-0.1685699064285034, -0.032520415334024166, -0.255264497060652], "rgb": [167, 95, 60], "semantic_id": 5, "pcd_info": {"point_index": 256}, "mesh_info": {"face_index": 1971, "face_uv": [0.7832045097723306, 0.07810983262828695, 0.13868565759937315]}}, {"xyz": [0.20682279426823902, 0.05735230702421168, -0.20905255830214242], "rgb": [167, 95, 60], "semantic_id": 6, "pcd_info": {"point_index": 893}, "mesh_info": {"face_index": 3707, "face_uv": [0.31933875094523334, 0.46632710744322214, 0.21433414161154418]}}, {"xyz": [0.2119874428194155, 0.089262898925349, 0.09886410051279454], "rgb": [167, 95, 60], "semantic_id": 7, "pcd_info": {"point_index": 1857}, "mesh_info": {"face_index": 3341, "face_uv": [0.28855287983433986, 0.5069474958681465, 0.2044996242975119]}}, {"xyz": [-0.21228584139376433, 0.0500378029169144, -0.2151335868703914], "rgb": [168, 96, 61], "semantic_id": 8, "pcd_info": {"point_index": 301}, "mesh_info": {"face_index": 1098, "face_uv": [0.45506138773196314, 0.5292425552262074, 0.01569605704183029]}}, {"xyz": [-0.20891825193328148, 0.08985433351821182, 0.0927490428024204], "rgb": [168, 96, 61], "semantic_id": 9, "pcd_info": {"point_index": 2047}, "mesh_info": {"face_index": 1216, "face_uv": [0.5410678703346621, 0.030262433160269418, 0.4286696965050684]}}, {"xyz": [0.21340528239340686, -0.30658561768782944, -0.20635816221213393], "rgb": [167, 95, 60], "semantic_id": 17, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 3923, "face_uv": [0.20452493976804512, 0.5408674251498643, 0.2546076350820893]}}, {"xyz": [0.21421711094013057, -0.3134246247752652, 0.2111632297378605], "rgb": [168, 96, 61], "semantic_id": 18, "pcd_info": {"point_index": 1918}, "mesh_info": {"face_index": 3419, "face_uv": [0.057876704508582004, 0.789936623679385, 0.15218667181203385]}}, {"xyz": [-0.20365128045181372, -0.31314269340994016, 0.21493032156551506], "rgb": [167, 95, 60], "semantic_id": 19, "pcd_info": {"point_index": 718}, "mesh_info": {"face_index": 1278, "face_uv": [0.04892016936794605, 0.2539906328241509, 0.6970891978079022]}}, {"xyz": [-0.20684759888600698, -0.3028160917311653, -0.21314530781702656], "rgb": [168, 96, 61], "semantic_id": 20, "pcd_info": {"point_index": 938}, "mesh_info": {"face_index": 869, "face_uv": [0.27769166399110506, 0.08233762354735884, 0.6399707124615361]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "69e591a9769e03012c528d33bca1ac2", "keypoints": [{"xyz": [0.2874796819869939, 0.2429245147752308, 0.169497149203216], "rgb": [203, 192, 162], "semantic_id": 0, "pcd_info": {"point_index": 1608}, "mesh_info": {"face_index": 16314, "face_uv": [0.3486282884374456, 0.22643537041604112, 0.42493634114651213]}}, {"xyz": [-0.289844729744165, 0.23863031433151227, 0.1678744031687044], "rgb": [204, 193, 163], "semantic_id": 1, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 16248, "face_uv": [0.24001609197290885, 0.11270026796498256, 0.6472836400621089]}}, {"xyz": [0.29047472492378956, -0.07102557971672119, 0.050864633756526834], "rgb": [203, 192, 162], "semantic_id": 2, "pcd_info": {"point_index": 388}, "mesh_info": {"face_index": 16530, "face_uv": [0.7618768884778298, 0.06148096281069262, 0.17664214871147713]}}, {"xyz": [-0.2867076042252878, -0.07101407790899006, 0.05150731978772716], "rgb": [203, 192, 162], "semantic_id": 3, "pcd_info": {"point_index": 1812}, "mesh_info": {"face_index": 16445, "face_uv": [0.33771681729080794, 0.6372635128940672, 0.02501966981512449]}}, {"xyz": [0.2848300634998042, -0.006412823104963605, -0.31296142366213364], "rgb": [204, 193, 163], "semantic_id": 4, "pcd_info": {"point_index": 1932}, "mesh_info": {"face_index": 3523, "face_uv": [0.6970058389537843, 0.2892384668653265, 0.013755694180889524]}}, {"xyz": [-0.2843831834534002, -0.006671699255898167, -0.3114715059221176], "rgb": [204, 193, 163], "semantic_id": 5, "pcd_info": {"point_index": 327}, "mesh_info": {"face_index": 3456, "face_uv": [0.6142391778638429, 0.11651228077112293, 0.2692485413650345]}}, {"xyz": [0.2853206563990162, -0.33854824938008965, -0.32281404258359103], "rgb": [170, 170, 170], "semantic_id": 17, "pcd_info": {"point_index": 363}, "mesh_info": {"face_index": 27314, "face_uv": [0.299423837839369, 0.23546108638671895, 0.4651150757739119]}}, {"xyz": [0.27688305848073286, -0.33960465229670356, 0.22204003296806452], "rgb": [170, 170, 170], "semantic_id": 18, "pcd_info": {"point_index": 978}, "mesh_info": {"face_index": 26950, "face_uv": [0.4251076675992086, 0.132095005712788, 0.4427973266880036]}}, {"xyz": [-0.27467748428308403, -0.34079561386792867, 0.2207219940403673], "rgb": [169, 169, 169], "semantic_id": 19, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 26108, "face_uv": [0.025387285249117996, 0.5422954037395324, 0.4323173110113494]}}, {"xyz": [-0.2735617011774735, -0.33868382814192477, -0.32281074091342843], "rgb": [169, 169, 169], "semantic_id": 20, "pcd_info": {"point_index": 115}, "mesh_info": {"face_index": 26474, "face_uv": [0.42127680065604073, 0.22251429814871868, 0.35620890119524007]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6b74546be8d42c76b035d20a1a3ca345", "keypoints": [{"xyz": [0.1834293766682982, 0.3760238371955731, 0.04836868179132736], "rgb": [120, 110, 90], "semantic_id": 0, "pcd_info": {"point_index": 1918}, "mesh_info": {"face_index": 71, "face_uv": [0.8937135804932536, 0.023949149593423747, 0.08233726991331879]}}, {"xyz": [-0.1667785937371469, 0.39530545519694094, 0.057411260866847336], "rgb": [139, 88, 46], "semantic_id": 1, "pcd_info": {"point_index": 1923}, "mesh_info": {"face_index": 335, "face_uv": [0.29967864121147114, 0.03012314677433219, 0.6701982120141985]}}, {"xyz": [0.16342360889647228, -0.10394535235706204, 0.04208200052380562], "rgb": [100, 67, 39], "semantic_id": 2, "pcd_info": {"point_index": 328}, "mesh_info": {"face_index": 174, "face_uv": [0.6939999550831842, 0.29522816733680707, 0.010771877580008691]}}, {"xyz": [-0.16961036993127168, -0.10520955599174309, 0.04208200052380562], "rgb": [104, 69, 38], "semantic_id": 3, "pcd_info": {"point_index": 1534}, "mesh_info": {"face_index": 226, "face_uv": [0.7873385967297589, 0.20465420827342995, 0.008007194996811086]}}, {"xyz": [0.165107290730661, -0.12313721352826767, -0.28044798970222473], "rgb": [213, 209, 207], "semantic_id": 4, "pcd_info": {"point_index": 393}, "mesh_info": {"face_index": 151, "face_uv": [0.6247274458447968, 0.0734379395163871, 0.30183461463881617]}}, {"xyz": [-0.15654333839105825, -0.1088709980249406, -0.2697378240204624], "rgb": [249, 248, 248], "semantic_id": 5, "pcd_info": {"point_index": 1479}, "mesh_info": {"face_index": 153, "face_uv": [0.024562310293651298, 0.03320672807591293, 0.942230961630437]}}, {"xyz": [0.16601064775498703, -0.4309670031070707, -0.2431529279312593], "rgb": [170, 124, 63], "semantic_id": 17, "pcd_info": {"point_index": 1504}, "mesh_info": {"face_index": 146, "face_uv": [0.039033277585235865, 0.4978516579828703, 0.4631150644318934]}}, {"xyz": [0.17199974093648235, -0.43096700310707114, 0.06729564349261638], "rgb": [148, 97, 52], "semantic_id": 18, "pcd_info": {"point_index": 506}, "mesh_info": {"face_index": 29, "face_uv": [0.4103238006329254, 0.2963771807292055, 0.2932990186378696]}}, {"xyz": [-0.15830993875828367, -0.43096700310707114, 0.04728236998697872], "rgb": [124, 81, 43], "semantic_id": 19, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 93, "face_uv": [0.41354504189857105, 0.43981821229385004, 0.1466367458075794]}}, {"xyz": [-0.16927859459278438, -0.4309670031070709, -0.2535027003525234], "rgb": [155, 110, 59], "semantic_id": 20, "pcd_info": {"point_index": 783}, "mesh_info": {"face_index": 33, "face_uv": [0.14971365738562464, 0.35969257967607265, 0.4905937629383027]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2b0f0f530011353d15eb60d655e596e9", "keypoints": [{"xyz": [0.17466071996599267, 0.33923772073798664, 0.12062937753763259], "rgb": [68, 92, 132], "semantic_id": 0, "pcd_info": {"point_index": 622}, "mesh_info": {"face_index": 405, "face_uv": [0.04994144219089215, 0.11039744782445418, 0.8396611099846535]}}, {"xyz": [-0.17965194389207903, 0.33765675144096474, 0.1228447675404285], "rgb": [212, 208, 222], "semantic_id": 1, "pcd_info": {"point_index": 8}, "mesh_info": {"face_index": 402, "face_uv": [0.018907219175334916, 0.8285978938486072, 0.15249488697605743]}}, {"xyz": [0.17895524152158002, -0.06745515635676713, 0.04435169784556936], "rgb": [78, 101, 139], "semantic_id": 2, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 451, "face_uv": [0.36687015296736647, 0.011328640334698353, 0.6218012066979296]}}, {"xyz": [-0.18151183226015602, -0.06291777318794178, 0.04368150987054431], "rgb": [66, 90, 128], "semantic_id": 3, "pcd_info": {"point_index": 190}, "mesh_info": {"face_index": 442, "face_uv": [0.7468173755452153, 0.004374921091704622, 0.2488077033630762]}}, {"xyz": [0.17859701763481514, -0.10277961861549434, -0.21615499258041382], "rgb": [75, 99, 137], "semantic_id": 4, "pcd_info": {"point_index": 310}, "mesh_info": {"face_index": 950, "face_uv": [0.002759129187334622, 0.886220602180768, 0.11102026863189733]}}, {"xyz": [-0.1802996802874996, -0.09830197820508202, -0.21615499258041382], "rgb": [48, 72, 110], "semantic_id": 5, "pcd_info": {"point_index": 1509}, "mesh_info": {"face_index": 932, "face_uv": [0.012027793664299354, 0.39328845701502263, 0.594683749320678]}}, {"xyz": [0.26958584980630684, 0.10015719859010042, -0.21502600610256195], "rgb": [77, 101, 139], "semantic_id": 6, "pcd_info": {"point_index": 1327}, "mesh_info": {"face_index": 148, "face_uv": [0.39633351377202686, 0.5297933355573072, 0.07387315067066598]}}, {"xyz": [0.25450517451974786, 0.13933279237918827, 0.1352247866985874], "rgb": [221, 222, 234], "semantic_id": 7, "pcd_info": {"point_index": 1046}, "mesh_info": {"face_index": 99, "face_uv": [0.013397524030606735, 0.35254158955439524, 0.6340608864149979]}}, {"xyz": [-0.2788448151220428, 0.13559269311344324, -0.20633879373342834], "rgb": [77, 101, 139], "semantic_id": 8, "pcd_info": {"point_index": 332}, "mesh_info": {"face_index": 354, "face_uv": [0.9701631303422061, 0.005366331949332135, 0.02447053770846175]}}, {"xyz": [-0.2759389854689636, 0.13668499869139517, 0.1331610087378532], "rgb": [62, 86, 124], "semantic_id": 9, "pcd_info": {"point_index": 1815}, "mesh_info": {"face_index": 341, "face_uv": [0.5961193656225969, 0.3846697660581864, 0.01921086831921594]}}, {"xyz": [0.2724141355360497, -0.3451479971408844, -0.20407966384868437], "rgb": [84, 113, 145], "semantic_id": 17, "pcd_info": {"point_index": 749}, "mesh_info": {"face_index": 1, "face_uv": [0.36419557283968357, 0.030834158244476533, 0.6049702689158399]}}, {"xyz": [0.2818026990009729, -0.3451479971408844, 0.12841207057364898], "rgb": [80, 109, 147], "semantic_id": 18, "pcd_info": {"point_index": 627}, "mesh_info": {"face_index": 0, "face_uv": [0.395571021538553, 0.03258789485942286, 0.5718410836020241]}}, {"xyz": [-0.2726440240394987, -0.3451479971408844, 0.13892199109518422], "rgb": [81, 115, 153], "semantic_id": 19, "pcd_info": {"point_index": 1999}, "mesh_info": {"face_index": 195, "face_uv": [0.24629485672136833, 0.0029830693403693144, 0.7507220739382623]}}, {"xyz": [-0.2711947044864198, -0.3451479971408844, -0.21443347933262957], "rgb": [86, 115, 145], "semantic_id": 20, "pcd_info": {"point_index": 525}, "mesh_info": {"face_index": 197, "face_uv": [0.78613802761516, 0.0016690565455059576, 0.21219291583933406]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c3c159a5a56614aad7b20fded0142d7a", "keypoints": [{"xyz": [0.17753727299239186, 0.385900621637594, 0.18831618763750457], "rgb": [156, 87, 41], "semantic_id": 0, "pcd_info": {"point_index": 1318}, "mesh_info": {"face_index": 829, "face_uv": [0.17575180897748, 0.6625770694426402, 0.1616711215798801]}}, {"xyz": [-0.18397287300689158, 0.3900476230082648, 0.18918932235371133], "rgb": [158, 90, 42], "semantic_id": 1, "pcd_info": {"point_index": 291}, "mesh_info": {"face_index": 192, "face_uv": [0.15876202803296308, 0.18931241846983557, 0.6519255534971838]}}, {"xyz": [0.16901116903272564, 0.012754093787674226, 0.1585667818685541], "rgb": [150, 84, 40], "semantic_id": 2, "pcd_info": {"point_index": 1060}, "mesh_info": {"face_index": 1934, "face_uv": [0.3962449440797277, 0.27141023917159446, 0.3323448167486766]}}, {"xyz": [-0.17603991657506768, 0.010650048411320445, 0.15839934227556585], "rgb": [153, 90, 49], "semantic_id": 3, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 225, "face_uv": [0.19365234871621512, 0.7557900303496812, 0.05055762093410202]}}, {"xyz": [0.20063978390364065, 0.003704884240187001, -0.229218220808187], "rgb": [159, 94, 45], "semantic_id": 4, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 3114, "face_uv": [0.1486273511145689, 0.42567602235046537, 0.42569662653496515]}}, {"xyz": [-0.20654206108603904, 0.005616194389990059, -0.2282832065533138], "rgb": [146, 77, 35], "semantic_id": 5, "pcd_info": {"point_index": 367}, "mesh_info": {"face_index": 2839, "face_uv": [0.03665393937836014, 0.20413547711116242, 0.7592105835104782]}}, {"xyz": [0.1675333313323615, -0.38223345931681596, -0.1955097976108383], "rgb": [141, 74, 29], "semantic_id": 17, "pcd_info": {"point_index": 365}, "mesh_info": {"face_index": 1430, "face_uv": [0.2833815523006993, 0.09355831865983444, 0.6230601290394663]}}, {"xyz": [0.17243513961910564, -0.3765092054607444, 0.21803770209793255], "rgb": [147, 79, 34], "semantic_id": 18, "pcd_info": {"point_index": 50}, "mesh_info": {"face_index": 1059, "face_uv": [0.026910890462513024, 0.4411863315006703, 0.5319027780368174]}}, {"xyz": [-0.16763990842140633, -0.38112142771092516, 0.21193400025502868], "rgb": [147, 79, 34], "semantic_id": 19, "pcd_info": {"point_index": 802}, "mesh_info": {"face_index": 343, "face_uv": [0.30230211733764734, 0.35561931233229177, 0.342078570330061]}}, {"xyz": [-0.17775293526037866, -0.3796622420786375, -0.18982920805908887], "rgb": [154, 86, 41], "semantic_id": 20, "pcd_info": {"point_index": 767}, "mesh_info": {"face_index": 1754, "face_uv": [0.35266258964225394, 0.36653343660738247, 0.2808039737503631]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3526528270d5f3f766268502c798b9af", "keypoints": [{"xyz": [0.3860788748851385, 0.2742289900779724, 0.08900914055720488], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 24}, "mesh_info": {"face_index": 234, "face_uv": [0.1715123785670719, 0.4517072053514647, 0.3767804160814635]}}, {"xyz": [-0.36078401746555083, 0.2742289900779724, 0.09030651305044163], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 843}, "mesh_info": {"face_index": 336, "face_uv": [0.17941581850732713, 0.4959223750088351, 0.3246618064838378]}}, {"xyz": [0.33717365678654443, 0.0008420000085604951, 0.06613700604726175], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 133, "face_uv": [0.5339100966505982, 0.4510947451705973, 0.014995158178540828]}}, {"xyz": [-0.3179053925731741, 0.0008420000085609392, 0.06988645599872817], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 940}, "mesh_info": {"face_index": 309, "face_uv": [0.1566686603466184, 0.027862807302926913, 0.8154685323507184]}}, {"xyz": [0.3478715538007511, 0.0002974224649914259, -0.20688100159168243], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 895}, "mesh_info": {"face_index": 114, "face_uv": [0.03137509649290483, 0.014444775295071407, 0.9541801282120237]}}, {"xyz": [-0.31148282134591454, -0.0008457113067470434, -0.20688100159168266], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 307}, "mesh_info": {"face_index": 60, "face_uv": [0.09706966261862748, 0.09723519817377675, 0.8056951392075968]}}, {"xyz": [0.3907846905690504, -0.26427900791168213, -0.18995343486706617], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 258, "face_uv": [0.06578455244620739, 0.3336861468987755, 0.6005293006550171]}}, {"xyz": [0.38870829573061244, -0.264279007911682, 0.07815917331599875], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1620}, "mesh_info": {"face_index": 145, "face_uv": [0.07510399350965422, 0.44326171440736906, 0.4816342920829763]}}, {"xyz": [-0.34794007056195553, -0.26427900791168213, 0.08485724745430412], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1589}, "mesh_info": {"face_index": 15, "face_uv": [0.3495978975156334, 0.4764962527860702, 0.17390584969829628]}}, {"xyz": [-0.3379397153178755, -0.26427900791168213, -0.18474335423890953], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1781}, "mesh_info": {"face_index": 55, "face_uv": [0.04617247229639193, 0.43639031921867255, 0.5174372084849355]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9c3e53d9d1e653c0bf80985a99195eb8", "keypoints": [{"xyz": [0.1712548565718321, 0.49658830253679487, 0.11790019392871098], "rgb": [249, 255, 42], "semantic_id": 0, "pcd_info": {"point_index": 366}, "mesh_info": {"face_index": 55, "face_uv": [0.03598178519197587, 0.2780886863144719, 0.6859295284935539]}}, {"xyz": [-0.1624131459952563, 0.49787960073950654, 0.11856665239599606], "rgb": [249, 255, 42], "semantic_id": 1, "pcd_info": {"point_index": 1086}, "mesh_info": {"face_index": 181, "face_uv": [0.9151088566502069, 0.06317171123038091, 0.02171943211941303]}}, {"xyz": [0.16621547159795708, 0.018915999680757523, 0.09779779633654939], "rgb": [249, 255, 42], "semantic_id": 2, "pcd_info": {"point_index": 211}, "mesh_info": {"face_index": 233, "face_uv": [0.0027373633076463733, 0.05021331560498465, 0.9470493210873691]}}, {"xyz": [-0.1580051587276442, 0.018915999680757523, 0.10409364265262389], "rgb": [249, 255, 42], "semantic_id": 3, "pcd_info": {"point_index": 802}, "mesh_info": {"face_index": 234, "face_uv": [0.9339365386233189, 0.03416785691418344, 0.03189560446249775]}}, {"xyz": [0.17329238215149712, 0.0189159996807573, -0.17167558848861175], "rgb": [248, 254, 41], "semantic_id": 4, "pcd_info": {"point_index": 465}, "mesh_info": {"face_index": 233, "face_uv": [0.9239175071682054, 0.030227688728885854, 0.045854804102896954]}}, {"xyz": [-0.15814054133074085, 0.018915999680757523, -0.1720800258981604], "rgb": [249, 255, 42], "semantic_id": 5, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 109, "face_uv": [0.9554977479355286, 0.033785528188882495, 0.010716723875588958]}}, {"xyz": [0.16097584798356748, -0.3437433377982977, -0.13817399740219116], "rgb": [249, 255, 42], "semantic_id": 17, "pcd_info": {"point_index": 301}, "mesh_info": {"face_index": 295, "face_uv": [0.23909243749398526, 0.065010332147178, 0.6958972303588368]}}, {"xyz": [0.15669801069276673, -0.3434696085401121, 0.1687130033969879], "rgb": [248, 254, 42], "semantic_id": 18, "pcd_info": {"point_index": 923}, "mesh_info": {"face_index": 270, "face_uv": [0.49558825149271823, 0.023676690026644836, 0.4807350584806368]}}, {"xyz": [-0.1512836693221379, -0.34879588510427806, 0.16871300339698792], "rgb": [248, 255, 42], "semantic_id": 19, "pcd_info": {"point_index": 284}, "mesh_info": {"face_index": 13, "face_uv": [0.3918712348309075, 0.006754767083829764, 0.6013739980852626]}}, {"xyz": [-0.154897999709517, -0.3476276273313522, -0.13817399740219116], "rgb": [249, 255, 41], "semantic_id": 20, "pcd_info": {"point_index": 15}, "mesh_info": {"face_index": 287, "face_uv": [0.13955608025997154, 0.04294266342207597, 0.8175012563179525]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3bb8e6e640c32a7c36b0f2a1430e993a", "keypoints": [{"xyz": [0.15593788511259218, 0.21333625982366244, 0.04849183154724068], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 337}, "mesh_info": {"face_index": 1135, "face_uv": [0.026782185026736276, 0.31141112684430344, 0.66180668812896]}}, {"xyz": [-0.18002953781388173, 0.17380742003642624, 0.0442586801600342], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1656}, "mesh_info": {"face_index": 2270, "face_uv": [0.2844891691649425, 0.6875544553105429, 0.027956375524515322]}}, {"xyz": [0.13058069272109132, -0.15761800110340096, -0.005948729688256549], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 151, "face_uv": [0.7085275787661476, 0.006626917910609476, 0.2848455033232415]}}, {"xyz": [-0.1330406530686489, -0.1600902298667466, 0.004231228332966408], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 2021}, "mesh_info": {"face_index": 2667, "face_uv": [0.8404586893587257, 0.05416086065752228, 0.10538044998376124]}}, {"xyz": [0.16828962337527742, -0.1748876108496411, -0.29497799277305625], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 86}, "mesh_info": {"face_index": 168, "face_uv": [0.5134415637526736, 0.022693130853381482, 0.4638653053939457]}}, {"xyz": [-0.17393766029213806, -0.18008623279152736, -0.29497799277305603], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 606}, "mesh_info": {"face_index": 140, "face_uv": [0.3319985696132655, 0.008271947970457988, 0.6597294824162765]}}, {"xyz": [0.14145471180514896, -0.5275989770889282, -0.27578078497819614], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1666}, "mesh_info": {"face_index": 3154, "face_uv": [0.743329111479456, 0.0691067669577474, 0.18756412156279653]}}, {"xyz": [0.17087966744026775, -0.5275989770889282, 0.046195142734657635], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 653}, "mesh_info": {"face_index": 582, "face_uv": [0.6413184743897966, 0.11848997635699691, 0.24019154925320646]}}, {"xyz": [-0.17751029438559224, -0.5275989770889282, 0.050232272491371965], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 206}, "mesh_info": {"face_index": 2869, "face_uv": [0.14961867057370606, 0.26096455130955737, 0.5894167781167365]}}, {"xyz": [-0.14734888212770836, -0.5275989770889281, -0.26697144876188283], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1137}, "mesh_info": {"face_index": 2994, "face_uv": [0.05263468973757002, 0.32768120082349056, 0.6196841094389393]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "47ac4f73d91f8ff0c862eec8232fff1e", "keypoints": [{"xyz": [0.2071231927710084, 0.2703467506709676, 0.10527698348522435], "rgb": [203, 101, 0], "semantic_id": 0, "pcd_info": {"point_index": 1235}, "mesh_info": {"face_index": 64, "face_uv": [0.20461280218009043, 0.4930573142175352, 0.30232988360237417]}}, {"xyz": [-0.21037713776337463, 0.2670759349546872, 0.099110581954549], "rgb": [204, 102, 0], "semantic_id": 1, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 454, "face_uv": [0.17393520269829713, 0.22939883462403896, 0.5966659626776644]}}, {"xyz": [0.17763655305121637, -0.03532128081004804, 0.05387026531657357], "rgb": [204, 102, 0], "semantic_id": 2, "pcd_info": {"point_index": 1917}, "mesh_info": {"face_index": 272, "face_uv": [0.1317827962884245, 0.8577307341647219, 0.01048646954685693]}}, {"xyz": [-0.18295499778665114, -0.03578733244694088, 0.05944148158454721], "rgb": [203, 101, 0], "semantic_id": 3, "pcd_info": {"point_index": 1014}, "mesh_info": {"face_index": 576, "face_uv": [0.08487679769803673, 0.5881432515830413, 0.326979950718917]}}, {"xyz": [0.18870591926485947, -0.024562903258279256, -0.3118118756995739], "rgb": [203, 101, 0], "semantic_id": 4, "pcd_info": {"point_index": 1083}, "mesh_info": {"face_index": 276, "face_uv": [0.20921126119739192, 0.06790173504631551, 0.7228870037562914]}}, {"xyz": [-0.18604832140879213, -0.02493621110391342, -0.3120029357620161], "rgb": [204, 102, 0], "semantic_id": 5, "pcd_info": {"point_index": 1798}, "mesh_info": {"face_index": 624, "face_uv": [0.751520222726538, 0.09329440968313098, 0.15518536759033105]}}, {"xyz": [0.18736328006490366, -0.46622250669109355, -0.31379300355911255], "rgb": [204, 102, 0], "semantic_id": 17, "pcd_info": {"point_index": 340}, "mesh_info": {"face_index": 324, "face_uv": [0.3016517919432396, 0.008897438830370667, 0.6894507692263897]}}, {"xyz": [0.21606895843304774, -0.46126750279176265, 0.13550721581901337], "rgb": [203, 101, 0], "semantic_id": 18, "pcd_info": {"point_index": 2029}, "mesh_info": {"face_index": 172, "face_uv": [0.2941156752849133, 0.6864812652718902, 0.0194030594431932]}}, {"xyz": [-0.22140812063770493, -0.46620071306327493, 0.13638080491805438], "rgb": [203, 101, 0], "semantic_id": 19, "pcd_info": {"point_index": 1903}, "mesh_info": {"face_index": 530, "face_uv": [0.00866678638256219, 0.22391776550150702, 0.7674154481159231]}}, {"xyz": [-0.18711311757325888, -0.46542829623839266, -0.31379300355911255], "rgb": [203, 101, 0], "semantic_id": 20, "pcd_info": {"point_index": 312}, "mesh_info": {"face_index": 673, "face_uv": [0.27808967330954376, 0.010681664137500612, 0.7112286625529555]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a18b3364ce7ca94d5921d1ce0656232d", "keypoints": [{"xyz": [0.08864600683449778, 0.24366794386681645, 0.2531894694420196], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 361}, "mesh_info": {"face_index": 6470, "face_uv": [0.42584203172596585, 0.5739873351452806, 0.00017063312875295513]}}, {"xyz": [-0.08756671180595368, 0.24551781963923125, 0.2560229559864473], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1666}, "mesh_info": {"face_index": 8002, "face_uv": [0.6324953314828335, 0.2870950359336318, 0.08040963258353384]}}, {"xyz": [0.10972390782781051, -0.06028584801927761, 0.07274507863546842], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1387}, "mesh_info": {"face_index": 3769, "face_uv": [0.16303456741822298, 0.27928668967864123, 0.5576787429031383]}}, {"xyz": [-0.12671607004264523, -0.052991313488119696, 0.061327048258334016], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 682}, "mesh_info": {"face_index": 1988, "face_uv": [0.5775721945594404, 0.36559122734715344, 0.05683657809340707]}}, {"xyz": [0.18072239528913864, -0.040128747978804724, -0.1764960431379612], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1261}, "mesh_info": {"face_index": 266, "face_uv": [0.0705167139584671, 0.034027436139435124, 0.8954558499020973]}}, {"xyz": [-0.18418588007180836, -0.0494523719417268, -0.1828258700305716], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1061}, "mesh_info": {"face_index": 1141, "face_uv": [0.30578890373078094, 0.07474912259549438, 0.6194619736737254]}}, {"xyz": [0.2332768904962728, 0.10850435513670331, -0.10400914925104005], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 352}, "mesh_info": {"face_index": 3330, "face_uv": [0.3352247530080051, 0.3450276807620252, 0.3197475662299693]}}, {"xyz": [0.24556930616421388, 0.1530525310501023, 0.1066199104800159], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 635}, "mesh_info": {"face_index": 1587, "face_uv": [0.3316281569784809, 0.555453214726027, 0.11291862829549155]}}, {"xyz": [-0.23456309255354246, 0.1264331784187429, -0.08883684681089499], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1158}, "mesh_info": {"face_index": 2052, "face_uv": [0.3407651493232856, 0.1211396210769086, 0.5380952295998033]}}, {"xyz": [-0.2422756538817308, 0.15245693277386452, 0.10102049852702216], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1700}, "mesh_info": {"face_index": 2552, "face_uv": [0.36006812912055103, 0.10145912840468019, 0.5384727424747694]}}, {"xyz": [0.19484040345353634, -0.4128420054912567, -0.18486925603525364], "rgb": [5, 5, 5], "semantic_id": 17, "pcd_info": {"point_index": 631}, "mesh_info": {"face_index": 30906, "face_uv": [0.11903818751415138, 0.38192898165976685, 0.49903283082608174]}}, {"xyz": [0.16195054468568326, -0.4128420054912567, 0.19827835890527143], "rgb": [5, 5, 5], "semantic_id": 18, "pcd_info": {"point_index": 876}, "mesh_info": {"face_index": 31260, "face_uv": [0.06003635244789162, 0.3032407624523498, 0.6367228850997586]}}, {"xyz": [-0.16090760427610235, -0.4128420054912567, 0.19946911647398555], "rgb": [5, 5, 5], "semantic_id": 19, "pcd_info": {"point_index": 1969}, "mesh_info": {"face_index": 30788, "face_uv": [0.1914851798801692, 0.19525711026484696, 0.6132577098549838]}}, {"xyz": [-0.19166601981993792, -0.4128420054912567, -0.17770472617555277], "rgb": [5, 5, 5], "semantic_id": 20, "pcd_info": {"point_index": 1169}, "mesh_info": {"face_index": 30425, "face_uv": [0.1652920318850823, 0.37780510687719066, 0.4569028612377271]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "57263b7b778ac3a87c076cdc1de5871a", "keypoints": [{"xyz": [0.15431291903618888, 0.32534316880738917, 0.04534099996089891], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 482}, "mesh_info": {"face_index": 21, "face_uv": [0.8808085763118392, 0.0010857710963900623, 0.11810565259176083]}}, {"xyz": [-0.14768253651421948, 0.3227054837903102, 0.04534099996089935], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 183}, "mesh_info": {"face_index": 145, "face_uv": [0.004916968626457843, 0.9936876900959801, 0.001395341277562137]}}, {"xyz": [0.12867221811311763, -0.08651805738340956, 0.04534099996089935], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1701}, "mesh_info": {"face_index": 17, "face_uv": [0.01572004547286291, 0.9097952129982628, 0.07448474152887434]}}, {"xyz": [-0.14741387043833348, -0.09305199980735757, 0.043468762389656135], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 87}, "mesh_info": {"face_index": 118, "face_uv": [0.9658453042649322, 0.008092313036464115, 0.02606238269860139]}}, {"xyz": [0.15257109170809946, -0.09305199980735757, -0.17723121785147788], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 480}, "mesh_info": {"face_index": 119, "face_uv": [0.9483107187085377, 0.037983166547638704, 0.013706114743821237]}}, {"xyz": [-0.14692250263836504, -0.09539214339936097, -0.18601900339126587], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1997}, "mesh_info": {"face_index": 124, "face_uv": [0.02987947656782542, 0.9528358577870731, 0.01728466564510144]}}, {"xyz": [0.12236812861610358, -0.5056279897689819, -0.17898092984261596], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1313}, "mesh_info": {"face_index": 41, "face_uv": [0.35645741972199946, 0.287069120552714, 0.3564734597252866]}}, {"xyz": [0.13436827579412547, -0.5056279897689817, 0.07954157475578583], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 405}, "mesh_info": {"face_index": 227, "face_uv": [0.20682651122432885, 0.2967890180568138, 0.49638447071885694]}}, {"xyz": [-0.13397190860331046, -0.5056279897689817, 0.0724904378742934], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1969}, "mesh_info": {"face_index": 200, "face_uv": [0.043318881403894484, 0.5421525616671015, 0.4145285569290036]}}, {"xyz": [-0.1264380936832444, -0.5056279897689819, -0.17120286615864064], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 132}, "mesh_info": {"face_index": 56, "face_uv": [0.4407823599717677, 0.39567902268172106, 0.1635386173465113]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e696f4c7cd88b8b52ff834514c92e8fd", "keypoints": [{"xyz": [0.17544807501291718, 0.28799302085501055, 0.19662438673586113], "rgb": [142, 142, 142], "semantic_id": 0, "pcd_info": {"point_index": 1960}, "mesh_info": {"face_index": 2855, "face_uv": [0.018134695791889064, 0.6905401321993481, 0.29132517200876434]}}, {"xyz": [-0.17697759129965024, 0.28714088950873995, 0.19563866294700472], "rgb": [142, 142, 142], "semantic_id": 1, "pcd_info": {"point_index": 139}, "mesh_info": {"face_index": 2923, "face_uv": [0.010090582354146957, 0.589611671596775, 0.4002977460490795]}}, {"xyz": [0.20830234461770197, 0.0010059999767690897, 0.05274887010473628], "rgb": [142, 142, 142], "semantic_id": 2, "pcd_info": {"point_index": 1142}, "mesh_info": {"face_index": 1991, "face_uv": [0.051545622412777256, 0.8336259846976731, 0.11482839288954964]}}, {"xyz": [-0.20663441218071338, 0.0010059999767690897, 0.04836823537003565], "rgb": [142, 142, 142], "semantic_id": 3, "pcd_info": {"point_index": 1362}, "mesh_info": {"face_index": 2039, "face_uv": [0.1252378550224906, 0.1493878470562846, 0.7253742979212249]}}, {"xyz": [0.2125708320141201, -0.0181378414386395, -0.24784583724423626], "rgb": [142, 142, 142], "semantic_id": 4, "pcd_info": {"point_index": 1232}, "mesh_info": {"face_index": 1905, "face_uv": [0.01612559845539676, 0.07852566980664821, 0.9053487317379554]}}, {"xyz": [-0.20725950142961364, -0.0165078131926093, -0.24270977487114997], "rgb": [142, 142, 142], "semantic_id": 5, "pcd_info": {"point_index": 260}, "mesh_info": {"face_index": 2053, "face_uv": [0.24010470766932865, 0.18050320355894733, 0.579392088771729]}}, {"xyz": [0.23115539828983733, -0.41999900341033936, -0.2309718338490164], "rgb": [142, 142, 142], "semantic_id": 17, "pcd_info": {"point_index": 102}, "mesh_info": {"face_index": 15, "face_uv": [0.06152255404610509, 0.49526627518127225, 0.4432111707726226]}}, {"xyz": [0.2276019428377849, -0.41999900341033936, 0.19627494158201308], "rgb": [142, 142, 142], "semantic_id": 18, "pcd_info": {"point_index": 116}, "mesh_info": {"face_index": 406, "face_uv": [0.43140224360650203, 0.08006516819976661, 0.48853258819373135]}}, {"xyz": [-0.23329761868642104, -0.41999900341033913, 0.2026720990122874], "rgb": [141, 141, 141], "semantic_id": 19, "pcd_info": {"point_index": 1920}, "mesh_info": {"face_index": 846, "face_uv": [0.38388783433582363, 0.5457196601627807, 0.07039250550139511]}}, {"xyz": [-0.23232849573345413, -0.41999900341033936, -0.2292818705913161], "rgb": [142, 142, 142], "semantic_id": 20, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 454, "face_uv": [0.5819158686347102, 0.3725027588442265, 0.04558137252106324]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6def527e32885b7888dcbe86402c7c15", "keypoints": [{"xyz": [0.2705708710797442, 0.2646160229851343, 0.2960021232533564], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1202}, "mesh_info": {"face_index": 3984, "face_uv": [0.4818190318979237, 0.13798159334516097, 0.38019937475691573]}}, {"xyz": [-0.26404254598708565, 0.2626907281192893, 0.2950530091673228], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 4478, "face_uv": [0.6994856325133034, 0.07391292206211576, 0.22660144542458008]}}, {"xyz": [0.27408865550069994, -0.07482354634144128, 0.16419586086353688], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 675}, "mesh_info": {"face_index": 3212, "face_uv": [0.00396571163141223, 0.9895645589580505, 0.00646972941053733]}}, {"xyz": [-0.2713192112972356, -0.07063721222355923, 0.16720555825756922], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 73}, "mesh_info": {"face_index": 6536, "face_uv": [0.07681156879256076, 0.8353072312010884, 0.08788120000632949]}}, {"xyz": [0.2718039565505111, -0.07061723529326591, -0.31317485904608233], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1145}, "mesh_info": {"face_index": 3545, "face_uv": [0.3888640677116431, 0.5588162086392207, 0.05231972364913643]}}, {"xyz": [-0.26068013018093883, -0.06469313083336825, -0.30438662045222753], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1352}, "mesh_info": {"face_index": 6971, "face_uv": [0.1090349833361981, 0.43058675991303325, 0.4603782567507684]}}, {"xyz": [0.2844723401128227, 0.00523202753481522, -0.29381734601447895], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 783}, "mesh_info": {"face_index": 1012, "face_uv": [0.6125233295074094, 0.0892960228405186, 0.2981806476520724]}}, {"xyz": [0.2895980701348708, 0.08417057658471316, 0.2229277119384515], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1411}, "mesh_info": {"face_index": 1464, "face_uv": [0.033956249688890126, 0.3705929617014308, 0.5954507886096821]}}, {"xyz": [-0.28155416123801413, 0.017197259985303193, -0.286310242913393], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1752}, "mesh_info": {"face_index": 826, "face_uv": [0.5304184730316571, 0.2803520605405621, 0.1892294664277796]}}, {"xyz": [-0.28732246670902994, 0.08232363074911553, 0.2317120194738506], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1452}, "mesh_info": {"face_index": 785, "face_uv": [0.12579192888374796, 0.653125582622479, 0.22108248849377313]}}, {"xyz": [0.2889844640426606, -0.23784746755248154, -0.2918096714070677], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 1124, "face_uv": [0.40548260746513115, 0.004761785413317644, 0.5897556071215511]}}, {"xyz": [0.2798579931259155, -0.24623487745717476, 0.22013907959539802], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1582}, "mesh_info": {"face_index": 1536, "face_uv": [0.29050688583100354, 0.01889590291499175, 0.6905972112540048]}}, {"xyz": [-0.28638818214269557, -0.24696703886346483, 0.22806796052863254], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 231}, "mesh_info": {"face_index": 50, "face_uv": [0.010996982300094257, 0.40725203610267824, 0.5817509815972273]}}, {"xyz": [-0.2864841703382577, -0.24294954487361697, -0.28759255988646015], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 603}, "mesh_info": {"face_index": 92, "face_uv": [0.13939553600900598, 0.401048852530364, 0.45955561146063056]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e2c16ac7606317b3e85a21e38833ddcd", "keypoints": [{"xyz": [0.16602866967924368, 0.4269649319502291, 0.1279176991976012], "rgb": [177, 105, 42], "semantic_id": 0, "pcd_info": {"point_index": 1620}, "mesh_info": {"face_index": 17361, "face_uv": [0.12266039285601284, 0.289554961642885, 0.5877846455011013]}}, {"xyz": [-0.15996131386313417, 0.4265965577292984, 0.12674424671262674], "rgb": [179, 109, 45], "semantic_id": 1, "pcd_info": {"point_index": 1778}, "mesh_info": {"face_index": 17701, "face_uv": [0.14348666119117842, 0.8069789465978954, 0.04953439221092602]}}, {"xyz": [0.11796922813118449, 0.09048400074243546, 0.09814243443272441], "rgb": [169, 94, 32], "semantic_id": 2, "pcd_info": {"point_index": 1005}, "mesh_info": {"face_index": 16689, "face_uv": [0.31228778870176505, 0.6275183112553423, 0.06019390004289273]}}, {"xyz": [-0.11041357331622412, 0.09187434532267114, 0.12428155689271558], "rgb": [184, 109, 44], "semantic_id": 3, "pcd_info": {"point_index": 128}, "mesh_info": {"face_index": 15720, "face_uv": [0.4702191269555207, 0.004218585535339018, 0.5255622875091404]}}, {"xyz": [0.18826565584777627, 0.07173189223809717, -0.2534300088882444], "rgb": [185, 111, 46], "semantic_id": 4, "pcd_info": {"point_index": 2043}, "mesh_info": {"face_index": 15472, "face_uv": [0.018939865291747397, 0.818020165799817, 0.16303996890843483]}}, {"xyz": [-0.1818692605107825, 0.07308254661520908, -0.25343000888824463], "rgb": [177, 103, 38], "semantic_id": 5, "pcd_info": {"point_index": 2045}, "mesh_info": {"face_index": 15455, "face_uv": [0.5312154526904055, 0.09684562546832519, 0.37193892184126925]}}, {"xyz": [0.23537835670377436, 0.2832270898852357, -0.25128473954830766], "rgb": [187, 113, 48], "semantic_id": 6, "pcd_info": {"point_index": 319}, "mesh_info": {"face_index": 19034, "face_uv": [0.018541064929762017, 0.5440682730171151, 0.4373906620531233]}}, {"xyz": [0.2295469555198379, 0.29103776564817063, 0.07871855337643877], "rgb": [182, 113, 49], "semantic_id": 7, "pcd_info": {"point_index": 1303}, "mesh_info": {"face_index": 19094, "face_uv": [0.15099583437408462, 0.01737430766444739, 0.8316298579614679]}}, {"xyz": [-0.22683898698201466, 0.2794342210653833, -0.23884978695468806], "rgb": [179, 104, 38], "semantic_id": 8, "pcd_info": {"point_index": 1464}, "mesh_info": {"face_index": 18812, "face_uv": [0.8366187084409579, 0.0043538714773779215, 0.15902742008166412]}}, {"xyz": [-0.22665740293842843, 0.27226017600247143, 0.09424170349119229], "rgb": [176, 104, 41], "semantic_id": 9, "pcd_info": {"point_index": 464}, "mesh_info": {"face_index": 18515, "face_uv": [0.3433751044728084, 0.02981106543013164, 0.6268138300970602]}}, {"xyz": [0.16335688612218108, -0.26877498626708984, -0.1488960536148296], "rgb": [176, 100, 41], "semantic_id": 17, "pcd_info": {"point_index": 1835}, "mesh_info": {"face_index": 1112, "face_uv": [0.11014939045808919, 0.005630799479073472, 0.8842198100628373]}}, {"xyz": [0.1547740810796588, -0.26877498626708984, 0.11605501271568233], "rgb": [189, 111, 48], "semantic_id": 18, "pcd_info": {"point_index": 1204}, "mesh_info": {"face_index": 8414, "face_uv": [0.020394202869649422, 0.8501543116443818, 0.12945148548596874]}}, {"xyz": [-0.15906299915225128, -0.26877498626708984, 0.11216317959994773], "rgb": [185, 109, 49], "semantic_id": 19, "pcd_info": {"point_index": 403}, "mesh_info": {"face_index": 4763, "face_uv": [0.8694931482112483, 0.031135555010145106, 0.09937129677860652]}}, {"xyz": [-0.15259890459332806, -0.26877498626708984, -0.14465613285894616], "rgb": [174, 99, 36], "semantic_id": 20, "pcd_info": {"point_index": 140}, "mesh_info": {"face_index": 12068, "face_uv": [0.13388798144666397, 0.8602497585459659, 0.005862260007370225]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a5f8050192680e993e6a70f59cdd19a6", "keypoints": [{"xyz": [0.17393026633543357, 0.5622760057449343, 0.1860605216906953], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 423}, "mesh_info": {"face_index": 85, "face_uv": [0.5538704243762476, 0.0007242655328186667, 0.44540531009093415]}}, {"xyz": [-0.15774509336945222, 0.5622760057449341, 0.17948975787215524], "rgb": [226, 225, 221], "semantic_id": 1, "pcd_info": {"point_index": 1221}, "mesh_info": {"face_index": 69, "face_uv": [0.4702019010091307, 0.02961787180900325, 0.500180227181866]}}, {"xyz": [0.1674598646069992, 0.1674479991197586, 0.10716820755971934], "rgb": [226, 225, 221], "semantic_id": 2, "pcd_info": {"point_index": 335}, "mesh_info": {"face_index": 111, "face_uv": [0.9438813326866717, 0.019640581523599147, 0.03647808578972923]}}, {"xyz": [-0.15541579549515905, 0.16744799911975883, 0.11466608451373472], "rgb": [226, 225, 221], "semantic_id": 3, "pcd_info": {"point_index": 1442}, "mesh_info": {"face_index": 110, "face_uv": [0.013538134747274524, 0.9635723911026258, 0.02288947415010101]}}, {"xyz": [0.1697102959237492, 0.16744799911975883, -0.2016352067095319], "rgb": [226, 225, 221], "semantic_id": 4, "pcd_info": {"point_index": 1949}, "mesh_info": {"face_index": 110, "face_uv": [0.9812702247546062, 0.013061411992886263, 0.005668363252508787]}}, {"xyz": [-0.15769367200871093, 0.16744799911975883, -0.19912886929385934], "rgb": [226, 225, 221], "semantic_id": 5, "pcd_info": {"point_index": 199}, "mesh_info": {"face_index": 91, "face_uv": [0.9438338168218401, 0.029768202924332268, 0.026397980253828952]}}, {"xyz": [0.1349973826313661, -0.24887999892234813, -0.1598558882835912], "rgb": [226, 225, 221], "semantic_id": 17, "pcd_info": {"point_index": 1991}, "mesh_info": {"face_index": 154, "face_uv": [0.5040948530786908, 0.45818320232947185, 0.03772194459183779]}}, {"xyz": [0.14236810373165704, -0.24887999892234802, 0.16767856582603402], "rgb": [226, 225, 221], "semantic_id": 18, "pcd_info": {"point_index": 1259}, "mesh_info": {"face_index": 98, "face_uv": [0.4353174521385429, 0.39453160621553535, 0.17015094164592176]}}, {"xyz": [-0.10494483420241363, -0.24887999892234802, 0.18421660067553902], "rgb": [226, 225, 221], "semantic_id": 19, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 9, "face_uv": [0.2566589046020101, 0.479257668484308, 0.26408342691368186]}}, {"xyz": [-0.13314137028359152, -0.24887999892234802, -0.1607771251043697], "rgb": [226, 225, 220], "semantic_id": 20, "pcd_info": {"point_index": 1219}, "mesh_info": {"face_index": 128, "face_uv": [0.5055999276990274, 0.3929168309631048, 0.10148324133786779]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c0b45de1c0e8f80d4521562865ab775e", "keypoints": [{"xyz": [0.14320843660671628, 0.39119726102262165, 0.12284699827432632], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 2033}, "mesh_info": {"face_index": 136, "face_uv": [0.012311063384359175, 0.013613412241184359, 0.9740755243744565]}}, {"xyz": [-0.1627525788813396, 0.38968544047152565, 0.12284699827432655], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 1728}, "mesh_info": {"face_index": 135, "face_uv": [0.012589750809572007, 0.03761438230083214, 0.9497958668895975]}}, {"xyz": [0.18565178004845606, 0.009061000309884548, 0.09268666517866497], "rgb": [0, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1893}, "mesh_info": {"face_index": 97, "face_uv": [0.2284833448959568, 0.16617202869916808, 0.6053446264048752]}}, {"xyz": [-0.2171916620649148, 0.00906100030988477, 0.08440318781908696], "rgb": [0, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 438}, "mesh_info": {"face_index": 157, "face_uv": [0.011473033941210084, 0.8850816868457222, 0.10344527921309218]}}, {"xyz": [0.19338464476076916, 0.008518810225718099, -0.28856900334358204], "rgb": [3, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1824}, "mesh_info": {"face_index": 36, "face_uv": [0.014190856890788828, 0.006382738329989123, 0.9794264047792217]}}, {"xyz": [-0.22840300202369695, 0.0075787968455519605, -0.286942537502223], "rgb": [7, 2, 0], "semantic_id": 5, "pcd_info": {"point_index": 1099}, "mesh_info": {"face_index": 72, "face_uv": [0.0007873116325576218, 0.030175616656019304, 0.9690370717114231]}}, {"xyz": [0.17099438249987825, -0.37369799613952637, -0.2692718559071855], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1555}, "mesh_info": {"face_index": 80, "face_uv": [0.353537696501229, 0.5870367803318616, 0.05942552316690951]}}, {"xyz": [0.1706051678093389, -0.39212000370025657, 0.060577781039212825], "rgb": [109, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 695}, "mesh_info": {"face_index": 82, "face_uv": [0.4337437105462297, 0.42797278900180025, 0.13828350045197066]}}, {"xyz": [-0.20469047379636202, -0.39621400833129883, 0.05622990969636915], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 658}, "mesh_info": {"face_index": 90, "face_uv": [0.49558680826047374, 0.3904646775314794, 0.1139485142080469]}}, {"xyz": [-0.20362640400257886, -0.4091770052909851, -0.2600589572086093], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 415}, "mesh_info": {"face_index": 88, "face_uv": [0.47105669166994163, 0.442858338699782, 0.08608496963027643]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fb794b0b3260794bfebad4f49b26ec52", "keypoints": [{"xyz": [0.19371200918889436, 0.3068185092247929, 0.19023651085563353], "rgb": [220, 202, 165], "semantic_id": 0, "pcd_info": {"point_index": 859}, "mesh_info": {"face_index": 2095, "face_uv": [0.14202045201649208, 0.49605042713961256, 0.3619291208438956]}}, {"xyz": [-0.18638536679216633, 0.30872841774788273, 0.18578842884810942], "rgb": [221, 203, 167], "semantic_id": 1, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 90, "face_uv": [0.8876918021103554, 0.10162354225248303, 0.010684655637161733]}}, {"xyz": [0.1888361095216632, 0.010225752404976474, 0.0684802139167594], "rgb": [217, 199, 163], "semantic_id": 2, "pcd_info": {"point_index": 8}, "mesh_info": {"face_index": 1528, "face_uv": [0.08792909373071063, 0.03635481120710827, 0.8757160950621812]}}, {"xyz": [-0.1798969697348437, -0.014803381365946278, 0.07354700927968472], "rgb": [217, 199, 163], "semantic_id": 3, "pcd_info": {"point_index": 664}, "mesh_info": {"face_index": 7830, "face_uv": [0.11921936748491826, 0.2941616868897306, 0.5866189456253542]}}, {"xyz": [0.1869308077149041, -0.032333219751991216, -0.3175892510529139], "rgb": [190, 171, 133], "semantic_id": 4, "pcd_info": {"point_index": 1805}, "mesh_info": {"face_index": 10342, "face_uv": [0.035308266673203935, 0.5776187827314856, 0.38707295059531077]}}, {"xyz": [-0.19570356123383625, -0.029260644875026776, -0.3120438578965835], "rgb": [229, 211, 173], "semantic_id": 5, "pcd_info": {"point_index": 1602}, "mesh_info": {"face_index": 10436, "face_uv": [0.005394286319656097, 0.04323253763904896, 0.951373176041295]}}, {"xyz": [0.22911399780891406, 0.15518747686575352, -0.24723579347196512], "rgb": [81, 55, 37], "semantic_id": 6, "pcd_info": {"point_index": 1693}, "mesh_info": {"face_index": 13392, "face_uv": [0.26653372679538856, 0.6773405354763632, 0.05612573772824819]}}, {"xyz": [0.2129238179274424, 0.07006281437696615, 0.2676843963794079], "rgb": [74, 55, 37], "semantic_id": 7, "pcd_info": {"point_index": 1220}, "mesh_info": {"face_index": 13905, "face_uv": [0.5019802253241021, 0.1184102869965387, 0.37960948767935804]}}, {"xyz": [-0.23389369549127847, 0.1556205656401375, -0.24706785624765715], "rgb": [78, 55, 34], "semantic_id": 8, "pcd_info": {"point_index": 885}, "mesh_info": {"face_index": 19070, "face_uv": [0.22940211234495403, 0.3961157912646265, 0.3744820963904195]}}, {"xyz": [-0.214409117499597, 0.06935494189177427, 0.27201909905615407], "rgb": [89, 70, 50], "semantic_id": 9, "pcd_info": {"point_index": 1411}, "mesh_info": {"face_index": 19772, "face_uv": [0.8414613059959601, 0.037144474788101796, 0.12139421921593883]}}, {"xyz": [0.21554374961754058, -0.28342648164188566, -0.2945860707174871], "rgb": [74, 53, 33], "semantic_id": 17, "pcd_info": {"point_index": 857}, "mesh_info": {"face_index": 15429, "face_uv": [0.15470651312465786, 0.7048372077916277, 0.14045627908371439]}}, {"xyz": [0.23423515121367444, -0.28793718247855615, 0.2557372082022651], "rgb": [96, 76, 51], "semantic_id": 18, "pcd_info": {"point_index": 1629}, "mesh_info": {"face_index": 14396, "face_uv": [0.6848725465454589, 0.04094003379695002, 0.27418741965759147]}}, {"xyz": [-0.2016101797154406, -0.2815114337454234, 0.2582234955488316], "rgb": [105, 79, 49], "semantic_id": 19, "pcd_info": {"point_index": 91}, "mesh_info": {"face_index": 17843, "face_uv": [0.3408286273819896, 0.2273548876417616, 0.431816484976249]}}, {"xyz": [-0.21628440189554055, -0.28709273294708093, -0.29546845261804433], "rgb": [83, 61, 46], "semantic_id": 20, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 17586, "face_uv": [0.05347932928706355, 0.4815885244172426, 0.46493214629569385]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e193b0d75fa674142b3e9b6eb52d35df", "keypoints": [{"xyz": [0.15919152540793818, 0.3045996470028052, 0.31198368414282474], "rgb": [198, 198, 198], "semantic_id": 0, "pcd_info": {"point_index": 574}, "mesh_info": {"face_index": 11871, "face_uv": [0.21816741981290216, 0.018919718602862814, 0.762912861584235]}}, {"xyz": [-0.15565887486380836, 0.30377230618450035, 0.3118287464665773], "rgb": [198, 198, 198], "semantic_id": 1, "pcd_info": {"point_index": 730}, "mesh_info": {"face_index": 11847, "face_uv": [0.6556742214022533, 0.3308856157009253, 0.013440162896821982]}}, {"xyz": [0.12916190386753096, 0.016502000391483085, 0.2089790467896766], "rgb": [197, 197, 197], "semantic_id": 2, "pcd_info": {"point_index": 1123}, "mesh_info": {"face_index": 721, "face_uv": [0.5501552393892705, 0.4355723132368226, 0.014272447373893457]}}, {"xyz": [-0.13367909795775035, 0.017466097739507802, 0.2060056889943611], "rgb": [197, 197, 197], "semantic_id": 3, "pcd_info": {"point_index": 448}, "mesh_info": {"face_index": 19808, "face_uv": [0.09084683629002674, 0.6251477417718992, 0.2840054219380739]}}, {"xyz": [0.21404241689056125, 0.016502000391483307, -0.18943647405998565], "rgb": [197, 197, 197], "semantic_id": 4, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 4700, "face_uv": [0.20857355676298306, 0.3474018288157921, 0.4440246144212247]}}, {"xyz": [-0.21197380578964756, 0.016502000391483085, -0.2035542457946724], "rgb": [197, 197, 197], "semantic_id": 5, "pcd_info": {"point_index": 671}, "mesh_info": {"face_index": 4602, "face_uv": [0.07779739917395527, 0.44902850375770614, 0.4731740970683252]}}, {"xyz": [0.26750495881282005, 0.1071082431176218, -0.1945954374470122], "rgb": [197, 197, 197], "semantic_id": 6, "pcd_info": {"point_index": 119}, "mesh_info": {"face_index": 20124, "face_uv": [0.7226065452610255, 0.0027063088044585615, 0.27468714593451565]}}, {"xyz": [0.17064663888126555, 0.10749799758195877, 0.2731811071623961], "rgb": [198, 198, 198], "semantic_id": 7, "pcd_info": {"point_index": 1570}, "mesh_info": {"face_index": 19864, "face_uv": [0.07925498905856294, 0.5025227971390697, 0.41822221380236735]}}, {"xyz": [-0.2605953399126203, 0.10749799758195877, -0.1931485979844701], "rgb": [198, 198, 198], "semantic_id": 8, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 19674, "face_uv": [0.01696916844164921, 0.3250452488585336, 0.6579855826998172]}}, {"xyz": [-0.1684988287193927, 0.10749799758195877, 0.26878575206912225], "rgb": [198, 198, 198], "semantic_id": 9, "pcd_info": {"point_index": 1568}, "mesh_info": {"face_index": 19663, "face_uv": [0.5664692051384793, 0.034724948638583296, 0.39880584622293747]}}, {"xyz": [0.2766337397529725, -0.2091900913922895, -0.2009999928936015], "rgb": [50, 28, 9], "semantic_id": 17, "pcd_info": {"point_index": 185}, "mesh_info": {"face_index": 20336, "face_uv": [0.8645078178328912, 0.0033755830705709984, 0.13211659909653764]}}, {"xyz": [0.1903298312614436, -0.21398863976784277, 0.28498094377623395], "rgb": [50, 28, 9], "semantic_id": 18, "pcd_info": {"point_index": 623}, "mesh_info": {"face_index": 232, "face_uv": [0.3242031284549622, 0.5941368568228417, 0.08166001472219482]}}, {"xyz": [-0.169491605920445, -0.2269374245634257, 0.29030087654557013], "rgb": [51, 29, 10], "semantic_id": 19, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 17, "face_uv": [0.06694345011038652, 0.0550024883616513, 0.8780540615279624]}}, {"xyz": [-0.2712363117013791, -0.1978528523359815, -0.19471348353308354], "rgb": [51, 29, 10], "semantic_id": 20, "pcd_info": {"point_index": 1734}, "mesh_info": {"face_index": 262, "face_uv": [0.8018274302105699, 0.10177715365414136, 0.09639541613528885]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "68c7f82dd1e1634d9338458f802f5ad7", "keypoints": [{"xyz": [0.12461135784385571, 0.425702586778814, 0.2134301342368492], "rgb": [214, 204, 112], "semantic_id": 0, "pcd_info": {"point_index": 680}, "mesh_info": {"face_index": 3437, "face_uv": [0.12952939964056154, 0.5708917438430855, 0.299578856516353]}}, {"xyz": [-0.12574730910932533, 0.4292958418083528, 0.21372058595100232], "rgb": [224, 213, 135], "semantic_id": 1, "pcd_info": {"point_index": 1972}, "mesh_info": {"face_index": 3460, "face_uv": [0.5368826312360426, 0.4115264422538513, 0.05159092651010553]}}, {"xyz": [0.12066293235227338, 0.04075000062584855, 0.17669860799066803], "rgb": [220, 209, 119], "semantic_id": 2, "pcd_info": {"point_index": 762}, "mesh_info": {"face_index": 2967, "face_uv": [0.9766306300968011, 0.005872639562099877, 0.017496730341093537]}}, {"xyz": [-0.1286313668262787, 0.04075000062584899, 0.1690655850426267], "rgb": [217, 200, 100], "semantic_id": 3, "pcd_info": {"point_index": 1898}, "mesh_info": {"face_index": 2968, "face_uv": [0.030813787278499198, 0.5102029316331587, 0.4589832810883477]}}, {"xyz": [0.20350242585203832, 0.04075000062584877, -0.194473190277972], "rgb": [210, 195, 112], "semantic_id": 4, "pcd_info": {"point_index": 1425}, "mesh_info": {"face_index": 2964, "face_uv": [0.012091573011237759, 0.017232272216006584, 0.9706761547727559]}}, {"xyz": [-0.2133128489258107, 0.04075000062584877, -0.1959902463786013], "rgb": [229, 220, 141], "semantic_id": 5, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 2964, "face_uv": [0.9832097627128472, 0.0130580564693862, 0.003732180817766545]}}, {"xyz": [0.21864168819877886, -0.3049926323726493, -0.24699229611107126], "rgb": [184, 184, 184], "semantic_id": 17, "pcd_info": {"point_index": 778}, "mesh_info": {"face_index": 1396, "face_uv": [0.7316398571050846, 0.18192248054630897, 0.08643766234860698]}}, {"xyz": [0.2159180505086953, -0.3063781779573431, 0.2100397654085456], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 715}, "mesh_info": {"face_index": 1465, "face_uv": [0.14483301821340425, 0.20799132152376476, 0.647175660262831]}}, {"xyz": [-0.2165855076916352, -0.30528853520784605, 0.21448974695315473], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 848}, "mesh_info": {"face_index": 30, "face_uv": [0.38124684929138164, 0.33369091439907833, 0.2850622363095402]}}, {"xyz": [-0.21224755931008793, -0.30630261851186846, -0.24343763309832536], "rgb": [210, 210, 210], "semantic_id": 20, "pcd_info": {"point_index": 91}, "mesh_info": {"face_index": 2830, "face_uv": [0.5700207262204121, 0.20240970175052211, 0.2275695720290663]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4138f85b00b53185dc3653f8341633a", "keypoints": [{"xyz": [0.22550781378265208, 0.36397498846054077, 0.1839682644986387], "rgb": [35, 35, 35], "semantic_id": 0, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 4836, "face_uv": [0.7584898579410789, 0.07313587359201949, 0.16837426846690148]}}, {"xyz": [-0.22921513805231844, 0.36397498846054077, 0.18822250813607375], "rgb": [35, 35, 35], "semantic_id": 1, "pcd_info": {"point_index": 294}, "mesh_info": {"face_index": 3331, "face_uv": [0.5450138742446226, 0.09634019239025787, 0.3586459333651196]}}, {"xyz": [0.1777755616854364, 0.042965981818386734, 0.08720391222763008], "rgb": [35, 35, 35], "semantic_id": 2, "pcd_info": {"point_index": 681}, "mesh_info": {"face_index": 5483, "face_uv": [0.0935556485963458, 0.030393362139023248, 0.8760509892646466]}}, {"xyz": [-0.18044742837553945, 0.043030079723689996, 0.08796466093166905], "rgb": [34, 34, 34], "semantic_id": 3, "pcd_info": {"point_index": 411}, "mesh_info": {"face_index": 6222, "face_uv": [0.08252315232203973, 0.02838917789406832, 0.8890876697838864]}}, {"xyz": [0.1818978353296268, 0.050202379012940335, -0.2831284414684422], "rgb": [35, 35, 35], "semantic_id": 4, "pcd_info": {"point_index": 620}, "mesh_info": {"face_index": 6189, "face_uv": [0.5872008295654264, 0.12693545330730854, 0.285863717127265]}}, {"xyz": [-0.18028517977421465, 0.04389804425055199, -0.2837737760958289], "rgb": [35, 35, 35], "semantic_id": 5, "pcd_info": {"point_index": 375}, "mesh_info": {"face_index": 7069, "face_uv": [0.11174277379917259, 0.003131904794338219, 0.8851253214064896]}}, {"xyz": [0.17620137558454962, -0.3410885883197401, -0.28425020715688654], "rgb": [34, 34, 34], "semantic_id": 17, "pcd_info": {"point_index": 1640}, "mesh_info": {"face_index": 8641, "face_uv": [0.0007997355219865556, 0.6485350779374519, 0.3506651865405608]}}, {"xyz": [0.2097710463815921, -0.34141600131988525, 0.15495343534733108], "rgb": [35, 35, 35], "semantic_id": 18, "pcd_info": {"point_index": 1660}, "mesh_info": {"face_index": 1990, "face_uv": [0.24227149297154746, 0.5346988030897025, 0.22302970393875002]}}, {"xyz": [-0.21479166307396427, -0.34141600131988536, 0.15666403664058345], "rgb": [35, 35, 35], "semantic_id": 19, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 1357, "face_uv": [0.1900782797981856, 0.4207527148717206, 0.38916900533009413]}}, {"xyz": [-0.17639920876648443, -0.34129370161719186, -0.275862976230573], "rgb": [34, 34, 34], "semantic_id": 20, "pcd_info": {"point_index": 1036}, "mesh_info": {"face_index": 9716, "face_uv": [0.5541108929247469, 0.08347266483093473, 0.3624164422443179]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6a73ce89c4a941ac0f947750540fb22", "keypoints": [{"xyz": [0.16895729655075092, 0.29907910401256976, 0.06454210961209127], "rgb": [222, 206, 183], "semantic_id": 0, "pcd_info": {"point_index": 1893}, "mesh_info": {"face_index": 3269, "face_uv": [0.029398720768610453, 0.011746931398862875, 0.9588543478325269]}}, {"xyz": [-0.17528445648240853, 0.2986779000116271, 0.07460454210473902], "rgb": [220, 204, 181], "semantic_id": 1, "pcd_info": {"point_index": 640}, "mesh_info": {"face_index": 3849, "face_uv": [0.017361013341019207, 0.2991997622248702, 0.6834392244341109]}}, {"xyz": [0.17292905547534496, -0.06343460694251446, 0.03939883642011777], "rgb": [221, 205, 182], "semantic_id": 2, "pcd_info": {"point_index": 144}, "mesh_info": {"face_index": 10119, "face_uv": [0.651190116192299, 0.01722404874185024, 0.33158583506584904]}}, {"xyz": [-0.18079412260119937, -0.06349895110837189, 0.04075513171273071], "rgb": [222, 206, 183], "semantic_id": 3, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 13514, "face_uv": [0.8533020607556314, 0.013243094096025294, 0.13345484514834388]}}, {"xyz": [0.20136800138076535, -0.04800177912620973, -0.2858954771454294], "rgb": [220, 204, 181], "semantic_id": 4, "pcd_info": {"point_index": 1498}, "mesh_info": {"face_index": 14544, "face_uv": [0.7577516317867342, 0.12017758539865148, 0.1220707828146136]}}, {"xyz": [-0.205338046043431, -0.04785889634446705, -0.2889073370552677], "rgb": [222, 206, 183], "semantic_id": 5, "pcd_info": {"point_index": 356}, "mesh_info": {"face_index": 13447, "face_uv": [0.9065216145205017, 0.08249954814404215, 0.010978837335456007]}}, {"xyz": [0.18702963544425716, -0.48682400584220886, -0.29445506394954135], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 1, "face_uv": [0.3898333997102527, 0.4555370724450906, 0.1546295278446567]}}, {"xyz": [0.16913196786496465, -0.486824005842209, 0.11275107510283655], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 386, "face_uv": [0.4884420652159132, 0.342958193790868, 0.168599740993219]}}, {"xyz": [-0.17161861021579344, -0.48682400584220886, 0.11416651380801246], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 191, "face_uv": [0.5365460003571525, 0.4229038944555397, 0.040550105187307825]}}, {"xyz": [-0.19862607768043078, -0.48682400584220886, -0.29233262227009904], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 860}, "mesh_info": {"face_index": 25, "face_uv": [0.35770294268618513, 0.5254369936371959, 0.11686006367661897]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "edef00af1cdfbe1419fb4103277a6b93", "keypoints": [{"xyz": [0.18043370980059642, 0.3314055962886572, 0.20342932483788356], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 1138, "face_uv": [0.4380366005508782, 0.23663488566241692, 0.325328513786705]}}, {"xyz": [-0.18164964346474924, 0.3308821698741903, 0.2019345471955205], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 2041}, "mesh_info": {"face_index": 5477, "face_uv": [0.2801285092996053, 0.5804009863450733, 0.1394705043553213]}}, {"xyz": [0.17528548155800117, -0.061231097178602645, 0.08739083514189505], "rgb": [151, 179, 205], "semantic_id": 2, "pcd_info": {"point_index": 736}, "mesh_info": {"face_index": 12607, "face_uv": [0.24372566801449308, 0.39854910264879423, 0.3577252293367188]}}, {"xyz": [-0.19423100352287292, -0.12085130746067241, 0.14441426207081276], "rgb": [198, 198, 198], "semantic_id": 3, "pcd_info": {"point_index": 1692}, "mesh_info": {"face_index": 24167, "face_uv": [0.270104368698975, 0.20874369607979001, 0.521151935221235]}}, {"xyz": [0.17360869894024042, -0.062045054522737286, -0.25743619659991834], "rgb": [151, 179, 205], "semantic_id": 4, "pcd_info": {"point_index": 1076}, "mesh_info": {"face_index": 17449, "face_uv": [0.8521747175919229, 0.08788101995744489, 0.059944262450632516]}}, {"xyz": [-0.18042551695031483, -0.05751687414212331, -0.2519681869299384], "rgb": [150, 178, 204], "semantic_id": 5, "pcd_info": {"point_index": 91}, "mesh_info": {"face_index": 23710, "face_uv": [0.15979420106522546, 0.20194973974453068, 0.6382560591902433]}}, {"xyz": [0.21251021375504792, 0.09583381061239626, -0.24334305292415775], "rgb": [162, 74, 19], "semantic_id": 6, "pcd_info": {"point_index": 44}, "mesh_info": {"face_index": 6703, "face_uv": [0.020552908533847506, 0.5412681938074482, 0.43817889765870455]}}, {"xyz": [0.20942448344128461, 0.04533274256605524, 0.21975969113526866], "rgb": [158, 71, 19], "semantic_id": 7, "pcd_info": {"point_index": 1278}, "mesh_info": {"face_index": 7965, "face_uv": [0.700673495117661, 0.001611463205992552, 0.2977150416763477]}}, {"xyz": [-0.21140280614801998, 0.0962556390398629, -0.24276751853926082], "rgb": [163, 75, 19], "semantic_id": 8, "pcd_info": {"point_index": 450}, "mesh_info": {"face_index": 27268, "face_uv": [0.22752643928464536, 0.44014697247274265, 0.3323265882426115]}}, {"xyz": [-0.21089715661606337, 0.044868299758517916, 0.2206968930033584], "rgb": [157, 72, 19], "semantic_id": 9, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 28606, "face_uv": [0.38777501601151254, 0.35614199603221874, 0.2560829879562694]}}, {"xyz": [0.22489970559439953, -0.3638055525692254, -0.20471127155327545], "rgb": [198, 198, 198], "semantic_id": 17, "pcd_info": {"point_index": 1445}, "mesh_info": {"face_index": 5806, "face_uv": [0.340794077809509, 0.6486125461904193, 0.010593376000072036]}}, {"xyz": [0.22312797567493137, -0.3588435588541452, 0.20696526835083306], "rgb": [197, 197, 197], "semantic_id": 18, "pcd_info": {"point_index": 1700}, "mesh_info": {"face_index": 5948, "face_uv": [0.3174671882595586, 0.6584501123984513, 0.024082699341989734]}}, {"xyz": [-0.19988916232604714, -0.36629206011556104, 0.20873599683031574], "rgb": [198, 198, 198], "semantic_id": 19, "pcd_info": {"point_index": 824}, "mesh_info": {"face_index": 24042, "face_uv": [0.005380579509748649, 0.9072422336973631, 0.08737718679289133]}}, {"xyz": [-0.2091104224177605, -0.36528367958387764, -0.195713579671287], "rgb": [198, 198, 198], "semantic_id": 20, "pcd_info": {"point_index": 115}, "mesh_info": {"face_index": 23850, "face_uv": [0.672708701860746, 0.007177031965456125, 0.32011426617379773]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a6a7b00de9ccce0816a5604496f9ff11", "keypoints": [{"xyz": [0.14077613679865647, 0.26927217971784856, 0.24846146948844977], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 167}, "mesh_info": {"face_index": 5894, "face_uv": [0.06334309016349746, 0.36783271263098993, 0.5688241972055145]}}, {"xyz": [-0.16326594148114013, 0.2712311993526999, 0.24381600747347726], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1013}, "mesh_info": {"face_index": 1232, "face_uv": [0.07644697049602706, 0.325991176631316, 0.5975618528726575]}}, {"xyz": [0.13584344435239862, 0.03185873239074777, 0.19009053835657963], "rgb": [225, 225, 225], "semantic_id": 2, "pcd_info": {"point_index": 885}, "mesh_info": {"face_index": 7290, "face_uv": [0.07939219962318667, 0.4873708743805592, 0.43323692599625835]}}, {"xyz": [-0.13301441403748987, 0.031877048643393635, 0.19430065197027235], "rgb": [225, 225, 225], "semantic_id": 3, "pcd_info": {"point_index": 1243}, "mesh_info": {"face_index": 3440, "face_uv": [0.09354693318539446, 0.7120872709527596, 0.19436579586184677]}}, {"xyz": [0.16090140990004864, 0.018064747417685434, -0.2391390440261144], "rgb": [231, 231, 231], "semantic_id": 4, "pcd_info": {"point_index": 20}, "mesh_info": {"face_index": 7607, "face_uv": [0.421124259803542, 0.31552618174115143, 0.2633495584553065]}}, {"xyz": [-0.1645558370962697, 0.015318197835785363, -0.23767461441358206], "rgb": [230, 230, 230], "semantic_id": 5, "pcd_info": {"point_index": 416}, "mesh_info": {"face_index": 2610, "face_uv": [0.21603337507799775, 0.14367620164551098, 0.6402904232764914]}}, {"xyz": [0.24512369600472836, 0.19775475478247817, -0.24147400259971596], "rgb": [229, 229, 229], "semantic_id": 6, "pcd_info": {"point_index": 107}, "mesh_info": {"face_index": 6123, "face_uv": [0.06319195279120389, 0.36405379210160077, 0.5727542551071945]}}, {"xyz": [0.2050018967436341, 0.25882343280278136, 0.15193017425869337], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 225}, "mesh_info": {"face_index": 5834, "face_uv": [0.4356479060003838, 0.14613308944502731, 0.418219004554589]}}, {"xyz": [-0.23720954796608545, 0.1915983264108267, -0.24016154043675086], "rgb": [226, 226, 226], "semantic_id": 8, "pcd_info": {"point_index": 1503}, "mesh_info": {"face_index": 557, "face_uv": [0.13513155089200568, 0.853967747305299, 0.010900701802695088]}}, {"xyz": [-0.21630274295281618, 0.2568032502442658, 0.11878216887213577], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 733}, "mesh_info": {"face_index": 2110, "face_uv": [0.704523474468024, 0.0740027807346112, 0.22147374479736476]}}, {"xyz": [0.22480931005805507, -0.2681489884853361, -0.2092632325114575], "rgb": [65, 62, 62], "semantic_id": 17, "pcd_info": {"point_index": 163}, "mesh_info": {"face_index": 8500, "face_uv": [0.36990963270723326, 0.5831579141919015, 0.046932453100864344]}}, {"xyz": [0.1829742999517816, -0.2723039984703062, 0.22858876425442545], "rgb": [65, 62, 62], "semantic_id": 18, "pcd_info": {"point_index": 1445}, "mesh_info": {"face_index": 8839, "face_uv": [0.4105089891150574, 0.24393701558869538, 0.3455539952962465]}}, {"xyz": [-0.1824614147662203, -0.2723039984703062, 0.22950813829559183], "rgb": [65, 62, 62], "semantic_id": 19, "pcd_info": {"point_index": 895}, "mesh_info": {"face_index": 4399, "face_uv": [0.3199746048858426, 0.3054561253543352, 0.3745692697598214]}}, {"xyz": [-0.22657861375276744, -0.2681489884853364, -0.2112975077488788], "rgb": [66, 63, 63], "semantic_id": 20, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 4047, "face_uv": [0.08581290784213412, 0.4178221159367836, 0.49636497622108267]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "60637687ad5682ef2b93a65c5f642e3a", "keypoints": [{"xyz": [0.27191836101608313, 0.3335190117359159, 0.16692039418673332], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1521}, "mesh_info": {"face_index": 55, "face_uv": [0.09310949789078997, 0.7847747410408853, 0.12211576106832409]}}, {"xyz": [-0.2876090109348298, 0.33089257305271014, 0.17451462596652767], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 104, "face_uv": [0.08049691690551912, 0.004210973017530373, 0.9152921100769509]}}, {"xyz": [0.20300625691224783, -0.06875852411822048, 0.01284654752770975], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 233}, "mesh_info": {"face_index": 50, "face_uv": [0.9233598736677834, 0.02262029807331028, 0.05401982825890319]}}, {"xyz": [-0.20728413756570896, -0.07169485774029738, 0.007442968819072082], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1527}, "mesh_info": {"face_index": 39, "face_uv": [0.40298207095786137, 0.015884356285972515, 0.5811335727561657]}}, {"xyz": [0.2182488325833034, -0.10255385245310922, -0.2368589937686919], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 266, "face_uv": [0.045768252142831825, 0.10923898990967196, 0.8449927579474957]}}, {"xyz": [-0.20872587329832035, -0.10042700171470664, -0.22979080497683946], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1059}, "mesh_info": {"face_index": 95, "face_uv": [0.9506286710682302, 0.03692194289855707, 0.012449386033214905]}}, {"xyz": [0.2233505448815727, 0.03538724252737846, -0.1754449687823716], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 970}, "mesh_info": {"face_index": 210, "face_uv": [0.10268495050371973, 0.14809595961296773, 0.7492190898833129]}}, {"xyz": [0.22189114320229197, 0.04241500049829483, 0.0445865393076641], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 252}, "mesh_info": {"face_index": 201, "face_uv": [0.8522757026305247, 0.021465205555584208, 0.12625909181389108]}}, {"xyz": [-0.2542862159028304, 0.03906564331080731, -0.17176646118115135], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 457}, "mesh_info": {"face_index": 194, "face_uv": [0.04893859157354912, 0.4529953271246635, 0.4980660813017867]}}, {"xyz": [-0.217552562074957, 0.04241500049829483, 0.03375874365455378], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1422}, "mesh_info": {"face_index": 193, "face_uv": [0.03934571161659234, 0.008295882133402018, 0.9523584062500056]}}, {"xyz": [0.24926151677448471, -0.3738439977169038, -0.2027409137117847], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 626, "face_uv": [0.4033161762373338, 0.5564587465372731, 0.040225077225393396]}}, {"xyz": [0.24526002485825638, -0.3738439977169037, 0.1170598718703677], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1745}, "mesh_info": {"face_index": 454, "face_uv": [0.4553369749817281, 0.527471347454982, 0.01719167756328996]}}, {"xyz": [-0.2419202456787417, -0.3738439977169037, 0.1306486855642709], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1991}, "mesh_info": {"face_index": 356, "face_uv": [0.40605326482512966, 0.41184843480888644, 0.18209830036598387]}}, {"xyz": [-0.24458693074141435, -0.3738439977169038, -0.1957328326144674], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1870}, "mesh_info": {"face_index": 541, "face_uv": [0.09392783422795282, 0.46535241613743983, 0.44071974963460764]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7f8d63acb7b4b5e84d2f52566c6c4e9", "keypoints": [{"xyz": [0.0959367870634874, 0.23945744260632784, 0.17636692015861333], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1828}, "mesh_info": {"face_index": 778, "face_uv": [0.5152986172121979, 0.4698537375680004, 0.014847645219799288]}}, {"xyz": [-0.09977575567572483, 0.22855308273234598, 0.16724319634740592], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 614}, "mesh_info": {"face_index": 715, "face_uv": [0.9682104711062055, 0.0031090544744549857, 0.02868047441934764]}}, {"xyz": [0.13282112068180882, -0.07254800200462319, 0.10858094548256725], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1478}, "mesh_info": {"face_index": 2618, "face_uv": [0.47520617073639104, 0.24651528623238603, 0.27827854303121985]}}, {"xyz": [-0.13299051311529497, -0.07254800200462341, 0.10605988437547054], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 1680, "face_uv": [0.15962829913979756, 0.30398129435419363, 0.5363904065060089]}}, {"xyz": [0.16816679318137423, -0.07254800200462341, -0.21320512135035052], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 505}, "mesh_info": {"face_index": 2765, "face_uv": [0.0579483804085694, 0.7130190798611578, 0.22903253973027274]}}, {"xyz": [-0.16859403946051135, -0.07254800200462341, -0.2163274821823271], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1524}, "mesh_info": {"face_index": 1824, "face_uv": [0.05815524550858874, 0.75324694959254, 0.18859780489887126]}}, {"xyz": [0.20449737152860867, 0.061199111801182315, -0.10599019546987418], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 939}, "mesh_info": {"face_index": 1972, "face_uv": [0.10656578534852035, 0.46199926393408586, 0.43143495071739163]}}, {"xyz": [0.13629037685296813, 0.06726135783035159, 0.1087376583670907], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 2265, "face_uv": [0.25412372555045026, 0.08722584713956225, 0.6586504273099867]}}, {"xyz": [-0.2029226128601369, 0.061390885700990605, -0.10296049715497374], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1606}, "mesh_info": {"face_index": 1035, "face_uv": [0.28771677917252025, 0.37868413256903904, 0.3335990882584419]}}, {"xyz": [-0.1457921285350023, 0.0657315521805848, 0.11584632727810365], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 176}, "mesh_info": {"face_index": 1325, "face_uv": [0.3854996546900904, 0.19178423979156203, 0.4227161055183495]}}, {"xyz": [0.19808996206353366, -0.4614331276288124, -0.22812169277446714], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 509}, "mesh_info": {"face_index": 2336, "face_uv": [0.6354615310290352, 0.22487475907937776, 0.13966370989158755]}}, {"xyz": [0.15570258933168873, -0.46138957918454393, 0.1362617757664637], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1754}, "mesh_info": {"face_index": 2383, "face_uv": [0.11381105520142333, 0.5252296568309149, 0.36095928796766236]}}, {"xyz": [-0.15453036602262088, -0.4614274181578071, 0.137859656329716], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1573}, "mesh_info": {"face_index": 1436, "face_uv": [0.2499401394103573, 0.31173683024107424, 0.43832303034856884]}}, {"xyz": [-0.1984166072196188, -0.454588400511756, -0.23636597394853442], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 926}, "mesh_info": {"face_index": 1395, "face_uv": [0.01636729782062158, 0.38742097776689477, 0.5962117244124844]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "efe76021aa616a41f51fa0238791f5dc", "keypoints": [{"xyz": [0.16276240299303146, 0.45039918220796205, 0.24011890641220202], "rgb": [191, 182, 177], "semantic_id": 0, "pcd_info": {"point_index": 118}, "mesh_info": {"face_index": 1188, "face_uv": [0.4152880340481994, 0.05284848240653363, 0.5318634835452671]}}, {"xyz": [-0.1594181420892714, 0.4536957038294023, 0.24551002892052232], "rgb": [172, 163, 154], "semantic_id": 1, "pcd_info": {"point_index": 523}, "mesh_info": {"face_index": 1137, "face_uv": [0.3222015306285057, 0.38479265742935087, 0.29300581194214353]}}, {"xyz": [0.18250839126277285, 0.07913386086539131, 0.14976368846967825], "rgb": [180, 170, 160], "semantic_id": 2, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 866, "face_uv": [0.04970581134309361, 0.031025228180329545, 0.9192689604765752]}}, {"xyz": [-0.18647043891423087, 0.07247526004689098, 0.13957989846704488], "rgb": [184, 175, 168], "semantic_id": 3, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 841, "face_uv": [0.24804397142412313, 0.720305709128216, 0.03165031944764704]}}, {"xyz": [0.17468152319815355, 0.06491599977016449, -0.17415198253227682], "rgb": [173, 163, 153], "semantic_id": 4, "pcd_info": {"point_index": 1803}, "mesh_info": {"face_index": 55, "face_uv": [0.34432162753076806, 0.03589470185014628, 0.6197836706190856]}}, {"xyz": [-0.18689724092616655, 0.06491599977016449, -0.1699335518389805], "rgb": [178, 169, 160], "semantic_id": 5, "pcd_info": {"point_index": 609}, "mesh_info": {"face_index": 81, "face_uv": [0.09069064595584467, 0.8941721880218378, 0.015137166022317496]}}, {"xyz": [0.1674503411728478, -0.3311319947242737, -0.14267341973897468], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1479}, "mesh_info": {"face_index": 2248, "face_uv": [0.4963938786983892, 0.27393464872091405, 0.2296714725806968]}}, {"xyz": [0.1809599823108355, -0.3311319947242737, 0.19790030891678806], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 3001, "face_uv": [0.1262889371912686, 0.3552318160337185, 0.5184792467750129]}}, {"xyz": [-0.16549597866217464, -0.3299445861975965, 0.19491659955417218], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 974}, "mesh_info": {"face_index": 2464, "face_uv": [0.2936301892867027, 0.7018065229201322, 0.004563287793164832]}}, {"xyz": [-0.18134611842187337, -0.33113199472427346, -0.13926353970789793], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 2033, "face_uv": [0.4361492166097749, 0.06812772776709576, 0.4957230556231287]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d4f194efb445914e4b3d6a0fb5682cc4", "keypoints": [{"xyz": [0.20236206876497165, 0.44545159004435964, 0.1564567273176331], "rgb": [181, 109, 49], "semantic_id": 0, "pcd_info": {"point_index": 1677}, "mesh_info": {"face_index": 14281, "face_uv": [0.24722073565769245, 0.3300289679374832, 0.4227502964048244]}}, {"xyz": [-0.202019156287032, 0.44400037989133145, 0.15963421890460294], "rgb": [182, 111, 51], "semantic_id": 1, "pcd_info": {"point_index": 347}, "mesh_info": {"face_index": 12914, "face_uv": [0.311389447165564, 0.2983743079631001, 0.39023624487133574]}}, {"xyz": [0.17786575575559463, 0.06819917984891388, 0.10451929831119197], "rgb": [79, 79, 79], "semantic_id": 2, "pcd_info": {"point_index": 266}, "mesh_info": {"face_index": 9606, "face_uv": [0.2556059602342981, 0.719935533735468, 0.024458506030233404]}}, {"xyz": [-0.1823489432489125, 0.06705332861079905, 0.10098946947913581], "rgb": [74, 74, 74], "semantic_id": 3, "pcd_info": {"point_index": 1431}, "mesh_info": {"face_index": 9947, "face_uv": [0.3630938699359989, 0.1608944193474373, 0.47601171071656406]}}, {"xyz": [0.1905346107453278, 0.06392699174569438, -0.2298137486682656], "rgb": [97, 97, 97], "semantic_id": 4, "pcd_info": {"point_index": 1519}, "mesh_info": {"face_index": 10051, "face_uv": [0.292648405536667, 0.6253834222253688, 0.08196817223796472]}}, {"xyz": [-0.18685541661630334, 0.06573192647346282, -0.21837300211538013], "rgb": [131, 131, 131], "semantic_id": 5, "pcd_info": {"point_index": 1044}, "mesh_info": {"face_index": 10076, "face_uv": [0.22182084718672532, 0.2490248905451229, 0.5291542622681505]}}, {"xyz": [0.20506078670979375, -0.3331477740369524, -0.2088181590884734], "rgb": [180, 107, 46], "semantic_id": 17, "pcd_info": {"point_index": 1319}, "mesh_info": {"face_index": 3730, "face_uv": [0.14646525362732707, 0.30532812968793477, 0.5482066166847389]}}, {"xyz": [0.20504338873371966, -0.3301192061150071, 0.1659977587112314], "rgb": [174, 104, 41], "semantic_id": 18, "pcd_info": {"point_index": 830}, "mesh_info": {"face_index": 13333, "face_uv": [0.44417303382472934, 0.2653291798924207, 0.2904977862828497]}}, {"xyz": [-0.19915060243114202, -0.3318552440235707, 0.16010332046678766], "rgb": [181, 110, 50], "semantic_id": 19, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 12361, "face_uv": [0.22168488689316854, 0.3777624092942283, 0.40055270381260405]}}, {"xyz": [-0.1981190057240465, -0.3321694193069715, -0.20688188262130403], "rgb": [170, 97, 37], "semantic_id": 20, "pcd_info": {"point_index": 1914}, "mesh_info": {"face_index": 11137, "face_uv": [0.054390280819008686, 0.461046464212643, 0.48456325496834823]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d221f07c0921e4d2b9576c1fc1b047de", "keypoints": [{"xyz": [0.18859266707507988, 0.4389409792335186, 0.13138866224106865], "rgb": [28, 42, 51], "semantic_id": 0, "pcd_info": {"point_index": 1549}, "mesh_info": {"face_index": 20950, "face_uv": [0.1766297326532465, 0.5623574774325751, 0.2610127899141786]}}, {"xyz": [-0.18477173486764925, 0.4386782215379278, 0.13555124799922802], "rgb": [28, 42, 51], "semantic_id": 1, "pcd_info": {"point_index": 1840}, "mesh_info": {"face_index": 21101, "face_uv": [0.439875751440303, 0.4526139467421651, 0.10751030181753254]}}, {"xyz": [0.15486662181670047, 0.06072621005568335, 0.11906034894104922], "rgb": [27, 41, 50], "semantic_id": 2, "pcd_info": {"point_index": 779}, "mesh_info": {"face_index": 2652, "face_uv": [0.12920082518078024, 0.25663294800441677, 0.6141662268148025]}}, {"xyz": [-0.1475294554390322, 0.06012047729068881, 0.1241577877201464], "rgb": [28, 42, 51], "semantic_id": 3, "pcd_info": {"point_index": 1136}, "mesh_info": {"face_index": 2650, "face_uv": [0.952528670984088, 0.02575562887154508, 0.021715700144367953]}}, {"xyz": [0.19596932642906162, 0.05020250955029926, -0.2627480304620041], "rgb": [28, 42, 51], "semantic_id": 4, "pcd_info": {"point_index": 1247}, "mesh_info": {"face_index": 2625, "face_uv": [0.04930438946912021, 0.0020131937124757164, 0.948682416818404]}}, {"xyz": [-0.18756514024004384, 0.04034470808482221, -0.26283198595046997], "rgb": [27, 42, 51], "semantic_id": 5, "pcd_info": {"point_index": 92}, "mesh_info": {"face_index": 2483, "face_uv": [0.19294735852025657, 0.0235644075760739, 0.7834882339036695]}}, {"xyz": [0.18423166848842715, 0.16540556788254435, -0.2159915583438805], "rgb": [152, 106, 60], "semantic_id": 6, "pcd_info": {"point_index": 1557}, "mesh_info": {"face_index": 1363, "face_uv": [0.08444744314294715, 0.40508432540124284, 0.5104682314558094]}}, {"xyz": [0.1859003837598006, 0.24398609758124634, 0.09652169252074771], "rgb": [153, 107, 61], "semantic_id": 7, "pcd_info": {"point_index": 1495}, "mesh_info": {"face_index": 1029, "face_uv": [0.13853499932731358, 0.22275563724337683, 0.6387093634293097]}}, {"xyz": [-0.18946098851449059, 0.15726086597217825, -0.22005697278116354], "rgb": [153, 107, 61], "semantic_id": 8, "pcd_info": {"point_index": 1509}, "mesh_info": {"face_index": 74496, "face_uv": [0.07019316415984757, 0.7322326056090164, 0.19757423023113668]}}, {"xyz": [-0.18282969488545242, 0.24574771465127287, 0.10014691918224478], "rgb": [97, 78, 56], "semantic_id": 9, "pcd_info": {"point_index": 166}, "mesh_info": {"face_index": 74126, "face_uv": [0.4417988353952954, 0.031046194042644245, 0.5271549705620603]}}, {"xyz": [0.17550357898377938, -0.3315079784934627, -0.22488601262884092], "rgb": [152, 106, 60], "semantic_id": 17, "pcd_info": {"point_index": 1812}, "mesh_info": {"face_index": 53377, "face_uv": [0.8166774384428321, 0.11847783505576068, 0.06484472650140614]}}, {"xyz": [0.17606026393924581, -0.32835791990335716, 0.13726134678550733], "rgb": [152, 106, 60], "semantic_id": 18, "pcd_info": {"point_index": 114}, "mesh_info": {"face_index": 28476, "face_uv": [0.014314446909800814, 0.25874326003400466, 0.7269422930561943]}}, {"xyz": [-0.18268257599666526, -0.28240999579429626, 0.11875232581458967], "rgb": [153, 107, 60], "semantic_id": 19, "pcd_info": {"point_index": 858}, "mesh_info": {"face_index": 61360, "face_uv": [0.14015146828103275, 0.2998725357730771, 0.5599759959458901]}}, {"xyz": [-0.18041746409076934, -0.30840339187328036, -0.22085162861165508], "rgb": [153, 107, 61], "semantic_id": 20, "pcd_info": {"point_index": 1921}, "mesh_info": {"face_index": 40150, "face_uv": [0.6437703231459299, 0.028815542382948114, 0.3274141344711223]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6be3e544deece8441191025061735ea3", "keypoints": [{"xyz": [0.22947730767264019, 0.2521714280245082, 0.06941890161119146], "rgb": [56, 56, 56], "semantic_id": 0, "pcd_info": {"point_index": 1101}, "mesh_info": {"face_index": 15479, "face_uv": [0.0022489607727244347, 0.6047446875553154, 0.3930063516719601]}}, {"xyz": [-0.23340174996633511, 0.24916251810845225, 0.06543409370515718], "rgb": [55, 55, 55], "semantic_id": 1, "pcd_info": {"point_index": 914}, "mesh_info": {"face_index": 15116, "face_uv": [0.5427924898707794, 0.18848389219424988, 0.26872361793497]}}, {"xyz": [0.1823774187808835, -0.016090060526642302, 0.07478848873896116], "rgb": [55, 55, 55], "semantic_id": 2, "pcd_info": {"point_index": 101}, "mesh_info": {"face_index": 12819, "face_uv": [0.366171444208808, 0.30767236953614374, 0.3261561862550387]}}, {"xyz": [-0.18333330070135667, -0.016131558076480923, 0.07345645463385786], "rgb": [55, 55, 55], "semantic_id": 3, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 11983, "face_uv": [0.17454619879186323, 0.04275295183557156, 0.7827008493725547]}}, {"xyz": [0.21297248383586062, 0.013063353894601448, -0.22009571910423675], "rgb": [55, 55, 55], "semantic_id": 4, "pcd_info": {"point_index": 1074}, "mesh_info": {"face_index": 11953, "face_uv": [0.4277210313254802, 0.4504295561860195, 0.12184941248837353]}}, {"xyz": [-0.21158743400157265, 0.009916110767637765, -0.22840075023678752], "rgb": [55, 55, 55], "semantic_id": 5, "pcd_info": {"point_index": 1223}, "mesh_info": {"face_index": 12962, "face_uv": [0.012992746187452664, 0.16738377666699672, 0.8196234771455504]}}, {"xyz": [0.274775074771101, -0.38115726214263246, -0.26843397339460723], "rgb": [250, 252, 231], "semantic_id": 17, "pcd_info": {"point_index": 2012}, "mesh_info": {"face_index": 8300, "face_uv": [0.14289187701453776, 0.3169699604182563, 0.5401381625672057]}}, {"xyz": [0.2802309127051675, -0.40528714107203223, 0.16687587388628827], "rgb": [251, 253, 232], "semantic_id": 18, "pcd_info": {"point_index": 294}, "mesh_info": {"face_index": 5482, "face_uv": [0.08197991165260807, 0.02615947535030025, 0.891860612997092]}}, {"xyz": [-0.2746579013179475, -0.4091509152486994, 0.171716201275127], "rgb": [251, 253, 232], "semantic_id": 19, "pcd_info": {"point_index": 2010}, "mesh_info": {"face_index": 4282, "face_uv": [0.06041664809596888, 0.8961273965199296, 0.04345595538410259]}}, {"xyz": [-0.2792171988747116, -0.3884686772058017, -0.26814936768739894], "rgb": [250, 252, 231], "semantic_id": 20, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 8291, "face_uv": [0.4087561896182996, 0.44792941283320453, 0.14331439754849554]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8e2b44ec14701d057c2b071b8bda1b69", "keypoints": [{"xyz": [0.18158689516598683, 0.20091227202992945, 0.1876307403681965], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1267}, "mesh_info": {"face_index": 7449, "face_uv": [0.28530775642036343, 0.15310750750024507, 0.5615847360793936]}}, {"xyz": [-0.17204103955733904, 0.2130498645648069, 0.20266428232038214], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 566}, "mesh_info": {"face_index": 17985, "face_uv": [0.3383592733009305, 0.18815792825934255, 0.4734827984397215]}}, {"xyz": [0.1443282108339078, 0.010860672786330516, 0.11158264742513957], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 13813, "face_uv": [0.11035892443349794, 0.3639953859648974, 0.5256456896016061]}}, {"xyz": [-0.12897756701517046, 0.007028577430221672, 0.11746850078922577], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 923}, "mesh_info": {"face_index": 7619, "face_uv": [0.00935044851649421, 0.271694092992951, 0.7189554584905548]}}, {"xyz": [0.19717498932143174, 0.01146262145541943, -0.1911850531149455], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1384}, "mesh_info": {"face_index": 10090, "face_uv": [0.6154640787513697, 0.015649098418089834, 0.3688868228305391]}}, {"xyz": [-0.17920317538438046, 0.006329353010983141, -0.19435932167199477], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1498}, "mesh_info": {"face_index": 6162, "face_uv": [0.16457156309597698, 0.2713541768805479, 0.5640742600234744]}}, {"xyz": [0.2454935279946197, 0.16448255500566722, -0.10036583519422249], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 2013}, "mesh_info": {"face_index": 3794, "face_uv": [0.01817257591847832, 0.35275282849844936, 0.629074595583073]}}, {"xyz": [0.24125790016057125, 0.18564660909234543, 0.1391150665913985], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 136}, "mesh_info": {"face_index": 6730, "face_uv": [0.02880269292116243, 0.8461481289225111, 0.12504917815632716]}}, {"xyz": [-0.24365231844713997, 0.17104072240614743, -0.07826500717356866], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 17447, "face_uv": [0.30518368990022765, 0.5144514013987862, 0.18036490870098412]}}, {"xyz": [-0.21357433700172382, 0.18823539720609062, 0.1592153799120719], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1734}, "mesh_info": {"face_index": 18003, "face_uv": [0.033430706070196256, 0.03932001578735973, 0.9272492781424448]}}, {"xyz": [0.15634857056467497, -0.3683852456513539, -0.19392324164354147], "rgb": [27, 27, 35], "semantic_id": 17, "pcd_info": {"point_index": 2037}, "mesh_info": {"face_index": 13, "face_uv": [0.24834795292046113, 0.13972728247776284, 0.6119247646017759]}}, {"xyz": [0.15205718819138597, -0.3686099946498873, 0.13315334093421233], "rgb": [28, 28, 35], "semantic_id": 18, "pcd_info": {"point_index": 1649}, "mesh_info": {"face_index": 803, "face_uv": [0.02883991736861638, 0.5429745806618446, 0.42818550196953964]}}, {"xyz": [-0.1619566039708964, -0.36860999464988664, 0.1318290091182927], "rgb": [27, 27, 34], "semantic_id": 19, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 288, "face_uv": [0.7943181308214715, 0.17786330144039778, 0.027818567738129334]}}, {"xyz": [-0.16796111331277808, -0.3686099946498873, -0.1911337220563215], "rgb": [28, 28, 35], "semantic_id": 20, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 722, "face_uv": [0.04207831935223607, 0.9166936950806323, 0.04122798556713233]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c69069021b390de513232b7b9d3f985", "keypoints": [{"xyz": [0.2828592106481177, 0.21884579837187013, 0.1442703857668104], "rgb": [76, 30, 28], "semantic_id": 0, "pcd_info": {"point_index": 128}, "mesh_info": {"face_index": 290, "face_uv": [0.42267575331830404, 0.02822381025598703, 0.5491004364257085]}}, {"xyz": [-0.2756534517619882, 0.22044718150518272, 0.15398269499297795], "rgb": [77, 31, 29], "semantic_id": 1, "pcd_info": {"point_index": 717}, "mesh_info": {"face_index": 906, "face_uv": [0.5440062328773654, 0.11288549363064687, 0.34310827349198847]}}, {"xyz": [0.19722000343345353, -0.20321447773903079, 0.05535639075896315], "rgb": [77, 31, 29], "semantic_id": 2, "pcd_info": {"point_index": 1899}, "mesh_info": {"face_index": 484, "face_uv": [0.03076149984298281, 0.9611215645948629, 0.008116935562155269]}}, {"xyz": [-0.20267457717388299, -0.2033385773986931, 0.05581953781144122], "rgb": [77, 31, 29], "semantic_id": 3, "pcd_info": {"point_index": 1183}, "mesh_info": {"face_index": 484, "face_uv": [0.02917188479246363, 0.023295679687843723, 0.9475324355196948]}}, {"xyz": [0.1977539517706005, -0.1262650042772293, -0.23489807586329037], "rgb": [77, 31, 29], "semantic_id": 4, "pcd_info": {"point_index": 59}, "mesh_info": {"face_index": 518, "face_uv": [0.6207467367954363, 0.037626228958581136, 0.34162703424598256]}}, {"xyz": [-0.20510045928211487, -0.126513092983223, -0.2308996332435862], "rgb": [77, 31, 29], "semantic_id": 5, "pcd_info": {"point_index": 46}, "mesh_info": {"face_index": 497, "face_uv": [0.17591165644740192, 0.017606542737355953, 0.8064818008152426]}}, {"xyz": [0.2539267868998959, -0.012654825370399303, -0.22283478964879255], "rgb": [77, 31, 29], "semantic_id": 6, "pcd_info": {"point_index": 1609}, "mesh_info": {"face_index": 280, "face_uv": [0.1710395254182858, 0.564661387965988, 0.2642990866157266]}}, {"xyz": [0.25165037759892095, -0.06889845094126756, 0.01371056135719706], "rgb": [76, 30, 28], "semantic_id": 7, "pcd_info": {"point_index": 641}, "mesh_info": {"face_index": 76, "face_uv": [0.40104386194971614, 0.4673704918860521, 0.131585646164226]}}, {"xyz": [-0.2500607850601275, -0.011640974268195992, -0.22038685738349717], "rgb": [77, 31, 29], "semantic_id": 8, "pcd_info": {"point_index": 179}, "mesh_info": {"face_index": 882, "face_uv": [0.27492835607444227, 0.47300066984073286, 0.2520709740848273]}}, {"xyz": [-0.2522319659180221, -0.06848201090816475, 0.015264636958235878], "rgb": [76, 30, 28], "semantic_id": 9, "pcd_info": {"point_index": 118}, "mesh_info": {"face_index": 679, "face_uv": [0.0954120219158588, 0.5575500807447212, 0.34703789733941626]}}, {"xyz": [0.2500112793894864, -0.45425026206166974, -0.25363402201127727], "rgb": [76, 30, 28], "semantic_id": 17, "pcd_info": {"point_index": 1038}, "mesh_info": {"face_index": 110, "face_uv": [0.06616145764541814, 0.4904346205064656, 0.4434039218481161]}}, {"xyz": [0.2553682203342668, -0.45415499806404136, 0.12389591103160724], "rgb": [77, 31, 29], "semantic_id": 18, "pcd_info": {"point_index": 414}, "mesh_info": {"face_index": 44, "face_uv": [0.16050750526432644, 0.5849441299863897, 0.25454836474928433]}}, {"xyz": [-0.25108145858969644, -0.45415499806404114, 0.1143555866823397], "rgb": [77, 31, 29], "semantic_id": 19, "pcd_info": {"point_index": 922}, "mesh_info": {"face_index": 646, "face_uv": [0.28189340321803186, 0.4586387421746643, 0.2594678546073038]}}, {"xyz": [-0.25491882956211787, -0.45424674462631076, -0.24213065145675716], "rgb": [77, 31, 29], "semantic_id": 20, "pcd_info": {"point_index": 594}, "mesh_info": {"face_index": 712, "face_uv": [0.1006416053427644, 0.5953570191899198, 0.3040013754673157]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c45ff54d4192633684cd6dc1b226aa5b", "keypoints": [{"xyz": [0.17996695906790644, 0.23785077823975387, 0.10374109357107497], "rgb": [57, 57, 57], "semantic_id": 0, "pcd_info": {"point_index": 145}, "mesh_info": {"face_index": 1118, "face_uv": [0.20619005918493263, 0.7463853103032473, 0.0474246305118198]}}, {"xyz": [-0.17029418665368778, 0.2385160369646233, 0.1051471656299503], "rgb": [57, 57, 57], "semantic_id": 1, "pcd_info": {"point_index": 767}, "mesh_info": {"face_index": 833, "face_uv": [0.8132641171288016, 0.1379899573083975, 0.04874592556280074]}}, {"xyz": [0.16718413915834518, -0.054871100141336226, 0.12248087884789371], "rgb": [58, 58, 58], "semantic_id": 2, "pcd_info": {"point_index": 401}, "mesh_info": {"face_index": 768, "face_uv": [0.2882834402603152, 0.5212066364647768, 0.19050992327490893]}}, {"xyz": [-0.16111982530573685, -0.05910737883724504, 0.11887172436980165], "rgb": [58, 58, 58], "semantic_id": 3, "pcd_info": {"point_index": 1006}, "mesh_info": {"face_index": 181, "face_uv": [0.8425001329314314, 0.04061153093516878, 0.11688833613340134]}}, {"xyz": [0.1910523090031494, -0.04181346625913451, -0.26480121264924183], "rgb": [57, 57, 57], "semantic_id": 4, "pcd_info": {"point_index": 672}, "mesh_info": {"face_index": 24, "face_uv": [0.18892441641947508, 0.7850088749232835, 0.02606670865724039]}}, {"xyz": [-0.19561969937197646, -0.04134686681427746, -0.26223377212492127], "rgb": [57, 57, 57], "semantic_id": 5, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 188, "face_uv": [0.5940350178684659, 0.37371262752763423, 0.03225235460389783]}}, {"xyz": [0.20247627639269303, -0.5035552744248706, -0.23589874658426366], "rgb": [57, 57, 57], "semantic_id": 17, "pcd_info": {"point_index": 783}, "mesh_info": {"face_index": 728, "face_uv": [0.1728340745991135, 0.3527250333251959, 0.47444089207569]}}, {"xyz": [0.20434081703164383, -0.5029544194219209, 0.16318048359209447], "rgb": [58, 58, 58], "semantic_id": 18, "pcd_info": {"point_index": 1417}, "mesh_info": {"face_index": 755, "face_uv": [0.0318217873755105, 0.5823831919397184, 0.38579502068477106]}}, {"xyz": [-0.2062725604454405, -0.5028162713074311, 0.1610861705104012], "rgb": [58, 58, 58], "semantic_id": 19, "pcd_info": {"point_index": 453}, "mesh_info": {"face_index": 697, "face_uv": [0.39373965040859543, 0.4898729964721293, 0.1163873531192755]}}, {"xyz": [-0.2120359383191234, -0.5029572377978289, -0.23032272734206896], "rgb": [58, 58, 58], "semantic_id": 20, "pcd_info": {"point_index": 1964}, "mesh_info": {"face_index": 784, "face_uv": [0.06599978532963267, 0.3114923456892702, 0.6225078689810977]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fd1a87a399c1c82d492d9da2668ec34c", "keypoints": [{"xyz": [0.20739216828535992, 0.32669206889111335, 0.15460903814933902], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1022}, "mesh_info": {"face_index": 749, "face_uv": [0.6078580693877565, 0.3661042741616502, 0.026037656450595338]}}, {"xyz": [-0.20046089495097263, 0.32574266512277494, 0.16361789772052737], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 721, "face_uv": [0.46335186486670277, 0.014457291480437824, 0.5221908436528604]}}, {"xyz": [0.19098410704968583, 0.12214332451170451, 0.1304876091824403], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1794}, "mesh_info": {"face_index": 798, "face_uv": [0.3848013502536054, 0.000196845670696843, 0.6150018040756982]}}, {"xyz": [-0.18984471347900567, 0.12323671198145969, 0.13048760434155948], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1985}, "mesh_info": {"face_index": 812, "face_uv": [0.6103499034916949, 0.0031558669588239866, 0.38649422954948004]}}, {"xyz": [0.19427254833432672, 0.038478011039851545, -0.2517409335762959], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1864}, "mesh_info": {"face_index": 713, "face_uv": [0.04598888839262622, 0.0011715651060523412, 0.9528395465013215]}}, {"xyz": [-0.1900164788679964, 0.04472153888740005, -0.2508646590164132], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1291}, "mesh_info": {"face_index": 943, "face_uv": [0.12807151889513588, 0.010331934148034877, 0.861596546956829]}}, {"xyz": [0.3150720933194862, 0.34286806759967814, -0.24528034300392698], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 895, "face_uv": [0.053071238752816864, 0.013377137693072628, 0.9335516235541108]}}, {"xyz": [0.3164252329168308, 0.34286901354789734, 0.3303946638833045], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1942}, "mesh_info": {"face_index": 657, "face_uv": [0.03363604804623056, 0.964014528337519, 0.0023494236162504597]}}, {"xyz": [-0.3199716744461132, 0.34043771432555137, -0.25217700004577637], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 701}, "mesh_info": {"face_index": 876, "face_uv": [0.0012594248592928039, 0.9930650840836553, 0.005675491057051724]}}, {"xyz": [-0.31843642351381024, 0.3428690135478971, 0.3329972946336864], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1038}, "mesh_info": {"face_index": 864, "face_uv": [0.0013149488864998618, 0.014706330730958844, 0.9839787203825406]}}, {"xyz": [0.2643632371790129, -0.14477690133816012, -0.20169122398937578], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1216}, "mesh_info": {"face_index": 17, "face_uv": [0.22418840461742798, 0.02092807188492986, 0.7548835234976425]}}, {"xyz": [0.2621391584141701, -0.1487440757003491, 0.2675545420799479], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 61}, "mesh_info": {"face_index": 189, "face_uv": [0.13022645843933356, 0.8195254218355281, 0.0502481197251383]}}, {"xyz": [-0.2585978964223404, -0.14195774094636393, 0.2690214310054907], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 768}, "mesh_info": {"face_index": 426, "face_uv": [0.37405406926998813, 0.0065947112484422395, 0.6193512194815696]}}, {"xyz": [-0.2661897313082119, -0.14791755582861432, -0.18514305129379482], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 950}, "mesh_info": {"face_index": 606, "face_uv": [0.006684468161795875, 0.5640120778397946, 0.4293034539984094]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "acbcfebf917e708b2b5bf1f191733d75", "keypoints": [{"xyz": [0.17491124857402912, 0.3479471952512987, 0.17165453129957653], "rgb": [213, 69, 150], "semantic_id": 0, "pcd_info": {"point_index": 1942}, "mesh_info": {"face_index": 8138, "face_uv": [0.842894588036746, 0.10092843506087322, 0.056176976902380424]}}, {"xyz": [-0.10918682419580705, 0.3461050829637692, 0.21418406048758198], "rgb": [214, 70, 151], "semantic_id": 1, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 7526, "face_uv": [0.08947749401302377, 0.14551942493116035, 0.765003081055816]}}, {"xyz": [0.16014642297870213, 0.10450332979027399, 0.13553219828149543], "rgb": [213, 69, 150], "semantic_id": 2, "pcd_info": {"point_index": 107}, "mesh_info": {"face_index": 8184, "face_uv": [0.38357089938469235, 0.22334410791933668, 0.3930849926959701]}}, {"xyz": [-0.11453175359832402, 0.10353059302904821, 0.16711405079638286], "rgb": [213, 69, 150], "semantic_id": 3, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 7573, "face_uv": [0.45520828332241847, 0.17225962298770037, 0.3725320936898809]}}, {"xyz": [0.1805547025966874, 0.0891776378798046, -0.13007014707839337], "rgb": [214, 70, 151], "semantic_id": 4, "pcd_info": {"point_index": 317}, "mesh_info": {"face_index": 7750, "face_uv": [0.34801038650432486, 0.14579465169247377, 0.5061949618032017]}}, {"xyz": [-0.20398211618440432, 0.08600413437692067, -0.07349811037928089], "rgb": [214, 70, 151], "semantic_id": 5, "pcd_info": {"point_index": 1441}, "mesh_info": {"face_index": 7134, "face_uv": [0.37346861559297484, 0.10325658517395467, 0.5232747992330714]}}, {"xyz": [0.2502460437412506, 0.2829655321127298, -0.09416327756976473], "rgb": [214, 70, 151], "semantic_id": 6, "pcd_info": {"point_index": 867}, "mesh_info": {"face_index": 7941, "face_uv": [0.03126705938842956, 0.4939672322185363, 0.47476570839304066]}}, {"xyz": [-0.25852579316607893, 0.2773164616862971, -0.023768400506778198], "rgb": [213, 69, 150], "semantic_id": 8, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 7305, "face_uv": [0.4170376889456929, 0.5319740043705783, 0.05098830668372714]}}, {"xyz": [0.1557391958114863, -0.3144612357802623, -0.21626489303473162], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 1831, "face_uv": [0.09971260580015517, 0.2920632656282785, 0.6082241285715663]}}, {"xyz": [0.22597929049223692, -0.31379364058736625, 0.20957825796428953], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1137}, "mesh_info": {"face_index": 458, "face_uv": [0.11529157459432106, 0.2114734431510059, 0.673234982254674]}}, {"xyz": [-0.1574507797033073, -0.3110588628454585, 0.2720001963386157], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 32}, "mesh_info": {"face_index": 5297, "face_uv": [0.07227177006241732, 0.7601212095946417, 0.16760702034294014]}}, {"xyz": [-0.22635711525561175, -0.3117965722617786, -0.167388737560609], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1520}, "mesh_info": {"face_index": 3731, "face_uv": [0.3604750524420094, 0.2649072315666859, 0.37461771599130467]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 7]}, {"kp_indexes": [8, 11]}, {"kp_indexes": [9, 10]}], "rotation": []}}, {"class_id": "03001627", "model_id": "646ce5490817ceef4b6538438a0b930", "keypoints": [{"xyz": [0.19636355654613624, 0.2543114940518336, 0.06368338697771625], "rgb": [208, 72, 9], "semantic_id": 0, "pcd_info": {"point_index": 319}, "mesh_info": {"face_index": 80, "face_uv": [0.08424016266006451, 0.8169755684462428, 0.09878426889369255]}}, {"xyz": [-0.21277087937548628, 0.251399255165653, 0.06317022191752197], "rgb": [209, 73, 10], "semantic_id": 1, "pcd_info": {"point_index": 1112}, "mesh_info": {"face_index": 2504, "face_uv": [0.37069942948926116, 0.01029196558701734, 0.6190086049237298]}}, {"xyz": [0.19177249042188807, -0.0776260742880297, 0.005155018654498855], "rgb": [208, 72, 9], "semantic_id": 2, "pcd_info": {"point_index": 801}, "mesh_info": {"face_index": 26, "face_uv": [0.15448630553407444, 0.4760651300427897, 0.3694485644231357]}}, {"xyz": [-0.21244728914866295, -0.07702529789185353, 0.005260618967750652], "rgb": [209, 73, 10], "semantic_id": 3, "pcd_info": {"point_index": 1844}, "mesh_info": {"face_index": 1831, "face_uv": [0.2526340455085668, 0.6086476194991566, 0.13871833499228367]}}, {"xyz": [0.2065812119843162, -0.08302719893262134, -0.3464400859705168], "rgb": [209, 73, 10], "semantic_id": 4, "pcd_info": {"point_index": 1374}, "mesh_info": {"face_index": 3752, "face_uv": [0.6425829086499241, 0.005597846653830383, 0.3518192446962455]}}, {"xyz": [-0.2228978992803653, -0.07771209427650383, -0.3486550493534757], "rgb": [209, 73, 10], "semantic_id": 5, "pcd_info": {"point_index": 1032}, "mesh_info": {"face_index": 3745, "face_uv": [0.9475276407228876, 0.006455754469528397, 0.04601660480758461]}}, {"xyz": [0.25133499927704206, 0.051860326807798174, -0.34453800320625316], "rgb": [209, 73, 10], "semantic_id": 6, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 473, "face_uv": [0.818064251415891, 0.0023549114686178363, 0.1795808371154914]}}, {"xyz": [0.24405422603641613, 0.05402068722703168, 0.09938199818134313], "rgb": [209, 73, 10], "semantic_id": 7, "pcd_info": {"point_index": 678}, "mesh_info": {"face_index": 474, "face_uv": [0.04169723501077948, 0.85823875521003, 0.1000640097791909]}}, {"xyz": [-0.2673471610964283, 0.05074094618901115, -0.34453800320625294], "rgb": [208, 72, 9], "semantic_id": 8, "pcd_info": {"point_index": 1450}, "mesh_info": {"face_index": 1639, "face_uv": [0.7489754211502875, 0.06622727898165821, 0.18479729986805404]}}, {"xyz": [-0.26167459664269666, 0.054673999547958596, 0.09663947621550928], "rgb": [209, 73, 10], "semantic_id": 9, "pcd_info": {"point_index": 773}, "mesh_info": {"face_index": 1777, "face_uv": [0.17484087449399024, 0.006177964401832952, 0.818981161104181]}}, {"xyz": [0.23830784094102503, -0.45714399218559265, -0.30147877746726315], "rgb": [209, 73, 10], "semantic_id": 17, "pcd_info": {"point_index": 117}, "mesh_info": {"face_index": 848, "face_uv": [0.37290176453615714, 0.2529728916156797, 0.37412534384816315]}}, {"xyz": [0.24060088262780263, -0.45714399218559265, 0.08105651503213454], "rgb": [209, 73, 9], "semantic_id": 18, "pcd_info": {"point_index": 1841}, "mesh_info": {"face_index": 843, "face_uv": [0.08480615504773598, 0.8202030747436635, 0.09499077020860051]}}, {"xyz": [-0.2622990903078211, -0.45714399218559265, 0.08013545463065347], "rgb": [209, 73, 10], "semantic_id": 19, "pcd_info": {"point_index": 317}, "mesh_info": {"face_index": 1505, "face_uv": [0.11419919631565585, 0.10479694996524587, 0.7810038537190983]}}, {"xyz": [-0.2608756376354167, -0.45714399218559265, -0.30743266783933154], "rgb": [209, 73, 10], "semantic_id": 20, "pcd_info": {"point_index": 1570}, "mesh_info": {"face_index": 1497, "face_uv": [0.8158823500928615, 0.15022241080112178, 0.033895239106016765]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "331f49270df51b2e5bfcb9d3e84d74f0", "keypoints": [{"xyz": [0.22879677093321135, 0.42656119259773817, 0.21293870465157416], "rgb": [211, 218, 228], "semantic_id": 0, "pcd_info": {"point_index": 1919}, "mesh_info": {"face_index": 55, "face_uv": [0.06232960752452019, 0.014934176608700927, 0.922736215866779]}}, {"xyz": [-0.23218610421198033, 0.4178772751810276, 0.21149146752743114], "rgb": [201, 208, 218], "semantic_id": 1, "pcd_info": {"point_index": 659}, "mesh_info": {"face_index": 205, "face_uv": [0.0326429047540767, 0.9091476311317296, 0.05820946411419392]}}, {"xyz": [0.1602451187715895, 0.0750975109590235, 0.15215758210484193], "rgb": [193, 200, 210], "semantic_id": 2, "pcd_info": {"point_index": 1783}, "mesh_info": {"face_index": 50, "face_uv": [0.9752103454624008, 0.01250264270238076, 0.012287011835216053]}}, {"xyz": [-0.15363861188168645, 0.07417101156102435, 0.14644611872198704], "rgb": [196, 203, 213], "semantic_id": 3, "pcd_info": {"point_index": 429}, "mesh_info": {"face_index": 169, "face_uv": [0.021905828327845038, 0.04402373012580248, 0.9340704415463504]}}, {"xyz": [0.17912086950722664, 0.07481254040006546, -0.20386210383997605], "rgb": [205, 212, 222], "semantic_id": 4, "pcd_info": {"point_index": 6}, "mesh_info": {"face_index": 257, "face_uv": [0.9773454321726042, 0.00045674138131911266, 0.022197826446078504]}}, {"xyz": [-0.17694547394059973, 0.0750916522460503, -0.19695435630980995], "rgb": [194, 201, 211], "semantic_id": 5, "pcd_info": {"point_index": 2000}, "mesh_info": {"face_index": 57, "face_uv": [0.05244623158848853, 0.012701966095609274, 0.9348518023159066]}}, {"xyz": [0.1912124986347301, 0.19626200199127197, -0.20311131044719882], "rgb": [202, 209, 219], "semantic_id": 6, "pcd_info": {"point_index": 619}, "mesh_info": {"face_index": 142, "face_uv": [0.5991904638004467, 0.025387757022795786, 0.3754217791767575]}}, {"xyz": [0.19039143010258386, 0.19626200199127197, 0.16427699518401306], "rgb": [200, 207, 217], "semantic_id": 7, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 108, "face_uv": [0.05374800792017205, 0.639972711520073, 0.306279280559755]}}, {"xyz": [-0.19361049451930668, 0.1962620019912722, -0.20368096823642712], "rgb": [196, 203, 213], "semantic_id": 8, "pcd_info": {"point_index": 1621}, "mesh_info": {"face_index": 214, "face_uv": [0.6884983630332318, 0.024932114953539145, 0.2865695220132303]}}, {"xyz": [-0.18573592695782493, 0.19626200199127197, 0.16895747380074244], "rgb": [199, 206, 216], "semantic_id": 9, "pcd_info": {"point_index": 1992}, "mesh_info": {"face_index": 44, "face_uv": [0.026586425523142387, 0.6776971226993904, 0.2957164517774671]}}, {"xyz": [0.20036189297545556, -0.28692498803138733, -0.2467719494270152], "rgb": [206, 213, 223], "semantic_id": 17, "pcd_info": {"point_index": 1798}, "mesh_info": {"face_index": 151, "face_uv": [0.23834176585411385, 0.4766121402943353, 0.2850460938515508]}}, {"xyz": [0.19893216934153124, -0.28692498803138755, 0.1722117467143521], "rgb": [200, 207, 217], "semantic_id": 18, "pcd_info": {"point_index": 189}, "mesh_info": {"face_index": 118, "face_uv": [0.47031635680255374, 0.5076068976407094, 0.022076745556737647]}}, {"xyz": [-0.1932191489803879, -0.28692498803138733, 0.1841681391546486], "rgb": [202, 209, 219], "semantic_id": 19, "pcd_info": {"point_index": 1359}, "mesh_info": {"face_index": 0, "face_uv": [0.3383429698748254, 0.5124379592063346, 0.14921907091883993]}}, {"xyz": [-0.19513789188427705, -0.28692498803138733, -0.22122938475226817], "rgb": [202, 209, 219], "semantic_id": 20, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 261, "face_uv": [0.029018584339081895, 0.4912593144247816, 0.4797221012361365]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "553c6c2a186db82597976c675750537", "keypoints": [{"xyz": [0.21790891823022304, 0.2598788296404413, 0.21860237664708138], "rgb": [26, 29, 28], "semantic_id": 0, "pcd_info": {"point_index": 799}, "mesh_info": {"face_index": 23712, "face_uv": [0.49426885577916935, 0.15866791738956895, 0.3470632268312618]}}, {"xyz": [-0.2038655858318498, 0.2642420900175221, 0.21436105836112668], "rgb": [57, 59, 58], "semantic_id": 1, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 23689, "face_uv": [0.5319131362923384, 0.11756529245946251, 0.3505215712481989]}}, {"xyz": [0.21503443790948581, -0.02212671225621521, 0.10875527484778491], "rgb": [43, 46, 44], "semantic_id": 2, "pcd_info": {"point_index": 218}, "mesh_info": {"face_index": 675, "face_uv": [0.3693435063284159, 0.41711009635040885, 0.21354639732117564]}}, {"xyz": [-0.21641665052821965, -0.03392839331240949, 0.1196578745207394], "rgb": [37, 39, 38], "semantic_id": 3, "pcd_info": {"point_index": 1639}, "mesh_info": {"face_index": 2562, "face_uv": [0.10500742334654925, 0.34737323318867497, 0.5476193434647765]}}, {"xyz": [0.2045487700563678, 0.02354078024362516, -0.27742784582596636], "rgb": [57, 60, 58], "semantic_id": 4, "pcd_info": {"point_index": 309}, "mesh_info": {"face_index": 1636, "face_uv": [0.14441722102402338, 0.4119179704746377, 0.44366480850133994]}}, {"xyz": [-0.1960174845977716, 0.024251770613133217, -0.27809090573723716], "rgb": [39, 40, 39], "semantic_id": 5, "pcd_info": {"point_index": 1394}, "mesh_info": {"face_index": 3142, "face_uv": [0.11403353860608241, 0.3956350239613931, 0.49033143743252483]}}, {"xyz": [0.2633664957332199, 0.1698324136805145, -0.26016952329909954], "rgb": [39, 42, 40], "semantic_id": 6, "pcd_info": {"point_index": 1998}, "mesh_info": {"face_index": 15751, "face_uv": [0.4597858534608988, 0.490324480297131, 0.04988966624197038]}}, {"xyz": [0.26730071225528423, 0.16300258963220648, 0.29107888810313665], "rgb": [36, 38, 37], "semantic_id": 7, "pcd_info": {"point_index": 694}, "mesh_info": {"face_index": 14918, "face_uv": [0.0050198517009678355, 0.9703715271987557, 0.02460862110027658]}}, {"xyz": [-0.25759435265549424, 0.16661756466934308, -0.2653721735534605], "rgb": [45, 47, 46], "semantic_id": 8, "pcd_info": {"point_index": 1292}, "mesh_info": {"face_index": 42104, "face_uv": [0.30819274423772697, 0.16972503620113708, 0.5220822195611361]}}, {"xyz": [-0.2579815702444925, 0.16901749462535287, 0.2882713328448079], "rgb": [38, 40, 37], "semantic_id": 9, "pcd_info": {"point_index": 1120}, "mesh_info": {"face_index": 36911, "face_uv": [0.7224879861783605, 0.01807931479090232, 0.25943269903073696]}}, {"xyz": [0.25824910351642144, -0.27503000202514016, -0.22294425387150058], "rgb": [191, 191, 191], "semantic_id": 17, "pcd_info": {"point_index": 817}, "mesh_info": {"face_index": 28969, "face_uv": [0.06074266960450833, 0.36084129050803826, 0.5784160398874535]}}, {"xyz": [0.25778103951784964, -0.2755626872236543, 0.19472715223646547], "rgb": [191, 191, 191], "semantic_id": 18, "pcd_info": {"point_index": 167}, "mesh_info": {"face_index": 29383, "face_uv": [0.0408805366973164, 0.14571955312629853, 0.8133999101763849]}}, {"xyz": [-0.2561458928209471, -0.27710930536012557, 0.18908896824017568], "rgb": [191, 191, 191], "semantic_id": 19, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 31546, "face_uv": [0.4101394151717942, 0.43165577951878564, 0.15820480530942024]}}, {"xyz": [-0.2533778551871483, -0.27018644670717895, -0.22831760740598628], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 698}, "mesh_info": {"face_index": 31189, "face_uv": [0.05048363968450263, 0.33426814716831915, 0.6152482131471784]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ae02a5d77184ae2638449598167b268b", "keypoints": [{"xyz": [0.08652462554135744, 0.43591385762181467, 0.18998716653002007], "rgb": [150, 83, 43], "semantic_id": 0, "pcd_info": {"point_index": 1896}, "mesh_info": {"face_index": 246, "face_uv": [0.46026998989130424, 0.11666154892235643, 0.42306846118633906]}}, {"xyz": [-0.09995487208137024, 0.4358017265760299, 0.18433239286227363], "rgb": [149, 83, 43], "semantic_id": 1, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 1320, "face_uv": [0.48564111295541224, 0.08738611087406316, 0.4269727761705244]}}, {"xyz": [0.1027713651348121, 0.15267360545664754, 0.12394178263565883], "rgb": [128, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 413}, "mesh_info": {"face_index": 124, "face_uv": [0.40949234386118083, 0.33544096865165135, 0.25506668748716804]}}, {"xyz": [-0.10424752514207779, 0.1542422784610935, 0.11172351025900365], "rgb": [127, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 229}, "mesh_info": {"face_index": 1241, "face_uv": [0.4471332617700868, 0.004781842779807337, 0.5480848954501057]}}, {"xyz": [0.14696639758060645, 0.15273582684386167, -0.1654195248159046], "rgb": [128, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 443}, "mesh_info": {"face_index": 152, "face_uv": [0.3774497494107301, 0.24844974936722816, 0.3741005012220421]}}, {"xyz": [-0.14158779525182302, 0.15024281657278005, -0.17373248955082277], "rgb": [128, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 35}, "mesh_info": {"face_index": 1142, "face_uv": [0.8711793382714923, 0.10603387461394682, 0.022786787114561273]}}, {"xyz": [0.16376011423087566, -0.39811798997551473, -0.1591864326886847], "rgb": [158, 90, 45], "semantic_id": 17, "pcd_info": {"point_index": 1452}, "mesh_info": {"face_index": 880, "face_uv": [0.020306159954018053, 0.8449242193154461, 0.13476962073053542]}}, {"xyz": [0.09741301685413373, -0.3950575642809253, 0.1876355161095148], "rgb": [153, 86, 41], "semantic_id": 18, "pcd_info": {"point_index": 1292}, "mesh_info": {"face_index": 531, "face_uv": [0.05342700044039089, 0.024055255236866118, 0.9225177443227428]}}, {"xyz": [-0.0961846441858123, -0.3973167749880123, 0.1762611370900805], "rgb": [149, 80, 36], "semantic_id": 19, "pcd_info": {"point_index": 1235}, "mesh_info": {"face_index": 1688, "face_uv": [0.37638267606623116, 0.03579179577806643, 0.587825528155702]}}, {"xyz": [-0.1383796808537286, -0.39151480166354113, -0.16844784211646602], "rgb": [147, 79, 34], "semantic_id": 20, "pcd_info": {"point_index": 1379}, "mesh_info": {"face_index": 1743, "face_uv": [0.014452244208390443, 0.07740481350349376, 0.9081429422881161]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7e2ef2a1256f2dc1ebe13e25a6ad0d", "keypoints": [{"xyz": [0.17753878228724015, 0.37200247096167394, 0.17983766568133097], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 528}, "mesh_info": {"face_index": 1518, "face_uv": [0.02548706424714588, 0.47702710347953803, 0.4974858322733145]}}, {"xyz": [-0.1726870515919775, 0.3715287486398202, 0.1795434730262604], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 187}, "mesh_info": {"face_index": 1586, "face_uv": [0.0016515388856688643, 0.025633771219818413, 0.9727146898945098]}}, {"xyz": [0.18834175723991461, 0.08441145494852631, 0.04378010828032641], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1563}, "mesh_info": {"face_index": 1432, "face_uv": [0.07133934136281089, 0.06442326102394258, 0.8642373976132453]}}, {"xyz": [-0.18514388621733746, 0.08447523936791823, 0.05016582252762003], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1956}, "mesh_info": {"face_index": 1590, "face_uv": [0.9557505664165583, 0.005146974248955759, 0.039102459334487145]}}, {"xyz": [0.18950342607822288, 0.07008503075740746, -0.22962643677989214], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 88}, "mesh_info": {"face_index": 1866, "face_uv": [0.2683699355895692, 0.030162218479507785, 0.701467845930923]}}, {"xyz": [-0.1903307426056728, 0.07079487497264092, -0.22894282346632155], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1422}, "mesh_info": {"face_index": 1961, "face_uv": [0.3700630146347542, 0.2316851876694849, 0.3982517976957607]}}, {"xyz": [0.22285430468973044, -0.30150348306827635, -0.05232398327415372], "rgb": [186, 186, 179], "semantic_id": 17, "pcd_info": {"point_index": 97}, "mesh_info": {"face_index": 4242, "face_uv": [0.25193466238390033, 0.23295755930620246, 0.5151077783098982]}}, {"xyz": [0.2294810651388658, -0.30150248147800074, 0.2167071343411878], "rgb": [186, 186, 179], "semantic_id": 18, "pcd_info": {"point_index": 330}, "mesh_info": {"face_index": 4217, "face_uv": [0.24547414155746364, 0.5080693685074049, 0.24645648993513242]}}, {"xyz": [-0.22672853651574693, -0.30159513287803885, 0.21290873020599776], "rgb": [185, 185, 178], "semantic_id": 19, "pcd_info": {"point_index": 372}, "mesh_info": {"face_index": 4182, "face_uv": [0.40906118390267643, 0.16374011643710176, 0.42719869966022145]}}, {"xyz": [-0.22524225771398693, -0.30159490968979563, -0.05027069223017194], "rgb": [186, 186, 179], "semantic_id": 20, "pcd_info": {"point_index": 1611}, "mesh_info": {"face_index": 4253, "face_uv": [0.4610258565119797, 0.4403232805133882, 0.09865086297463231]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "47ae91f47ffb34c6f7628281ecb18112", "keypoints": [{"xyz": [0.21614751809061855, 0.3010598268284081, 0.18218517179681792], "rgb": [164, 73, 20], "semantic_id": 0, "pcd_info": {"point_index": 1888}, "mesh_info": {"face_index": 1042, "face_uv": [0.005511577617052283, 0.6339388721047363, 0.3605495502782119]}}, {"xyz": [-0.19277386404932254, 0.2974447507145698, 0.18168243235307058], "rgb": [163, 73, 20], "semantic_id": 1, "pcd_info": {"point_index": 55}, "mesh_info": {"face_index": 2387, "face_uv": [0.0327249318450385, 0.5724192767099501, 0.3948557914450118]}}, {"xyz": [0.18797032854262552, -0.07719495130048115, 0.05167101081458414], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 922}, "mesh_info": {"face_index": 12088, "face_uv": [0.14433539779805102, 0.3348089222948675, 0.5208556799070815]}}, {"xyz": [-0.19945476767021109, -0.09253321021534278, 0.08620777131336088], "rgb": [161, 75, 19], "semantic_id": 3, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 2321, "face_uv": [0.7913762761261588, 0.016302336700938676, 0.19232138717290442]}}, {"xyz": [0.1923530835079707, -0.08771815692496898, -0.2552192647215986], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 846}, "mesh_info": {"face_index": 17057, "face_uv": [0.0935421869728294, 0.8683957134844854, 0.03806209954268561]}}, {"xyz": [-0.1622746475311963, -0.08561751630184067, -0.26084137416549813], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 320}, "mesh_info": {"face_index": 13301, "face_uv": [0.5255351327643298, 0.4707537082820559, 0.0037111589536149552]}}, {"xyz": [0.21122019552818086, 0.09623738694935802, -0.2692996771144298], "rgb": [163, 74, 18], "semantic_id": 6, "pcd_info": {"point_index": 925}, "mesh_info": {"face_index": 42, "face_uv": [0.3939191828569351, 0.56314318708648, 0.04293763005658514]}}, {"xyz": [0.2343196288707727, 0.10222411401391018, 0.13740205298855557], "rgb": [158, 73, 18], "semantic_id": 7, "pcd_info": {"point_index": 1953}, "mesh_info": {"face_index": 461, "face_uv": [0.21859467541878624, 0.5144230801123342, 0.26698224446888025]}}, {"xyz": [-0.19367939314379973, 0.10236000269651391, -0.2676801329115167], "rgb": [164, 74, 18], "semantic_id": 8, "pcd_info": {"point_index": 951}, "mesh_info": {"face_index": 1372, "face_uv": [0.8135087259862658, 0.048948463301592166, 0.13754281071213997]}}, {"xyz": [-0.21401477385791168, 0.10233357504600404, 0.14488614771680353], "rgb": [160, 75, 19], "semantic_id": 9, "pcd_info": {"point_index": 1146}, "mesh_info": {"face_index": 1719, "face_uv": [0.7002831128583633, 0.03571456362155573, 0.26400232352008174]}}, {"xyz": [0.207179973059852, -0.43698599934577964, -0.2613036740977582], "rgb": [162, 73, 19], "semantic_id": 17, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 277, "face_uv": [0.007170304064850662, 0.44356163569318396, 0.5492680602419658]}}, {"xyz": [0.21137191727062551, -0.43678201940368355, 0.13705353262119974], "rgb": [170, 77, 19], "semantic_id": 18, "pcd_info": {"point_index": 1987}, "mesh_info": {"face_index": 1243, "face_uv": [0.18497200283883225, 0.2613483335191632, 0.5536796636420046]}}, {"xyz": [-0.18756216413630714, -0.43663364955344885, 0.13406903764752282], "rgb": [172, 78, 19], "semantic_id": 19, "pcd_info": {"point_index": 1516}, "mesh_info": {"face_index": 2385, "face_uv": [0.5167192736652844, 0.002860999637972882, 0.480419726696743]}}, {"xyz": [-0.1879941628013785, -0.4369859993457794, -0.2580430880478578], "rgb": [161, 72, 18], "semantic_id": 20, "pcd_info": {"point_index": 300}, "mesh_info": {"face_index": 1510, "face_uv": [0.2518053029092872, 0.3101005078548033, 0.4380941892359095]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5f2d4c625595dc2499b025797420aa58", "keypoints": [{"xyz": [0.23639311842089042, 0.4842559993267058, 0.20951904857380163], "rgb": [149, 82, 42], "semantic_id": 0, "pcd_info": {"point_index": 868}, "mesh_info": {"face_index": 42, "face_uv": [0.4760473571239738, 0.03801927752292861, 0.4859333653530974]}}, {"xyz": [-0.22758320544345773, 0.48425599932670593, 0.2096675221003261], "rgb": [149, 81, 37], "semantic_id": 1, "pcd_info": {"point_index": 1355}, "mesh_info": {"face_index": 43, "face_uv": [0.5257027668297217, 0.052788346179526636, 0.42150888699075156]}}, {"xyz": [0.2378574096849993, 0.12546700239181519, 0.15208930206229962], "rgb": [164, 94, 48], "semantic_id": 2, "pcd_info": {"point_index": 1213}, "mesh_info": {"face_index": 38, "face_uv": [0.02957775846573788, 0.035149901682975014, 0.9352723398512872]}}, {"xyz": [-0.24526767688028694, 0.12546700239181519, 0.1637927960342981], "rgb": [148, 81, 36], "semantic_id": 3, "pcd_info": {"point_index": 699}, "mesh_info": {"face_index": 38, "face_uv": [0.002908174317381786, 0.9818655483884162, 0.015226277294202206]}}, {"xyz": [0.24199427260531797, 0.12546700239181519, -0.25519155519121756], "rgb": [152, 85, 41], "semantic_id": 4, "pcd_info": {"point_index": 355}, "mesh_info": {"face_index": 38, "face_uv": [0.9576776165530316, 0.027043444444778925, 0.01527893900218935]}}, {"xyz": [-0.2438221401334697, 0.12546700239181519, -0.2601128659551239], "rgb": [152, 82, 36], "semantic_id": 5, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 39, "face_uv": [0.031107842571206457, 0.0209670767311545, 0.9479250806976391]}}, {"xyz": [0.21397935636271895, -0.19790799915790558, -0.23447021650123737], "rgb": [160, 92, 45], "semantic_id": 17, "pcd_info": {"point_index": 1031}, "mesh_info": {"face_index": 31, "face_uv": [0.4835682769460978, 0.4770969813185089, 0.0393347417353932]}}, {"xyz": [0.21820918855930324, -0.19790799915790536, 0.18200051585017366], "rgb": [157, 89, 44], "semantic_id": 18, "pcd_info": {"point_index": 17}, "mesh_info": {"face_index": 1, "face_uv": [0.46108833311474756, 0.4288365720265249, 0.11007509485872627]}}, {"xyz": [-0.20938548041174382, -0.19790799915790558, 0.1875228608631073], "rgb": [155, 88, 44], "semantic_id": 19, "pcd_info": {"point_index": 246}, "mesh_info": {"face_index": 53, "face_uv": [0.47695824388403585, 0.46761669947664014, 0.05542505663932394]}}, {"xyz": [-0.218458681632839, -0.19790799915790536, -0.22468364723741432], "rgb": [156, 88, 43], "semantic_id": 20, "pcd_info": {"point_index": 1830}, "mesh_info": {"face_index": 60, "face_uv": [0.47997079851127794, 0.42536527370662186, 0.09466392778209906]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9ee7a2dafbcc731319fb4103277a6b93", "keypoints": [{"xyz": [0.1830561982308917, 0.20790000259876262, 0.10669321568126178], "rgb": [160, 73, 19], "semantic_id": 0, "pcd_info": {"point_index": 436}, "mesh_info": {"face_index": 11626, "face_uv": [0.29859986327700805, 0.5248487380934216, 0.17655139862957095]}}, {"xyz": [-0.2757257837160457, 0.2079000025987625, 0.10488426154561424], "rgb": [160, 74, 19], "semantic_id": 1, "pcd_info": {"point_index": 1714}, "mesh_info": {"face_index": 12078, "face_uv": [0.2350559644806124, 0.4590087317850891, 0.30593530373429856]}}, {"xyz": [0.15414541958518274, -0.13745930649030336, 0.019299578423661368], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 1486}, "mesh_info": {"face_index": 13823, "face_uv": [0.16468408385700656, 0.4177921436778766, 0.4175237724651137]}}, {"xyz": [-0.26350848874966815, -0.13609743027475574, 0.01958378372202141], "rgb": [165, 77, 19], "semantic_id": 3, "pcd_info": {"point_index": 619}, "mesh_info": {"face_index": 12021, "face_uv": [0.36565808257766713, 0.16223906164670712, 0.47210285577563377]}}, {"xyz": [0.15114811703076536, -0.13527213147912032, -0.39033441553052106], "rgb": [156, 72, 19], "semantic_id": 4, "pcd_info": {"point_index": 21}, "mesh_info": {"face_index": 11278, "face_uv": [0.243723202290241, 0.017268160924700675, 0.7390086367850581]}}, {"xyz": [-0.2398537905399274, -0.14017269044609654, -0.3794404463690918], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 1376}, "mesh_info": {"face_index": 15377, "face_uv": [0.00839918317123754, 0.42577566615973106, 0.5658251506690314]}}, {"xyz": [0.17367811203204303, 0.07614256538093145, -0.35279314738425305], "rgb": [159, 74, 19], "semantic_id": 6, "pcd_info": {"point_index": 1248}, "mesh_info": {"face_index": 11470, "face_uv": [0.37613344871460774, 0.6057493553149267, 0.01811719597046562]}}, {"xyz": [0.17015551330155027, 0.07663799822330475, 0.042767235456908526], "rgb": [175, 82, 20], "semantic_id": 7, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 11511, "face_uv": [0.5137394321808859, 0.4635495977451263, 0.022710970073987907]}}, {"xyz": [-0.2622727439201909, 0.0750247896006227, -0.3530642323395289], "rgb": [159, 73, 19], "semantic_id": 8, "pcd_info": {"point_index": 481}, "mesh_info": {"face_index": 11920, "face_uv": [0.05899248951355096, 0.4956179305378764, 0.4453895799485729]}}, {"xyz": [-0.26210844680544154, 0.07834058071204975, 0.047931291657776764], "rgb": [170, 77, 19], "semantic_id": 9, "pcd_info": {"point_index": 1032}, "mesh_info": {"face_index": 12059, "face_uv": [0.4705883911763917, 0.49132628265997935, 0.03808532616362557]}}, {"xyz": [0.16993113774485974, -0.5031009912490845, -0.37697191543369074], "rgb": [159, 73, 18], "semantic_id": 17, "pcd_info": {"point_index": 1981}, "mesh_info": {"face_index": 11320, "face_uv": [0.43575481089884277, 0.07212395439837446, 0.49212123470278274]}}, {"xyz": [0.17203826637902186, -0.5031009912490845, 0.04061147280459383], "rgb": [163, 73, 20], "semantic_id": 18, "pcd_info": {"point_index": 1655}, "mesh_info": {"face_index": 11518, "face_uv": [0.12581036794072437, 0.5209809543436039, 0.35320867771567177]}}, {"xyz": [-0.2627992774383814, -0.5031009912490845, 0.040506130378632106], "rgb": [165, 74, 20], "semantic_id": 19, "pcd_info": {"point_index": 347}, "mesh_info": {"face_index": 11969, "face_uv": [0.4640837534145917, 0.5171469748672485, 0.018769271718159855]}}, {"xyz": [-0.25961947269575647, -0.5031009912490845, -0.3741691567594526], "rgb": [158, 72, 18], "semantic_id": 20, "pcd_info": {"point_index": 1680}, "mesh_info": {"face_index": 11828, "face_uv": [0.5736888606207109, 0.11816335565063892, 0.3081477837286502]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cb714c518e3607b8ed4feff97703cf03", "keypoints": [{"xyz": [0.20562722025528632, 0.4318387172084359, 0.190956031101478], "rgb": [181, 109, 43], "semantic_id": 0, "pcd_info": {"point_index": 1305}, "mesh_info": {"face_index": 1569, "face_uv": [0.10136372460738115, 0.21973709975279063, 0.6788991756398278]}}, {"xyz": [-0.20737505566692996, 0.43184216088363736, 0.1879595151759196], "rgb": [179, 107, 41], "semantic_id": 1, "pcd_info": {"point_index": 1393}, "mesh_info": {"face_index": 3133, "face_uv": [0.33489008256018415, 0.27546459274876495, 0.3896453246910508]}}, {"xyz": [0.18907539466543566, 0.07199858298084516, 0.20551010179336504], "rgb": [209, 179, 140], "semantic_id": 2, "pcd_info": {"point_index": 155}, "mesh_info": {"face_index": 9742, "face_uv": [0.005152377634076995, 0.34452073586220366, 0.6503268865037194]}}, {"xyz": [-0.19618700444698334, 0.0725556545134618, 0.2021576233803632], "rgb": [181, 107, 42], "semantic_id": 3, "pcd_info": {"point_index": 245}, "mesh_info": {"face_index": 3441, "face_uv": [0.28939921167104654, 0.17351991687005727, 0.5370808714588962]}}, {"xyz": [0.1925873738125132, 0.0677495227656486, -0.2245239962788853], "rgb": [208, 178, 139], "semantic_id": 4, "pcd_info": {"point_index": 625}, "mesh_info": {"face_index": 9863, "face_uv": [0.03385541143094789, 0.9515351541390573, 0.014609434429994144]}}, {"xyz": [-0.1904983242824002, 0.07068993961125547, -0.22256432571467352], "rgb": [209, 179, 140], "semantic_id": 5, "pcd_info": {"point_index": 663}, "mesh_info": {"face_index": 9862, "face_uv": [0.695907063775398, 0.01377163643521352, 0.29032129978938914]}}, {"xyz": [0.20721190635027786, -0.3398017817547023, -0.20231298786936952], "rgb": [174, 101, 37], "semantic_id": 17, "pcd_info": {"point_index": 1952}, "mesh_info": {"face_index": 5872, "face_uv": [0.06915738276541454, 0.7191640834684783, 0.21167853376610765]}}, {"xyz": [0.20791551111085527, -0.3397162420060553, 0.1919496854958022], "rgb": [180, 106, 41], "semantic_id": 18, "pcd_info": {"point_index": 798}, "mesh_info": {"face_index": 1751, "face_uv": [0.05908903277085308, 0.7747266937322893, 0.1661842734968578]}}, {"xyz": [-0.20190344231844354, -0.33780276098171513, 0.19169890127321648], "rgb": [184, 111, 46], "semantic_id": 19, "pcd_info": {"point_index": 1391}, "mesh_info": {"face_index": 4098, "face_uv": [0.0537993899511683, 0.16103696408169918, 0.7851636459671327]}}, {"xyz": [-0.2128112509671409, -0.3390496271799335, -0.2019184607888594], "rgb": [170, 99, 33], "semantic_id": 20, "pcd_info": {"point_index": 1409}, "mesh_info": {"face_index": 8614, "face_uv": [0.006474951137686218, 0.5937492803123688, 0.39977576854994556]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bcc73b8ff332b4df3d25ee35360a1f4d", "keypoints": [{"xyz": [0.15573200384186486, 0.5232210159301758, 0.03553195986306057], "rgb": [175, 177, 165], "semantic_id": 0, "pcd_info": {"point_index": 1760}, "mesh_info": {"face_index": 2674, "face_uv": [0.335632694550363, 0.0018464459767463587, 0.6625208594728906]}}, {"xyz": [-0.1454541323956049, 0.5232210159301758, 0.024337473241959673], "rgb": [175, 177, 165], "semantic_id": 1, "pcd_info": {"point_index": 500}, "mesh_info": {"face_index": 3048, "face_uv": [0.052284976438301864, 0.5201687440987295, 0.4275462794629687]}}, {"xyz": [0.12031010224844774, 0.045603364497457166, 0.04011802946798304], "rgb": [175, 177, 165], "semantic_id": 2, "pcd_info": {"point_index": 533}, "mesh_info": {"face_index": 2821, "face_uv": [0.00019603737845872959, 0.7806499195276972, 0.2191540430938492]}}, {"xyz": [-0.11797862869774162, 0.0476910445697456, 0.04333806242584615], "rgb": [174, 176, 164], "semantic_id": 3, "pcd_info": {"point_index": 336}, "mesh_info": {"face_index": 2132, "face_uv": [0.005374823238661097, 0.3397249002210829, 0.6549002765402526]}}, {"xyz": [0.16045618365070252, 0.029669785825255257, -0.1638950392852523], "rgb": [175, 177, 165], "semantic_id": 4, "pcd_info": {"point_index": 41}, "mesh_info": {"face_index": 42, "face_uv": [0.5661780999683143, 0.0023250889388812808, 0.4314968110928071]}}, {"xyz": [-0.15925428476663106, 0.028753116891696573, -0.15509116469177497], "rgb": [175, 177, 165], "semantic_id": 5, "pcd_info": {"point_index": 1954}, "mesh_info": {"face_index": 61, "face_uv": [0.5629545903931635, 0.4010965799563087, 0.03594882965052855]}}, {"xyz": [0.15282301453094624, -0.36149901151657104, -0.15090868143154634], "rgb": [175, 177, 165], "semantic_id": 17, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 948, "face_uv": [0.4139743206627892, 0.39279240084987754, 0.19323327848733324]}}, {"xyz": [0.15109919656755694, -0.36149901151657104, 0.0543684731067644], "rgb": [174, 177, 165], "semantic_id": 18, "pcd_info": {"point_index": 1994}, "mesh_info": {"face_index": 1336, "face_uv": [0.4850801311917947, 0.44323779058246765, 0.07168207822573767]}}, {"xyz": [-0.1502227035802959, -0.3614990115165708, 0.05366467316370882], "rgb": [174, 176, 164], "semantic_id": 19, "pcd_info": {"point_index": 1985}, "mesh_info": {"face_index": 2114, "face_uv": [0.3947241542260518, 0.5277287565468268, 0.07754708922712082]}}, {"xyz": [-0.14897825964606257, -0.36149901151657127, -0.15857025354986176], "rgb": [175, 177, 165], "semantic_id": 20, "pcd_info": {"point_index": 939}, "mesh_info": {"face_index": 562, "face_uv": [0.45758708241412244, 0.29114918623397124, 0.251263731351907]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8763bc46c26ab19957b7bfa2b0e9620b", "keypoints": [{"xyz": [0.20424416374987175, 0.2997049471192348, 0.12120340561269222], "rgb": [0, 0, 254], "semantic_id": 0, "pcd_info": {"point_index": 745}, "mesh_info": {"face_index": 12778, "face_uv": [0.2999049066615912, 0.4063641331258628, 0.29373096021254386]}}, {"xyz": [-0.2037062737510072, 0.29728058782971667, 0.12030905395912422], "rgb": [0, 0, 255], "semantic_id": 1, "pcd_info": {"point_index": 688}, "mesh_info": {"face_index": 18178, "face_uv": [0.6293364764447673, 0.056464846860778614, 0.3141986766944598]}}, {"xyz": [0.20129807782945786, -0.0028340787291709635, 0.038587247363944144], "rgb": [10, 10, 253], "semantic_id": 2, "pcd_info": {"point_index": 290}, "mesh_info": {"face_index": 22911, "face_uv": [0.425774849693736, 0.5271038052257541, 0.047121345080511766]}}, {"xyz": [-0.20296434346401582, -0.00164233975898731, 0.042032457312826565], "rgb": [3, 3, 254], "semantic_id": 3, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 21569, "face_uv": [0.01611455640381153, 0.024372483418428296, 0.9595129601777549]}}, {"xyz": [0.20382636767310297, -0.015731487558900782, -0.28244625438883875], "rgb": [7, 7, 254], "semantic_id": 4, "pcd_info": {"point_index": 1047}, "mesh_info": {"face_index": 23289, "face_uv": [0.2735892578955398, 0.0332754505162064, 0.6931352915882542]}}, {"xyz": [-0.20462204145790916, -0.012591439703718565, -0.27880086377176994], "rgb": [0, 0, 255], "semantic_id": 5, "pcd_info": {"point_index": 693}, "mesh_info": {"face_index": 20846, "face_uv": [0.05103059931662038, 0.8577446076144167, 0.09122479306896769]}}, {"xyz": [0.23511332555482645, -0.3934838138747359, -0.3201594027498328], "rgb": [0, 0, 255], "semantic_id": 17, "pcd_info": {"point_index": 28}, "mesh_info": {"face_index": 2767, "face_uv": [0.07091747537333275, 0.13485158303638364, 0.7942309415902837]}}, {"xyz": [0.2529816626326722, -0.4085118875476459, 0.13883219968462357], "rgb": [0, 0, 255], "semantic_id": 18, "pcd_info": {"point_index": 248}, "mesh_info": {"face_index": 1000, "face_uv": [0.4122021268152016, 0.01703800241986034, 0.5707598707649383]}}, {"xyz": [-0.25563034147528796, -0.4048417852530575, 0.14129796224119312], "rgb": [0, 0, 255], "semantic_id": 19, "pcd_info": {"point_index": 1064}, "mesh_info": {"face_index": 4882, "face_uv": [0.18418484315811012, 0.7811830851516882, 0.03463207169020165]}}, {"xyz": [-0.24521915452693593, -0.40733985505081216, -0.3097381301031216], "rgb": [0, 0, 254], "semantic_id": 20, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 7398, "face_uv": [0.2514071164984467, 0.46472365332996907, 0.283869230171584]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "916a6ff06a128851ed98cca8f0ccd5f7", "keypoints": [{"xyz": [0.35635039104572985, 0.2268045535769445, 0.15294569539950553], "rgb": [28, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 1769}, "mesh_info": {"face_index": 6857, "face_uv": [0.12370346210151184, 0.32737566929685924, 0.5489208686016198]}}, {"xyz": [-0.3706521561678342, 0.22733439947173295, 0.15696237559063975], "rgb": [29, 29, 29], "semantic_id": 1, "pcd_info": {"point_index": 170}, "mesh_info": {"face_index": 14776, "face_uv": [0.04213697872825214, 0.023091749346543844, 0.9347712719252042]}}, {"xyz": [0.337417461411033, -0.010409999638795853, 0.05447199151742238], "rgb": [226, 226, 226], "semantic_id": 2, "pcd_info": {"point_index": 1869}, "mesh_info": {"face_index": 2261, "face_uv": [0.28187852856476725, 0.5595905184023313, 0.15853095303290146]}}, {"xyz": [-0.35000865037146844, -0.011482000350952148, 0.0568564099797271], "rgb": [202, 143, 102], "semantic_id": 3, "pcd_info": {"point_index": 479}, "mesh_info": {"face_index": 2392, "face_uv": [0.30702580855691763, 0.258643228300136, 0.43433096314294634]}}, {"xyz": [0.3399101510219427, -0.011482000350952148, -0.1682596275816602], "rgb": [193, 122, 71], "semantic_id": 4, "pcd_info": {"point_index": 1909}, "mesh_info": {"face_index": 4635, "face_uv": [0.14110371507277808, 0.8426380032301274, 0.01625828169709458]}}, {"xyz": [-0.3470325712302478, -0.01148200035095237, -0.16223380875672283], "rgb": [214, 179, 157], "semantic_id": 5, "pcd_info": {"point_index": 1800}, "mesh_info": {"face_index": 4460, "face_uv": [0.48078934320090855, 0.3873111690846242, 0.13189948771448656]}}, {"xyz": [0.36351760130822763, 0.09328892555956436, -0.16824899097393636], "rgb": [58, 58, 58], "semantic_id": 6, "pcd_info": {"point_index": 934}, "mesh_info": {"face_index": 5942, "face_uv": [0.4511332509951781, 0.43773959420566794, 0.11112715479915446]}}, {"xyz": [0.36524490634261053, 0.06955364747232307, 0.09118616219497949], "rgb": [57, 57, 57], "semantic_id": 7, "pcd_info": {"point_index": 1477}, "mesh_info": {"face_index": 6603, "face_uv": [0.06016141900540641, 0.4921956714870163, 0.4476429095075748]}}, {"xyz": [-0.3663413449887696, 0.09377183250033005, -0.16671694755472866], "rgb": [58, 58, 58], "semantic_id": 8, "pcd_info": {"point_index": 573}, "mesh_info": {"face_index": 14508, "face_uv": [0.15451333391038927, 0.5340663323096669, 0.31142033377994416]}}, {"xyz": [-0.368711685130769, 0.07030928072601328, 0.09302834046247066], "rgb": [58, 58, 58], "semantic_id": 9, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 14636, "face_uv": [0.11368850147677462, 0.6302145220972257, 0.256096976426008]}}, {"xyz": [0.3665633379632433, -0.23240099847316742, -0.15545990006095212], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 673}, "mesh_info": {"face_index": 8503, "face_uv": [0.18375867497351167, 0.27739388099051326, 0.5388474440359751]}}, {"xyz": [0.36709828870054434, -0.23240099847316742, 0.19442739877683946], "rgb": [29, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 1706}, "mesh_info": {"face_index": 12667, "face_uv": [0.09608755905978175, 0.35173516852508924, 0.552177272415129]}}, {"xyz": [-0.3631400102370947, -0.23240099847316742, 0.20134011518529782], "rgb": [28, 28, 28], "semantic_id": 19, "pcd_info": {"point_index": 866}, "mesh_info": {"face_index": 20678, "face_uv": [0.04891594980315218, 0.5110038426530907, 0.440080207543757]}}, {"xyz": [-0.3655150908255773, -0.23240099847316764, -0.15562966894110952], "rgb": [29, 29, 29], "semantic_id": 20, "pcd_info": {"point_index": 1875}, "mesh_info": {"face_index": 16530, "face_uv": [0.24638112403031776, 0.24892348918226484, 0.5046953867874183]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "45dcb53af7bea0d091912372ddaeb001", "keypoints": [{"xyz": [0.1593672236484489, 0.36440488388384584, 0.2689752288547411], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 371}, "mesh_info": {"face_index": 92, "face_uv": [0.9554084665918091, 0.0013943342324387765, 0.04319719917575202]}}, {"xyz": [-0.15045163468161457, 0.3635059334214614, 0.2684590866202291], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 981}, "mesh_info": {"face_index": 41, "face_uv": [0.9762717880285294, 0.0027194419726243265, 0.021008769998846755]}}, {"xyz": [0.1798754690900617, 0.017325245900785546, 0.22183029946246288], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1478}, "mesh_info": {"face_index": 24, "face_uv": [0.970607212742572, 0.019912218983744, 0.00948056827367759]}}, {"xyz": [-0.18448256987724088, 0.017519073767743087, 0.21817466806888078], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 47}, "mesh_info": {"face_index": 26, "face_uv": [0.9603712610983792, 0.029726784804599983, 0.00990195409702411]}}, {"xyz": [0.18139388124541178, 0.03333139663032991, -0.1728924546894009], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1931}, "mesh_info": {"face_index": 172, "face_uv": [0.1096939022320204, 0.025389179853645846, 0.864916917914335]}}, {"xyz": [-0.17820459623599932, 0.037019652851135065, -0.164543057636257], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1657}, "mesh_info": {"face_index": 145, "face_uv": [0.00730533853457242, 0.026455128847531036, 0.9662395326178933]}}, {"xyz": [0.2184358820477107, -0.38113799691200256, -0.17423898855450898], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 565}, "mesh_info": {"face_index": 358, "face_uv": [0.13936951417930019, 0.38292409041699155, 0.47770639540370824]}}, {"xyz": [0.2213964646311787, -0.38113799691200234, 0.30550424457273734], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 66}, "mesh_info": {"face_index": 390, "face_uv": [0.06680115802290969, 0.6709170083158613, 0.26228183366122837]}}, {"xyz": [-0.2130087579192011, -0.38113799691200256, 0.30617810052433414], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1224}, "mesh_info": {"face_index": 480, "face_uv": [0.3299929148551734, 0.2924822281222231, 0.3775248570226036]}}, {"xyz": [-0.21433464753604586, -0.38113799691200256, -0.17097357119779286], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1252}, "mesh_info": {"face_index": 439, "face_uv": [0.13380904757524906, 0.43971356442805065, 0.42647738799670026]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "741db054bd52c8884733824eae5cd9ae", "keypoints": [{"xyz": [0.1015080889800676, 0.3452352229417305, 0.20495378747605886], "rgb": [181, 116, 75], "semantic_id": 0, "pcd_info": {"point_index": 998}, "mesh_info": {"face_index": 3904, "face_uv": [0.3143655884805412, 0.43122224298488254, 0.25441216853457616]}}, {"xyz": [-0.10466595556259417, 0.3447748965639086, 0.2054215208883809], "rgb": [186, 124, 77], "semantic_id": 1, "pcd_info": {"point_index": 1352}, "mesh_info": {"face_index": 3738, "face_uv": [0.1259846280140921, 0.35471970182729307, 0.519295670158615]}}, {"xyz": [0.13959267727294175, -0.12586185355938984, 0.027519165557731456], "rgb": [185, 123, 79], "semantic_id": 2, "pcd_info": {"point_index": 694}, "mesh_info": {"face_index": 782, "face_uv": [0.10393449655034598, 0.8170945906086604, 0.07897091284099263]}}, {"xyz": [-0.14401628156977142, -0.13271444213532757, 0.018891469857720944], "rgb": [178, 110, 64], "semantic_id": 3, "pcd_info": {"point_index": 358}, "mesh_info": {"face_index": 125, "face_uv": [0.25677768741193446, 0.09453968850489022, 0.6486826240831753]}}, {"xyz": [0.13941502085502994, -0.09235681643841226, -0.3003152364594136], "rgb": [180, 115, 64], "semantic_id": 4, "pcd_info": {"point_index": 1413}, "mesh_info": {"face_index": 3830, "face_uv": [0.20306985465486957, 0.4979400269713199, 0.2989901183738103]}}, {"xyz": [-0.14254035361453143, -0.09451045600035052, -0.3002657493571753], "rgb": [173, 107, 64], "semantic_id": 5, "pcd_info": {"point_index": 934}, "mesh_info": {"face_index": 3671, "face_uv": [0.32639146070864367, 0.43578918514481413, 0.23781935414654223]}}, {"xyz": [0.18396773356730317, -0.02016769108302585, -0.20882154149371057], "rgb": [184, 120, 75], "semantic_id": 6, "pcd_info": {"point_index": 253}, "mesh_info": {"face_index": 2323, "face_uv": [8.622811261356648e-05, 0.059257394065541424, 0.9406563778218442]}}, {"xyz": [0.18820927878634547, -0.01664867142917359, 0.07446664135027514], "rgb": [175, 110, 62], "semantic_id": 7, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 1554, "face_uv": [0.8534221179494444, 0.09564538550115721, 0.05093249654938128]}}, {"xyz": [-0.18978829802945302, -0.011948361280593955, -0.1993393389896776], "rgb": [181, 116, 72], "semantic_id": 8, "pcd_info": {"point_index": 1490}, "mesh_info": {"face_index": 3128, "face_uv": [0.1577648170680332, 0.33349226149661276, 0.5087429214353543]}}, {"xyz": [-0.19574664433349642, -0.01722087727269117, 0.0800025935203117], "rgb": [176, 110, 74], "semantic_id": 9, "pcd_info": {"point_index": 1764}, "mesh_info": {"face_index": 1662, "face_uv": [0.8139670387920988, 0.06940739643364574, 0.1166255647742739]}}, {"xyz": [0.19727939298132424, -0.35520852156758836, -0.25524662891305205], "rgb": [182, 119, 73], "semantic_id": 17, "pcd_info": {"point_index": 1220}, "mesh_info": {"face_index": 2258, "face_uv": [0.013602799439453186, 0.20633147251176304, 0.780065728048784]}}, {"xyz": [0.1931835452657596, -0.3599033370559942, 0.11310065027257969], "rgb": [174, 112, 74], "semantic_id": 18, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 2951, "face_uv": [0.2588571385100665, 0.22498651895695798, 0.5161563425329755]}}, {"xyz": [-0.18814210955030308, -0.35979989086012065, 0.1175218776315925], "rgb": [180, 117, 71], "semantic_id": 19, "pcd_info": {"point_index": 114}, "mesh_info": {"face_index": 3646, "face_uv": [0.26827417334212866, 0.6224227754848705, 0.10930305117300126]}}, {"xyz": [-0.1870196800189092, -0.3599080843520521, -0.24235888172224754], "rgb": [179, 116, 72], "semantic_id": 20, "pcd_info": {"point_index": 212}, "mesh_info": {"face_index": 2960, "face_uv": [0.20737308644445654, 0.485024431644945, 0.3076024819105985]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "447856e1071e8b83c036a40816608369", "keypoints": [{"xyz": [0.21824236879922387, 0.5573907534661579, 0.17657765276892745], "rgb": [67, 42, 38], "semantic_id": 0, "pcd_info": {"point_index": 214}, "mesh_info": {"face_index": 23, "face_uv": [0.005559955933642332, 0.0122582358353724, 0.982181808230983]}}, {"xyz": [-0.22534187557341911, 0.5590966695205919, 0.17729159639280823], "rgb": [61, 36, 32], "semantic_id": 1, "pcd_info": {"point_index": 194}, "mesh_info": {"face_index": 11, "face_uv": [0.9871451044715309, 0.006074343110197045, 0.00678055241827205]}}, {"xyz": [0.15090441967466336, 0.27237200425430075, 0.14307152849419325], "rgb": [37, 26, 23], "semantic_id": 2, "pcd_info": {"point_index": 1910}, "mesh_info": {"face_index": 6, "face_uv": [0.06864817762518864, 0.8397498478708743, 0.09160197450393766]}}, {"xyz": [-0.15771631729398183, 0.273628032292925, 0.13639726165105315], "rgb": [54, 32, 30], "semantic_id": 3, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 54, "face_uv": [0.17228536320449725, 0.04105382395265731, 0.7866608128428454]}}, {"xyz": [0.16443201913894184, 0.23957433184443078, -0.26096931969447124], "rgb": [36, 25, 23], "semantic_id": 4, "pcd_info": {"point_index": 1855}, "mesh_info": {"face_index": 43, "face_uv": [0.19741014223785247, 0.01563200261566717, 0.7869578551464805]}}, {"xyz": [-0.17895419209449975, 0.2393469960827599, -0.2611315868563729], "rgb": [53, 34, 29], "semantic_id": 5, "pcd_info": {"point_index": 1954}, "mesh_info": {"face_index": 52, "face_uv": [0.20710198905062885, 0.0028682539409176653, 0.7900297570084535]}}, {"xyz": [0.22829729617325534, 0.3860602823139525, -0.13455892775292244], "rgb": [45, 31, 29], "semantic_id": 6, "pcd_info": {"point_index": 1924}, "mesh_info": {"face_index": 18956, "face_uv": [0.33111218553408794, 0.579094599437898, 0.08979321502801438]}}, {"xyz": [0.2431069194173285, 0.40088573329813193, 0.2212901456661498], "rgb": [59, 36, 32], "semantic_id": 7, "pcd_info": {"point_index": 599}, "mesh_info": {"face_index": 18519, "face_uv": [0.005453613582716306, 0.2603737736685853, 0.7341726127486988]}}, {"xyz": [-0.23683704201732725, 0.3778249577601751, -0.1375858368399101], "rgb": [45, 30, 26], "semantic_id": 8, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 18807, "face_uv": [0.12013880815370213, 0.49877014269148234, 0.38109104915481556]}}, {"xyz": [-0.25551555602827625, 0.4003148006431787, 0.22269941680422944], "rgb": [60, 35, 31], "semantic_id": 9, "pcd_info": {"point_index": 1201}, "mesh_info": {"face_index": 18509, "face_uv": [0.0014999837140177372, 0.07519716175937348, 0.9233028545266095]}}, {"xyz": [0.23671997946262835, -0.07673244186684114, -0.18088430051940005], "rgb": [34, 34, 34], "semantic_id": 17, "pcd_info": {"point_index": 803}, "mesh_info": {"face_index": 4492, "face_uv": [0.2613215752329996, 0.02053069987224589, 0.7181477248947539]}}, {"xyz": [0.23489947374721631, -0.04074700176715873, 0.18412944770684567], "rgb": [39, 28, 26], "semantic_id": 18, "pcd_info": {"point_index": 986}, "mesh_info": {"face_index": 13046, "face_uv": [0.7796646440269172, 0.17532095126964248, 0.045014404703445754]}}, {"xyz": [-0.20306000075980002, -0.07121428503574134, 0.18197999735004422], "rgb": [35, 35, 35], "semantic_id": 19, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 18171, "face_uv": [0.3506957212914054, 0.13788238177898837, 0.5114218969296122]}}, {"xyz": [-0.2148091329379085, -0.080224292986806, -0.18118878501079858], "rgb": [35, 35, 35], "semantic_id": 20, "pcd_info": {"point_index": 379}, "mesh_info": {"face_index": 9078, "face_uv": [0.22584216684928607, 0.31018768546332054, 0.4639701476873938]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3c8362c1e57c30d7e6c5cd45aa112726", "keypoints": [{"xyz": [0.17931393842741722, 0.4133659899234772, 0.15253104569342352], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1104}, "mesh_info": {"face_index": 17930, "face_uv": [0.10035416852597853, 0.6058375769666369, 0.29380825450738457]}}, {"xyz": [-0.18183941756024571, 0.4133659899234773, 0.15259501098783967], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1679}, "mesh_info": {"face_index": 27832, "face_uv": [0.4473223336505984, 0.3892780864924315, 0.16339957985697035]}}, {"xyz": [0.1612407279888888, -0.05031160526029477, 0.06359114328909377], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1942}, "mesh_info": {"face_index": 22617, "face_uv": [0.2560236545885562, 0.25630013073510977, 0.4876762146763337]}}, {"xyz": [-0.16267232278494095, -0.054778449411323926, 0.06699565120323225], "rgb": [221, 205, 182], "semantic_id": 3, "pcd_info": {"point_index": 605}, "mesh_info": {"face_index": 7863, "face_uv": [0.024355305685791733, 0.3496299617136053, 0.6260147326006028]}}, {"xyz": [0.15954049790933578, -0.04229046602445147, -0.2771188253658834], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1835}, "mesh_info": {"face_index": 13093, "face_uv": [0.5965836962582184, 0.38074458782696474, 0.022671715914816936]}}, {"xyz": [-0.15906372359096427, -0.04511337971506735, -0.2826254534681376], "rgb": [223, 205, 183], "semantic_id": 5, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 7848, "face_uv": [0.08376638003305974, 0.033292459917422315, 0.8829411600495176]}}, {"xyz": [0.17230998162633868, -0.39309900999069225, -0.2893420025832796], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 420}, "mesh_info": {"face_index": 13576, "face_uv": [0.04798025433174785, 0.41411140240994515, 0.5379083432583073]}}, {"xyz": [0.17076517157136223, -0.39309900999069225, 0.12718252249066156], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 678}, "mesh_info": {"face_index": 20184, "face_uv": [0.040593052106494526, 0.5012843207566204, 0.45812262713688534]}}, {"xyz": [-0.17533966583733812, -0.39309900999069214, 0.12868379023194826], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 26864, "face_uv": [0.5008868567056527, 0.4024126542017052, 0.09670048909264213]}}, {"xyz": [-0.17289572823196483, -0.393099009990692, -0.2858205889056672], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 863}, "mesh_info": {"face_index": 10453, "face_uv": [0.3746569578886172, 0.3581419970686563, 0.26720104504272635]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "23c4d774910c9ce03c832f0140db42bc", "keypoints": [{"xyz": [0.23708860717897234, 0.39200567970804, -0.005389226884105591], "rgb": [160, 90, 48], "semantic_id": 0, "pcd_info": {"point_index": 1670}, "mesh_info": {"face_index": 8, "face_uv": [0.92105208214782, 0.028793105001508976, 0.05015481285067167]}}, {"xyz": [-0.23542339056219783, 0.3925738653826665, 0.0070926062489200525], "rgb": [155, 88, 45], "semantic_id": 1, "pcd_info": {"point_index": 197}, "mesh_info": {"face_index": 91, "face_uv": [0.33478479902825264, 0.022748061745572028, 0.6424671392261743]}}, {"xyz": [0.17520987670737312, -0.04763149542540379, 0.025631844428306128], "rgb": [150, 79, 37], "semantic_id": 2, "pcd_info": {"point_index": 480}, "mesh_info": {"face_index": 691, "face_uv": [0.5513800175079264, 0.023222314136843333, 0.4253976683552316]}}, {"xyz": [-0.18420679752103583, -0.0405083023007482, 0.023654098989016825], "rgb": [156, 88, 45], "semantic_id": 3, "pcd_info": {"point_index": 1808}, "mesh_info": {"face_index": 612, "face_uv": [0.4007808098830984, 0.04290660306348446, 0.556312587053421]}}, {"xyz": [0.20896502927168803, -0.06337074834803602, -0.2968551498458074], "rgb": [149, 85, 41], "semantic_id": 4, "pcd_info": {"point_index": 1814}, "mesh_info": {"face_index": 202, "face_uv": [0.0001030580185859306, 0.41117955577330145, 0.5887173862081119]}}, {"xyz": [-0.2090270460746848, -0.0644336402740463, -0.29791798191403696], "rgb": [155, 91, 47], "semantic_id": 5, "pcd_info": {"point_index": 834}, "mesh_info": {"face_index": 199, "face_uv": [0.3509999650496011, 0.2621344885873863, 0.3868655463630128]}}, {"xyz": [0.2030388655914779, -0.35374701023101807, -0.27712476725575474], "rgb": [158, 89, 47], "semantic_id": 17, "pcd_info": {"point_index": 998}, "mesh_info": {"face_index": 363, "face_uv": [0.5199090564533682, 0.33555009574883, 0.1445408477978019]}}, {"xyz": [0.20498183114606394, -0.35374701023101807, 0.05923817597326875], "rgb": [158, 89, 46], "semantic_id": 18, "pcd_info": {"point_index": 211}, "mesh_info": {"face_index": 443, "face_uv": [0.4733668384199624, 0.2435188033536284, 0.2831143582264092]}}, {"xyz": [-0.19665945560425907, -0.35374701023101807, 0.06629616343501554], "rgb": [153, 84, 41], "semantic_id": 19, "pcd_info": {"point_index": 1826}, "mesh_info": {"face_index": 522, "face_uv": [0.2196440367604959, 0.2973923259195102, 0.48296363731999387]}}, {"xyz": [-0.19032916320586724, -0.35374701023101784, -0.2744943216857336], "rgb": [158, 90, 47], "semantic_id": 20, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 282, "face_uv": [0.36567898294131823, 0.5972355162881796, 0.03708550077050153]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "865551d21a4b2c09ad484915511ccff6", "keypoints": [{"xyz": [0.13502226619137675, 0.31790439078389826, 0.16763835684431916], "rgb": [34, 52, 97], "semantic_id": 0, "pcd_info": {"point_index": 1494}, "mesh_info": {"face_index": 6800, "face_uv": [0.0686731110695707, 0.010270447363705481, 0.921056441566724]}}, {"xyz": [-0.1366014098705079, 0.3150292800673231, 0.16644428618257878], "rgb": [44, 58, 103], "semantic_id": 1, "pcd_info": {"point_index": 1698}, "mesh_info": {"face_index": 6795, "face_uv": [0.16638464180513185, 0.008078511621166922, 0.8255368465736973]}}, {"xyz": [0.15613820819369684, -0.01753546460958444, 0.09174911605651714], "rgb": [35, 49, 94], "semantic_id": 2, "pcd_info": {"point_index": 1316}, "mesh_info": {"face_index": 6745, "face_uv": [0.9615554248754975, 0.027095660229482284, 0.011348914895019185]}}, {"xyz": [-0.1577872213742278, -0.016964272645620282, 0.09308907675760936], "rgb": [35, 49, 94], "semantic_id": 3, "pcd_info": {"point_index": 237}, "mesh_info": {"face_index": 6748, "face_uv": [0.9292311114548697, 0.06956881126523093, 0.0012000772798975016]}}, {"xyz": [0.17695144855718725, -0.006878882654886009, -0.19328738271646695], "rgb": [46, 60, 105], "semantic_id": 4, "pcd_info": {"point_index": 1002}, "mesh_info": {"face_index": 6792, "face_uv": [0.05347797473445927, 0.1880905820653351, 0.758431443200188]}}, {"xyz": [-0.17167175332137172, -0.009729222102362378, -0.2126023896839857], "rgb": [36, 50, 94], "semantic_id": 5, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 6909, "face_uv": [0.03970458662134132, 0.3447451452107572, 0.6155502681679135]}}, {"xyz": [0.23276383985467122, 0.13069305539673537, -0.04094033749162762], "rgb": [0, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 5980, "face_uv": [0.4144738144301069, 0.22053143468686548, 0.36499475088303174]}}, {"xyz": [0.2118980569364747, 0.18236139624626602, 0.12202967374930296], "rgb": [0, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 1997}, "mesh_info": {"face_index": 5408, "face_uv": [0.43821943571193617, 0.10495951309108746, 0.45682105119697436]}}, {"xyz": [-0.2440563364960487, 0.14374805710684857, -0.029490733010370085], "rgb": [0, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 1583}, "mesh_info": {"face_index": 4271, "face_uv": [0.44684575281839206, 0.44485615092495917, 0.10829809625664728]}}, {"xyz": [-0.2029700252120203, 0.1820548396499353, 0.124410251609677], "rgb": [0, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 3890, "face_uv": [0.4649888176150762, 0.1868070919765958, 0.3482040904083278]}}, {"xyz": [0.20586074065309334, -0.39639791541549485, -0.245182334279467], "rgb": [232, 230, 233], "semantic_id": 17, "pcd_info": {"point_index": 485}, "mesh_info": {"face_index": 2552, "face_uv": [0.38241804519749484, 0.22432145479241083, 0.39326050001009455]}}, {"xyz": [0.2230836422893414, -0.40554319185360566, 0.18653324527547385], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 670}, "mesh_info": {"face_index": 268, "face_uv": [0.007847779969455454, 0.7554761585092518, 0.23667606152129353]}}, {"xyz": [-0.21915554021445008, -0.39834344382700193, 0.19087302468594106], "rgb": [232, 230, 233], "semantic_id": 19, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 406, "face_uv": [0.24636162740372933, 0.5505886200449894, 0.20304975255128138]}}, {"xyz": [-0.20924143888747346, -0.396677432917349, -0.24360836653517232], "rgb": [231, 229, 232], "semantic_id": 20, "pcd_info": {"point_index": 1903}, "mesh_info": {"face_index": 1193, "face_uv": [0.051887206537586356, 0.35988476290189414, 0.5882280305605191]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6ecec258a1b6fe2a6fee8e2140acec9", "keypoints": [{"xyz": [0.18468492840926753, 0.34946519552237865, 0.19805323322910096], "rgb": [225, 225, 200], "semantic_id": 0, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 3382, "face_uv": [0.920898871247892, 0.004177042277851671, 0.07492408647425854]}}, {"xyz": [-0.18666845746406863, 0.35257443277948786, 0.20457752021981657], "rgb": [225, 225, 200], "semantic_id": 1, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 3428, "face_uv": [0.36664906487600846, 0.06279022821221222, 0.5705607069117794]}}, {"xyz": [0.1572099237680432, 0.006983759073297069, 0.1319114360522624], "rgb": [224, 224, 199], "semantic_id": 2, "pcd_info": {"point_index": 1625}, "mesh_info": {"face_index": 2274, "face_uv": [0.08853944361636328, 0.3979563231594935, 0.5135042332241418]}}, {"xyz": [-0.15809844652271732, 0.006259928133050652, 0.12923717448025696], "rgb": [225, 225, 200], "semantic_id": 3, "pcd_info": {"point_index": 662}, "mesh_info": {"face_index": 2297, "face_uv": [0.07757365479651576, 0.3872356567267361, 0.5351906884767557]}}, {"xyz": [0.15334837054390438, 0.043325145988236585, -0.22630028086749343], "rgb": [224, 224, 199], "semantic_id": 4, "pcd_info": {"point_index": 1731}, "mesh_info": {"face_index": 1737, "face_uv": [0.161178960146438, 0.4936691612814501, 0.3451518785721106]}}, {"xyz": [-0.15253422259022403, 0.043066347587979406, -0.22616633501652084], "rgb": [225, 225, 200], "semantic_id": 5, "pcd_info": {"point_index": 1471}, "mesh_info": {"face_index": 1688, "face_uv": [0.14981317701708963, 0.1745757256525172, 0.6756110973303933]}}, {"xyz": [0.19420181518274443, -0.37423585768702283, -0.24413039391956004], "rgb": [225, 225, 200], "semantic_id": 17, "pcd_info": {"point_index": 404}, "mesh_info": {"face_index": 4643, "face_uv": [0.008334897415830987, 0.9374359267766709, 0.0542291758074986]}}, {"xyz": [0.20884296928196028, -0.3743189871311188, 0.2634289762132993], "rgb": [225, 225, 200], "semantic_id": 18, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 4429, "face_uv": [0.2681909140555667, 0.03124587812515207, 0.7005632078192813]}}, {"xyz": [-0.20828607168821375, -0.3743189871311189, 0.2635983270446851], "rgb": [225, 225, 200], "semantic_id": 19, "pcd_info": {"point_index": 797}, "mesh_info": {"face_index": 4270, "face_uv": [0.3083889786561159, 0.05365588156073581, 0.6379551397831486]}}, {"xyz": [-0.18934001158609204, -0.3743189871311189, -0.24376416283296853], "rgb": [225, 225, 200], "semantic_id": 20, "pcd_info": {"point_index": 803}, "mesh_info": {"face_index": 4562, "face_uv": [0.34031969621197405, 0.07490600221757061, 0.5847743015704556]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6b9c3d42724275cf7a5c8cd74a7bc29a", "keypoints": [{"xyz": [0.21434901911417817, 0.45801059339610023, 0.12211041467201245], "rgb": [255, 0, 255], "semantic_id": 0, "pcd_info": {"point_index": 874}, "mesh_info": {"face_index": 5, "face_uv": [0.7146563256486201, 0.06500073209220324, 0.2203429422591769]}}, {"xyz": [-0.22514144879934417, 0.46099698543548584, 0.09857004650960133], "rgb": [255, 0, 255], "semantic_id": 1, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 224, "face_uv": [0.18292098619127403, 0.005328624971749547, 0.8117503888369765]}}, {"xyz": [0.16948186736928073, 0.08297817475606495, 0.12779954517878844], "rgb": [255, 0, 255], "semantic_id": 2, "pcd_info": {"point_index": 1299}, "mesh_info": {"face_index": 244, "face_uv": [0.004280972809977458, 0.017147703514691515, 0.9785713236753314]}}, {"xyz": [-0.1768805441922373, 0.10302755746900294, 0.12522830257779893], "rgb": [33, 138, 33], "semantic_id": 3, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 6880, "face_uv": [0.33162911005912504, 0.05832887515470509, 0.6100420147861703]}}, {"xyz": [0.19195011364867937, 0.04557271003020863, -0.24812543136202025], "rgb": [254, 0, 254], "semantic_id": 4, "pcd_info": {"point_index": 303}, "mesh_info": {"face_index": 246, "face_uv": [0.8947600459284991, 0.011764275498039106, 0.09347567857346138]}}, {"xyz": [-0.1851109024001657, 0.0457973574448175, -0.2512440085411072], "rgb": [255, 0, 255], "semantic_id": 5, "pcd_info": {"point_index": 1577}, "mesh_info": {"face_index": 266, "face_uv": [0.110587937929086, 0.17280598389638754, 0.7166060781745265]}}, {"xyz": [0.17200703253874927, -0.23958282987408575, -0.23024100065231323], "rgb": [175, 237, 237], "semantic_id": 17, "pcd_info": {"point_index": 915}, "mesh_info": {"face_index": 2234, "face_uv": [0.03484827378914534, 0.36319441070707903, 0.6019573155037756]}}, {"xyz": [0.17176453966541344, -0.2373909037234718, 0.12068700045347192], "rgb": [174, 236, 236], "semantic_id": 18, "pcd_info": {"point_index": 1067}, "mesh_info": {"face_index": 3598, "face_uv": [0.1070342042979558, 0.3437654550444463, 0.549200340657596]}}, {"xyz": [-0.169521432649401, -0.23778399633028807, 0.12068700045347192], "rgb": [174, 236, 236], "semantic_id": 19, "pcd_info": {"point_index": 437}, "mesh_info": {"face_index": 4962, "face_uv": [0.09408862417828633, 0.5721953368866053, 0.33371603893510654]}}, {"xyz": [-0.1682398373881906, -0.2394251750396776, -0.23024100065231323], "rgb": [175, 237, 237], "semantic_id": 20, "pcd_info": {"point_index": 1715}, "mesh_info": {"face_index": 870, "face_uv": [0.0400402648230487, 0.6748791266961587, 0.2850806084807926]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5ab67b30e17a2ed1c862eec8232fff1e", "keypoints": [{"xyz": [0.1234412388597693, 0.5124880075454712, 0.2115100859808055], "rgb": [57, 57, 57], "semantic_id": 0, "pcd_info": {"point_index": 1888}, "mesh_info": {"face_index": 320, "face_uv": [0.3661866662333925, 0.009926178107968404, 0.6238871556586391]}}, {"xyz": [-0.1140136367737627, 0.5124880075454712, 0.20379177624317607], "rgb": [58, 58, 58], "semantic_id": 1, "pcd_info": {"point_index": 8}, "mesh_info": {"face_index": 536, "face_uv": [0.5005274515690731, 0.020411139227387933, 0.47906140920353896]}}, {"xyz": [0.12206826026267335, 0.05216725507514308, 0.05048066556249803], "rgb": [57, 57, 57], "semantic_id": 2, "pcd_info": {"point_index": 1414}, "mesh_info": {"face_index": 543, "face_uv": [0.605188376596308, 0.3699152539664068, 0.02489636943728242]}}, {"xyz": [-0.11382231920209905, 0.05101825285930128, 0.05512566772770122], "rgb": [57, 57, 57], "semantic_id": 3, "pcd_info": {"point_index": 396}, "mesh_info": {"face_index": 301, "face_uv": [0.5709950948891137, 0.027091026482725652, 0.4019138786281592]}}, {"xyz": [0.16934111481728245, 0.03795419450832138, -0.1956121981146921], "rgb": [57, 57, 57], "semantic_id": 4, "pcd_info": {"point_index": 1842}, "mesh_info": {"face_index": 462, "face_uv": [0.488369669635393, 0.5114318686458915, 0.0001984617187146252]}}, {"xyz": [-0.15702677769467036, 0.03998252477947689, -0.19432911505180617], "rgb": [57, 57, 57], "semantic_id": 5, "pcd_info": {"point_index": 712}, "mesh_info": {"face_index": 476, "face_uv": [0.10048948560534784, 0.8828780555564917, 0.016632458838160086]}}, {"xyz": [0.15512473120525372, -0.3238050043582915, -0.17140143841765715], "rgb": [92, 50, 25], "semantic_id": 17, "pcd_info": {"point_index": 1436}, "mesh_info": {"face_index": 206, "face_uv": [0.017548896964648755, 0.5320989779678823, 0.4503521250674685]}}, {"xyz": [0.11830158692827701, -0.3238050043582915, 0.12073244985099502], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1443}, "mesh_info": {"face_index": 130, "face_uv": [0.3477932128042225, 0.4989689331136035, 0.15323785408217358]}}, {"xyz": [-0.1052700244982949, -0.3238050043582915, 0.1193448305456456], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1465}, "mesh_info": {"face_index": 45, "face_uv": [0.38130994457143763, 0.5520295962926032, 0.06666045913595887]}}, {"xyz": [-0.14803245170774695, -0.3238050043582916, -0.1732969798330476], "rgb": [92, 50, 25], "semantic_id": 20, "pcd_info": {"point_index": 464}, "mesh_info": {"face_index": 177, "face_uv": [0.47415238774177965, 0.3949122374286851, 0.13093537482953535]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4fd654bdc7fa4658b0957d845ac33749", "keypoints": [{"xyz": [0.20499992164822944, 0.3657335323176868, 0.1244377251947581], "rgb": [96, 77, 47], "semantic_id": 0, "pcd_info": {"point_index": 1367}, "mesh_info": {"face_index": 2849, "face_uv": [0.5385993102822156, 0.31012355364626104, 0.1512771360715235]}}, {"xyz": [-0.21040726026736065, 0.3641818806358177, 0.1194754397739255], "rgb": [96, 77, 47], "semantic_id": 1, "pcd_info": {"point_index": 1037}, "mesh_info": {"face_index": 3199, "face_uv": [0.602248532672899, 0.05256999417180022, 0.3451814731553009]}}, {"xyz": [0.1639613771934029, 0.09102265800736187, 0.08979774765948201], "rgb": [240, 232, 204], "semantic_id": 2, "pcd_info": {"point_index": 1298}, "mesh_info": {"face_index": 3569, "face_uv": [0.16114999798086854, 0.658438384994872, 0.1804116170242603]}}, {"xyz": [-0.1680829511773313, 0.08637457625435085, 0.09333641970642748], "rgb": [239, 231, 203], "semantic_id": 3, "pcd_info": {"point_index": 1237}, "mesh_info": {"face_index": 4169, "face_uv": [0.33625366988199207, 0.4978017597921623, 0.16594457032584484]}}, {"xyz": [0.2317273940177622, -0.025630019574039986, -0.16015399992465973], "rgb": [95, 76, 46], "semantic_id": 4, "pcd_info": {"point_index": 1978}, "mesh_info": {"face_index": 3298, "face_uv": [0.19437948628384352, 0.04290098409606407, 0.7627195296200923]}}, {"xyz": [-0.23384151990546576, -0.04422200098633766, -0.14723161181660538], "rgb": [96, 77, 47], "semantic_id": 5, "pcd_info": {"point_index": 1172}, "mesh_info": {"face_index": 90, "face_uv": [0.5930853305505612, 0.0842594066909488, 0.3226552627584901]}}, {"xyz": [0.25161096501653174, 0.2879293756250141, -0.16589595734952234], "rgb": [95, 77, 47], "semantic_id": 6, "pcd_info": {"point_index": 892}, "mesh_info": {"face_index": 2710, "face_uv": [0.002391556989601546, 0.5302414324128326, 0.46736701059756575]}}, {"xyz": [0.22514031572165216, 0.34735083583596893, 0.05888039083117902], "rgb": [95, 76, 47], "semantic_id": 7, "pcd_info": {"point_index": 1384}, "mesh_info": {"face_index": 2835, "face_uv": [0.04969546846317775, 0.3336991452319697, 0.6166053863048524]}}, {"xyz": [-0.2558878466632929, 0.28708615112659586, -0.1650796001520516], "rgb": [95, 76, 46], "semantic_id": 8, "pcd_info": {"point_index": 2024}, "mesh_info": {"face_index": 3082, "face_uv": [0.06794863386207554, 0.01014495451659579, 0.9219064116213278]}}, {"xyz": [-0.21374059278469576, 0.3364775224034833, 0.045845859023503355], "rgb": [95, 76, 46], "semantic_id": 9, "pcd_info": {"point_index": 157}, "mesh_info": {"face_index": 3174, "face_uv": [0.47897271693872473, 0.41677479035246884, 0.10425249270880549]}}, {"xyz": [0.23800863808111322, -0.2853569984436035, -0.14921737773812904], "rgb": [95, 77, 46], "semantic_id": 17, "pcd_info": {"point_index": 975}, "mesh_info": {"face_index": 862, "face_uv": [0.41598041575657596, 0.5391175063402204, 0.04490207790320361]}}, {"xyz": [0.14171512326859664, -0.26102061360117035, 0.15610855316839967], "rgb": [96, 77, 47], "semantic_id": 18, "pcd_info": {"point_index": 1419}, "mesh_info": {"face_index": 1854, "face_uv": [0.25245690814556276, 0.3303702287922124, 0.4171728630622276]}}, {"xyz": [-0.14935684998364093, -0.26232001185417164, 0.16124417621092846], "rgb": [95, 76, 46], "semantic_id": 19, "pcd_info": {"point_index": 60}, "mesh_info": {"face_index": 2116, "face_uv": [0.5378836514440236, 0.2291980383276215, 0.23291831022835438]}}, {"xyz": [-0.23790675811993084, -0.2853569984436036, -0.14601492953095085], "rgb": [96, 77, 47], "semantic_id": 20, "pcd_info": {"point_index": 1612}, "mesh_info": {"face_index": 883, "face_uv": [0.30313418962751104, 0.446964460935363, 0.24990134943712636]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1d1641362ad5a34ac3bd24f986301745", "keypoints": [{"xyz": [0.15149651974580938, 0.37130903608651505, 0.24855379716764237], "rgb": [101, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 332}, "mesh_info": {"face_index": 20507, "face_uv": [0.12007032258238483, 0.028641074234377468, 0.851288603183237]}}, {"xyz": [-0.15175421620541008, 0.37038232284778055, 0.2484316724470188], "rgb": [102, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 1594}, "mesh_info": {"face_index": 21372, "face_uv": [0.7436718896958059, 0.22611999679707406, 0.030208113507122356]}}, {"xyz": [0.1619860825495505, 0.011613628018799949, 0.10832145097986412], "rgb": [101, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 16538, "face_uv": [0.2084985773183218, 0.043970391381909286, 0.7475310312997664]}}, {"xyz": [-0.1585866282185813, 0.01121930305412211, 0.11089074830510193], "rgb": [102, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 889}, "mesh_info": {"face_index": 15833, "face_uv": [0.585629510652518, 0.02298831790880381, 0.39138217143868637]}}, {"xyz": [0.162181051972367, 0.05551346201037399, -0.2868265763072576], "rgb": [102, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 265}, "mesh_info": {"face_index": 16907, "face_uv": [0.2455593254419899, 0.015735816924818246, 0.7387048576331954]}}, {"xyz": [-0.1599257338202963, 0.055147765905790624, -0.28422862102088275], "rgb": [101, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 290}, "mesh_info": {"face_index": 15758, "face_uv": [0.6560634529603521, 0.034771826810331564, 0.30916472022930236]}}, {"xyz": [0.18507153478895802, -0.2905109760958753, -0.21438934273233767], "rgb": [203, 210, 220], "semantic_id": 17, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 6357, "face_uv": [0.27685400356312023, 0.3034343741204875, 0.4197116223163927]}}, {"xyz": [0.18403243021177912, -0.2910187814324543, 0.15892344007491965], "rgb": [205, 212, 222], "semantic_id": 18, "pcd_info": {"point_index": 920}, "mesh_info": {"face_index": 11381, "face_uv": [0.27892825246721464, 0.08527590331760984, 0.635795844215176]}}, {"xyz": [-0.18608601686025428, -0.29004339589546846, 0.16868928671525468], "rgb": [204, 211, 221], "semantic_id": 19, "pcd_info": {"point_index": 1000}, "mesh_info": {"face_index": 199, "face_uv": [0.2103904234765731, 0.5192650093871901, 0.2703445671362366]}}, {"xyz": [-0.1861842162626417, -0.29093322459166493, -0.20771002989575665], "rgb": [208, 215, 225], "semantic_id": 20, "pcd_info": {"point_index": 409}, "mesh_info": {"face_index": 13920, "face_uv": [0.8636667353989357, 0.08309492759361238, 0.053238337007452]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5e338c489e940ab73aab636b8c7f0dd2", "keypoints": [{"xyz": [0.19830243829328514, 0.31027377102678594, 0.09626335793750009], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 601}, "mesh_info": {"face_index": 88, "face_uv": [0.13772184614680172, 0.5309747113883785, 0.33130344246481985]}}, {"xyz": [-0.18673609638168842, 0.3111658867330561, 0.09330861072811991], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1108}, "mesh_info": {"face_index": 147, "face_uv": [0.27305270113701496, 0.5363530768636459, 0.19059422199933926]}}, {"xyz": [0.19388142549263876, -0.09108856397399334, 0.07296100258827198], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 372}, "mesh_info": {"face_index": 11, "face_uv": [0.021213745577935206, 0.9777112351333432, 0.0010750192887197469]}}, {"xyz": [-0.18084266013561062, -0.08817406589735977, 0.0729610025882721], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1561}, "mesh_info": {"face_index": 11, "face_uv": [0.9862749456051976, 0.005354086116338445, 0.008370968278464145]}}, {"xyz": [0.1967877969053356, -0.09151799976825703, -0.26868313591426185], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 314}, "mesh_info": {"face_index": 2, "face_uv": [0.962163329981625, 0.023089536792760122, 0.014747133225613688]}}, {"xyz": [-0.1799952470346756, -0.09151799976825725, -0.2754202208731136], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 301}, "mesh_info": {"face_index": 2, "face_uv": [0.0037277503557211753, 0.0038252554950760275, 0.9924469941492038]}}, {"xyz": [0.18506421518813865, -0.4616980320232701, -0.27675798535346985], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1720}, "mesh_info": {"face_index": 34, "face_uv": [0.01299861602363703, 0.6033635916552459, 0.383637792321117]}}, {"xyz": [0.18863163245629594, -0.46257289334893914, 0.0729610025882721], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1502}, "mesh_info": {"face_index": 100, "face_uv": [0.010307008398245833, 0.684651856484768, 0.3050411351169863]}}, {"xyz": [-0.16919402445060394, -0.46357939802717263, 0.0729610025882721], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 115, "face_uv": [0.5928720046515235, 0.3999176099091366, 0.0072103854393400285]}}, {"xyz": [-0.1666080231571131, -0.4650015233040196, -0.27675798535346974], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1144}, "mesh_info": {"face_index": 68, "face_uv": [0.00246120636887578, 0.4753398068461979, 0.5221989867849259]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "65a1f4ac3e5b57dffff16555386d173d", "keypoints": [{"xyz": [0.22423186095002898, 0.15475196866916519, 0.19403411769455092], "rgb": [168, 144, 118], "semantic_id": 0, "pcd_info": {"point_index": 1127}, "mesh_info": {"face_index": 17, "face_uv": [0.01381368333023589, 0.47235164040575284, 0.5138346762640106]}}, {"xyz": [-0.22495537969988735, 0.15310302652918106, 0.1984196257739823], "rgb": [166, 143, 116], "semantic_id": 1, "pcd_info": {"point_index": 481}, "mesh_info": {"face_index": 43, "face_uv": [0.6001927078228857, 0.3684994359897489, 0.031307856187364654]}}, {"xyz": [0.21084461958367418, -0.07906554123934217, -0.07140622006246322], "rgb": [164, 140, 113], "semantic_id": 2, "pcd_info": {"point_index": 8}, "mesh_info": {"face_index": 1476, "face_uv": [0.26082973699068335, 0.578528142435522, 0.1606421205737845]}}, {"xyz": [-0.21308077367182138, -0.07698599994182564, -0.07400972238111492], "rgb": [173, 149, 123], "semantic_id": 3, "pcd_info": {"point_index": 233}, "mesh_info": {"face_index": 1425, "face_uv": [0.8363691601809813, 0.009377989139246362, 0.15425285067976954]}}, {"xyz": [0.21566446275907408, -0.08050385596171683, -0.3980910952744808], "rgb": [167, 143, 115], "semantic_id": 4, "pcd_info": {"point_index": 1448}, "mesh_info": {"face_index": 1427, "face_uv": [0.0024379841291916763, 0.7129828645949554, 0.2845791512758694]}}, {"xyz": [-0.22657877614134148, -0.08043891738953324, -0.3988133607153452], "rgb": [178, 154, 128], "semantic_id": 5, "pcd_info": {"point_index": 84}, "mesh_info": {"face_index": 1433, "face_uv": [0.30017858628750627, 0.004448234272655897, 0.6953731794398395]}}, {"xyz": [0.23564688221046326, 0.02336400002241157, -0.39379090888004914], "rgb": [116, 114, 114], "semantic_id": 6, "pcd_info": {"point_index": 269}, "mesh_info": {"face_index": 1697, "face_uv": [0.1051702000552298, 0.3965476304251323, 0.4982821695196475]}}, {"xyz": [0.2362782145526548, 0.023364000022411346, 0.12894910925351785], "rgb": [118, 118, 118], "semantic_id": 7, "pcd_info": {"point_index": 1563}, "mesh_info": {"face_index": 1758, "face_uv": [0.06195556182612415, 0.3832703986632464, 0.5547740395106294]}}, {"xyz": [-0.2499959788277993, 0.023364000022411346, -0.3867429755883697], "rgb": [108, 105, 104], "semantic_id": 8, "pcd_info": {"point_index": 1906}, "mesh_info": {"face_index": 1635, "face_uv": [0.28843117403243773, 0.1905385983192814, 0.5210302276482809]}}, {"xyz": [-0.24575471524684245, 0.023364000022411346, 0.13373633087237108], "rgb": [122, 121, 121], "semantic_id": 9, "pcd_info": {"point_index": 885}, "mesh_info": {"face_index": 1662, "face_uv": [0.03742342420031566, 0.22098242549059546, 0.7415941503090889]}}, {"xyz": [0.23985126343526342, -0.4188289940357208, -0.39117162200195316], "rgb": [126, 126, 126], "semantic_id": 17, "pcd_info": {"point_index": 1576}, "mesh_info": {"face_index": 1674, "face_uv": [0.02421354481543045, 0.3920185957622146, 0.583767859422355]}}, {"xyz": [0.23419205179663144, -0.4188289940357206, 0.13058682157034968], "rgb": [125, 125, 125], "semantic_id": 18, "pcd_info": {"point_index": 1987}, "mesh_info": {"face_index": 1665, "face_uv": [0.022764710875596488, 0.339224742200975, 0.638010546923428]}}, {"xyz": [-0.2523275167108377, -0.4188289940357208, 0.1259738099488361], "rgb": [126, 126, 126], "semantic_id": 19, "pcd_info": {"point_index": 1682}, "mesh_info": {"face_index": 1706, "face_uv": [0.5346788738565931, 0.43413048477025584, 0.031190641373151043]}}, {"xyz": [-0.25479953111134157, -0.4188289940357208, -0.39310128390132176], "rgb": [126, 126, 126], "semantic_id": 20, "pcd_info": {"point_index": 516}, "mesh_info": {"face_index": 1701, "face_uv": [0.2960453079454391, 0.6832657854542242, 0.02068890660033669]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ef76b9cbf76bad40586ef70b3cee4240", "keypoints": [{"xyz": [0.15267824388376183, 0.4839310050010681, 0.03885036082954296], "rgb": [152, 87, 44], "semantic_id": 0, "pcd_info": {"point_index": 329}, "mesh_info": {"face_index": 578, "face_uv": [0.07109322849940439, 0.34713625615848687, 0.5817705153421088]}}, {"xyz": [-0.15330864501196056, 0.4830256821495844, 0.04045856936861636], "rgb": [152, 88, 45], "semantic_id": 1, "pcd_info": {"point_index": 1839}, "mesh_info": {"face_index": 326, "face_uv": [0.6208000137833237, 0.07612878777771781, 0.30307119843895836]}}, {"xyz": [0.10931182555186468, 7.192581800619102e-05, 0.05346451162463417], "rgb": [152, 84, 41], "semantic_id": 2, "pcd_info": {"point_index": 995}, "mesh_info": {"face_index": 2408, "face_uv": [0.010117565484555151, 0.6585919497462719, 0.33129048476917433]}}, {"xyz": [-0.11296718859989417, -0.003407162617433901, 0.05275495953417164], "rgb": [147, 80, 35], "semantic_id": 3, "pcd_info": {"point_index": 1911}, "mesh_info": {"face_index": 2257, "face_uv": [0.15530409703972736, 0.0018969873677571586, 0.842798915592531]}}, {"xyz": [0.13879952741005752, -0.010598056625768404, -0.23845601556343676], "rgb": [145, 79, 36], "semantic_id": 4, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 175, "face_uv": [0.6345876420871271, 0.0007764366641014821, 0.3646359212487713]}}, {"xyz": [-0.14076245208694815, -0.013486369489947414, -0.24235710932616183], "rgb": [148, 80, 38], "semantic_id": 5, "pcd_info": {"point_index": 1384}, "mesh_info": {"face_index": 169, "face_uv": [0.5292332614785202, 0.00027011033417401474, 0.47049662818730537]}}, {"xyz": [0.12007921658180232, -0.35852599143981934, -0.22720232042652846], "rgb": [152, 84, 38], "semantic_id": 17, "pcd_info": {"point_index": 901}, "mesh_info": {"face_index": 1336, "face_uv": [0.3587606004442308, 0.19711847017096304, 0.4441209293848062]}}, {"xyz": [0.13033063482012897, -0.35237070245388846, 0.06277025743036574], "rgb": [148, 80, 38], "semantic_id": 18, "pcd_info": {"point_index": 163}, "mesh_info": {"face_index": 1703, "face_uv": [0.511441946805982, 0.1646674607760899, 0.3238905924179279]}}, {"xyz": [-0.1113597576054635, -0.3525968799889878, 0.07089163908600943], "rgb": [147, 80, 37], "semantic_id": 19, "pcd_info": {"point_index": 695}, "mesh_info": {"face_index": 2076, "face_uv": [0.348734390916102, 0.5697486493093749, 0.08151695977452254]}}, {"xyz": [-0.12427659257864972, -0.35852599143981934, -0.23464313522820407], "rgb": [153, 85, 37], "semantic_id": 20, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 963, "face_uv": [0.05725631281187411, 0.7563218245276091, 0.18642186266051677]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ccc772dd462e8d2da6fee8e2140acec9", "keypoints": [{"xyz": [0.1808757529461404, 0.3242585231196854, 0.18746984471830008], "rgb": [224, 224, 199], "semantic_id": 0, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 1871, "face_uv": [0.9341236801362313, 0.012865899038481413, 0.053010420825284926]}}, {"xyz": [-0.16871209094978815, 0.32163210445636004, 0.18908294831886718], "rgb": [225, 225, 200], "semantic_id": 1, "pcd_info": {"point_index": 1619}, "mesh_info": {"face_index": 1800, "face_uv": [0.16162700060413876, 0.10842387564908208, 0.7299491237467802]}}, {"xyz": [0.1480907833260736, -0.004726550747085945, 0.1329295434651323], "rgb": [224, 224, 199], "semantic_id": 2, "pcd_info": {"point_index": 1909}, "mesh_info": {"face_index": 27, "face_uv": [0.14694954703677382, 0.47292052055742984, 0.3801299324057925]}}, {"xyz": [-0.1524424888454169, -0.005607864567894971, 0.128608339661348], "rgb": [225, 225, 200], "semantic_id": 3, "pcd_info": {"point_index": 1248}, "mesh_info": {"face_index": 180, "face_uv": [0.05718229766311559, 0.6875353862105765, 0.25528231612631586]}}, {"xyz": [0.15533495352139914, 0.04081311103452179, -0.21890682523388671], "rgb": [225, 225, 200], "semantic_id": 4, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 4155, "face_uv": [0.32100449906491996, 0.17497387131485417, 0.5040216296202261]}}, {"xyz": [-0.16046202123770195, 0.02539960466272273, -0.22040038041620247], "rgb": [224, 224, 199], "semantic_id": 5, "pcd_info": {"point_index": 271}, "mesh_info": {"face_index": 1919, "face_uv": [0.00039132461423435367, 0.024566078473141156, 0.9750425969125285]}}, {"xyz": [0.2284714730167307, 0.19318024703170011, -0.05831397601943977], "rgb": [225, 225, 200], "semantic_id": 6, "pcd_info": {"point_index": 1861}, "mesh_info": {"face_index": 2307, "face_uv": [0.49012071256939227, 0.30560582893806515, 0.2042734584925429]}}, {"xyz": [0.2291423168962368, 0.17072392688989968, 0.10540567723207017], "rgb": [224, 224, 199], "semantic_id": 7, "pcd_info": {"point_index": 1985}, "mesh_info": {"face_index": 2019, "face_uv": [0.11072117400758008, 0.26505438661519876, 0.6242244393772206]}}, {"xyz": [-0.2289626863556811, 0.19332780826617357, -0.05704715429767737], "rgb": [225, 225, 200], "semantic_id": 8, "pcd_info": {"point_index": 1784}, "mesh_info": {"face_index": 2915, "face_uv": [0.13267210713895464, 0.2303889242730073, 0.6369389685880387]}}, {"xyz": [-0.22262472355707133, 0.16273714682095597, 0.12558663765294864], "rgb": [225, 225, 200], "semantic_id": 9, "pcd_info": {"point_index": 50}, "mesh_info": {"face_index": 2791, "face_uv": [0.2756242539619427, 0.6826110813738006, 0.041764664664257725]}}, {"xyz": [0.18693487867485725, -0.3768250048160554, -0.23078076114183], "rgb": [225, 225, 200], "semantic_id": 17, "pcd_info": {"point_index": 55}, "mesh_info": {"face_index": 5435, "face_uv": [0.4012892967803343, 0.49289150708270246, 0.10581919613696353]}}, {"xyz": [0.2031661980131664, -0.3768250048160555, 0.254454612159364], "rgb": [225, 225, 200], "semantic_id": 18, "pcd_info": {"point_index": 1832}, "mesh_info": {"face_index": 5258, "face_uv": [0.07681113751662133, 0.8493870039304965, 0.07380185855288282]}}, {"xyz": [-0.19670703458668598, -0.3768250048160553, 0.24691824588387112], "rgb": [225, 225, 200], "semantic_id": 19, "pcd_info": {"point_index": 338}, "mesh_info": {"face_index": 5038, "face_uv": [0.5834020553989203, 0.07530016522731141, 0.3412977793737684]}}, {"xyz": [-0.19171500371123884, -0.3768250048160553, -0.2277710968106708], "rgb": [225, 225, 200], "semantic_id": 20, "pcd_info": {"point_index": 1208}, "mesh_info": {"face_index": 4934, "face_uv": [0.35910835186643997, 0.1495822287561956, 0.49130941937736444]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d9ce33c5f448815d7062f2d72cde5c95", "keypoints": [{"xyz": [0.1849665479925241, 0.2873600125312805, 0.1252936667904836], "rgb": [26, 21, 20], "semantic_id": 0, "pcd_info": {"point_index": 1021}, "mesh_info": {"face_index": 197, "face_uv": [0.032110222204376544, 0.4352018898969487, 0.5326878878986748]}}, {"xyz": [-0.22828650330189518, 0.28736001253128074, 0.10424686177077935], "rgb": [61, 57, 56], "semantic_id": 1, "pcd_info": {"point_index": 282}, "mesh_info": {"face_index": 245, "face_uv": [0.35258799725689804, 0.37529720185576754, 0.2721148008873352]}}, {"xyz": [0.19480998231395893, 0.06925500184297562, 0.04367801052996667], "rgb": [38, 28, 28], "semantic_id": 2, "pcd_info": {"point_index": 1331}, "mesh_info": {"face_index": 124, "face_uv": [0.0035291304139775247, 0.585522209982097, 0.41094865960392535]}}, {"xyz": [-0.20958838667685326, 0.06925500184297562, 0.024411610809827677], "rgb": [62, 61, 58], "semantic_id": 3, "pcd_info": {"point_index": 108}, "mesh_info": {"face_index": 8, "face_uv": [0.042291736648176356, 0.4291673132041731, 0.5285409501476506]}}, {"xyz": [0.22619654571794068, 0.06925500184297562, -0.30672927063799427], "rgb": [85, 86, 80], "semantic_id": 4, "pcd_info": {"point_index": 1943}, "mesh_info": {"face_index": 64, "face_uv": [0.010035642619890242, 0.010750239994418426, 0.979214117385691]}}, {"xyz": [-0.2265652616237487, 0.060396717728596006, -0.3177014751213978], "rgb": [51, 44, 41], "semantic_id": 5, "pcd_info": {"point_index": 1372}, "mesh_info": {"face_index": 44, "face_uv": [0.9492358225055216, 0.011208906509433682, 0.03955527098504463]}}, {"xyz": [0.25019258920823134, 0.28736001253128063, -0.30621928949253285], "rgb": [58, 49, 48], "semantic_id": 6, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 169, "face_uv": [0.6638559187304157, 0.008677821705438078, 0.3274662595641466]}}, {"xyz": [0.22799043513135275, 0.2873600125312805, 0.026050465538560524], "rgb": [77, 68, 67], "semantic_id": 7, "pcd_info": {"point_index": 726}, "mesh_info": {"face_index": 196, "face_uv": [0.06567112551541393, 0.24717084808829745, 0.6871580263962886]}}, {"xyz": [-0.25779087955725877, 0.28177897369863036, -0.31824676114502404], "rgb": [32, 24, 23], "semantic_id": 8, "pcd_info": {"point_index": 1031}, "mesh_info": {"face_index": 16, "face_uv": [0.5241513880984497, 0.025588769442009534, 0.45025984245954054]}}, {"xyz": [-0.25654439772763993, 0.2873600125312805, 0.0006753168041314095], "rgb": [69, 63, 60], "semantic_id": 9, "pcd_info": {"point_index": 1115}, "mesh_info": {"face_index": 244, "face_uv": [0.17518511408508883, 0.7350123280738469, 0.08980255784106422]}}, {"xyz": [0.24997679011652962, -0.2777850031852722, -0.2993959909502517], "rgb": [26, 24, 21], "semantic_id": 17, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 170, "face_uv": [0.6670053043529962, 0.034527175548094466, 0.2984675200989094]}}, {"xyz": [0.22733948601459658, -0.2777850031852722, 0.04824941249320305], "rgb": [29, 25, 23], "semantic_id": 18, "pcd_info": {"point_index": 606}, "mesh_info": {"face_index": 206, "face_uv": [0.3078873282462467, 0.5735115522180082, 0.11860111953574504]}}, {"xyz": [-0.26340856413548663, -0.2777850031852722, 0.02497862374897658], "rgb": [72, 66, 66], "semantic_id": 19, "pcd_info": {"point_index": 716}, "mesh_info": {"face_index": 104, "face_uv": [0.7874736699576643, 0.1838010959583653, 0.028725234083970312]}}, {"xyz": [-0.2583650590535066, -0.2777850031852722, -0.31074511219368894], "rgb": [31, 24, 24], "semantic_id": 20, "pcd_info": {"point_index": 1065}, "mesh_info": {"face_index": 86, "face_uv": [0.45792039126694617, 0.1298482806796793, 0.4122313280533746]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a27b9f94d052176af27383fc5a5a711c", "keypoints": [{"xyz": [0.19088112630296072, 0.2864911124009726, 0.20809522700903327], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1493}, "mesh_info": {"face_index": 1487, "face_uv": [0.35965929697628657, 0.6252306680393189, 0.015110034984394675]}}, {"xyz": [-0.20183814217812823, 0.2905377442235062, 0.1930602553533246], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1551}, "mesh_info": {"face_index": 1479, "face_uv": [0.1973304183174243, 0.7456460918544717, 0.05702348982810481]}}, {"xyz": [0.20366729606983347, 0.010892082198865172, 0.10249965074068823], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 2001}, "mesh_info": {"face_index": 1667, "face_uv": [0.028397318624329, 0.015615266592410566, 0.9559874147832595]}}, {"xyz": [-0.2257372751256297, 0.0074852863801200265, 0.09630595731247127], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1829}, "mesh_info": {"face_index": 1047, "face_uv": [0.8189812723142119, 0.06598234270803062, 0.11503638497774625]}}, {"xyz": [0.21505914390743394, 0.024060141163162463, -0.3615643096749339], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1877}, "mesh_info": {"face_index": 804, "face_uv": [0.005831918128134346, 0.9897664750923466, 0.004401606779517932]}}, {"xyz": [-0.24462002504608732, 0.01412619911191193, -0.3673419770698223], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1453}, "mesh_info": {"face_index": 707, "face_uv": [0.2263116632596266, 0.017093075101386315, 0.7565952616389883]}}, {"xyz": [0.2502769112426937, 0.132209474125758, -0.34806113097479674], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 596}, "mesh_info": {"face_index": 501, "face_uv": [0.06429589483806278, 0.717053596679211, 0.2186505084827259]}}, {"xyz": [0.24322481762139536, 0.21206614575620197, 0.17112002916224767], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 81}, "mesh_info": {"face_index": 469, "face_uv": [0.011677767143033247, 0.3020183416233814, 0.6863038912335854]}}, {"xyz": [-0.283311803447024, 0.13863319247745054, -0.3417877599769993], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 352}, "mesh_info": {"face_index": 539, "face_uv": [0.08606138907947317, 0.3224164363720282, 0.591522174548499]}}, {"xyz": [-0.2648432867521239, 0.21419785709251205, 0.1586165527751997], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 272}, "mesh_info": {"face_index": 1252, "face_uv": [0.029417297985898334, 0.5816340285092604, 0.38894867350484075]}}, {"xyz": [0.26468758739011944, -0.27132898569107056, -0.35176690288213097], "rgb": [43, 11, 0], "semantic_id": 17, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 109, "face_uv": [0.002660562446769136, 0.3185432277748616, 0.6787962097783693]}}, {"xyz": [0.24237425813747687, -0.2713289856910708, 0.16543287472665302], "rgb": [46, 13, 4], "semantic_id": 18, "pcd_info": {"point_index": 267}, "mesh_info": {"face_index": 397, "face_uv": [0.2692561555794536, 0.2551912329777017, 0.4755526114428455]}}, {"xyz": [-0.26630954983295474, -0.27132898569107056, 0.1663876532913574], "rgb": [42, 11, 5], "semantic_id": 19, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 411, "face_uv": [0.03275175175135356, 0.7107739562952098, 0.25647429195343663]}}, {"xyz": [-0.2859612615383922, -0.27132898569107056, -0.352135059448618], "rgb": [34, 6, 1], "semantic_id": 20, "pcd_info": {"point_index": 950}, "mesh_info": {"face_index": 29, "face_uv": [0.04062720474646293, 0.3054196133816678, 0.6539531818718693]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2d4efb02b4369af2473f10e6caaeca56", "keypoints": [{"xyz": [0.1609258751640395, 0.24346476884036639, 0.3358760649105368], "rgb": [43, 43, 42], "semantic_id": 0, "pcd_info": {"point_index": 176}, "mesh_info": {"face_index": 1775, "face_uv": [0.26050809507204936, 0.026391251286790703, 0.7131006536411605]}}, {"xyz": [-0.15274262280556253, 0.24377278577414452, 0.3398734841699764], "rgb": [43, 43, 42], "semantic_id": 1, "pcd_info": {"point_index": 1598}, "mesh_info": {"face_index": 891, "face_uv": [0.6890132753273, 0.041403292698568676, 0.2695834319741314]}}, {"xyz": [0.15373884995318685, -0.06289763566895634, 0.07599108797410356], "rgb": [43, 43, 42], "semantic_id": 2, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 820, "face_uv": [0.6701156538029683, 0.04775069336478094, 0.2821336528322531]}}, {"xyz": [-0.15059443307332643, -0.0631897580393852, 0.07500249962776318], "rgb": [42, 42, 41], "semantic_id": 3, "pcd_info": {"point_index": 283}, "mesh_info": {"face_index": 821, "face_uv": [0.18526941237809172, 0.04778759396537471, 0.7669429936565293]}}, {"xyz": [0.16041594713028243, -0.03183383685860508, -0.26442366264283335], "rgb": [42, 42, 41], "semantic_id": 4, "pcd_info": {"point_index": 1760}, "mesh_info": {"face_index": 1665, "face_uv": [0.46803943286149163, 0.027906729246229004, 0.5040538378922792]}}, {"xyz": [-0.15214206227186788, -0.032305072002408286, -0.2661380487891182], "rgb": [43, 43, 42], "semantic_id": 5, "pcd_info": {"point_index": 1701}, "mesh_info": {"face_index": 781, "face_uv": [0.27978332817096674, 0.0431881254433334, 0.6770285463857005]}}, {"xyz": [0.19410751152500072, 0.19904961934517673, -0.21166903784846036], "rgb": [239, 134, 4], "semantic_id": 6, "pcd_info": {"point_index": 81}, "mesh_info": {"face_index": 257, "face_uv": [0.2680429418413233, 0.46928811647217933, 0.26266894168649624]}}, {"xyz": [0.19405258426661987, 0.15802219553683639, 0.3076426840913533], "rgb": [239, 134, 4], "semantic_id": 7, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 230, "face_uv": [0.05808655586193118, 0.5317626000704223, 0.4101508440676456]}}, {"xyz": [-0.19937550468621784, 0.1940324088207428, -0.21768565154480374], "rgb": [240, 135, 5], "semantic_id": 8, "pcd_info": {"point_index": 1159}, "mesh_info": {"face_index": 2727, "face_uv": [0.34653595211403904, 0.4774560993771548, 0.1760079485088063]}}, {"xyz": [-0.1984023616668279, 0.14908087143846283, 0.3156709211089429], "rgb": [239, 134, 4], "semantic_id": 9, "pcd_info": {"point_index": 1140}, "mesh_info": {"face_index": 2701, "face_uv": [0.4960715828170962, 0.4616718345174818, 0.04225658266542185]}}, {"xyz": [0.19720192371337153, -0.23625999689102173, -0.2857460765941332], "rgb": [240, 135, 5], "semantic_id": 17, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 193, "face_uv": [0.015152566281960642, 0.47151813944169185, 0.5133292942763475]}}, {"xyz": [0.1944221168420047, -0.23625999689102173, 0.27888627043602404], "rgb": [240, 135, 5], "semantic_id": 18, "pcd_info": {"point_index": 1509}, "mesh_info": {"face_index": 192, "face_uv": [0.007944402339401647, 0.47530627613844534, 0.516749321522153]}}, {"xyz": [-0.19910357631525333, -0.23625999689102173, 0.2800589092489848], "rgb": [240, 135, 5], "semantic_id": 19, "pcd_info": {"point_index": 1804}, "mesh_info": {"face_index": 2666, "face_uv": [0.005915552208659104, 0.4826578816287644, 0.5114265661625765]}}, {"xyz": [-0.20030233830261984, -0.2362599968910215, -0.29034882519449634], "rgb": [239, 134, 4], "semantic_id": 20, "pcd_info": {"point_index": 208}, "mesh_info": {"face_index": 2667, "face_uv": [0.007189085117590397, 0.540273520518319, 0.45253739436408963]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "550dd11407c28f9f3bd04286517a8395", "keypoints": [{"xyz": [0.18282200396060944, 0.31495951692802904, 0.10020420913245598], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1605}, "mesh_info": {"face_index": 39, "face_uv": [0.3731495092115298, 0.06399825284706, 0.5628522379414101]}}, {"xyz": [-0.18282100558280945, 0.3164769522119071, 0.10044156773251756], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 623}, "mesh_info": {"face_index": 57, "face_uv": [0.5668625782138978, 0.0031304122813704677, 0.43000700950473175]}}, {"xyz": [0.16109582570678865, 0.10064491075626636, 0.081495001912117], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 2036}, "mesh_info": {"face_index": 24, "face_uv": [0.11119687427300522, 0.8463847900184528, 0.0424183357085421]}}, {"xyz": [-0.16620099544525146, 0.1014975350093128, 0.0816089236143509], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1060}, "mesh_info": {"face_index": 121, "face_uv": [0.9498793250888546, 0.046693427337408576, 0.0034272475737367565]}}, {"xyz": [0.18282200396060944, 0.08316468572772728, -0.17611195207203667], "rgb": [146, 78, 31], "semantic_id": 4, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 270, "face_uv": [0.004565090798109633, 0.27136922174610717, 0.7240656874557833]}}, {"xyz": [-0.17798871704952818, 0.08491649814889035, -0.18049681155521258], "rgb": [155, 91, 46], "semantic_id": 5, "pcd_info": {"point_index": 829}, "mesh_info": {"face_index": 442, "face_uv": [0.04340025345769745, 0.1752670269344583, 0.7813327196078436]}}, {"xyz": [0.153139834397291, -0.539372980594635, -0.15271348564601728], "rgb": [156, 88, 43], "semantic_id": 17, "pcd_info": {"point_index": 90}, "mesh_info": {"face_index": 611, "face_uv": [0.1466201250165649, 0.2463450726254627, 0.6070348023579724]}}, {"xyz": [0.162068767625307, -0.5393729805946352, 0.11419901816959699], "rgb": [148, 81, 39], "semantic_id": 18, "pcd_info": {"point_index": 1639}, "mesh_info": {"face_index": 409, "face_uv": [0.12434498743696994, 0.016124599860980564, 0.8595304127020499]}}, {"xyz": [-0.1582400960303445, -0.539372980594635, 0.105642145646614], "rgb": [150, 82, 36], "semantic_id": 19, "pcd_info": {"point_index": 557}, "mesh_info": {"face_index": 586, "face_uv": [0.034053942848706636, 0.7264484128477297, 0.2394976443035637]}}, {"xyz": [-0.16062609504878506, -0.5393729805946348, -0.15364899982824445], "rgb": [148, 80, 35], "semantic_id": 20, "pcd_info": {"point_index": 929}, "mesh_info": {"face_index": 391, "face_uv": [0.16771666649631897, 0.2182008352499146, 0.614082498253766]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2b1af04045c8c823f51f77a6d7299806", "keypoints": [{"xyz": [0.18253186637717544, 0.39159855471157035, 0.0905585660298841], "rgb": [252, 252, 252], "semantic_id": 0, "pcd_info": {"point_index": 1266}, "mesh_info": {"face_index": 187, "face_uv": [0.012878235526765727, 0.13357167989857044, 0.8535500845746645]}}, {"xyz": [-0.17380907463663164, 0.39787198932400947, 0.0946347824543945], "rgb": [105, 106, 102], "semantic_id": 1, "pcd_info": {"point_index": 950}, "mesh_info": {"face_index": 173, "face_uv": [0.09603797926283003, 0.8873765975392713, 0.016585423197898994]}}, {"xyz": [0.18543059581756743, -0.01374088041237087, 0.0395658211874963], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 399}, "mesh_info": {"face_index": 225, "face_uv": [0.022581953893420274, 0.1963927518276256, 0.7810252942789534]}}, {"xyz": [-0.1713847425225954, -0.019537470801792578, 0.038836589768638685], "rgb": [249, 249, 249], "semantic_id": 3, "pcd_info": {"point_index": 1144}, "mesh_info": {"face_index": 171, "face_uv": [0.64428121138215, 0.32215277070597487, 0.033566017911877015]}}, {"xyz": [0.2026856855119204, -0.03404900059103966, -0.28132349649366306], "rgb": [112, 131, 127], "semantic_id": 4, "pcd_info": {"point_index": 1955}, "mesh_info": {"face_index": 20, "face_uv": [0.9884349567104637, 0.006396061782201045, 0.005168981507335256]}}, {"xyz": [-0.18649263772810926, -0.0385396962075919, -0.28361698985099815], "rgb": [123, 137, 128], "semantic_id": 5, "pcd_info": {"point_index": 668}, "mesh_info": {"face_index": 27, "face_uv": [0.32716564964186634, 0.005972002481907287, 0.6668623478762272]}}, {"xyz": [0.18566433472444654, -0.4276120066642761, -0.2681237496594686], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 69, "face_uv": [0.08429125281541026, 0.726909584023795, 0.18879916316079473]}}, {"xyz": [0.18504902502135728, -0.4276120066642759, 0.06397801613218812], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 54}, "mesh_info": {"face_index": 99, "face_uv": [0.1332969295299811, 0.7874133973292712, 0.07928967314074713]}}, {"xyz": [-0.1746057919113279, -0.42761200666427635, 0.06422638949973666], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1842}, "mesh_info": {"face_index": 83, "face_uv": [0.09419776506321854, 0.08990598649442676, 0.8158962484423552]}}, {"xyz": [-0.17440905048707506, -0.4276120066642761, -0.266949187315224], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1246}, "mesh_info": {"face_index": 79, "face_uv": [0.5324567886044758, 0.27666695127633223, 0.19087626011919195]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "516d94f2658b2258d79b19c7c4f0e293", "keypoints": [{"xyz": [0.1938560973578428, 0.5070725598124919, 0.16151759639606378], "rgb": [115, 112, 131], "semantic_id": 0, "pcd_info": {"point_index": 265}, "mesh_info": {"face_index": 9577, "face_uv": [0.656095097121289, 0.2613505836759973, 0.08255431920271285]}}, {"xyz": [-0.19465909111533097, 0.510377259939923, 0.16334366161119118], "rgb": [107, 104, 122], "semantic_id": 1, "pcd_info": {"point_index": 1366}, "mesh_info": {"face_index": 9765, "face_uv": [0.2380847799692839, 0.06733313496678395, 0.6945820850639332]}}, {"xyz": [0.20046226662655695, 0.14648036545983834, 0.08731072197318435], "rgb": [124, 121, 140], "semantic_id": 2, "pcd_info": {"point_index": 552}, "mesh_info": {"face_index": 7483, "face_uv": [0.013576028984250902, 0.15485934977816057, 0.8315646212375902]}}, {"xyz": [-0.2060903942556319, 0.14484776119394605, 0.09054098977884462], "rgb": [101, 98, 115], "semantic_id": 3, "pcd_info": {"point_index": 420}, "mesh_info": {"face_index": 7803, "face_uv": [0.21534334523196005, 0.2674332015237798, 0.517223453244262]}}, {"xyz": [0.2009120878965209, 0.14287715198585227, -0.23328419638549347], "rgb": [100, 97, 114], "semantic_id": 4, "pcd_info": {"point_index": 2010}, "mesh_info": {"face_index": 7928, "face_uv": [0.4297299050903065, 0.001249429201302241, 0.5690206657083916]}}, {"xyz": [-0.2026354770726946, 0.14431144813338115, -0.2317096446471263], "rgb": [109, 106, 124], "semantic_id": 5, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 8085, "face_uv": [0.07765539903044462, 0.4104416439050956, 0.5119029570644604]}}, {"xyz": [0.17278655697361947, -0.27538234769479675, -0.16485946226048437], "rgb": [209, 209, 209], "semantic_id": 17, "pcd_info": {"point_index": 677}, "mesh_info": {"face_index": 2125, "face_uv": [0.1041440391387953, 0.6235466644727525, 0.2723092963884521]}}, {"xyz": [0.16993138825609028, -0.27638073948440134, 0.12315391842521235], "rgb": [187, 187, 187], "semantic_id": 18, "pcd_info": {"point_index": 558}, "mesh_info": {"face_index": 4935, "face_uv": [0.27184910851090255, 0.476720089479675, 0.2514308020094231]}}, {"xyz": [-0.16059892453295338, -0.2762639328512666, 0.13153366475731187], "rgb": [238, 238, 238], "semantic_id": 19, "pcd_info": {"point_index": 1895}, "mesh_info": {"face_index": 365, "face_uv": [0.7849438152554256, 0.1566991145269349, 0.05835707021763935]}}, {"xyz": [-0.19384812165880566, -0.26901767548673305, -0.1778055536660636], "rgb": [229, 229, 229], "semantic_id": 20, "pcd_info": {"point_index": 1355}, "mesh_info": {"face_index": 169, "face_uv": [0.6142654338584853, 0.07049058201292294, 0.31524398412859245]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3f36e261cc87648ac3bd24f986301745", "keypoints": [{"xyz": [0.2312250461691095, 0.3593505237313471, 0.19793101522726375], "rgb": [101, 79, 60], "semantic_id": 0, "pcd_info": {"point_index": 366}, "mesh_info": {"face_index": 4265, "face_uv": [0.11755748686002582, 0.11750440614237984, 0.7649381069975916]}}, {"xyz": [-0.25364521714210864, 0.359414640452442, 0.19830081497813068], "rgb": [101, 79, 60], "semantic_id": 1, "pcd_info": {"point_index": 186}, "mesh_info": {"face_index": 1464, "face_uv": [0.5283126020313007, 0.4477633723385577, 0.02392402563014077]}}, {"xyz": [0.24821998789626026, 0.022908231552093317, 0.11228573427366362], "rgb": [101, 79, 60], "semantic_id": 2, "pcd_info": {"point_index": 1669}, "mesh_info": {"face_index": 3237, "face_uv": [0.3710794279679186, 0.009123275679297929, 0.6197972963527787]}}, {"xyz": [-0.27366747702194033, 0.015860476163727655, 0.1128499314383038], "rgb": [101, 79, 60], "semantic_id": 3, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 3212, "face_uv": [0.855767063801506, 0.10192941461128154, 0.04230352158721167]}}, {"xyz": [0.23312677497826945, 0.06636968329486259, -0.33272601386311185], "rgb": [101, 79, 60], "semantic_id": 4, "pcd_info": {"point_index": 301}, "mesh_info": {"face_index": 20044, "face_uv": [0.7261826298774267, 0.03863811939372938, 0.23517925072884358]}}, {"xyz": [-0.2615731568459261, 0.05890870937404724, -0.3332757247791228], "rgb": [102, 80, 61], "semantic_id": 5, "pcd_info": {"point_index": 822}, "mesh_info": {"face_index": 2477, "face_uv": [0.4961545088715165, 0.1756315538442182, 0.32821393728426584]}}, {"xyz": [0.26173866978864324, -0.19358318467381186, -0.26691707890222116], "rgb": [183, 187, 194], "semantic_id": 17, "pcd_info": {"point_index": 772}, "mesh_info": {"face_index": 13542, "face_uv": [0.4960540836408828, 0.3376853157884206, 0.16626060057069617]}}, {"xyz": [0.2635905298010058, -0.19754601351780954, 0.10029537005549427], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1256}, "mesh_info": {"face_index": 6315, "face_uv": [0.2399660875445665, 0.29796338057445, 0.46207053188098457]}}, {"xyz": [-0.2857589248103233, -0.1944807407611009, 0.08873980240041135], "rgb": [142, 142, 142], "semantic_id": 19, "pcd_info": {"point_index": 278}, "mesh_info": {"face_index": 10789, "face_uv": [0.5051982585444516, 0.0733448222007177, 0.42145691925483103]}}, {"xyz": [-0.28178094226730044, -0.19240041910898853, -0.2699818889966249], "rgb": [205, 212, 222], "semantic_id": 20, "pcd_info": {"point_index": 1775}, "mesh_info": {"face_index": 13352, "face_uv": [0.8078552856263929, 0.13761617875504953, 0.05452853561856013]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ebf8166bacd6759399513f98ce033426", "keypoints": [{"xyz": [0.10783009636751567, 0.26801207821868234, 0.1953507377128716], "rgb": [91, 102, 95], "semantic_id": 0, "pcd_info": {"point_index": 783}, "mesh_info": {"face_index": 14720, "face_uv": [0.03570070600190498, 0.29633111088605457, 0.6679681831120394]}}, {"xyz": [-0.1331129289037516, 0.25851270683973265, 0.18736355136750138], "rgb": [68, 76, 73], "semantic_id": 1, "pcd_info": {"point_index": 1971}, "mesh_info": {"face_index": 9962, "face_uv": [0.4007047954606879, 0.3615432586183255, 0.23775194592098642]}}, {"xyz": [0.17582340510695668, -0.00038481672454215854, 0.032940104478191845], "rgb": [97, 103, 99], "semantic_id": 2, "pcd_info": {"point_index": 545}, "mesh_info": {"face_index": 22023, "face_uv": [0.5747352935958492, 0.09269769952926696, 0.3325670068748836]}}, {"xyz": [-0.16313021955003715, -0.006698531272833597, 0.050399337342789785], "rgb": [53, 62, 59], "semantic_id": 3, "pcd_info": {"point_index": 525}, "mesh_info": {"face_index": 5636, "face_uv": [0.11001334401254119, 0.6502534710891992, 0.23973318489824658]}}, {"xyz": [0.18427493667999834, 0.016695263772886992, -0.26155788876755715], "rgb": [42, 52, 49], "semantic_id": 4, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 1119, "face_uv": [0.6112468780931599, 0.012949153020930079, 0.37580396888591044]}}, {"xyz": [-0.18675067645009086, 0.030046190506453074, -0.2547862151585847], "rgb": [79, 80, 77], "semantic_id": 5, "pcd_info": {"point_index": 1227}, "mesh_info": {"face_index": 640, "face_uv": [0.4643034833740425, 0.41188301760918045, 0.1238134990167776]}}, {"xyz": [0.19600070298662564, -0.41437844582230876, -0.28139314858979103], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 292}, "mesh_info": {"face_index": 23727, "face_uv": [0.005905840410691912, 0.878672119608185, 0.11542203998112344]}}, {"xyz": [0.17534937558845431, -0.4155667376015968, 0.09172038825892623], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 23960, "face_uv": [0.15149012144241875, 0.6658644194831269, 0.18264545907445415]}}, {"xyz": [-0.18060294201835858, -0.41461772326219193, 0.09099083512359468], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1078}, "mesh_info": {"face_index": 23618, "face_uv": [0.22130960932219781, 0.734161668121889, 0.044528722555913225]}}, {"xyz": [-0.20053890325752877, -0.415278867089959, -0.28410250389280556], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 874}, "mesh_info": {"face_index": 24106, "face_uv": [0.5696312960857467, 0.19926422681545908, 0.23110447709879295]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e0a473eb557c424320768660cf080d12", "keypoints": [{"xyz": [0.16519277531144488, 0.30293591338244286, 0.05416160479691934], "rgb": [174, 167, 133], "semantic_id": 0, "pcd_info": {"point_index": 649}, "mesh_info": {"face_index": 8948, "face_uv": [0.3204802297847357, 0.17344109069740712, 0.5060786795178572]}}, {"xyz": [-0.16803583091526725, 0.29992456634239784, 0.06882363021919136], "rgb": [168, 162, 123], "semantic_id": 1, "pcd_info": {"point_index": 1825}, "mesh_info": {"face_index": 9362, "face_uv": [0.14314654504935642, 0.23305245622681087, 0.623800998723832]}}, {"xyz": [0.16061861188848262, -0.044654671989625694, -0.020143402842141], "rgb": [168, 160, 121], "semantic_id": 2, "pcd_info": {"point_index": 762}, "mesh_info": {"face_index": 8384, "face_uv": [0.23689115923775547, 0.03424666918436678, 0.7288621715778776]}}, {"xyz": [-0.15975250440353242, -0.07081665169197571, -0.003815154834460266], "rgb": [168, 162, 129], "semantic_id": 3, "pcd_info": {"point_index": 1751}, "mesh_info": {"face_index": 4985, "face_uv": [0.3030795738818574, 0.046719385698854254, 0.6502010404194262]}}, {"xyz": [0.17209451265819667, -0.04510231235045836, -0.36544328373936086], "rgb": [167, 159, 126], "semantic_id": 4, "pcd_info": {"point_index": 136}, "mesh_info": {"face_index": 5198, "face_uv": [0.02505067920313665, 0.5555875857200976, 0.4193617350767657]}}, {"xyz": [-0.17486060028224368, -0.050232254396089804, -0.37121255511708307], "rgb": [177, 171, 138], "semantic_id": 5, "pcd_info": {"point_index": 1480}, "mesh_info": {"face_index": 5220, "face_uv": [0.03685351347952274, 0.6379649242471674, 0.3251815622733104]}}, {"xyz": [0.2098320948635865, 0.08349859014716521, -0.41684189907639563], "rgb": [99, 31, 10], "semantic_id": 6, "pcd_info": {"point_index": 36}, "mesh_info": {"face_index": 7642, "face_uv": [0.420560659222671, 0.46184447055705313, 0.11759487022027276]}}, {"xyz": [0.2047723233515945, -0.02399642568704019, 0.17487498040197264], "rgb": [94, 29, 5], "semantic_id": 7, "pcd_info": {"point_index": 281}, "mesh_info": {"face_index": 6642, "face_uv": [0.05311348124504952, 0.46300216474289296, 0.4838843540120577]}}, {"xyz": [-0.219788508763156, 0.08349158962703584, -0.4170863322512867], "rgb": [99, 31, 9], "semantic_id": 8, "pcd_info": {"point_index": 1456}, "mesh_info": {"face_index": 1144, "face_uv": [0.10884131133735796, 0.37357580263162027, 0.5175828860310229]}}, {"xyz": [-0.20107071837161883, -0.025497945611916206, 0.17852411531826656], "rgb": [95, 29, 5], "semantic_id": 9, "pcd_info": {"point_index": 608}, "mesh_info": {"face_index": 148, "face_uv": [0.43592285607189435, 0.5601381089666408, 0.0039390349614749545]}}, {"xyz": [0.20406587284877958, -0.28495201468467735, -0.3715875337853486], "rgb": [93, 28, 9], "semantic_id": 17, "pcd_info": {"point_index": 1828}, "mesh_info": {"face_index": 8010, "face_uv": [0.334780557129462, 0.6182215339274771, 0.046997908943061766]}}, {"xyz": [0.1999407827478999, -0.2849520146846769, 0.038248198027008184], "rgb": [93, 28, 9], "semantic_id": 18, "pcd_info": {"point_index": 518}, "mesh_info": {"face_index": 8169, "face_uv": [0.166779603266682, 0.2749960447475646, 0.5582243519857526]}}, {"xyz": [-0.19584851691420424, -0.2849520146846771, 0.04489249256926975], "rgb": [93, 27, 9], "semantic_id": 19, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 1664, "face_uv": [0.1609531011516022, 0.4473333883590183, 0.3917135104893795]}}, {"xyz": [-0.19711177796941853, -0.2849520146846771, -0.36015662851243196], "rgb": [93, 27, 9], "semantic_id": 20, "pcd_info": {"point_index": 1493}, "mesh_info": {"face_index": 1514, "face_uv": [0.10274025984898434, 0.3217384219026478, 0.5755213182483679]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "30d3b99aabb3ce1c4adcf948bcaafbd8", "keypoints": [{"xyz": [0.17868085375808107, 0.24547493767707873, 0.07932017492886811], "rgb": [0, 51, 0], "semantic_id": 0, "pcd_info": {"point_index": 146}, "mesh_info": {"face_index": 499, "face_uv": [0.12070110109915899, 0.2359987618913619, 0.6433001370095278]}}, {"xyz": [-0.1840154810660244, 0.25524685270224945, 0.08253613692147366], "rgb": [0, 50, 0], "semantic_id": 1, "pcd_info": {"point_index": 980}, "mesh_info": {"face_index": 435, "face_uv": [0.07860738629661271, 0.7113486636352588, 0.21004395006811732]}}, {"xyz": [0.13972686675898605, -0.021077999845147022, -0.01726210598351141], "rgb": [101, 39, 18], "semantic_id": 2, "pcd_info": {"point_index": 384}, "mesh_info": {"face_index": 34, "face_uv": [0.09884697850518864, 0.25121262445212206, 0.6499403970426841]}}, {"xyz": [-0.14134020585632345, -0.02028175742631133, -0.008617067317647109], "rgb": [0, 51, 0], "semantic_id": 3, "pcd_info": {"point_index": 689}, "mesh_info": {"face_index": 487, "face_uv": [0.007260008648286327, 0.4534851250736544, 0.5392548662781302]}}, {"xyz": [0.161411318981859, -0.0357358639961293, -0.2121952317740241], "rgb": [102, 40, 19], "semantic_id": 4, "pcd_info": {"point_index": 597}, "mesh_info": {"face_index": 40, "face_uv": [0.027885830654995163, 0.2133384220736527, 0.7587757472713528]}}, {"xyz": [-0.16465952265017816, -0.03479942878322695, -0.20873624456041884], "rgb": [102, 40, 19], "semantic_id": 5, "pcd_info": {"point_index": 20}, "mesh_info": {"face_index": 101, "face_uv": [0.13040837359661192, 0.2635952394803131, 0.6059963869230752]}}, {"xyz": [0.18072693502718656, -0.4036532193321039, -0.27546116102949947], "rgb": [0, 51, 0], "semantic_id": 17, "pcd_info": {"point_index": 1973}, "mesh_info": {"face_index": 1206, "face_uv": [0.8490712626857654, 0.14874612447369345, 0.002182612840541264]}}, {"xyz": [0.18381471499280844, -0.4059538279108626, 0.09762414533776065], "rgb": [0, 51, 0], "semantic_id": 18, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 987, "face_uv": [0.017172346831943325, 0.391783113031474, 0.5910445401365871]}}, {"xyz": [-0.17372941444706558, -0.4051134810078338, 0.0995824159960752], "rgb": [0, 51, 0], "semantic_id": 19, "pcd_info": {"point_index": 602}, "mesh_info": {"face_index": 917, "face_uv": [0.03942255498016819, 0.7242296060052407, 0.23634783901459183]}}, {"xyz": [-0.17163139549155182, -0.40708196787788037, -0.2688352952017744], "rgb": [0, 50, 0], "semantic_id": 20, "pcd_info": {"point_index": 172}, "mesh_info": {"face_index": 782, "face_uv": [0.004293638201954327, 0.19356733918734847, 0.8021390226106943]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c605d4742f68a00ece45069973024eb1", "keypoints": [{"xyz": [0.14036961798370795, 0.33098935449105304, 0.1203785242561739], "rgb": [158, 144, 128], "semantic_id": 0, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 5224, "face_uv": [0.2080170314663324, 0.5211820336813042, 0.2708009348523663]}}, {"xyz": [-0.1410708216051459, 0.3329975334928712, 0.12269273833820926], "rgb": [158, 143, 127], "semantic_id": 1, "pcd_info": {"point_index": 1162}, "mesh_info": {"face_index": 5256, "face_uv": [0.6187265154068257, 0.08216291805632983, 0.2991105665368444]}}, {"xyz": [0.15121620048269302, -0.07884614869910633, 0.0884984280670853], "rgb": [158, 144, 128], "semantic_id": 2, "pcd_info": {"point_index": 1781}, "mesh_info": {"face_index": 3313, "face_uv": [0.275477016924761, 0.32783518137152334, 0.39668780170371915]}}, {"xyz": [-0.15144751598445477, -0.07274579181155927, 0.08862449353889623], "rgb": [158, 144, 128], "semantic_id": 3, "pcd_info": {"point_index": 1180}, "mesh_info": {"face_index": 3111, "face_uv": [0.07340080583534568, 0.5751791015728603, 0.3514200925917954]}}, {"xyz": [0.18110346329272792, -0.0706771415435612, -0.31956746246870327], "rgb": [157, 143, 127], "semantic_id": 4, "pcd_info": {"point_index": 1310}, "mesh_info": {"face_index": 8907, "face_uv": [0.04421238916429367, 0.6595685973167704, 0.29621901351893437]}}, {"xyz": [-0.1753264822868555, -0.06767602300884623, -0.31772248571091977], "rgb": [158, 144, 128], "semantic_id": 5, "pcd_info": {"point_index": 635}, "mesh_info": {"face_index": 3034, "face_uv": [0.2026225293429171, 0.3290954745270547, 0.4682819961300297]}}, {"xyz": [0.17328794803968922, -0.4489099979400635, -0.31051646566326313], "rgb": [238, 209, 162], "semantic_id": 17, "pcd_info": {"point_index": 1330}, "mesh_info": {"face_index": 17, "face_uv": [0.0524847133400236, 0.5118543316662314, 0.435660954993745]}}, {"xyz": [0.17400241438775568, -0.4489099979400635, 0.13553930641532358], "rgb": [235, 204, 157], "semantic_id": 18, "pcd_info": {"point_index": 974}, "mesh_info": {"face_index": 226, "face_uv": [0.28542140896290974, 0.4216477832577381, 0.29293080777935215]}}, {"xyz": [-0.1801682177024443, -0.4489099979400635, 0.13765319799895562], "rgb": [237, 207, 160], "semantic_id": 19, "pcd_info": {"point_index": 507}, "mesh_info": {"face_index": 166, "face_uv": [0.09853651067596467, 0.31557851846981483, 0.5858849708542205]}}, {"xyz": [-0.1711735744916254, -0.4489099979400635, -0.31307750278854213], "rgb": [235, 205, 158], "semantic_id": 20, "pcd_info": {"point_index": 1826}, "mesh_info": {"face_index": 33, "face_uv": [0.49564161241883975, 0.31610223598033355, 0.18825615160082676]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "61b984febe54b752d61420a53a0cb96d", "keypoints": [{"xyz": [0.19076123420606395, 0.17381433055001372, 0.08823853532632298], "rgb": [153, 204, 48], "semantic_id": 0, "pcd_info": {"point_index": 748}, "mesh_info": {"face_index": 3613, "face_uv": [0.6280970737026842, 0.08241828321420634, 0.2894846430831088]}}, {"xyz": [-0.19205662952699032, 0.17394558795461101, 0.08731739940438704], "rgb": [153, 204, 48], "semantic_id": 1, "pcd_info": {"point_index": 1765}, "mesh_info": {"face_index": 3404, "face_uv": [0.3134885642264311, 0.21992882360819216, 0.4665826121653758]}}, {"xyz": [0.20060763194824827, -0.19335881306807434, 0.027050466216243706], "rgb": [154, 205, 49], "semantic_id": 2, "pcd_info": {"point_index": 1751}, "mesh_info": {"face_index": 1001, "face_uv": [0.042888044736513434, 0.014439040467283802, 0.9426729147962049]}}, {"xyz": [-0.2017912010300229, -0.19348450168560016, 0.03138428748836789], "rgb": [153, 204, 48], "semantic_id": 3, "pcd_info": {"point_index": 3}, "mesh_info": {"face_index": 777, "face_uv": [0.00702685384860882, 0.040799714262198784, 0.9521734318891917]}}, {"xyz": [0.2028807514262843, -0.1855491308538011, -0.2882212923456114], "rgb": [154, 205, 49], "semantic_id": 4, "pcd_info": {"point_index": 159}, "mesh_info": {"face_index": 1012, "face_uv": [0.005751850391743335, 0.9691951227290058, 0.025053026879251632]}}, {"xyz": [-0.20377151269426907, -0.18505568412097717, -0.28500745654896353], "rgb": [154, 205, 49], "semantic_id": 5, "pcd_info": {"point_index": 52}, "mesh_info": {"face_index": 784, "face_uv": [0.027610653537419552, 0.9670219471251329, 0.005367399337447948]}}, {"xyz": [0.20620486787010295, -0.6119109988212585, -0.29993780674082093], "rgb": [248, 200, 128], "semantic_id": 17, "pcd_info": {"point_index": 430}, "mesh_info": {"face_index": 4041, "face_uv": [0.41354261529401815, 0.5281366293566427, 0.058320755349339115]}}, {"xyz": [0.2047896653025456, -0.6119109988212585, 0.10713321128507275], "rgb": [244, 194, 121], "semantic_id": 18, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 4035, "face_uv": [0.007084068742902709, 0.45627122817597016, 0.5366447030811271]}}, {"xyz": [-0.20876473819585895, -0.6119109988212585, 0.10885699852337732], "rgb": [244, 196, 123], "semantic_id": 19, "pcd_info": {"point_index": 875}, "mesh_info": {"face_index": 3987, "face_uv": [0.0072508007656401805, 0.543505556548092, 0.4492436426862678]}}, {"xyz": [-0.2121884672659317, -0.6119109988212588, -0.3018647175054882], "rgb": [248, 203, 136], "semantic_id": 20, "pcd_info": {"point_index": 582}, "mesh_info": {"face_index": 3968, "face_uv": [0.11430959083973807, 0.3839878751547481, 0.5017025340055142]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f413955a0f16ae18b76e29c9c43bc7aa", "keypoints": [{"xyz": [0.13791936556600337, 0.3208947024715513, 0.16262341087418208], "rgb": [150, 110, 77], "semantic_id": 0, "pcd_info": {"point_index": 61}, "mesh_info": {"face_index": 7625, "face_uv": [0.4294603728034504, 0.4248854144067236, 0.1456542127898264]}}, {"xyz": [-0.1273325692639219, 0.3264266500331574, 0.1582873107791115], "rgb": [142, 109, 83], "semantic_id": 1, "pcd_info": {"point_index": 810}, "mesh_info": {"face_index": 10496, "face_uv": [0.6278267360968708, 0.26196892038140784, 0.11020434352172166]}}, {"xyz": [0.12307995960453635, -0.038727961949370115, 0.07461665661981054], "rgb": [56, 52, 52], "semantic_id": 2, "pcd_info": {"point_index": 625}, "mesh_info": {"face_index": 1798, "face_uv": [0.6136128465936641, 0.25940919545943525, 0.126977957946902]}}, {"xyz": [-0.11970545785778344, -0.034120108589667186, 0.07736437046312872], "rgb": [56, 52, 52], "semantic_id": 3, "pcd_info": {"point_index": 1071}, "mesh_info": {"face_index": 2136, "face_uv": [0.0367436936389837, 0.511610152145073, 0.4516461542159454]}}, {"xyz": [0.16834003159505698, -0.043546915260379127, -0.25501231779878597], "rgb": [56, 52, 52], "semantic_id": 4, "pcd_info": {"point_index": 415}, "mesh_info": {"face_index": 1830, "face_uv": [0.26893331805995296, 0.29860442074345517, 0.4324622611965921]}}, {"xyz": [-0.1777454580546406, -0.05384342780955054, -0.2597719562503848], "rgb": [56, 52, 52], "semantic_id": 5, "pcd_info": {"point_index": 235}, "mesh_info": {"face_index": 2524, "face_uv": [0.18022580249345285, 0.6610692305410938, 0.15870496696545408]}}, {"xyz": [0.17303247411244338, 0.1394673610352366, -0.1797543849035229], "rgb": [143, 109, 82], "semantic_id": 6, "pcd_info": {"point_index": 1574}, "mesh_info": {"face_index": 1491, "face_uv": [0.18986239203078906, 0.4791255406242091, 0.33101206734500294]}}, {"xyz": [0.16288170565463306, 0.1410620063543322, 0.11202701320843178], "rgb": [144, 107, 80], "semantic_id": 7, "pcd_info": {"point_index": 1838}, "mesh_info": {"face_index": 1366, "face_uv": [0.0343302366242771, 0.08191669713825873, 0.8837530662374657]}}, {"xyz": [-0.16615482502526557, 0.13943244918174003, -0.17986579009653458], "rgb": [148, 113, 86], "semantic_id": 8, "pcd_info": {"point_index": 1611}, "mesh_info": {"face_index": 894, "face_uv": [0.19366740532100274, 0.43895038023730504, 0.3673822144416927]}}, {"xyz": [-0.16115967434867945, 0.14106200635433197, 0.1261587104125591], "rgb": [141, 103, 71], "semantic_id": 9, "pcd_info": {"point_index": 985}, "mesh_info": {"face_index": 1054, "face_uv": [0.21552871641127488, 0.4023131944335101, 0.382158089155215]}}, {"xyz": [0.16439712562652375, -0.435467004776001, -0.2407259102818191], "rgb": [147, 110, 81], "semantic_id": 17, "pcd_info": {"point_index": 949}, "mesh_info": {"face_index": 51027, "face_uv": [0.04063811942216617, 0.41214967523640916, 0.5472122053414247]}}, {"xyz": [0.12900945582804269, -0.4344710111618042, 0.12288139794331754], "rgb": [150, 118, 95], "semantic_id": 18, "pcd_info": {"point_index": 723}, "mesh_info": {"face_index": 61858, "face_uv": [0.14960129426991117, 0.24392141199496262, 0.6064772937351263]}}, {"xyz": [-0.12580846683224756, -0.42087063769956934, 0.1265139902013488], "rgb": [151, 117, 91], "semantic_id": 19, "pcd_info": {"point_index": 294}, "mesh_info": {"face_index": 61300, "face_uv": [0.1138090273035011, 0.6803842312759395, 0.2058067414205598]}}, {"xyz": [-0.17329125664720124, -0.435467004776001, -0.23808837480771916], "rgb": [148, 111, 82], "semantic_id": 20, "pcd_info": {"point_index": 909}, "mesh_info": {"face_index": 60267, "face_uv": [0.36953953447077437, 0.13012008312652956, 0.5003403824026961]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c400749eaa4d10871a782a4379556c7", "keypoints": [{"xyz": [0.20812648245959334, 0.4372940059802861, 0.17696029892704335], "rgb": [34, 34, 34], "semantic_id": 0, "pcd_info": {"point_index": 371}, "mesh_info": {"face_index": 2622, "face_uv": [0.32725482590312077, 0.07311724407485025, 0.5996279300220285]}}, {"xyz": [-0.20015949932783306, 0.4370118262731333, 0.17616437661739093], "rgb": [35, 35, 35], "semantic_id": 1, "pcd_info": {"point_index": 275}, "mesh_info": {"face_index": 23, "face_uv": [0.09143738182248262, 0.2376469486054098, 0.6709156695721079]}}, {"xyz": [0.2014002752467583, 0.183185553651038, 0.16576646071894108], "rgb": [191, 191, 191], "semantic_id": 2, "pcd_info": {"point_index": 288}, "mesh_info": {"face_index": 15527, "face_uv": [0.09531576678533582, 0.8232395133663094, 0.08144471984835784]}}, {"xyz": [-0.2041259782012994, 0.1816706903959092, 0.1700534131142999], "rgb": [191, 191, 191], "semantic_id": 3, "pcd_info": {"point_index": 185}, "mesh_info": {"face_index": 8290, "face_uv": [0.06557059675401883, 0.34110357978000805, 0.5933258234659743]}}, {"xyz": [0.18104288312089678, 0.20865826923275388, -0.17075424942344708], "rgb": [34, 34, 34], "semantic_id": 4, "pcd_info": {"point_index": 400}, "mesh_info": {"face_index": 4714, "face_uv": [0.24103818649337716, 0.35852849035142903, 0.40043332315519325]}}, {"xyz": [-0.1656967028231525, 0.21201938563878575, -0.18270628184786641], "rgb": [35, 35, 35], "semantic_id": 5, "pcd_info": {"point_index": 1783}, "mesh_info": {"face_index": 2411, "face_uv": [0.34212003796979895, 0.2469493216394601, 0.410930640390741]}}, {"xyz": [0.2027350303715788, -0.3260895567899057, -0.15825188120292888], "rgb": [35, 35, 35], "semantic_id": 17, "pcd_info": {"point_index": 356}, "mesh_info": {"face_index": 21819, "face_uv": [0.28404722736689153, 0.3580139805610876, 0.35793879207202106]}}, {"xyz": [0.213169644668047, -0.32547325011771466, 0.18751642686523706], "rgb": [35, 35, 35], "semantic_id": 18, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 22019, "face_uv": [0.08080767962305556, 0.6447798878682063, 0.27441243250873826]}}, {"xyz": [-0.21863718288993686, -0.32555316659372013, 0.18481575751965457], "rgb": [35, 35, 35], "semantic_id": 19, "pcd_info": {"point_index": 168}, "mesh_info": {"face_index": 21525, "face_uv": [0.4319541881788509, 0.4665557625081763, 0.10149004931297557]}}, {"xyz": [-0.2046744947581373, -0.32522738706105137, -0.15671604023171132], "rgb": [35, 35, 35], "semantic_id": 20, "pcd_info": {"point_index": 688}, "mesh_info": {"face_index": 21415, "face_uv": [0.4966973487826292, 0.4423847954032829, 0.06091785581408854]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4f467dcef4a710a5911016bc0ad99a16", "keypoints": [{"xyz": [0.2720083077466004, 0.20733764084415918, 0.12018500268459298], "rgb": [176, 176, 176], "semantic_id": 0, "pcd_info": {"point_index": 806}, "mesh_info": {"face_index": 127, "face_uv": [0.14243144257527307, 0.015184225521526033, 0.842384331903199]}}, {"xyz": [-0.24988647102058598, 0.2053340763571735, 0.12018500268459342], "rgb": [117, 117, 117], "semantic_id": 1, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 67, "face_uv": [0.022661552676561985, 0.818366935353681, 0.15897151196975878]}}, {"xyz": [0.189824515683642, -0.10340200364589702, 0.07893148444494336], "rgb": [193, 193, 193], "semantic_id": 2, "pcd_info": {"point_index": 1300}, "mesh_info": {"face_index": 187, "face_uv": [0.3839508461719863, 0.02858683817165121, 0.5874623156563635]}}, {"xyz": [-0.18290754469535525, -0.1034020036458968, 0.09008139616288635], "rgb": [174, 174, 174], "semantic_id": 3, "pcd_info": {"point_index": 1087}, "mesh_info": {"face_index": 82, "face_uv": [0.8210124619462779, 0.14276978810322283, 0.036217749950498215]}}, {"xyz": [0.1913127699588104, -0.10340200364589691, -0.43784298663112786], "rgb": [130, 130, 130], "semantic_id": 4, "pcd_info": {"point_index": 571}, "mesh_info": {"face_index": 61, "face_uv": [0.37391283507243017, 0.0328485757085619, 0.593238589219008]}}, {"xyz": [-0.17207811074575996, -0.10340200364589691, -0.4429836601421434], "rgb": [191, 191, 191], "semantic_id": 5, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 76, "face_uv": [0.5789244339741831, 0.02695115196911544, 0.39412441405670134]}}, {"xyz": [0.25493770683139083, 0.03770099952816974, -0.4449523739658544], "rgb": [153, 153, 153], "semantic_id": 6, "pcd_info": {"point_index": 98}, "mesh_info": {"face_index": 17, "face_uv": [0.4624305491407339, 0.020526874614230646, 0.5170425762450385]}}, {"xyz": [0.2555486709635012, 0.03770099952816963, 0.09406186548410367], "rgb": [170, 170, 170], "semantic_id": 7, "pcd_info": {"point_index": 1225}, "mesh_info": {"face_index": 28, "face_uv": [0.5442425716454641, 0.045275559352130755, 0.41048186900240524]}}, {"xyz": [-0.2404183813628736, 0.04455700144171715, -0.4443267899378043], "rgb": [186, 186, 186], "semantic_id": 8, "pcd_info": {"point_index": 70}, "mesh_info": {"face_index": 80, "face_uv": [0.5694240277761172, 0.021611111418343702, 0.408964860805539]}}, {"xyz": [-0.24313437937589158, 0.04455700144171715, 0.10216970609309972], "rgb": [141, 141, 141], "semantic_id": 9, "pcd_info": {"point_index": 1989}, "mesh_info": {"face_index": 69, "face_uv": [0.40080899601918485, 0.03122337963524215, 0.567967624345573]}}, {"xyz": [0.25202043706686317, -0.2942050099372864, -0.4015281615042531], "rgb": [158, 158, 158], "semantic_id": 17, "pcd_info": {"point_index": 566}, "mesh_info": {"face_index": 6, "face_uv": [0.1498016442111527, 0.4971101662657046, 0.3530881895231428]}}, {"xyz": [0.24593336663167584, -0.2942050099372864, 0.10256376195455152], "rgb": [182, 182, 182], "semantic_id": 18, "pcd_info": {"point_index": 2013}, "mesh_info": {"face_index": 0, "face_uv": [0.5397726210254822, 0.0305404180366298, 0.429686960937888]}}, {"xyz": [-0.2256175877527551, -0.29420500993728593, 0.11654643644929391], "rgb": [183, 183, 183], "semantic_id": 19, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 23, "face_uv": [0.008653898275627611, 0.6116803229200825, 0.3796657788042883]}}, {"xyz": [-0.24671958858155166, -0.2942050099372864, -0.41343347500899486], "rgb": [185, 185, 185], "semantic_id": 20, "pcd_info": {"point_index": 344}, "mesh_info": {"face_index": 56, "face_uv": [0.44389513012467674, 0.07515414887623245, 0.48095072099909075]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b431161712ea348cdbbc9440457e303e", "keypoints": [{"xyz": [0.2022170713335255, 0.34844272598252823, 0.06345010349187619], "rgb": [196, 167, 107], "semantic_id": 0, "pcd_info": {"point_index": 885}, "mesh_info": {"face_index": 184, "face_uv": [0.13451161594034428, 0.694442757329896, 0.17104562672975945]}}, {"xyz": [-0.20306080418369798, 0.3516153434083321, 0.06428738656852895], "rgb": [163, 136, 85], "semantic_id": 1, "pcd_info": {"point_index": 426}, "mesh_info": {"face_index": 56, "face_uv": [0.016244788835274547, 0.36684563399732334, 0.6169095771674]}}, {"xyz": [0.13737623636252186, -0.013136000372469425, 0.035467307464493336], "rgb": [144, 115, 68], "semantic_id": 2, "pcd_info": {"point_index": 664}, "mesh_info": {"face_index": 3308, "face_uv": [0.5523438105549834, 0.007817967808729844, 0.43983822163628683]}}, {"xyz": [-0.1403613800840492, -0.013136000372469647, 0.032356881622487954], "rgb": [140, 110, 59], "semantic_id": 3, "pcd_info": {"point_index": 1700}, "mesh_info": {"face_index": 1105, "face_uv": [0.876043690612546, 0.0070640272216067265, 0.11689228216586407]}}, {"xyz": [0.17934521211412854, -0.05481387927191528, -0.2798229166127748], "rgb": [199, 167, 105], "semantic_id": 4, "pcd_info": {"point_index": 751}, "mesh_info": {"face_index": 2353, "face_uv": [0.526598985368028, 0.037195530737117816, 0.43620548389485403]}}, {"xyz": [-0.1775763666879247, -0.049701744301989814, -0.2781548296558256], "rgb": [198, 166, 112], "semantic_id": 5, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 1467, "face_uv": [0.8003493418950913, 0.04435923269919832, 0.1552914254057101]}}, {"xyz": [0.1533702361642763, -0.40777074740881364, -0.2741049515051328], "rgb": [175, 144, 84], "semantic_id": 17, "pcd_info": {"point_index": 879}, "mesh_info": {"face_index": 682, "face_uv": [0.009920046140765616, 0.5890030217991887, 0.4010769320600465]}}, {"xyz": [0.15889857880920755, -0.4027340114116669, 0.11524052103189408], "rgb": [197, 163, 100], "semantic_id": 18, "pcd_info": {"point_index": 1369}, "mesh_info": {"face_index": 887, "face_uv": [0.24861347056902974, 0.49307199758252107, 0.2583145318484493]}}, {"xyz": [-0.18111517198826388, -0.40272799134254456, 0.10388041836385531], "rgb": [195, 161, 98], "semantic_id": 19, "pcd_info": {"point_index": 1838}, "mesh_info": {"face_index": 554, "face_uv": [0.2935515852554496, 0.4343356858920897, 0.27211272885246074]}}, {"xyz": [-0.14598384159498923, -0.41138601303100586, -0.2701737372080284], "rgb": [173, 142, 81], "semantic_id": 20, "pcd_info": {"point_index": 159}, "mesh_info": {"face_index": 720, "face_uv": [0.541513673434455, 0.14205826724222026, 0.31642805932332474]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9d7a3b2b7dad91fd611b2c263b5df599", "keypoints": [{"xyz": [0.12918933452196, 0.4447235336588835, 0.04408091374542655], "rgb": [181, 107, 42], "semantic_id": 0, "pcd_info": {"point_index": 186}, "mesh_info": {"face_index": 295, "face_uv": [0.17741650964374864, 0.008002053282621433, 0.8145814370736293]}}, {"xyz": [-0.11991221984871028, 0.4428424268837732, 0.04610171878865499], "rgb": [181, 109, 50], "semantic_id": 1, "pcd_info": {"point_index": 1017}, "mesh_info": {"face_index": 212, "face_uv": [0.29549619037746744, 0.021131578294390933, 0.6833722313281428]}}, {"xyz": [0.14643637705913326, -0.007368999999016301, 0.0988774267076673], "rgb": [172, 96, 39], "semantic_id": 2, "pcd_info": {"point_index": 2030}, "mesh_info": {"face_index": 1, "face_uv": [0.6384825962651259, 0.0017618449696392446, 0.3597555587652047]}}, {"xyz": [-0.1432642017984566, -0.007368999999016523, 0.08736626207964693], "rgb": [178, 108, 46], "semantic_id": 3, "pcd_info": {"point_index": 785}, "mesh_info": {"face_index": 52, "face_uv": [0.278063964436177, 0.03096320051315165, 0.6909728350506715]}}, {"xyz": [0.14481634053653095, -0.0088439472690236, -0.24727000296115875], "rgb": [178, 101, 37], "semantic_id": 4, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 7, "face_uv": [0.9165680403107022, 0.03157753460143688, 0.05185442508786092]}}, {"xyz": [-0.14535747640730215, -0.007368999999016745, -0.2389080318310588], "rgb": [176, 103, 45], "semantic_id": 5, "pcd_info": {"point_index": 777}, "mesh_info": {"face_index": 59, "face_uv": [0.002664828928196799, 0.9793232944592215, 0.018011876612611673]}}, {"xyz": [0.11201635762229592, -0.4161170125007625, -0.20623783826833986], "rgb": [182, 105, 43], "semantic_id": 17, "pcd_info": {"point_index": 693}, "mesh_info": {"face_index": 631, "face_uv": [0.037395450968769096, 0.6107656866121113, 0.35183886241911855]}}, {"xyz": [0.11764734592117995, -0.41611701250076294, 0.0530797986504694], "rgb": [181, 105, 43], "semantic_id": 18, "pcd_info": {"point_index": 1026}, "mesh_info": {"face_index": 962, "face_uv": [0.4542987223564813, 0.29097268987061287, 0.25472858777290586]}}, {"xyz": [-0.13263879597346165, -0.4161170125007634, 0.05185128302890024], "rgb": [180, 103, 44], "semantic_id": 19, "pcd_info": {"point_index": 1910}, "mesh_info": {"face_index": 796, "face_uv": [0.17479165604641553, 0.2619407467913328, 0.5632675971622527]}}, {"xyz": [-0.12426120478169803, -0.41611701250076294, -0.2096613899411987], "rgb": [181, 104, 44], "semantic_id": 20, "pcd_info": {"point_index": 1247}, "mesh_info": {"face_index": 465, "face_uv": [0.14291083833686502, 0.5298612414016617, 0.3272279202614733]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4b01dfb6fa24eb4c4b3c42e318f3affc", "keypoints": [{"xyz": [0.17958014894543917, 0.455644141787394, 0.14562596590346666], "rgb": [105, 95, 61], "semantic_id": 0, "pcd_info": {"point_index": 1479}, "mesh_info": {"face_index": 8548, "face_uv": [0.3080826398295573, 0.6661666553695216, 0.02575070480092067]}}, {"xyz": [-0.16795245210275805, 0.4649876482887434, 0.15953934109364898], "rgb": [84, 73, 42], "semantic_id": 1, "pcd_info": {"point_index": 1067}, "mesh_info": {"face_index": 8517, "face_uv": [0.08966406899168305, 0.8544348011622737, 0.055901129846042695]}}, {"xyz": [0.16981503962084776, 0.06460854099082347, 0.07446328379652789], "rgb": [154, 144, 110], "semantic_id": 2, "pcd_info": {"point_index": 1696}, "mesh_info": {"face_index": 8250, "face_uv": [0.18519583253705488, 0.488728351086535, 0.3260758163764102]}}, {"xyz": [-0.1639294392354424, 0.059737000614404456, 0.08721773482145978], "rgb": [240, 238, 225], "semantic_id": 3, "pcd_info": {"point_index": 946}, "mesh_info": {"face_index": 16292, "face_uv": [0.8401493246886436, 0.10750028175147433, 0.05235039355987842]}}, {"xyz": [0.15441223107878482, 0.0597370006144049, -0.2633251970668882], "rgb": [239, 237, 225], "semantic_id": 4, "pcd_info": {"point_index": 1695}, "mesh_info": {"face_index": 16140, "face_uv": [0.014915258432725998, 0.17319460595107009, 0.8118901356162077]}}, {"xyz": [-0.16115466177678517, 0.05973700061440468, -0.26230264039845697], "rgb": [237, 235, 222], "semantic_id": 5, "pcd_info": {"point_index": 1178}, "mesh_info": {"face_index": 16144, "face_uv": [0.010475593269981077, 0.25362060876380826, 0.7359037979662107]}}, {"xyz": [0.21626950439981044, 0.16922293683391265, -0.2619708744739001], "rgb": [166, 162, 153], "semantic_id": 6, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 8367, "face_uv": [0.8606835156375321, 0.030118044762150763, 0.109198439600317]}}, {"xyz": [0.1834037413607314, 0.16808095591397554, 0.06069283048699514], "rgb": [152, 145, 115], "semantic_id": 7, "pcd_info": {"point_index": 204}, "mesh_info": {"face_index": 8229, "face_uv": [0.6388300783285851, 0.21731350950195924, 0.143856412169452]}}, {"xyz": [-0.23255518486950755, 0.16185724003806734, -0.27160270270649056], "rgb": [110, 99, 71], "semantic_id": 8, "pcd_info": {"point_index": 1559}, "mesh_info": {"face_index": 15711, "face_uv": [0.10955044945778877, 0.007653138139096021, 0.8827964124031162]}}, {"xyz": [-0.19191101858731474, 0.1601800844644915, 0.08449233245762122], "rgb": [145, 135, 109], "semantic_id": 9, "pcd_info": {"point_index": 1817}, "mesh_info": {"face_index": 15708, "face_uv": [0.3448566060703473, 0.1618044642268097, 0.49333892970284327]}}, {"xyz": [0.18429095496149545, -0.19500400125980355, -0.2733764006627102], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 784}, "mesh_info": {"face_index": 653, "face_uv": [0.3218996482207739, 0.6430576014444739, 0.03504275033475113]}}, {"xyz": [0.18799012693754677, -0.19500400125980377, 0.19128343107229828], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 4425, "face_uv": [0.11615779798433393, 0.830742130222076, 0.05310007179359018]}}, {"xyz": [-0.1810729822308318, -0.19299111496168186, 0.18763845979754368], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1562}, "mesh_info": {"face_index": 5568, "face_uv": [0.5308090366640741, 0.028681765893395317, 0.4405091974425305]}}, {"xyz": [-0.17871421793785514, -0.195004001259804, -0.2601739929613993], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1302}, "mesh_info": {"face_index": 6665, "face_uv": [0.057405498405714295, 0.6463716739503489, 0.2962228276439379]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ef463d298bb401b3ce1493daf6a835b0", "keypoints": [{"xyz": [0.1699105649949978, 0.41473517833079643, 0.0766891198674457], "rgb": [207, 191, 150], "semantic_id": 0, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 155, "face_uv": [0.5094317202051173, 0.45727010439543675, 0.033298175399445455]}}, {"xyz": [-0.159050354502746, 0.40926674434119437, 0.12824250406237203], "rgb": [209, 182, 131], "semantic_id": 1, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 391, "face_uv": [0.0006242442864773922, 0.6541408064459471, 0.3452349492675765]}}, {"xyz": [0.1763282916871264, -0.04571438351763457, 0.057169400822990935], "rgb": [196, 163, 112], "semantic_id": 2, "pcd_info": {"point_index": 194}, "mesh_info": {"face_index": 199, "face_uv": [0.5595806906101224, 0.41363020964024316, 0.02678909974965911]}}, {"xyz": [-0.1473649805028932, -0.04968281877272562, 0.10947916156513371], "rgb": [198, 175, 134], "semantic_id": 3, "pcd_info": {"point_index": 1930}, "mesh_info": {"face_index": 198, "face_uv": [0.255457846520931, 0.7226629759594089, 0.02187917751968417]}}, {"xyz": [0.11860352895523191, -0.06932706346925732, -0.28883626261898965], "rgb": [207, 187, 146], "semantic_id": 4, "pcd_info": {"point_index": 1633}, "mesh_info": {"face_index": 222, "face_uv": [0.7415744836537937, 0.2383294683723741, 0.020096047973826147]}}, {"xyz": [-0.2003433370473826, -0.07157118785739547, -0.22626534913396196], "rgb": [208, 181, 141], "semantic_id": 5, "pcd_info": {"point_index": 724}, "mesh_info": {"face_index": 448, "face_uv": [0.03709464146691351, 0.5323661120790858, 0.4305392464540044]}}, {"xyz": [0.1253480507599236, -0.33974806830723947, -0.26051882256698966], "rgb": [187, 159, 107], "semantic_id": 17, "pcd_info": {"point_index": 573}, "mesh_info": {"face_index": 225, "face_uv": [0.08757529533548317, 0.23755944991843636, 0.6748652547460804]}}, {"xyz": [0.1807542972403638, -0.3193597193718434, 0.12294914271236751], "rgb": [200, 166, 110], "semantic_id": 18, "pcd_info": {"point_index": 584}, "mesh_info": {"face_index": 36, "face_uv": [0.0441189754143719, 0.5141144028074709, 0.4417666217781575]}}, {"xyz": [-0.10919034549670209, -0.32470951960158856, 0.17732534928473037], "rgb": [208, 178, 128], "semantic_id": 19, "pcd_info": {"point_index": 544}, "mesh_info": {"face_index": 107, "face_uv": [0.17269932684794778, 0.27612863283854544, 0.5511720403135075]}}, {"xyz": [-0.1910506764332862, -0.34570702099548045, -0.22143806394307403], "rgb": [203, 172, 119], "semantic_id": 20, "pcd_info": {"point_index": 1646}, "mesh_info": {"face_index": 303, "face_uv": [0.19290958541582523, 0.5840029764897602, 0.22308743809441475]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "508450cc9ab2a5fa98cfd47a860803c5", "keypoints": [{"xyz": [0.11775258850671386, 0.30141657908317243, 0.183414732530372], "rgb": [114, 114, 114], "semantic_id": 0, "pcd_info": {"point_index": 1951}, "mesh_info": {"face_index": 2758, "face_uv": [0.17872593071559684, 0.73998939006188, 0.08128467922252335]}}, {"xyz": [-0.22272655890232396, 0.289816932868433, 0.0072767250088290325], "rgb": [114, 114, 114], "semantic_id": 1, "pcd_info": {"point_index": 1927}, "mesh_info": {"face_index": 11714, "face_uv": [0.11353313774202901, 0.5170095949168048, 0.36945726734116624]}}, {"xyz": [0.09380008423126796, 0.059197521016899346, 0.12458884953002292], "rgb": [114, 114, 114], "semantic_id": 2, "pcd_info": {"point_index": 1605}, "mesh_info": {"face_index": 2013, "face_uv": [0.6933344182552262, 0.2654083386596804, 0.041257243085094944]}}, {"xyz": [-0.14240020503795797, 0.053589158694003824, 0.038673288266633576], "rgb": [113, 113, 113], "semantic_id": 3, "pcd_info": {"point_index": 812}, "mesh_info": {"face_index": 2274, "face_uv": [0.7701775284271922, 0.012630461402199564, 0.2171920101706056]}}, {"xyz": [0.23643895281165783, 0.06469011569149119, -0.08095640387139588], "rgb": [114, 114, 114], "semantic_id": 4, "pcd_info": {"point_index": 1617}, "mesh_info": {"face_index": 312, "face_uv": [0.11930841630796785, 0.00023230315817685128, 0.880459280533856]}}, {"xyz": [-0.09531294491305647, 0.05848500312145832, -0.22329668340638367], "rgb": [113, 113, 113], "semantic_id": 5, "pcd_info": {"point_index": 741}, "mesh_info": {"face_index": 6856, "face_uv": [0.18924899158437028, 0.17242748636347896, 0.6383235220521504]}}, {"xyz": [0.26011678956681156, 0.21232693959550297, 0.0071639120754868335], "rgb": [114, 114, 114], "semantic_id": 6, "pcd_info": {"point_index": 2044}, "mesh_info": {"face_index": 6592, "face_uv": [0.07545837619140541, 0.9125641328875486, 0.011977490921046585]}}, {"xyz": [0.16780131198579573, 0.2840032495543823, 0.15494097635941162], "rgb": [114, 114, 114], "semantic_id": 7, "pcd_info": {"point_index": 1123}, "mesh_info": {"face_index": 2928, "face_uv": [0.5126016084843112, 0.3183124733973761, 0.16908591811831306]}}, {"xyz": [-0.18289556571266818, 0.21966861099587898, -0.1679399024929335], "rgb": [114, 114, 114], "semantic_id": 8, "pcd_info": {"point_index": 550}, "mesh_info": {"face_index": 10614, "face_uv": [0.15647387272851235, 0.30405213234488787, 0.5394739949266004]}}, {"xyz": [-0.22541001534970023, 0.2733450947459244, -0.042394020542076194], "rgb": [113, 113, 113], "semantic_id": 9, "pcd_info": {"point_index": 1574}, "mesh_info": {"face_index": 11847, "face_uv": [0.5371950501349037, 0.013633198889799242, 0.44917175097529666]}}, {"xyz": [0.24591817237810473, -0.32662498950958274, -0.09640438128162698], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1787}, "mesh_info": {"face_index": 39849, "face_uv": [0.09379290300514416, 0.45660298525019993, 0.44960411174465664]}}, {"xyz": [0.10278788319201237, -0.3266249895095825, 0.266980580870824], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 843}, "mesh_info": {"face_index": 32803, "face_uv": [0.6939051450047141, 0.30594545383222005, 0.00014940116306584594]}}, {"xyz": [-0.25391411432393596, -0.32662498950958274, 0.11910397660944669], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1800}, "mesh_info": {"face_index": 40103, "face_uv": [0.6402190025519963, 0.2870969750668763, 0.07268402238112816]}}, {"xyz": [-0.11113278314146036, -0.32662498950958274, -0.24354360333238237], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 610}, "mesh_info": {"face_index": 40405, "face_uv": [0.2443213779572099, 0.24799024171051096, 0.5076883803322798]}}, {"xyz": [0.007041020176418833, 0.0028050055746258185, -0.014299635077870354], "rgb": [0, 0, 0], "semantic_id": 15, "pcd_info": {"point_index": 1455}, "mesh_info": {"face_index": 18628, "face_uv": [0.1563010460908501, 0.10696794733268591, 0.7367310065764809]}}, {"xyz": [0.0018572559507187836, -0.11684889893309336, 0.005794747840926151], "rgb": [0, 0, 0], "semantic_id": 16, "pcd_info": {"point_index": 576}, "mesh_info": {"face_index": 36379, "face_uv": [0.3365905931499661, 0.03873660436946126, 0.6246728024805731]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": [{"kp_indexes": [10, 11, 12, 13], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "d30ecbe6cbe364e5c8687ff9b0b4e4ac", "keypoints": [{"xyz": [0.12549309325853117, 0.4020697349111677, -0.04171405805414863], "rgb": [141, 92, 45], "semantic_id": 0, "pcd_info": {"point_index": 355}, "mesh_info": {"face_index": 2150, "face_uv": [0.3854094107487041, 0.23714711495497715, 0.3774434742963187]}}, {"xyz": [-0.16119100533355663, 0.37719920732863943, -0.036504728961558985], "rgb": [130, 78, 35], "semantic_id": 1, "pcd_info": {"point_index": 1129}, "mesh_info": {"face_index": 2035, "face_uv": [0.5497915270499839, 0.012882832415984058, 0.4373256405340319]}}, {"xyz": [0.15054791379110866, 0.013890000060200691, -0.07815902861389445], "rgb": [141, 84, 37], "semantic_id": 2, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 2069, "face_uv": [0.014837883818050412, 0.9846944998610934, 0.00046761632085618165]}}, {"xyz": [-0.1736622156176098, 0.013890000060200913, -0.07638398176784511], "rgb": [146, 87, 31], "semantic_id": 3, "pcd_info": {"point_index": 808}, "mesh_info": {"face_index": 2259, "face_uv": [0.9521271493435062, 0.0071700318620732915, 0.04070281879443652]}}, {"xyz": [0.16507935027522125, 0.013890000060200691, -0.3414067985770033], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1065}, "mesh_info": {"face_index": 2273, "face_uv": [0.0924245759791158, 0.8717850004165566, 0.035790423604327506]}}, {"xyz": [-0.199868882745037, 0.013890000060200691, -0.3418512683358633], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1407}, "mesh_info": {"face_index": 2056, "face_uv": [0.017941060572297118, 0.9205910170602276, 0.06146792236747529]}}, {"xyz": [0.13086168282862157, -0.3632949888706207, -0.2783079266446752], "rgb": [151, 91, 35], "semantic_id": 17, "pcd_info": {"point_index": 1163}, "mesh_info": {"face_index": 2249, "face_uv": [0.05010471260679266, 0.4059331852889181, 0.5439621021042893]}}, {"xyz": [0.13883433718818436, -0.3632949888706205, -0.032029647707656844], "rgb": [140, 83, 32], "semantic_id": 18, "pcd_info": {"point_index": 78}, "mesh_info": {"face_index": 2209, "face_uv": [0.21616925250388777, 0.5112325029791808, 0.27259824451693077]}}, {"xyz": [-0.1508109808857441, -0.3632949888706207, -0.031865290817945036], "rgb": [158, 100, 45], "semantic_id": 19, "pcd_info": {"point_index": 1463}, "mesh_info": {"face_index": 2121, "face_uv": [0.034712668387637244, 0.49065680875695744, 0.4746305228554053]}}, {"xyz": [-0.1507890647718415, -0.3632949888706207, -0.2709566165814049], "rgb": [146, 88, 36], "semantic_id": 20, "pcd_info": {"point_index": 2031}, "mesh_info": {"face_index": 2205, "face_uv": [0.02600307992157367, 0.4988795240373605, 0.47511739604106584]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "360b02dcfeabe768492d9da2668ec34c", "keypoints": [{"xyz": [0.17832165209381162, 0.24683689546974796, 0.1370878042946333], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1747}, "mesh_info": {"face_index": 1835, "face_uv": [0.2685459320142185, 0.12351146694388895, 0.6079426010418922]}}, {"xyz": [-0.18909289392482576, 0.2332959542222901, 0.12752745001999177], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 405}, "mesh_info": {"face_index": 892, "face_uv": [0.09311091983726527, 0.6211137312747935, 0.28577534888794204]}}, {"xyz": [0.17192097704047965, -0.05529534707274375, 0.0699380026523142], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 2038}, "mesh_info": {"face_index": 1097, "face_uv": [0.20403572570001005, 0.49620317908317235, 0.29976109521682137]}}, {"xyz": [-0.16303004906560736, -0.06608872045239278, 0.06669151191919243], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1714}, "mesh_info": {"face_index": 661, "face_uv": [0.1420161163825267, 0.2318828365731202, 0.6261010470443638]}}, {"xyz": [0.1765891980102485, -0.0469838525667593, -0.2997887828021992], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 71}, "mesh_info": {"face_index": 2294, "face_uv": [0.21661015192336514, 0.6798754296526478, 0.10351441842398808]}}, {"xyz": [-0.1495717996759996, -0.040940364778154326, -0.2954112123897057], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 722}, "mesh_info": {"face_index": 1964, "face_uv": [0.040744254337837606, 0.12735360042446423, 0.8319021452377006]}}, {"xyz": [0.24791044140368534, 0.09453635209766098, -0.26312462060486763], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1696}, "mesh_info": {"face_index": 1998, "face_uv": [0.16868503575059465, 0.10946719653661198, 0.7218477677127952]}}, {"xyz": [0.25168158165773724, 0.10122452618093791, -0.035832084695852306], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1625}, "mesh_info": {"face_index": 2447, "face_uv": [0.8566222612184277, 0.08477129916324234, 0.05860643961833006]}}, {"xyz": [-0.2352249245772755, 0.10030424431453144, -0.25758299198794976], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 729}, "mesh_info": {"face_index": 2487, "face_uv": [0.230166401538821, 0.057956953181597534, 0.7118766452795827]}}, {"xyz": [-0.2429468047523971, 0.10033499634486964, -0.03978941661112956], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 772}, "mesh_info": {"face_index": 2147, "face_uv": [0.3888986648142201, 0.03117996637354838, 0.579921368812231]}}, {"xyz": [0.16856970397912358, -0.38509115519640247, -0.26165214913206625], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 562}, "mesh_info": {"face_index": 439, "face_uv": [0.2460880670077692, 0.6400795477141009, 0.11383238527813014]}}, {"xyz": [0.19881131335440838, -0.37227480845784977, 0.1838355969066596], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1251}, "mesh_info": {"face_index": 494, "face_uv": [0.3589570550709497, 0.1267489217892333, 0.514294023139817]}}, {"xyz": [-0.1960970164058209, -0.380202917208174, 0.1876556318372632], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1116}, "mesh_info": {"face_index": 345, "face_uv": [0.15881523857641808, 0.6906471444207287, 0.15053761700285262]}}, {"xyz": [-0.18433546765148223, -0.3893958308496097, -0.27882331656620307], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 108}, "mesh_info": {"face_index": 35, "face_uv": [0.615165518297142, 0.02010787839908037, 0.364726603303778]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "91819d15c2c044ebd47ffa500636d198", "keypoints": [{"xyz": [0.14764120162564687, 0.5087329745292662, 0.06207109823233001], "rgb": [202, 176, 136], "semantic_id": 0, "pcd_info": {"point_index": 984}, "mesh_info": {"face_index": 189, "face_uv": [0.3162570267252596, 0.3246193981338811, 0.35912357514085913]}}, {"xyz": [-0.16879674064252395, 0.5087329745292664, 0.0630948007992913], "rgb": [197, 173, 142], "semantic_id": 1, "pcd_info": {"point_index": 1657}, "mesh_info": {"face_index": 399, "face_uv": [0.36688391069319615, 0.2951073268467392, 0.33800876246006467]}}, {"xyz": [0.14637178391761338, 0.10237181961028008, 0.05381346248710295], "rgb": [180, 105, 40], "semantic_id": 2, "pcd_info": {"point_index": 2011}, "mesh_info": {"face_index": 1881, "face_uv": [0.08866170380896966, 0.0544808137442034, 0.8568574824468218]}}, {"xyz": [-0.1660637576005356, 0.09539400041103385, 0.04293657780287252], "rgb": [202, 172, 148], "semantic_id": 3, "pcd_info": {"point_index": 1773}, "mesh_info": {"face_index": 60, "face_uv": [0.2689932733879039, 0.19632638024058302, 0.5346803463715154]}}, {"xyz": [0.17391739159793623, 0.08773859162385889, -0.16460133681757658], "rgb": [210, 178, 147], "semantic_id": 4, "pcd_info": {"point_index": 1136}, "mesh_info": {"face_index": 169, "face_uv": [0.5644458990018828, 0.4147241380989951, 0.020829962899121496]}}, {"xyz": [-0.18134235236630414, 0.08695331270829554, -0.16560058622008064], "rgb": [214, 182, 156], "semantic_id": 5, "pcd_info": {"point_index": 144}, "mesh_info": {"face_index": 81, "face_uv": [0.0023330638356756, 0.6453124722135739, 0.3523544639507498]}}, {"xyz": [0.16886029462275254, -0.3506459891796112, -0.1498581018926351], "rgb": [184, 109, 44], "semantic_id": 17, "pcd_info": {"point_index": 1191}, "mesh_info": {"face_index": 1803, "face_uv": [0.07818006950544963, 0.4694496101102578, 0.45237032038429253]}}, {"xyz": [0.15945223820591992, -0.3506459891796112, 0.08016032035654208], "rgb": [182, 110, 44], "semantic_id": 18, "pcd_info": {"point_index": 1520}, "mesh_info": {"face_index": 2676, "face_uv": [0.14657013432302782, 0.7451768787530256, 0.10825298692394654]}}, {"xyz": [-0.16395168140207045, -0.3506459891796112, 0.07285765901698416], "rgb": [184, 109, 44], "semantic_id": 19, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 1139, "face_uv": [0.06878291297715008, 0.5660249372979826, 0.36519214972486724]}}, {"xyz": [-0.17056653507252834, -0.3506459891796112, -0.15564458258490682], "rgb": [183, 111, 45], "semantic_id": 20, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 3268, "face_uv": [0.3528207864534415, 0.2839603060833539, 0.3632189074632046]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e64562ae2925d5f3f58087d377226538", "keypoints": [{"xyz": [0.18344435241015408, 0.2971426248270974, 0.25262093040757405], "rgb": [138, 137, 88], "semantic_id": 0, "pcd_info": {"point_index": 1}, "mesh_info": {"face_index": 80650, "face_uv": [0.4506837185714835, 0.15159615630888343, 0.3977201251196331]}}, {"xyz": [-0.18247438579791486, 0.2971018835039909, 0.25240129779584847], "rgb": [209, 197, 154], "semantic_id": 1, "pcd_info": {"point_index": 350}, "mesh_info": {"face_index": 83286, "face_uv": [0.41576855395066353, 0.2893501810340238, 0.29488126501531436]}}, {"xyz": [0.2040739321247729, -0.01807795315960381, 0.11073396301895266], "rgb": [157, 153, 114], "semantic_id": 2, "pcd_info": {"point_index": 642}, "mesh_info": {"face_index": 51243, "face_uv": [0.23415573755031677, 0.3471144220649478, 0.4187298403847365]}}, {"xyz": [-0.20400043982344515, -0.020972832189243507, 0.10653662801414665], "rgb": [194, 194, 162], "semantic_id": 3, "pcd_info": {"point_index": 1000}, "mesh_info": {"face_index": 47625, "face_uv": [0.8164613977219376, 0.013447845805924442, 0.17009075647213634]}}, {"xyz": [0.21066804660997465, -0.012276926634244623, -0.23742439666417248], "rgb": [128, 122, 57], "semantic_id": 4, "pcd_info": {"point_index": 451}, "mesh_info": {"face_index": 51617, "face_uv": [0.591251943443144, 0.1193948095928741, 0.2893532469639825]}}, {"xyz": [-0.20686042734176924, -0.011959204679461655, -0.2342656594136605], "rgb": [176, 173, 136], "semantic_id": 5, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 47876, "face_uv": [0.6153081121178958, 0.26467523442576135, 0.12001665345634269]}}, {"xyz": [0.27819371643953295, 0.07120096994401104, -0.22985673768776194], "rgb": [202, 197, 142], "semantic_id": 6, "pcd_info": {"point_index": 1239}, "mesh_info": {"face_index": 74607, "face_uv": [0.10082437297039794, 0.7630022418706244, 0.1361733851589773]}}, {"xyz": [0.2864227469236237, 0.07479909205698276, 0.21900103715528063], "rgb": [199, 193, 134], "semantic_id": 7, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 74533, "face_uv": [0.1397992776632006, 0.34595525977092345, 0.5142454625658813]}}, {"xyz": [-0.2705074109142528, 0.06977637986410423, -0.21656456799052282], "rgb": [172, 167, 132], "semantic_id": 8, "pcd_info": {"point_index": 326}, "mesh_info": {"face_index": 62068, "face_uv": [0.5823504543379227, 0.04240271198422157, 0.3752468336778548]}}, {"xyz": [-0.2854432035503932, 0.07482279060988906, 0.2213342088811996], "rgb": [172, 164, 119], "semantic_id": 9, "pcd_info": {"point_index": 1003}, "mesh_info": {"face_index": 60858, "face_uv": [0.7306960296590803, 0.22096414060960098, 0.04833982973132203]}}, {"xyz": [0.21362644061339517, -0.2768741156988208, -0.1772416579983081], "rgb": [105, 68, 37], "semantic_id": 17, "pcd_info": {"point_index": 1991}, "mesh_info": {"face_index": 94985, "face_uv": [0.6108423388509093, 0.023172419398416702, 0.36598524175067404]}}, {"xyz": [0.21744555669412036, -0.2747532849178025, 0.16270835981663148], "rgb": [101, 66, 37], "semantic_id": 18, "pcd_info": {"point_index": 1286}, "mesh_info": {"face_index": 94125, "face_uv": [0.21998117427477382, 0.43481384196371525, 0.3452049837615115]}}, {"xyz": [-0.21208739921513758, -0.27506203476929714, 0.15914268541802457], "rgb": [98, 64, 38], "semantic_id": 19, "pcd_info": {"point_index": 1214}, "mesh_info": {"face_index": 94292, "face_uv": [0.15383776931852736, 0.6484441028775954, 0.19771812780387718]}}, {"xyz": [-0.20837913630716917, -0.2769382338050117, -0.17634117145530281], "rgb": [109, 73, 42], "semantic_id": 20, "pcd_info": {"point_index": 1630}, "mesh_info": {"face_index": 94696, "face_uv": [0.4210116503761202, 0.3644278116994339, 0.21456053792444577]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fc6129a9310ba34c645311c54e2f9bdc", "keypoints": [{"xyz": [0.13709789902241717, 0.4185457792801969, 0.11829117014229562], "rgb": [255, 248, 204], "semantic_id": 0, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 106, "face_uv": [0.3310385157118977, 0.23100008096007868, 0.4379614033280235]}}, {"xyz": [-0.13735017131813493, 0.42146040849590616, 0.11413077910926356], "rgb": [255, 249, 205], "semantic_id": 1, "pcd_info": {"point_index": 498}, "mesh_info": {"face_index": 1302, "face_uv": [0.015717117847913065, 0.6423605079375894, 0.3419223742144978]}}, {"xyz": [0.12211684617974697, -0.023076999932527542, 0.1069187976016176], "rgb": [255, 248, 205], "semantic_id": 2, "pcd_info": {"point_index": 654}, "mesh_info": {"face_index": 270, "face_uv": [0.019099404270022043, 0.8969125148493153, 0.0839880808806626]}}, {"xyz": [-0.11923018685471781, -0.023076999932527542, 0.10506750807119575], "rgb": [254, 248, 204], "semantic_id": 3, "pcd_info": {"point_index": 1761}, "mesh_info": {"face_index": 278, "face_uv": [0.12661825825538767, 0.836538428055473, 0.03684331368913918]}}, {"xyz": [0.18380388434444347, -0.032414660899531565, -0.19887514836161602], "rgb": [254, 248, 204], "semantic_id": 4, "pcd_info": {"point_index": 523}, "mesh_info": {"face_index": 384, "face_uv": [0.3006035709506819, 0.3604439459505231, 0.3389524830987947]}}, {"xyz": [-0.17326570716042372, -0.035074686888743156, -0.21448515985206673], "rgb": [255, 249, 205], "semantic_id": 5, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 408, "face_uv": [0.13113784239115964, 0.4057561409006119, 0.4631060167082288]}}, {"xyz": [0.16469986913344337, -0.42030726064771884, -0.1972237278483984], "rgb": [254, 248, 204], "semantic_id": 17, "pcd_info": {"point_index": 1570}, "mesh_info": {"face_index": 778, "face_uv": [0.05643002256706342, 0.46399472212589177, 0.4795752553070446]}}, {"xyz": [0.13600351633089866, -0.4142241256568152, 0.11594874911582859], "rgb": [255, 249, 205], "semantic_id": 18, "pcd_info": {"point_index": 1054}, "mesh_info": {"face_index": 215, "face_uv": [0.6262938368160068, 0.07684252626269615, 0.29686363692129725]}}, {"xyz": [-0.1372123643143736, -0.41130485767228386, 0.11702610123466028], "rgb": [255, 249, 205], "semantic_id": 19, "pcd_info": {"point_index": 1680}, "mesh_info": {"face_index": 1455, "face_uv": [0.1845107652814831, 0.4070352192947635, 0.40845401542375354]}}, {"xyz": [-0.16690541764447844, -0.42030660934561903, -0.1944348101337296], "rgb": [255, 249, 205], "semantic_id": 20, "pcd_info": {"point_index": 461}, "mesh_info": {"face_index": 517, "face_uv": [0.10655404096623139, 0.38828225485650497, 0.5051637041772636]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c2d0bea1edd835b6e874cd29a3bc467c", "keypoints": [{"xyz": [0.2550123378550087, 0.20289182758595148, 0.12131116066921444], "rgb": [221, 205, 197], "semantic_id": 0, "pcd_info": {"point_index": 1289}, "mesh_info": {"face_index": 480, "face_uv": [0.713500985624413, 0.011641801634709587, 0.2748572127408777]}}, {"xyz": [-0.24767937627454023, 0.2013165280751974, 0.12908185875228706], "rgb": [184, 161, 143], "semantic_id": 1, "pcd_info": {"point_index": 132}, "mesh_info": {"face_index": 481, "face_uv": [0.6170967509847375, 0.02545057680964318, 0.35745267220561927]}}, {"xyz": [0.21005804410419296, -0.09269800037145615, 0.11265216281223245], "rgb": [188, 168, 151], "semantic_id": 2, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 1, "face_uv": [0.015432714038354492, 0.004924802169080696, 0.9796424837925647]}}, {"xyz": [-0.2054263397082361, -0.09269800037145615, 0.11250952586958685], "rgb": [188, 168, 151], "semantic_id": 3, "pcd_info": {"point_index": 1634}, "mesh_info": {"face_index": 130, "face_uv": [0.9636063357116268, 0.020841727223420817, 0.015551937064952287]}}, {"xyz": [0.2646689991977876, -0.09269800037145615, -0.29917683884852675], "rgb": [159, 140, 121], "semantic_id": 4, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 7, "face_uv": [0.23412281068672663, 0.048378741525860774, 0.7174984477874126]}}, {"xyz": [-0.2613827395219029, -0.09269800037145615, -0.30390661726730395], "rgb": [170, 151, 133], "semantic_id": 5, "pcd_info": {"point_index": 103}, "mesh_info": {"face_index": 17, "face_uv": [0.45778093840638795, 0.025736506953582337, 0.5164825546400298]}}, {"xyz": [0.22114236829451683, 0.06683425795488196, -0.19622285322441568], "rgb": [145, 119, 96], "semantic_id": 6, "pcd_info": {"point_index": 622}, "mesh_info": {"face_index": 2453, "face_uv": [0.6324068937648276, 0.0654955883432483, 0.3020975178919248]}}, {"xyz": [0.22775173042676433, 0.07593577649919858, 0.06335576250718233], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 606}, "mesh_info": {"face_index": 1975, "face_uv": [0.36231731114486293, 0.052187968971876754, 0.5854947198832614]}}, {"xyz": [-0.22667179183926056, 0.06551654729907175, -0.1986815633656307], "rgb": [145, 118, 96], "semantic_id": 8, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 1531, "face_uv": [0.598593822263357, 0.09414577890734359, 0.30726039882929973]}}, {"xyz": [-0.22226329818015117, 0.06927099823951699, 0.020422258367766677], "rgb": [249, 247, 246], "semantic_id": 9, "pcd_info": {"point_index": 417}, "mesh_info": {"face_index": 1256, "face_uv": [0.5815505868865485, 0.05437466230815621, 0.36407475080529206]}}, {"xyz": [0.22570669788945763, -0.4284990131855011, -0.20717101580344244], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 528}, "mesh_info": {"face_index": 2370, "face_uv": [0.4458869466699675, 0.5289821102026024, 0.025130943127430052]}}, {"xyz": [0.2255190005353126, -0.4284990131855011, 0.1351490143935144], "rgb": [247, 245, 242], "semantic_id": 18, "pcd_info": {"point_index": 144}, "mesh_info": {"face_index": 1788, "face_uv": [0.5464428577762793, 0.3575935548115049, 0.0959635874122158]}}, {"xyz": [-0.22513427889209903, -0.4284990131855011, 0.13952771618662635], "rgb": [248, 246, 244], "semantic_id": 19, "pcd_info": {"point_index": 1429}, "mesh_info": {"face_index": 812, "face_uv": [0.46423361559729875, 0.43833372825550504, 0.09743265614719623]}}, {"xyz": [-0.22460783706403104, -0.4284990131855011, -0.2014797949594555], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1138}, "mesh_info": {"face_index": 1394, "face_uv": [0.514254376129045, 0.4257643630690759, 0.05998126080187912]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a99285df8c6d4578b980c976a65c0d7f", "keypoints": [{"xyz": [0.206654495450994, 0.24662749909466397, 0.09096042136494385], "rgb": [157, 88, 45], "semantic_id": 0, "pcd_info": {"point_index": 458}, "mesh_info": {"face_index": 748, "face_uv": [0.49973607185283797, 0.3771625707405877, 0.12310135740657624]}}, {"xyz": [-0.21654108250980225, 0.24750318608546817, 0.06565078764519412], "rgb": [154, 88, 45], "semantic_id": 1, "pcd_info": {"point_index": 1727}, "mesh_info": {"face_index": 769, "face_uv": [0.03881205932752808, 0.5077011380525971, 0.4534868026198755]}}, {"xyz": [0.20257294257123565, -0.15212116350742, -0.01238607390531965], "rgb": [233, 208, 178], "semantic_id": 2, "pcd_info": {"point_index": 1484}, "mesh_info": {"face_index": 20, "face_uv": [0.43014312646254554, 0.14190611683159135, 0.42795075670585003]}}, {"xyz": [-0.19154577516517285, -0.15059126029133685, -0.034001450024250854], "rgb": [226, 201, 170], "semantic_id": 3, "pcd_info": {"point_index": 143}, "mesh_info": {"face_index": 38, "face_uv": [0.08516884697939403, 0.28213313006203844, 0.6326980229585666]}}, {"xyz": [0.20874948770725463, -0.13045466166434383, -0.3079620986419306], "rgb": [227, 203, 170], "semantic_id": 4, "pcd_info": {"point_index": 1800}, "mesh_info": {"face_index": 83, "face_uv": [0.33537762254883374, 0.09231251217654914, 0.5723098652746156]}}, {"xyz": [-0.15699054829542297, -0.12976433904284557, -0.3271306609667174], "rgb": [236, 211, 180], "semantic_id": 5, "pcd_info": {"point_index": 835}, "mesh_info": {"face_index": 28, "face_uv": [0.20760095857798788, 0.020306614827244145, 0.7720924265947662]}}, {"xyz": [0.24285335080277312, -0.007891442028228557, -0.3058973703927343], "rgb": [157, 90, 46], "semantic_id": 6, "pcd_info": {"point_index": 566}, "mesh_info": {"face_index": 561, "face_uv": [0.022003447850858334, 0.6367180928763118, 0.3412784592728301]}}, {"xyz": [0.22144274524695484, -0.007976283664017036, 0.0024410955116916933], "rgb": [145, 81, 43], "semantic_id": 7, "pcd_info": {"point_index": 658}, "mesh_info": {"face_index": 604, "face_uv": [0.03778290024729672, 0.6246349001145861, 0.3375821996381163]}}, {"xyz": [-0.19904070905656407, -0.00796994199593426, -0.33058344254844785], "rgb": [150, 88, 42], "semantic_id": 8, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 480, "face_uv": [0.03850818515937241, 0.3343090364489142, 0.6271827783917105]}}, {"xyz": [-0.21937917325783152, -0.008004621933680789, -0.030339408219948294], "rgb": [143, 78, 36], "semantic_id": 9, "pcd_info": {"point_index": 328}, "mesh_info": {"face_index": 483, "face_uv": [0.38675050523072135, 0.047641352981789994, 0.5656081417874872]}}, {"xyz": [0.22782650628186463, -0.4815278087047338, -0.28535119893983885], "rgb": [148, 80, 35], "semantic_id": 17, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 572, "face_uv": [0.004903846142738669, 0.7077388883556173, 0.28735726550164437]}}, {"xyz": [0.1962151729482221, -0.4758857945747783, 0.0495669845640736], "rgb": [148, 84, 46], "semantic_id": 18, "pcd_info": {"point_index": 327}, "mesh_info": {"face_index": 945, "face_uv": [0.9567003785671081, 0.02409668068303706, 0.019202940749854614]}}, {"xyz": [-0.21212508497838223, -0.47645983127002745, 0.0196067573437132], "rgb": [147, 79, 35], "semantic_id": 19, "pcd_info": {"point_index": 689}, "mesh_info": {"face_index": 951, "face_uv": [0.01779678080237967, 0.7473984632438904, 0.23480475595373126]}}, {"xyz": [-0.18670656051039114, -0.48135618788606915, -0.3136587139877074], "rgb": [164, 95, 47], "semantic_id": 20, "pcd_info": {"point_index": 207}, "mesh_info": {"face_index": 516, "face_uv": [0.005286879583883949, 0.28511980383192687, 0.7095933165841891]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9531ea3018e8bc70f81c330016997d42", "keypoints": [{"xyz": [0.2187140840983614, 0.27518345455147286, 0.13380645412836756], "rgb": [149, 75, 10], "semantic_id": 0, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 59, "face_uv": [0.33376211670595207, 0.35350746190307314, 0.3127304213909747]}}, {"xyz": [-0.218451186174754, 0.2754606809701099, 0.1291965533221352], "rgb": [149, 75, 10], "semantic_id": 1, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 55, "face_uv": [0.6035692956564949, 0.362267421685195, 0.03416328265831056]}}, {"xyz": [0.22185606204244496, -0.061778999865055084, 0.07308541692023574], "rgb": [149, 75, 10], "semantic_id": 2, "pcd_info": {"point_index": 1321}, "mesh_info": {"face_index": 145, "face_uv": [0.014076114602062229, 0.9695886848570768, 0.016335200540861045]}}, {"xyz": [-0.21703368422834915, -0.061778999865055306, 0.08003513370017679], "rgb": [149, 75, 10], "semantic_id": 3, "pcd_info": {"point_index": 184}, "mesh_info": {"face_index": 139, "face_uv": [0.9607828409068475, 0.012366618074548252, 0.026850541018607687]}}, {"xyz": [0.2174604856619515, -0.061778999865055306, -0.2878841171359643], "rgb": [149, 75, 10], "semantic_id": 4, "pcd_info": {"point_index": 579}, "mesh_info": {"face_index": 145, "face_uv": [0.9417382084981653, 0.03234388780908732, 0.02591790369275107]}}, {"xyz": [-0.21902675931926444, -0.061778999865055306, -0.290381194489132], "rgb": [149, 75, 10], "semantic_id": 5, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 139, "face_uv": [0.0033548334683887247, 0.9741396863883955, 0.022505480143219285]}}, {"xyz": [0.20383449806607268, -0.3884580135345457, -0.27630016813221087], "rgb": [148, 74, 9], "semantic_id": 17, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 165, "face_uv": [0.014715451007573042, 0.43027650438111525, 0.5550080446113111]}}, {"xyz": [0.20313881243927523, -0.3884580135345457, 0.11773579445280113], "rgb": [148, 74, 9], "semantic_id": 18, "pcd_info": {"point_index": 1403}, "mesh_info": {"face_index": 79, "face_uv": [0.5428747691508612, 0.44776777154892566, 0.009357459300212586]}}, {"xyz": [-0.2017323007052991, -0.3884580135345459, 0.12720280663179556], "rgb": [149, 75, 10], "semantic_id": 19, "pcd_info": {"point_index": 1553}, "mesh_info": {"face_index": 150, "face_uv": [0.058122094692113664, 0.4235343871432973, 0.5183435181645891]}}, {"xyz": [-0.20526796628790758, -0.3884580135345459, -0.27708867772272433], "rgb": [149, 75, 10], "semantic_id": 20, "pcd_info": {"point_index": 2038}, "mesh_info": {"face_index": 3, "face_uv": [0.41999398819066885, 0.4161639724314983, 0.16384203937783284]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3c0dd3719baecf3319fb4103277a6b93", "keypoints": [{"xyz": [0.3346656781417474, 0.1811413110104345, 0.10582480855493981], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 294}, "mesh_info": {"face_index": 8446, "face_uv": [0.4207472679829732, 0.37365905918203324, 0.20559367283499408]}}, {"xyz": [-0.32423936141815085, 0.18368871280164834, 0.09804356480993537], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 320}, "mesh_info": {"face_index": 25884, "face_uv": [0.4630127128021624, 0.000550772504390947, 0.536436514693447]}}, {"xyz": [0.3292843841197804, -0.001484000007622055, 0.04330092051597223], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 669}, "mesh_info": {"face_index": 2112, "face_uv": [0.1512558956038936, 0.8080341926450272, 0.040709911751154175]}}, {"xyz": [-0.3246247650411163, -0.001484000007621944, 0.042115710646399185], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 864}, "mesh_info": {"face_index": 16618, "face_uv": [0.16342819706473644, 0.8123384793997688, 0.024233323535494813]}}, {"xyz": [0.33283868848068, -0.03056288316478839, -0.2508632220900222], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 1255}, "mesh_info": {"face_index": 2313, "face_uv": [0.23343465291495505, 0.6915782548077689, 0.07498709227727582]}}, {"xyz": [-0.32748900315687823, -0.03293468220021811, -0.25154702987985345], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 744}, "mesh_info": {"face_index": 18065, "face_uv": [0.49578024316139135, 0.4776273699985691, 0.02659238684004002]}}, {"xyz": [0.3694756227588821, 0.12606379820195723, -0.24415257421638165], "rgb": [223, 200, 165], "semantic_id": 6, "pcd_info": {"point_index": 427}, "mesh_info": {"face_index": 37398, "face_uv": [0.24480661375383814, 0.20079953364757422, 0.5543938525985876]}}, {"xyz": [0.37032578718387643, 0.12651669241388364, 0.1707097241028825], "rgb": [222, 199, 164], "semantic_id": 7, "pcd_info": {"point_index": 1196}, "mesh_info": {"face_index": 37350, "face_uv": [0.49946607964241985, 0.4620490552521262, 0.038484865105453465]}}, {"xyz": [-0.37020973867806134, 0.12506476291525126, -0.24586847852695667], "rgb": [222, 199, 164], "semantic_id": 8, "pcd_info": {"point_index": 946}, "mesh_info": {"face_index": 38930, "face_uv": [0.266365114853268, 0.3844111856616803, 0.3492236994850514]}}, {"xyz": [-0.3564194578538907, 0.12713370951340197, 0.1680763744957069], "rgb": [222, 199, 164], "semantic_id": 9, "pcd_info": {"point_index": 538}, "mesh_info": {"face_index": 38883, "face_uv": [0.3297254724473079, 0.2191975728177304, 0.4510769547349583]}}, {"xyz": [0.392622662814597, -0.22619199752807617, -0.23388540487269988], "rgb": [156, 71, 18], "semantic_id": 17, "pcd_info": {"point_index": 1573}, "mesh_info": {"face_index": 31566, "face_uv": [0.235720249820363, 0.21746297762497963, 0.5468167725546574]}}, {"xyz": [0.38720931596367825, -0.22619199752807573, 0.1613694615448954], "rgb": [157, 69, 19], "semantic_id": 18, "pcd_info": {"point_index": 1038}, "mesh_info": {"face_index": 29888, "face_uv": [0.6411529040426616, 0.16365720587241586, 0.19518989008492063]}}, {"xyz": [-0.3830229538806013, -0.22619199752807662, 0.15545239439616232], "rgb": [160, 70, 18], "semantic_id": 19, "pcd_info": {"point_index": 990}, "mesh_info": {"face_index": 27601, "face_uv": [0.30522619435728143, 0.352048766126139, 0.3427250395165815]}}, {"xyz": [-0.3800024512654875, -0.22619199752807617, -0.23420870911418057], "rgb": [157, 68, 18], "semantic_id": 20, "pcd_info": {"point_index": 807}, "mesh_info": {"face_index": 28160, "face_uv": [0.3012202993313978, 0.440349864267777, 0.2584298364008251]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "25c61fb5c237767919fb4103277a6b93", "keypoints": [{"xyz": [0.21675721997918526, 0.26220771085641476, 0.1597461627713197], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 742}, "mesh_info": {"face_index": 9186, "face_uv": [0.12342926215132559, 0.015915949004474347, 0.8606547888442003]}}, {"xyz": [-0.20667197470135537, 0.2628347958405737, 0.16509014681149647], "rgb": [222, 199, 164], "semantic_id": 1, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 15890, "face_uv": [0.46368630922587456, 0.05409666998408616, 0.482217020790039]}}, {"xyz": [0.20451735787113434, 0.005386639774359492, 0.09647048115160906], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1892}, "mesh_info": {"face_index": 11649, "face_uv": [0.24800828063741473, 0.5688092709744449, 0.1831824483881445]}}, {"xyz": [-0.20045480164985985, 0.0025311924114472806, 0.09872759507650808], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 0}, "mesh_info": {"face_index": 13665, "face_uv": [0.2800425418945301, 0.22864438451285787, 0.49131307359261356]}}, {"xyz": [0.21085703080190604, -0.09208746946431356, -0.25220361363967037], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 32593, "face_uv": [0.1612262825109239, 0.3795624514899546, 0.45921126599912093]}}, {"xyz": [-0.20958569810188057, -0.09906176467494565, -0.24606956723072315], "rgb": [222, 199, 164], "semantic_id": 5, "pcd_info": {"point_index": 62}, "mesh_info": {"face_index": 5725, "face_uv": [0.11249102035065538, 0.5103368960208969, 0.3771720836284453]}}, {"xyz": [0.2551572873511813, 0.0956545387781913, -0.2541439346566019], "rgb": [155, 69, 19], "semantic_id": 6, "pcd_info": {"point_index": 153}, "mesh_info": {"face_index": 18937, "face_uv": [0.05435624646473396, 0.420414769035087, 0.5252289845001801]}}, {"xyz": [0.25626034399405184, 0.1958842737173716, 0.20456070436443974], "rgb": [163, 74, 19], "semantic_id": 7, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 20957, "face_uv": [0.00833609644563813, 0.1810431186535715, 0.8106207849007901]}}, {"xyz": [-0.24820017290224303, 0.10796214775837076, -0.25857108615394164], "rgb": [172, 78, 20], "semantic_id": 8, "pcd_info": {"point_index": 2020}, "mesh_info": {"face_index": 1731, "face_uv": [0.31411012890477413, 0.3360401525861573, 0.34984971850906815]}}, {"xyz": [-0.25164396693466273, 0.19599823564651886, 0.2131809148016175], "rgb": [163, 73, 19], "semantic_id": 9, "pcd_info": {"point_index": 815}, "mesh_info": {"face_index": 5421, "face_uv": [0.16812196714449737, 0.8289212906922111, 0.0029567421632934305]}}, {"xyz": [0.2346717022250196, -0.36897681253427506, -0.24935570887632919], "rgb": [171, 78, 19], "semantic_id": 17, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 26036, "face_uv": [0.41344690729896993, 0.007056032836996576, 0.5794970598640337]}}, {"xyz": [0.24645194781715185, -0.37040698528289795, 0.21260480510388305], "rgb": [157, 75, 19], "semantic_id": 18, "pcd_info": {"point_index": 326}, "mesh_info": {"face_index": 26152, "face_uv": [0.5600754417389057, 0.4280421053358691, 0.011882452925225197]}}, {"xyz": [-0.22559945054013952, -0.36609023295846715, 0.21490367007598654], "rgb": [162, 74, 19], "semantic_id": 19, "pcd_info": {"point_index": 1271}, "mesh_info": {"face_index": 7056, "face_uv": [0.29857339150717954, 0.24281663267583475, 0.4586099758169851]}}, {"xyz": [-0.2379278553094461, -0.36741157797924673, -0.24958600103855133], "rgb": [177, 83, 19], "semantic_id": 20, "pcd_info": {"point_index": 46}, "mesh_info": {"face_index": 8296, "face_uv": [0.19669326611302926, 0.7740624496431074, 0.02924428424386327]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b8b5e172ee58899df2d9e72ba502035", "keypoints": [{"xyz": [0.2721696620301478, 0.6053680181503297, 0.057869387107052805], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 946}, "mesh_info": {"face_index": 11112, "face_uv": [0.009173357074191984, 0.3886942221328525, 0.6021324207929557]}}, {"xyz": [-0.2795962983376147, 0.6053680181503296, 0.053661470217089], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1532}, "mesh_info": {"face_index": 11115, "face_uv": [0.30459409199738724, 0.6884841018998415, 0.006921806102771289]}}, {"xyz": [0.2711056521010089, 0.26266199350357033, 0.03347895333071915], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1046}, "mesh_info": {"face_index": 11088, "face_uv": [0.011387006223727911, 0.8722298197273297, 0.11638317404894155]}}, {"xyz": [-0.2654517594896338, 0.26266199350357056, 0.034931675779462656], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 143}, "mesh_info": {"face_index": 11091, "face_uv": [0.8709551902289622, 0.124554406729315, 0.004490403041722698]}}, {"xyz": [0.2772302525698395, 0.25921146580306587, -0.3605499863624573], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 925}, "mesh_info": {"face_index": 11086, "face_uv": [0.034077944233058585, 0.00015361805240234335, 0.9657684377145391]}}, {"xyz": [-0.2638487038255384, 0.26006060348227134, -0.3605499863624573], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1624}, "mesh_info": {"face_index": 11078, "face_uv": [0.9743082705693673, 0.007430635082436543, 0.01826109434819618]}}, {"xyz": [0.22003842511523652, -0.017733000218868478, -0.3198939198551325], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 2}, "mesh_info": {"face_index": 8182, "face_uv": [0.14644235994885707, 0.24061124765904143, 0.612946392392114]}}, {"xyz": [0.18189143316079548, -0.017733000218868478, 0.08946051879491557], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1986}, "mesh_info": {"face_index": 10874, "face_uv": [0.06373956964021024, 0.4579260969976555, 0.47833433336214687]}}, {"xyz": [-0.17718984984763983, -0.017733000218868256, 0.09345997314055565], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 460}, "mesh_info": {"face_index": 4126, "face_uv": [0.03809834045329009, 0.440776395580496, 0.5211252639662138]}}, {"xyz": [-0.21988602564481363, -0.017733000218868034, -0.3150657028479486], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1384}, "mesh_info": {"face_index": 8790, "face_uv": [0.3177801294618523, 0.45451967086817635, 0.2277001996699587]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1997d5827caf81df67d783b4714d4324", "keypoints": [{"xyz": [0.14342386110680716, 0.32917143751705247, 0.13143639101137827], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 286}, "mesh_info": {"face_index": 158, "face_uv": [0.1792053332684381, 0.7623376361548856, 0.05845703057667622]}}, {"xyz": [-0.13165956744259044, 0.3302502852414042, 0.12963199615478516], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1263}, "mesh_info": {"face_index": 188, "face_uv": [0.9414841911091114, 0.003550831887630279, 0.05496497700325829]}}, {"xyz": [0.21029445714568518, -0.027504999190568924, 0.059410941555559926], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 19, "face_uv": [0.26647759758576484, 0.7304386997266058, 0.0030837026876294827]}}, {"xyz": [-0.1713517339328275, -0.027504999190568924, 0.04670954915389269], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 410}, "mesh_info": {"face_index": 7, "face_uv": [0.4638418314429356, 0.01951011148486449, 0.5166480570722]}}, {"xyz": [0.18911222932598232, -0.027504999190568924, -0.20771952378586306], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 356}, "mesh_info": {"face_index": 96, "face_uv": [0.016989109693408826, 0.8366957308924419, 0.14631515941414924]}}, {"xyz": [-0.13705821368031695, -0.027504999190568924, -0.21013318441531437], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1459}, "mesh_info": {"face_index": 86, "face_uv": [0.5631104679515307, 0.009139003293822456, 0.4277505287546468]}}, {"xyz": [0.23686269033356513, 0.1617310047149657, -0.20736008547371365], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 698}, "mesh_info": {"face_index": 233, "face_uv": [0.049023933933703114, 0.40519933802080677, 0.5457767280454895]}}, {"xyz": [0.2410642454647466, 0.1617310047149656, 0.11396169388983735], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 116}, "mesh_info": {"face_index": 232, "face_uv": [0.004706902448412435, 0.4784140937095965, 0.5168790038419897]}}, {"xyz": [-0.23153407225412234, 0.14848299324512482, -0.20758543267542962], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 686}, "mesh_info": {"face_index": 297, "face_uv": [0.0018717093452103079, 0.4839459634167759, 0.5141823272380139]}}, {"xyz": [-0.23503368640413586, 0.14848299324512482, 0.12908745164802493], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 298, "face_uv": [0.3803551582524229, 0.6129935754713864, 0.0066512662761907815]}}, {"xyz": [0.2405009929088716, -0.3775140047073364, -0.2899100785370108], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1787}, "mesh_info": {"face_index": 274, "face_uv": [0.028954848518374605, 0.4940166575224326, 0.4770284939591928]}}, {"xyz": [0.23949558711340646, -0.3775140047073362, 0.13483316833144776], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 53}, "mesh_info": {"face_index": 262, "face_uv": [0.029790078455072998, 0.47813276653626613, 0.49207715500866034]}}, {"xyz": [-0.22731910719926562, -0.39076200127601624, 0.15494630205041654], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 94}, "mesh_info": {"face_index": 327, "face_uv": [0.3791005098451023, 0.6007007687560852, 0.02019872139881246]}}, {"xyz": [-0.23434394254598956, -0.39076200127601624, -0.2711505584604368], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1845}, "mesh_info": {"face_index": 339, "face_uv": [0.3705680044836473, 0.5938876258742332, 0.03554436964211958]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b58a0307a86959bd564f6f5de611dfed", "keypoints": [{"xyz": [0.16128171970704133, 0.2162849434277357, 0.1626944890186932], "rgb": [147, 56, 38], "semantic_id": 0, "pcd_info": {"point_index": 1276}, "mesh_info": {"face_index": 3838, "face_uv": [0.012180800683726718, 0.013701257103545859, 0.9741179422127297]}}, {"xyz": [-0.19176510429609817, 0.2145938661635367, 0.16040857575053247], "rgb": [147, 56, 38], "semantic_id": 1, "pcd_info": {"point_index": 1909}, "mesh_info": {"face_index": 3845, "face_uv": [0.7239178844483611, 0.009933518180297925, 0.26614859737134117]}}, {"xyz": [0.16569590744776846, -0.09724218870492884, 0.0301654735394703], "rgb": [146, 55, 37], "semantic_id": 2, "pcd_info": {"point_index": 643}, "mesh_info": {"face_index": 3438, "face_uv": [0.9021002257742421, 0.0014936429504250714, 0.09640613127533072]}}, {"xyz": [-0.19331229160682828, -0.10700480899314735, 0.025935816846818227], "rgb": [147, 56, 38], "semantic_id": 3, "pcd_info": {"point_index": 1075}, "mesh_info": {"face_index": 3500, "face_uv": [0.026414502216820925, 0.9679307884849168, 0.005654709298262492]}}, {"xyz": [0.16146238797563217, -0.10195179654526731, -0.28288423231885673], "rgb": [224, 224, 199], "semantic_id": 4, "pcd_info": {"point_index": 535}, "mesh_info": {"face_index": 2306, "face_uv": [0.20463014677473898, 0.049292617467404286, 0.7460772357578559]}}, {"xyz": [-0.1910646412452417, -0.10128788885714068, -0.2830934566306249], "rgb": [146, 55, 37], "semantic_id": 5, "pcd_info": {"point_index": 636}, "mesh_info": {"face_index": 4173, "face_uv": [0.0048405209451942805, 0.007030156041121967, 0.9881293230136822]}}, {"xyz": [0.18870931684494074, 0.06842681184978172, -0.2647148577106515], "rgb": [128, 128, 128], "semantic_id": 6, "pcd_info": {"point_index": 277}, "mesh_info": {"face_index": 402, "face_uv": [0.562981707028021, 0.005530039409882039, 0.43148825356209713]}}, {"xyz": [0.19247318784839917, 0.07472000271081924, 0.15449303815799031], "rgb": [128, 128, 128], "semantic_id": 7, "pcd_info": {"point_index": 1330}, "mesh_info": {"face_index": 298, "face_uv": [0.26194768664043805, 0.7286950025705407, 0.009357310789021352]}}, {"xyz": [-0.21837368978110133, 0.07268896694061877, -0.26048620976563286], "rgb": [128, 128, 128], "semantic_id": 8, "pcd_info": {"point_index": 1721}, "mesh_info": {"face_index": 1046, "face_uv": [0.4096682266748327, 0.1869889748721148, 0.40334279845305265]}}, {"xyz": [-0.221457729370918, 0.07472000271081924, 0.15023447951954583], "rgb": [127, 127, 127], "semantic_id": 9, "pcd_info": {"point_index": 814}, "mesh_info": {"face_index": 978, "face_uv": [0.019729265395376016, 0.7043194181827676, 0.2759513164218562]}}, {"xyz": [0.19044321612306517, -0.41796753779463947, -0.2657690048217771], "rgb": [127, 127, 127], "semantic_id": 17, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 260, "face_uv": [0.5421368591673474, 0.007733369794318837, 0.45012977103833285]}}, {"xyz": [0.1911840386639079, -0.42165363341172307, 0.14481399953365326], "rgb": [128, 128, 128], "semantic_id": 18, "pcd_info": {"point_index": 102}, "mesh_info": {"face_index": 84, "face_uv": [0.43988397942646096, 0.00010015304767888634, 0.5600158675258601]}}, {"xyz": [-0.21615753939937937, -0.4167244432689127, 0.14484544598813143], "rgb": [128, 128, 128], "semantic_id": 19, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 175, "face_uv": [0.0016278992127891105, 0.98969241321916, 0.008679687568050804]}}, {"xyz": [-0.22075462004054391, -0.4163629593942511, -0.26576900482177757], "rgb": [128, 128, 128], "semantic_id": 20, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 933, "face_uv": [0.3620305138530725, 0.011056152486222687, 0.6269133336607057]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "341e24df542e0676d42b9650f19dd425", "keypoints": [{"xyz": [0.2100755540111786, 0.35299037810635725, 0.16862399876117706], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1360}, "mesh_info": {"face_index": 1060, "face_uv": [0.7918742483668004, 0.00897335171227307, 0.1991523999209266]}}, {"xyz": [-0.2047421692821208, 0.3556860089302065, 0.1730220317102732], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1649}, "mesh_info": {"face_index": 425, "face_uv": [0.02503999286007414, 0.8375815695378324, 0.1373784376020941]}}, {"xyz": [0.2033659964799881, 0.028516892847287423, 0.1603405237949178], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 770}, "mesh_info": {"face_index": 869, "face_uv": [0.11239389439283573, 0.5442984541204982, 0.34330765148666614]}}, {"xyz": [-0.20915880585690416, 0.03838370251020495, 0.16335085941065275], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1638}, "mesh_info": {"face_index": 700, "face_uv": [0.3163220450896132, 0.5701212527281954, 0.1135567021821893]}}, {"xyz": [0.20511165777179055, 0.012833144953546705, -0.22595316396908993], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1874}, "mesh_info": {"face_index": 1290, "face_uv": [0.049405172212393086, 0.20602613762880304, 0.7445686901588017]}}, {"xyz": [-0.209153534695531, 0.007692421782954817, -0.23056098827998373], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1675}, "mesh_info": {"face_index": 1100, "face_uv": [0.3169441571933236, 0.1539364832189082, 0.5291193595877679]}}, {"xyz": [0.21348232664565991, 0.12564699351787545, -0.1248933742759375], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 891}, "mesh_info": {"face_index": 1374, "face_uv": [0.02242526448200586, 0.19392527478932503, 0.7836494607286673]}}, {"xyz": [0.21523182873443814, 0.12564699351787567, 0.08881499844282109], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1606}, "mesh_info": {"face_index": 1386, "face_uv": [0.007561898906425683, 0.5996192533398375, 0.39281884775373677]}}, {"xyz": [-0.21441729385497343, 0.12564699351787567, -0.1230797017318847], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1554}, "mesh_info": {"face_index": 652, "face_uv": [0.030657443814804546, 0.6957409921898972, 0.27360156399529817]}}, {"xyz": [-0.22031299769878387, 0.11991436620328111, 0.08753615270673959], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 112}, "mesh_info": {"face_index": 672, "face_uv": [0.22232515699871067, 0.7744923974117942, 0.003182445589495063]}}, {"xyz": [0.20787861500973082, -0.36457198858261086, -0.23330312660863028], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 53}, "mesh_info": {"face_index": 1655, "face_uv": [0.22245358826617645, 0.5325874902770447, 0.24495892145677825]}}, {"xyz": [0.2193650353862287, -0.3645719885826111, 0.28630544199876146], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 723}, "mesh_info": {"face_index": 1373, "face_uv": [0.2668277518294986, 0.11186726086795841, 0.621304987302543]}}, {"xyz": [-0.21352656681507284, -0.3645719885826111, 0.28714465644337095], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1904}, "mesh_info": {"face_index": 666, "face_uv": [0.6547598157477101, 0.19914597450171945, 0.1460942097505704]}}, {"xyz": [-0.20620160186223546, -0.3645719885826113, -0.2313801065973624], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1974}, "mesh_info": {"face_index": 1333, "face_uv": [0.019269269458841595, 0.6653366678363581, 0.3153940627048009]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "640aadadf4fcba8355f9a00acc25f137", "keypoints": [{"xyz": [0.3457571727311465, 0.1209449658388948, 0.07231523529682038], "rgb": [202, 191, 181], "semantic_id": 0, "pcd_info": {"point_index": 301}, "mesh_info": {"face_index": 899, "face_uv": [0.35053641507251443, 0.5822082493717399, 0.06725533555574575]}}, {"xyz": [-0.3336573819272281, 0.12119714484543564, 0.06577700566107342], "rgb": [201, 190, 180], "semantic_id": 1, "pcd_info": {"point_index": 652}, "mesh_info": {"face_index": 1179, "face_uv": [0.33434593841914007, 0.14614283113825177, 0.5195112304426076]}}, {"xyz": [0.31430625341538204, -0.04471300169825554, 0.03609459130854953], "rgb": [201, 190, 180], "semantic_id": 2, "pcd_info": {"point_index": 1438}, "mesh_info": {"face_index": 137, "face_uv": [0.05948935465964023, 0.9215507999135126, 0.01895984542684699]}}, {"xyz": [-0.3093341560329914, -0.026735095016448995, 0.01982402367436431], "rgb": [201, 190, 180], "semantic_id": 3, "pcd_info": {"point_index": 872}, "mesh_info": {"face_index": 1041, "face_uv": [0.0657567905638339, 0.1074681351457594, 0.8267750742904065]}}, {"xyz": [0.31742168238726864, -0.04051654472994348, -0.1442510038614273], "rgb": [202, 191, 181], "semantic_id": 4, "pcd_info": {"point_index": 466}, "mesh_info": {"face_index": 481, "face_uv": [0.44201029270554004, 0.06639816334585069, 0.4915915439486093]}}, {"xyz": [-0.3088414428751396, -0.03129144242908921, -0.14107718336485076], "rgb": [201, 190, 180], "semantic_id": 5, "pcd_info": {"point_index": 1812}, "mesh_info": {"face_index": 1027, "face_uv": [0.4794178476796413, 0.01726488161584538, 0.5033172707045129]}}, {"xyz": [0.39409119875149, 0.03575563259356307, -0.14425100386142709], "rgb": [201, 190, 180], "semantic_id": 6, "pcd_info": {"point_index": 1102}, "mesh_info": {"face_index": 245, "face_uv": [0.04561897207639376, 0.9437122790294168, 0.010668748894188009]}}, {"xyz": [0.4086977548062295, 0.03607246341369241, 0.1346864186978901], "rgb": [202, 191, 181], "semantic_id": 7, "pcd_info": {"point_index": 1656}, "mesh_info": {"face_index": 644, "face_uv": [0.1435766991898003, 0.2546776646132624, 0.601745636196943]}}, {"xyz": [-0.38696154279413575, 0.03296499965652333, -0.1442510038614273], "rgb": [202, 191, 181], "semantic_id": 8, "pcd_info": {"point_index": 175}, "mesh_info": {"face_index": 614, "face_uv": [0.0312237863617981, 0.8759295268632118, 0.09284668677499015]}}, {"xyz": [-0.40084041350460764, 0.03591800108552001, 0.1338125823914379], "rgb": [202, 191, 181], "semantic_id": 9, "pcd_info": {"point_index": 503}, "mesh_info": {"face_index": 885, "face_uv": [0.3153919248571354, 0.6558633495279833, 0.02874472561488745]}}, {"xyz": [0.38039487683033746, -0.19946145452502506, -0.10518499264116052], "rgb": [225, 224, 220], "semantic_id": 17, "pcd_info": {"point_index": 1144}, "mesh_info": {"face_index": 66, "face_uv": [0.3896960558999094, 0.42032196309240655, 0.18998198100768318]}}, {"xyz": [0.38210235849504137, -0.19945124431756556, 0.10405952978132688], "rgb": [226, 225, 221], "semantic_id": 18, "pcd_info": {"point_index": 862}, "mesh_info": {"face_index": 96, "face_uv": [0.10593884010975954, 0.44204592313917107, 0.4520152367510703]}}, {"xyz": [-0.3912491750058483, -0.19965900480747223, 0.1112756252016644], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 232}, "mesh_info": {"face_index": 36, "face_uv": [0.4438759277380895, 0.41207196154829845, 0.14405211071361204]}}, {"xyz": [-0.36691153832617374, -0.19965900480747178, -0.10669764005851923], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1513}, "mesh_info": {"face_index": 12, "face_uv": [0.3678726248078151, 0.3042329598540027, 0.3278944153381799]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "31423159297243ded65766fd3c4f994c", "keypoints": [{"xyz": [0.10701002238103505, 0.289181805263488, 0.07586466962887894], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 283}, "mesh_info": {"face_index": 81, "face_uv": [0.015487288940448768, 6.123591893655171e-05, 0.9844514751406104]}}, {"xyz": [-0.10666425751803119, 0.2879855207487554, 0.07553080961844794], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 405, "face_uv": [5.408552670110926e-05, 0.061852867862873896, 0.9380930466103947]}}, {"xyz": [0.11750863544852083, -0.031690001487731934, 0.06951413953601904], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 262}, "mesh_info": {"face_index": 75, "face_uv": [0.4161069237905076, 0.554438442609472, 0.029454633600020416]}}, {"xyz": [-0.1176803288539745, -0.031690001487731934, 0.0552503422808972], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 407}, "mesh_info": {"face_index": 376, "face_uv": [0.2155928795167552, 0.09613341665927096, 0.6882737038239739]}}, {"xyz": [0.1166530873958823, -0.03577182060682538, -0.1397500038146975], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1512}, "mesh_info": {"face_index": 199, "face_uv": [0.3875279643081091, 0.14689671888937547, 0.465575316802517]}}, {"xyz": [-0.11727744574446607, -0.053272326752650256, -0.139723002910614], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1420}, "mesh_info": {"face_index": 328, "face_uv": [0.6630461365780108, 0.22329415515013348, 0.11365970827185569]}}, {"xyz": [0.11640703141925329, -0.3348888323202712, -0.15259599685668945], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1469}, "mesh_info": {"face_index": 403, "face_uv": [0.5498137563714617, 0.0027886139883714976, 0.44739762964016677]}}, {"xyz": [0.11670491024812307, -0.33266695822906245, 0.07586500048637368], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 507}, "mesh_info": {"face_index": 6, "face_uv": [0.38427120276460475, 0.011019802452406718, 0.6047089947829857]}}, {"xyz": [-0.11566306060268489, -0.3283348786407349, 0.0758650004863739], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 25}, "mesh_info": {"face_index": 135, "face_uv": [0.4108570994630283, 0.027065216008920392, 0.5620776845280514]}}, {"xyz": [-0.11372585042739863, -0.3330496552343258, -0.15256799757480644], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1739}, "mesh_info": {"face_index": 189, "face_uv": [0.5496332981106218, 0.009447907908531339, 0.4409187939808483]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "61917c7f7953ee7fe6543556f230fe9c", "keypoints": [{"xyz": [0.14068411696957828, 0.19835386464154503, 0.045595989114965096], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1791}, "mesh_info": {"face_index": 2077, "face_uv": [0.038215191275498245, 0.5012453419378637, 0.46053946678663815]}}, {"xyz": [-0.13797743967099133, 0.19644399261037004, 0.042278259500403204], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1078}, "mesh_info": {"face_index": 4746, "face_uv": [0.47429525106645926, 0.5121921465447222, 0.013512602388817591]}}, {"xyz": [0.14122589405102037, -0.11544787826509628, 0.012313444324029144], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 127}, "mesh_info": {"face_index": 2807, "face_uv": [0.014727262723528563, 0.8078577639517404, 0.1774149733247272]}}, {"xyz": [-0.14027263769290804, -0.11530146727125667, 0.01586988720497806], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1600}, "mesh_info": {"face_index": 5455, "face_uv": [0.24610462129290697, 0.313807613116439, 0.44008776559065305]}}, {"xyz": [0.14727880332492077, -0.13356399536132818, -0.2537396355066226], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 413}, "mesh_info": {"face_index": 1953, "face_uv": [0.0032749873174839532, 0.8461947043551235, 0.15053030832739295]}}, {"xyz": [-0.1404585183337519, -0.12923135903752525, -0.25267401337623596], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 1367, "face_uv": [0.5375731690305394, 0.016819555225670763, 0.4456072757437897]}}, {"xyz": [0.1473315490284468, -0.6921030282974243, -0.24489592080688838], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 973}, "mesh_info": {"face_index": 1943, "face_uv": [0.11062631203980045, 0.651015245004445, 0.23835844295575462]}}, {"xyz": [0.1486128511082745, -0.691161455601432, 0.05098210170186217], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 152}, "mesh_info": {"face_index": 960, "face_uv": [0.2701363844100048, 0.5343308841889668, 0.19553273140102878]}}, {"xyz": [-0.1423969757772232, -0.6916048558905906, 0.041006118918867435], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1618}, "mesh_info": {"face_index": 4299, "face_uv": [0.37798803611612125, 0.1983956481402302, 0.42361631574364844]}}, {"xyz": [-0.13929398886036726, -0.6921030282974243, -0.249217544692248], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 556}, "mesh_info": {"face_index": 1956, "face_uv": [0.26560928507871406, 0.25268975141735417, 0.4817009635039317]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1145248e1eba424d492d9da2668ec34c", "keypoints": [{"xyz": [0.1391455393628674, 0.34946716918339127, 0.12951935631217273], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 347}, "mesh_info": {"face_index": 2380, "face_uv": [0.06505726056405678, 0.2524698281270285, 0.6824729113089147]}}, {"xyz": [-0.1461565606978173, 0.34379139208785436, 0.12369046485961485], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1476}, "mesh_info": {"face_index": 1986, "face_uv": [0.14926365928301324, 0.37321133867499934, 0.47752500204198883]}}, {"xyz": [0.14389309707964404, 0.08741914120497096, 0.04970742210251741], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 415}, "mesh_info": {"face_index": 1939, "face_uv": [0.0059835214829315276, 0.04780674828643103, 0.9462097302306423]}}, {"xyz": [-0.14074824980610307, 0.08697034987896135, 0.06573783412988757], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1315}, "mesh_info": {"face_index": 1921, "face_uv": [0.2929219408973803, 0.06537842215590838, 0.6416996369467133]}}, {"xyz": [0.14368939561676364, 0.09148640124039265, -0.20317445165447798], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1644}, "mesh_info": {"face_index": 1938, "face_uv": [0.07490777479959729, 0.07265456351714336, 0.8524376616832604]}}, {"xyz": [-0.15156275406731692, 0.09173440926009424, -0.21855519735582715], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 1938, "face_uv": [0.021964456460680227, 0.9428155925502015, 0.03521995098911845]}}, {"xyz": [0.19228558687633002, 0.21765991426617948, -0.19114014535212728], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1414}, "mesh_info": {"face_index": 3427, "face_uv": [0.05708713368074399, 0.42240116065176764, 0.5205117056674888]}}, {"xyz": [0.17986780680920572, 0.23506308940412324, 0.09117395582422747], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 1899}, "mesh_info": {"face_index": 3397, "face_uv": [0.3652555974560872, 0.5907276774568738, 0.0440167250870381]}}, {"xyz": [-0.19902437040982288, 0.20534236606284506, -0.2033716016134939], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 374}, "mesh_info": {"face_index": 3309, "face_uv": [0.13636849953208693, 0.2898477213457333, 0.57378377912218]}}, {"xyz": [-0.18249219781915085, 0.23506309471544862, 0.09035261892663171], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1102}, "mesh_info": {"face_index": 3258, "face_uv": [0.046676702691095785, 0.6737961167863908, 0.27952718052251335]}}, {"xyz": [0.2094637787500323, -0.4452748635987207, -0.2185400275156445], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 954}, "mesh_info": {"face_index": 3512, "face_uv": [0.7132282894358034, 0.020541882754683556, 0.26622982780951315]}}, {"xyz": [0.15993156980390222, -0.45575499534606934, 0.16538340774069443], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 677, "face_uv": [0.32491718474976755, 0.3875056923176725, 0.28757712293256]}}, {"xyz": [-0.1526153396087181, -0.45575499534606934, 0.1653726443361602], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 504}, "mesh_info": {"face_index": 452, "face_uv": [0.15906920587893383, 0.17600257729483315, 0.664928216826233]}}, {"xyz": [-0.2028539431047494, -0.43130372218984037, -0.22387828864256787], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1688}, "mesh_info": {"face_index": 3356, "face_uv": [0.03997392206373922, 0.4118763640151609, 0.5481497139210998]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c5c90d3e84be70a11b17743c18fb63dc", "keypoints": [{"xyz": [0.15626832372894883, 0.25898037589239564, 0.2778277656226814], "rgb": [154, 92, 46], "semantic_id": 0, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 539, "face_uv": [0.03761777296297832, 0.6855074190065735, 0.27687480803044756]}}, {"xyz": [-0.164001002907753, 0.25496833861348733, 0.2784406185156415], "rgb": [145, 82, 36], "semantic_id": 1, "pcd_info": {"point_index": 306}, "mesh_info": {"face_index": 612, "face_uv": [0.22986057160943027, 0.28647163645075274, 0.48366779193981696]}}, {"xyz": [0.14768229467591187, -0.11834091364930122, 0.21088397147400406], "rgb": [145, 81, 36], "semantic_id": 2, "pcd_info": {"point_index": 1208}, "mesh_info": {"face_index": 534, "face_uv": [0.407731758200775, 0.43577511638741384, 0.15649312541181098]}}, {"xyz": [-0.14850609661438657, -0.1219461241237576, 0.21033874341301306], "rgb": [147, 85, 38], "semantic_id": 3, "pcd_info": {"point_index": 1692}, "mesh_info": {"face_index": 617, "face_uv": [0.4656063845045799, 0.5105327071190773, 0.0238609083763416]}}, {"xyz": [0.13794969355825798, -0.12650099396705627, -0.24604695208282668], "rgb": [147, 79, 33], "semantic_id": 4, "pcd_info": {"point_index": 645}, "mesh_info": {"face_index": 137, "face_uv": [0.8096240284127962, 0.18997819337249905, 0.00039777821470467564]}}, {"xyz": [-0.1470576230035583, -0.13486089642908783, -0.2462339997291565], "rgb": [139, 76, 35], "semantic_id": 5, "pcd_info": {"point_index": 1366}, "mesh_info": {"face_index": 220, "face_uv": [0.9507754060575562, 0.0059540203012864844, 0.04327057364115734]}}, {"xyz": [0.15741306029322333, 0.07390389386001894, -0.3087823402235921], "rgb": [150, 86, 40], "semantic_id": 6, "pcd_info": {"point_index": 1178}, "mesh_info": {"face_index": 1050, "face_uv": [0.3872435538284874, 0.06261142248519051, 0.5501450236863221]}}, {"xyz": [0.15784706202257343, 0.07540896165666511, 0.23883876107378643], "rgb": [140, 75, 29], "semantic_id": 7, "pcd_info": {"point_index": 1531}, "mesh_info": {"face_index": 1240, "face_uv": [0.3355915170672525, 0.3669384314027196, 0.29747005153003103]}}, {"xyz": [-0.15303405521424085, 0.0895459370249414, -0.3032836479854524], "rgb": [148, 84, 38], "semantic_id": 8, "pcd_info": {"point_index": 1751}, "mesh_info": {"face_index": 1344, "face_uv": [0.4323479392810648, 0.1144387317077674, 0.4532133290111678]}}, {"xyz": [-0.15681877141223888, 0.09119858273933845, 0.2383234809739655], "rgb": [156, 90, 44], "semantic_id": 9, "pcd_info": {"point_index": 144}, "mesh_info": {"face_index": 1529, "face_uv": [0.05888571878293176, 0.4348456531816378, 0.506268628035431]}}, {"xyz": [0.1595153852751361, -0.45423799753189087, -0.23206757139502018], "rgb": [151, 85, 37], "semantic_id": 17, "pcd_info": {"point_index": 727}, "mesh_info": {"face_index": 392, "face_uv": [0.2997626077290841, 0.33817189249908614, 0.3620654997718297]}}, {"xyz": [0.15414158126751315, -0.45423799753189087, 0.21546213564746525], "rgb": [151, 85, 38], "semantic_id": 18, "pcd_info": {"point_index": 1211}, "mesh_info": {"face_index": 805, "face_uv": [0.3224497497751464, 0.28278929999659497, 0.39476095022825863]}}, {"xyz": [-0.1573492039552791, -0.4542379975318911, 0.19810404626137784], "rgb": [152, 84, 36], "semantic_id": 19, "pcd_info": {"point_index": 612}, "mesh_info": {"face_index": 859, "face_uv": [0.3648139599690516, 0.49310852770036795, 0.14207751233058094]}}, {"xyz": [-0.15870875039384513, -0.45423799753189087, -0.2350023936074412], "rgb": [153, 88, 41], "semantic_id": 20, "pcd_info": {"point_index": 264}, "mesh_info": {"face_index": 215, "face_uv": [0.10041526749198225, 0.26422602336300877, 0.635358709145009]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ce242d5e5e3f4befb13cfeddf8d6bfe0", "keypoints": [{"xyz": [0.17140093025065412, 0.4318299889564514, 0.14360305483638625], "rgb": [148, 77, 33], "semantic_id": 0, "pcd_info": {"point_index": 687}, "mesh_info": {"face_index": 127, "face_uv": [0.013718718639590403, 0.13603474025203663, 0.8502465411083729]}}, {"xyz": [-0.1675049518513195, 0.4216958441801969, 0.13845400512218475], "rgb": [146, 78, 31], "semantic_id": 1, "pcd_info": {"point_index": 1160}, "mesh_info": {"face_index": 83, "face_uv": [0.02375494605045363, 0.9532074421629491, 0.02303761178659716]}}, {"xyz": [0.12953289614013325, 0.0798960030078888, 0.11881334816772049], "rgb": [155, 85, 39], "semantic_id": 2, "pcd_info": {"point_index": 270}, "mesh_info": {"face_index": 121, "face_uv": [0.33783004111822873, 0.6463661842097504, 0.01580377467202078]}}, {"xyz": [-0.128366122980129, 0.0798960030078888, 0.12707668340879086], "rgb": [158, 90, 45], "semantic_id": 3, "pcd_info": {"point_index": 1997}, "mesh_info": {"face_index": 128, "face_uv": [0.7356447585491682, 0.00129554181222785, 0.263059699638604]}}, {"xyz": [0.13901700079441065, 0.0871642853444643, -0.21536965251786122], "rgb": [151, 83, 40], "semantic_id": 4, "pcd_info": {"point_index": 1022}, "mesh_info": {"face_index": 106, "face_uv": [0.0024397271751661117, 0.05369673626467061, 0.943863536560163]}}, {"xyz": [-0.1330097979537711, 0.07957431714938679, -0.2162349969148638], "rgb": [152, 85, 39], "semantic_id": 5, "pcd_info": {"point_index": 508}, "mesh_info": {"face_index": 49, "face_uv": [0.006542452454952087, 0.8793575830593368, 0.1140999644857121]}}, {"xyz": [0.15927772575939625, 0.21055668929910132, -0.2162349969148636], "rgb": [147, 82, 39], "semantic_id": 6, "pcd_info": {"point_index": 120}, "mesh_info": {"face_index": 107, "face_uv": [0.03470282426511727, 0.45553248017658604, 0.5097646955582967]}}, {"xyz": [0.14693755492875876, 0.21525399386882782, 0.13364078970986526], "rgb": [144, 78, 33], "semantic_id": 7, "pcd_info": {"point_index": 2017}, "mesh_info": {"face_index": 117, "face_uv": [0.2128494647949855, 0.01357024149233908, 0.7735802937126754]}}, {"xyz": [-0.16073276488678667, 0.21525399386882782, -0.21122878040512094], "rgb": [149, 83, 44], "semantic_id": 8, "pcd_info": {"point_index": 658}, "mesh_info": {"face_index": 253, "face_uv": [0.36078505086325396, 0.014114383251217158, 0.6251005658855289]}}, {"xyz": [-0.16342793754265622, 0.21525399386882804, 0.12362463804337898], "rgb": [152, 82, 38], "semantic_id": 9, "pcd_info": {"point_index": 429}, "mesh_info": {"face_index": 46, "face_uv": [0.30740877384278575, 0.04180949224147912, 0.6507817339157361]}}, {"xyz": [0.18896610282134477, -0.3753489851951599, -0.19564832738263893], "rgb": [146, 82, 41], "semantic_id": 17, "pcd_info": {"point_index": 1875}, "mesh_info": {"face_index": 266, "face_uv": [0.35286736451762457, 0.4296530454804379, 0.21747959000193748]}}, {"xyz": [0.19518348703093005, -0.3753489851951599, 0.17912705762126452], "rgb": [148, 82, 37], "semantic_id": 18, "pcd_info": {"point_index": 645}, "mesh_info": {"face_index": 125, "face_uv": [0.47488687231534815, 0.421817899791359, 0.1032952278932929]}}, {"xyz": [-0.1931161974961646, -0.3753489851951599, 0.17433848091081458], "rgb": [148, 81, 38], "semantic_id": 19, "pcd_info": {"point_index": 746}, "mesh_info": {"face_index": 206, "face_uv": [0.036879306933021765, 0.4455198708576389, 0.5176008222093393]}}, {"xyz": [-0.1964307576454068, -0.3753489851951597, -0.19055513301751087], "rgb": [156, 86, 42], "semantic_id": 20, "pcd_info": {"point_index": 565}, "mesh_info": {"face_index": 130, "face_uv": [0.13722425666883228, 0.2885477593446766, 0.5742279839864906]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9bda786a525b1ef93a11565e5be9cf53", "keypoints": [{"xyz": [0.20289262283173826, 0.4828067168576975, 0.14988407140225707], "rgb": [203, 163, 121], "semantic_id": 0, "pcd_info": {"point_index": 947}, "mesh_info": {"face_index": 3453, "face_uv": [0.09595027902900893, 0.06797288722450165, 0.8360768337464893]}}, {"xyz": [-0.20558153431328946, 0.476643727899988, 0.14720776686963022], "rgb": [204, 163, 121], "semantic_id": 1, "pcd_info": {"point_index": 1631}, "mesh_info": {"face_index": 3636, "face_uv": [0.010913657673970028, 0.009984873967493977, 0.9791014683585372]}}, {"xyz": [0.2003614113877586, 0.09482300109906827, 0.1069967929291854], "rgb": [204, 163, 121], "semantic_id": 2, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 5378, "face_uv": [0.043976067439289356, 0.008396343019677488, 0.9476275895410351]}}, {"xyz": [-0.2065201737327606, 0.09474187928271038, 0.1096325197738911], "rgb": [204, 163, 120], "semantic_id": 3, "pcd_info": {"point_index": 1956}, "mesh_info": {"face_index": 5080, "face_uv": [0.04665381713375228, 0.489491755386932, 0.4638544274793156]}}, {"xyz": [0.20395010246716838, 0.10229687000421883, -0.20841654502288964], "rgb": [204, 163, 121], "semantic_id": 4, "pcd_info": {"point_index": 1709}, "mesh_info": {"face_index": 5394, "face_uv": [0.03511030452525202, 0.040134364779806204, 0.9247553306949454]}}, {"xyz": [-0.20764454593738338, 0.10196770948587908, -0.20059556162061598], "rgb": [204, 163, 121], "semantic_id": 5, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 5278, "face_uv": [0.3304173635249862, 0.015525206053635653, 0.6540574304213819]}}, {"xyz": [0.22210541038100193, 0.25965449314703226, -0.16797013833360874], "rgb": [204, 163, 121], "semantic_id": 6, "pcd_info": {"point_index": 260}, "mesh_info": {"face_index": 4244, "face_uv": [0.8973213790692958, 0.09448938360484864, 0.008189237325855917]}}, {"xyz": [0.23044836299185611, 0.25995326403757857, 0.14452447618531983], "rgb": [204, 163, 121], "semantic_id": 7, "pcd_info": {"point_index": 1558}, "mesh_info": {"face_index": 4234, "face_uv": [0.04885011491473416, 0.7613770969640812, 0.18977278812118462]}}, {"xyz": [-0.23812273729011546, 0.26075760875163256, -0.16657838977258566], "rgb": [203, 162, 120], "semantic_id": 8, "pcd_info": {"point_index": 777}, "mesh_info": {"face_index": 2459, "face_uv": [0.04384491186668037, 0.3429674867266278, 0.6131876014066915]}}, {"xyz": [-0.2419717110124675, 0.26059099184475865, 0.14324901258528777], "rgb": [204, 163, 121], "semantic_id": 9, "pcd_info": {"point_index": 1845}, "mesh_info": {"face_index": 2475, "face_uv": [0.16260995717491264, 0.3168048143290421, 0.5205852284960458]}}, {"xyz": [0.21412677364148608, -0.2654309868812561, -0.16391318351532197], "rgb": [204, 163, 121], "semantic_id": 17, "pcd_info": {"point_index": 837}, "mesh_info": {"face_index": 3805, "face_uv": [0.21207977770203304, 0.05338739718246655, 0.7345328251155004]}}, {"xyz": [0.21617643773730905, -0.26937864017769475, 0.12983679455290373], "rgb": [57, 57, 57], "semantic_id": 18, "pcd_info": {"point_index": 1734}, "mesh_info": {"face_index": 2247, "face_uv": [0.2512829978171194, 0.2131406431618808, 0.5355763590209993]}}, {"xyz": [-0.2144389313330229, -0.2693532544494428, 0.13002991575647574], "rgb": [57, 57, 57], "semantic_id": 19, "pcd_info": {"point_index": 620}, "mesh_info": {"face_index": 1635, "face_uv": [0.564791901903506, 0.17086180621397287, 0.2643462918825208]}}, {"xyz": [-0.22041360349031242, -0.2654309868812561, -0.16617604016690057], "rgb": [204, 163, 121], "semantic_id": 20, "pcd_info": {"point_index": 1343}, "mesh_info": {"face_index": 2838, "face_uv": [0.2485600665035519, 0.22276188583187975, 0.5286780476645684]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3358536e8e7c416ea9ef8e11754eeede", "keypoints": [{"xyz": [0.15915152585337436, 0.250471616276962, -0.029272723621414087], "rgb": [205, 212, 222], "semantic_id": 0, "pcd_info": {"point_index": 1575}, "mesh_info": {"face_index": 399, "face_uv": [0.8543321315965636, 0.0290468019475586, 0.11662106645587876]}}, {"xyz": [-0.1481804742529237, 0.2497842076369624, -0.032033301548098914], "rgb": [199, 206, 216], "semantic_id": 1, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 720, "face_uv": [0.03307099532173256, 0.9540805526594098, 0.01284845201885579]}}, {"xyz": [0.17228133068205637, -0.20251456658197975, -0.04369852817060749], "rgb": [200, 207, 217], "semantic_id": 2, "pcd_info": {"point_index": 1502}, "mesh_info": {"face_index": 624, "face_uv": [0.021258704521522065, 0.49584807615087134, 0.4828932193276068]}}, {"xyz": [-0.1740065500223465, -0.20027500391006448, -0.02018244435072991], "rgb": [204, 211, 221], "semantic_id": 3, "pcd_info": {"point_index": 568}, "mesh_info": {"face_index": 1240, "face_uv": [0.26807234680330666, 0.4113375193549767, 0.3205901338417156]}}, {"xyz": [0.17875692672514715, -0.2089998874678622, -0.3185330033302307], "rgb": [199, 205, 221], "semantic_id": 4, "pcd_info": {"point_index": 1634}, "mesh_info": {"face_index": 784, "face_uv": [0.010288868946464238, 0.20447067737981584, 0.78524045367372]}}, {"xyz": [-0.17608623946057006, -0.20876843085301244, -0.3185330033302307], "rgb": [204, 211, 221], "semantic_id": 5, "pcd_info": {"point_index": 1058}, "mesh_info": {"face_index": 1876, "face_uv": [0.002137830078760481, 0.5498057463153099, 0.4480564236059296]}}, {"xyz": [0.19669225622235792, -0.5728710293769836, -0.3168771659359827], "rgb": [198, 205, 215], "semantic_id": 17, "pcd_info": {"point_index": 481}, "mesh_info": {"face_index": 165, "face_uv": [0.959788775896761, 0.03550628522099824, 0.004704938882240792]}}, {"xyz": [0.19764124927291649, -0.5728710293769836, 0.03260516162116574], "rgb": [202, 209, 219], "semantic_id": 18, "pcd_info": {"point_index": 678}, "mesh_info": {"face_index": 113, "face_uv": [0.0202745734920053, 0.9754346296525438, 0.0042907968554508095]}}, {"xyz": [-0.18207893490621355, -0.5728710293769839, 0.03193607267791761], "rgb": [210, 217, 227], "semantic_id": 19, "pcd_info": {"point_index": 185}, "mesh_info": {"face_index": 1224, "face_uv": [0.009169872340976173, 0.04791570980896559, 0.9429144178500587]}}, {"xyz": [-0.18390846217324058, -0.5728710293769836, -0.31743373681234394], "rgb": [203, 210, 220], "semantic_id": 20, "pcd_info": {"point_index": 1305}, "mesh_info": {"face_index": 986, "face_uv": [0.0028282554172279813, 0.9719622460788518, 0.0252094985039202]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b7e01301bb1eef41f92f3e7bff4c4ab0", "keypoints": [{"xyz": [0.19966074680128604, 0.3673242454026644, 0.2585663745112823], "rgb": [165, 200, 86], "semantic_id": 0, "pcd_info": {"point_index": 653}, "mesh_info": {"face_index": 6269, "face_uv": [0.14530905281375933, 0.010918565243641562, 0.8437723819425997]}}, {"xyz": [-0.19767038317189825, 0.36734174448436807, 0.25864041248481606], "rgb": [165, 200, 86], "semantic_id": 1, "pcd_info": {"point_index": 482}, "mesh_info": {"face_index": 6267, "face_uv": [0.8681622057517534, 0.014021345099531715, 0.11781644914871511]}}, {"xyz": [0.19805625910615376, 0.13422132466161296, 0.11967914204684904], "rgb": [164, 199, 85], "semantic_id": 2, "pcd_info": {"point_index": 1027}, "mesh_info": {"face_index": 6142, "face_uv": [0.014856016396724448, 0.37562581655717525, 0.6095181670460994]}}, {"xyz": [-0.19617763134518537, 0.13651085178875533, 0.1199589568183832], "rgb": [165, 200, 86], "semantic_id": 3, "pcd_info": {"point_index": 1900}, "mesh_info": {"face_index": 6139, "face_uv": [0.026508911212283562, 0.017684593760889405, 0.955806495026827]}}, {"xyz": [0.20322147858128742, 0.08360521816592092, -0.2576258406007057], "rgb": [165, 200, 86], "semantic_id": 4, "pcd_info": {"point_index": 1873}, "mesh_info": {"face_index": 5538, "face_uv": [0.002180444349649707, 0.23402032277543597, 0.7637992328749148]}}, {"xyz": [-0.2033839970827103, 0.08506864402765246, -0.2602961381504818], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1244}, "mesh_info": {"face_index": 3935, "face_uv": [0.8538872859162602, 0.1442112034790009, 0.0019015106047391083]}}, {"xyz": [0.257303871273221, 0.244158385877554, -0.2264146077121788], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 710}, "mesh_info": {"face_index": 1526, "face_uv": [0.5088520765788337, 0.4695802470857692, 0.02156767633539769]}}, {"xyz": [0.2675293358099661, 0.26552599411345246, 0.2659618292406567], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 528}, "mesh_info": {"face_index": 1840, "face_uv": [0.310521006495386, 0.39333123134360176, 0.29614776216101196]}}, {"xyz": [-0.2606223041606561, 0.2569949977609183, -0.21076316424476757], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1765}, "mesh_info": {"face_index": 4926, "face_uv": [0.2901553024081074, 0.5475411543848459, 0.16230354320704588]}}, {"xyz": [-0.25718952787539523, 0.2594450960241428, 0.2709111089887032], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1834}, "mesh_info": {"face_index": 4836, "face_uv": [0.2880907120177067, 0.5147032458943454, 0.19720604208794795]}}, {"xyz": [0.2568106212482866, -0.1806969940662384, -0.19757340669506895], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1266}, "mesh_info": {"face_index": 7511, "face_uv": [0.06980498183323987, 0.4007039434751608, 0.5294910746915993]}}, {"xyz": [0.26448552156297067, -0.1806969940662384, 0.1807695328469544], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 99}, "mesh_info": {"face_index": 8496, "face_uv": [0.20840643836357292, 0.6423115537059509, 0.14928200793047616]}}, {"xyz": [-0.2581783453647899, -0.18498606877946844, 0.1874552259481097], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 703}, "mesh_info": {"face_index": 2754, "face_uv": [0.1060495036373565, 0.6895604205280914, 0.20439007583455193]}}, {"xyz": [-0.25919824850698575, -0.1806969940662384, -0.1976932280484257], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1640}, "mesh_info": {"face_index": 9560, "face_uv": [0.4414158175520085, 0.17553623568746826, 0.3830479467605234]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6af67c2dcb4c38bc67f0a77fbca7cda2", "keypoints": [{"xyz": [0.24498038970030908, 0.29672345874790684, 0.29681236750218576], "rgb": [211, 148, 81], "semantic_id": 0, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 246, "face_uv": [0.18217413820731834, 0.662599886845893, 0.1552259749467884]}}, {"xyz": [-0.26171911970953243, 0.29948853272458076, 0.2918707992020291], "rgb": [209, 145, 79], "semantic_id": 1, "pcd_info": {"point_index": 601}, "mesh_info": {"face_index": 1015, "face_uv": [0.32406410622839105, 0.4037705361050268, 0.2721653576665822]}}, {"xyz": [0.23303763068455874, -0.09300015224700109, 0.06212471603348324], "rgb": [216, 152, 86], "semantic_id": 2, "pcd_info": {"point_index": 1099}, "mesh_info": {"face_index": 270, "face_uv": [0.7280542426971941, 0.003700575511166569, 0.26824518179163925]}}, {"xyz": [-0.2585247509507396, -0.08996980131944943, 0.04882133569393288], "rgb": [174, 125, 68], "semantic_id": 3, "pcd_info": {"point_index": 292}, "mesh_info": {"face_index": 1544, "face_uv": [0.43943719727561714, 0.09049036211284453, 0.4700724406115384]}}, {"xyz": [0.24164334403876783, -0.03961827239290841, -0.2634440064430237], "rgb": [212, 161, 94], "semantic_id": 4, "pcd_info": {"point_index": 493}, "mesh_info": {"face_index": 881, "face_uv": [0.18520636857835426, 0.3347039541407434, 0.48008967728090235]}}, {"xyz": [-0.26813491892436725, -0.04688750546675666, -0.2634440064430237], "rgb": [209, 149, 84], "semantic_id": 5, "pcd_info": {"point_index": 1335}, "mesh_info": {"face_index": 1648, "face_uv": [0.16181908949253831, 0.030810500327007297, 0.8073704101804545]}}, {"xyz": [0.2667477268135226, 0.13949681399574665, -0.2269809991121292], "rgb": [208, 146, 80], "semantic_id": 6, "pcd_info": {"point_index": 1795}, "mesh_info": {"face_index": 430, "face_uv": [0.41264365735226843, 0.312766938361486, 0.2745894042862456]}}, {"xyz": [0.26001058435204727, 0.15234699845314026, 0.19395380892408093], "rgb": [211, 151, 82], "semantic_id": 7, "pcd_info": {"point_index": 2004}, "mesh_info": {"face_index": 351, "face_uv": [0.2949303126340922, 0.01314027423301075, 0.6919294131328971]}}, {"xyz": [-0.2890861076736924, 0.14098651198704892, -0.22698099911212932], "rgb": [204, 142, 77], "semantic_id": 8, "pcd_info": {"point_index": 909}, "mesh_info": {"face_index": 1198, "face_uv": [0.09239362342638122, 0.4268715905124954, 0.4807347860611239]}}, {"xyz": [-0.276425292283085, 0.15234699845314026, 0.19134697633779874], "rgb": [210, 150, 81], "semantic_id": 9, "pcd_info": {"point_index": 138}, "mesh_info": {"face_index": 1118, "face_uv": [0.5034331361355182, 0.019414919128339637, 0.4771519447361422]}}, {"xyz": [0.25609568073942945, -0.2377379983663559, -0.1492022996248088], "rgb": [210, 150, 81], "semantic_id": 17, "pcd_info": {"point_index": 27}, "mesh_info": {"face_index": 674, "face_uv": [0.3258835831477609, 0.43818900604032934, 0.23592741081190977]}}, {"xyz": [0.23534379748027015, -0.2377379983663559, 0.3018522774370141], "rgb": [207, 144, 79], "semantic_id": 18, "pcd_info": {"point_index": 766}, "mesh_info": {"face_index": 692, "face_uv": [0.37735612100132454, 0.43896260771637075, 0.18368127128230463]}}, {"xyz": [-0.26229784402056444, -0.237737998366356, 0.3074176053153003], "rgb": [206, 144, 78], "semantic_id": 19, "pcd_info": {"point_index": 1290}, "mesh_info": {"face_index": 1464, "face_uv": [0.3137642046176404, 0.3886240429995316, 0.29761175238282855]}}, {"xyz": [-0.2792232499234088, -0.2377379983663559, -0.14117493285151772], "rgb": [208, 148, 80], "semantic_id": 20, "pcd_info": {"point_index": 461}, "mesh_info": {"face_index": 1448, "face_uv": [0.28114065535419797, 0.1948957939457001, 0.5239635507001019]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b24b70c9aaec3932cf577b918c6f725b", "keypoints": [{"xyz": [0.18630317462316856, 0.3975873610172619, 0.022191121738737607], "rgb": [155, 87, 42], "semantic_id": 0, "pcd_info": {"point_index": 16}, "mesh_info": {"face_index": 222, "face_uv": [0.020600859529344515, 0.09851300527693513, 0.8808861351937213]}}, {"xyz": [-0.19486613526932706, 0.4004217170840165, 0.01878725094701128], "rgb": [153, 88, 42], "semantic_id": 1, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 926, "face_uv": [0.004068961195494465, 0.6881568851914195, 0.3077741536130863]}}, {"xyz": [0.1861773726703112, -0.06198183039504701, 0.05956475809675155], "rgb": [154, 90, 49], "semantic_id": 2, "pcd_info": {"point_index": 1937}, "mesh_info": {"face_index": 40, "face_uv": [0.5547573110183753, 0.030538831063523827, 0.4147038579181024]}}, {"xyz": [-0.17953960477364744, -0.06130393242528376, 0.06176659245162419], "rgb": [151, 78, 33], "semantic_id": 3, "pcd_info": {"point_index": 1}, "mesh_info": {"face_index": 58, "face_uv": [0.4909662929295677, 0.0189278406771378, 0.4901058663932978]}}, {"xyz": [0.18762977156139443, -0.06607012609777518, -0.2529715841124288], "rgb": [151, 83, 36], "semantic_id": 4, "pcd_info": {"point_index": 1602}, "mesh_info": {"face_index": 42, "face_uv": [0.011351648015580178, 0.1694908474487891, 0.8191575045356287]}}, {"xyz": [-0.17575442129418783, -0.062313091568450885, -0.24783524782733468], "rgb": [149, 84, 43], "semantic_id": 5, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 54, "face_uv": [0.4228994229273815, 0.25481423135875764, 0.3222863457138602]}}, {"xyz": [0.16254325362641953, -0.4084109961986542, -0.2301150720477506], "rgb": [151, 85, 42], "semantic_id": 17, "pcd_info": {"point_index": 1778}, "mesh_info": {"face_index": 1461, "face_uv": [0.16433790295918443, 0.40980178808446843, 0.42586030895634713]}}, {"xyz": [0.16204330312502635, -0.40841099619865395, 0.055040030221867126], "rgb": [151, 86, 43], "semantic_id": 18, "pcd_info": {"point_index": 964}, "mesh_info": {"face_index": 2228, "face_uv": [0.4393229989594647, 0.4621735469790995, 0.09850345406143522]}}, {"xyz": [-0.1529186380648517, -0.40841099619865395, 0.05419752508342068], "rgb": [152, 86, 43], "semantic_id": 19, "pcd_info": {"point_index": 1740}, "mesh_info": {"face_index": 2612, "face_uv": [0.48667457592436003, 0.5017854279416767, 0.011539996133962803]}}, {"xyz": [-0.15490338624215289, -0.4084109961986542, -0.23345312520915384], "rgb": [152, 87, 43], "semantic_id": 20, "pcd_info": {"point_index": 402}, "mesh_info": {"face_index": 1847, "face_uv": [0.10686478197065419, 0.43325374698226776, 0.45988147104707805]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c3da3ae20c1f92650640e24a5497a2b", "keypoints": [{"xyz": [0.1675644212411843, 0.32930801602838855, 0.14015681191287166], "rgb": [83, 37, 18], "semantic_id": 0, "pcd_info": {"point_index": 1160}, "mesh_info": {"face_index": 1431, "face_uv": [0.2851423455889507, 0.07701534164261346, 0.6378423127684357]}}, {"xyz": [-0.1848351598869658, 0.3306304498217447, 0.13771356944296256], "rgb": [77, 32, 15], "semantic_id": 1, "pcd_info": {"point_index": 877}, "mesh_info": {"face_index": 1858, "face_uv": [0.25518761348031443, 0.17645311174802317, 0.5683592747716624]}}, {"xyz": [0.13790865253838333, -0.010185122615503195, 0.07325294655210945], "rgb": [80, 33, 15], "semantic_id": 2, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 169, "face_uv": [0.028681733278554982, 0.04688690737338083, 0.9244313593480729]}}, {"xyz": [-0.16342868126496846, -0.01727079803002618, 0.0760945840591607], "rgb": [88, 41, 23], "semantic_id": 3, "pcd_info": {"point_index": 1308}, "mesh_info": {"face_index": 40, "face_uv": [0.3977635872091781, 0.005513437804435151, 0.596722974986385]}}, {"xyz": [0.17508194756498047, -0.022736142191737585, -0.2765037706748956], "rgb": [101, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 323, "face_uv": [0.6141397072954524, 0.018747867952099307, 0.36711242475244815]}}, {"xyz": [-0.19658425299707583, -0.020022858759256135, -0.273434702461293], "rgb": [102, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 632}, "mesh_info": {"face_index": 295, "face_uv": [0.005880291061148531, 0.8450549520421115, 0.14906475689674065]}}, {"xyz": [0.15927649611531225, -0.43723198771476746, -0.26090164612000855], "rgb": [78, 33, 16], "semantic_id": 17, "pcd_info": {"point_index": 2047}, "mesh_info": {"face_index": 1073, "face_uv": [0.7094870677568522, 0.05735582116090114, 0.23315711108224668]}}, {"xyz": [0.13496873295219555, -0.43723198771476746, 0.0727966478325469], "rgb": [76, 33, 14], "semantic_id": 18, "pcd_info": {"point_index": 969}, "mesh_info": {"face_index": 1251, "face_uv": [0.4346872514039853, 0.016988832978914955, 0.5483239156170998]}}, {"xyz": [-0.1585837942590917, -0.43723198771476746, 0.07633499401417651], "rgb": [75, 32, 15], "semantic_id": 19, "pcd_info": {"point_index": 398}, "mesh_info": {"face_index": 1167, "face_uv": [0.514639854187706, 0.12721224331686906, 0.3581479024954249]}}, {"xyz": [-0.17823440242770702, -0.43723198771476746, -0.2593866857151028], "rgb": [79, 36, 17], "semantic_id": 20, "pcd_info": {"point_index": 822}, "mesh_info": {"face_index": 1346, "face_uv": [0.2053506582081212, 0.34730321649611606, 0.44734612529576273]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4ae645f3b724a7dcb83ea6cf8ac00397", "keypoints": [{"xyz": [0.21037733794795294, 0.3855385164375391, 0.06026599928736709], "rgb": [169, 87, 6], "semantic_id": 0, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 78, "face_uv": [0.9755477841980782, 0.01901312402338942, 0.005439091778536035]}}, {"xyz": [-0.22763667496899115, 0.3843168613541974, 0.06026599928736687], "rgb": [137, 67, 0], "semantic_id": 1, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 74, "face_uv": [0.01680889327665607, 0.9046394967987678, 0.07855160992457615]}}, {"xyz": [0.20608475015342198, 0.05465099960565567, 0.059826171049090826], "rgb": [170, 83, 3], "semantic_id": 2, "pcd_info": {"point_index": 1515}, "mesh_info": {"face_index": 71, "face_uv": [0.9888326014636478, 0.0010307959013119874, 0.010136602635040296]}}, {"xyz": [-0.22410304514793436, 0.05465099960565578, 0.04432738691890514], "rgb": [141, 67, 1], "semantic_id": 3, "pcd_info": {"point_index": 1661}, "mesh_info": {"face_index": 71, "face_uv": [0.01619961101914279, 0.03735425530295238, 0.9464461336779069]}}, {"xyz": [0.2015852408590873, 0.05465099960565567, -0.3658352903405946], "rgb": [167, 86, 6], "semantic_id": 4, "pcd_info": {"point_index": 405}, "mesh_info": {"face_index": 70, "face_uv": [0.021340562973562148, 0.0013750262742508875, 0.9772844107521866]}}, {"xyz": [-0.22373371297277272, 0.05465099960565567, -0.34935045133798703], "rgb": [155, 84, 6], "semantic_id": 5, "pcd_info": {"point_index": 1346}, "mesh_info": {"face_index": 71, "face_uv": [0.01703465251013334, 0.9599905637472537, 0.022974783742612973]}}, {"xyz": [0.18302462104591138, -0.27267900109291077, -0.33007476476430253], "rgb": [161, 78, 6], "semantic_id": 17, "pcd_info": {"point_index": 117}, "mesh_info": {"face_index": 103, "face_uv": [0.5273574300583006, 0.4177537592238171, 0.05488881071788224]}}, {"xyz": [0.18704201838863455, -0.27267900109291077, 0.1173873316617934], "rgb": [164, 82, 4], "semantic_id": 18, "pcd_info": {"point_index": 1602}, "mesh_info": {"face_index": 0, "face_uv": [0.4369540535355814, 0.5221310152142626, 0.04091493125015596]}}, {"xyz": [-0.19901844989032022, -0.27267900109291077, 0.12461006800217826], "rgb": [150, 73, 1], "semantic_id": 19, "pcd_info": {"point_index": 1081}, "mesh_info": {"face_index": 118, "face_uv": [0.4952800500717642, 0.4550134592031222, 0.04970649072511356]}}, {"xyz": [-0.20794034067721814, -0.27267900109291077, -0.3465772540112441], "rgb": [140, 70, 3], "semantic_id": 20, "pcd_info": {"point_index": 1111}, "mesh_info": {"face_index": 123, "face_uv": [0.4208437396113983, 0.35933164526045486, 0.21982461512814683]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "47dcabdd8618e5c4b3c9a4ebefe3bae0", "keypoints": [{"xyz": [0.16885099579511598, 0.34551064486350025, 0.08799354892129307], "rgb": [179, 104, 38], "semantic_id": 0, "pcd_info": {"point_index": 203}, "mesh_info": {"face_index": 241, "face_uv": [0.6764449846996315, 0.10022634255488688, 0.223328672745482]}}, {"xyz": [-0.17320623145479172, 0.3452213942538894, 0.08366700261831295], "rgb": [185, 111, 50], "semantic_id": 1, "pcd_info": {"point_index": 418}, "mesh_info": {"face_index": 320, "face_uv": [0.5074241054582284, 0.16717177882832748, 0.3254041157134454]}}, {"xyz": [0.17919038169617946, -0.15997199714183802, 0.051932259035013306], "rgb": [253, 252, 250], "semantic_id": 2, "pcd_info": {"point_index": 1384}, "mesh_info": {"face_index": 477, "face_uv": [0.9788138178794176, 0.0032210961059177894, 0.017965086014664313]}}, {"xyz": [-0.18585760831696685, -0.15997199714183818, 0.0457346586750047], "rgb": [251, 248, 245], "semantic_id": 3, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 823, "face_uv": [0.937842563239043, 0.017439071698279483, 0.04471836506267827]}}, {"xyz": [0.17631761368685, -0.1621835207090504, -0.22104984283809426], "rgb": [173, 99, 34], "semantic_id": 4, "pcd_info": {"point_index": 385}, "mesh_info": {"face_index": 807, "face_uv": [0.04609075995209265, 0.010998499042189608, 0.9429107410057171]}}, {"xyz": [-0.1843994094184398, -0.16943684988873386, -0.22112433527999853], "rgb": [173, 98, 34], "semantic_id": 5, "pcd_info": {"point_index": 151}, "mesh_info": {"face_index": 812, "face_uv": [0.7339872763357731, 0.021682779447823517, 0.24432994421640403]}}, {"xyz": [0.20070788050323066, -0.07626941217125249, -0.22510899603366852], "rgb": [180, 103, 39], "semantic_id": 6, "pcd_info": {"point_index": 407}, "mesh_info": {"face_index": 36, "face_uv": [0.24793348494381687, 0.6405348271907223, 0.1115316878654608]}}, {"xyz": [0.19237355862544914, -0.05943582981485185, 0.08366700261831284], "rgb": [178, 100, 36], "semantic_id": 7, "pcd_info": {"point_index": 1873}, "mesh_info": {"face_index": 117, "face_uv": [0.34433437773134945, 0.03449829005636032, 0.6211673322122903]}}, {"xyz": [-0.20312126117022092, -0.07286498107663364, -0.22510899603366852], "rgb": [181, 107, 45], "semantic_id": 8, "pcd_info": {"point_index": 1008}, "mesh_info": {"face_index": 206, "face_uv": [0.5525998342054509, 0.2883281298006635, 0.15907203599388564]}}, {"xyz": [-0.2065878146358946, -0.06344670369801064, 0.08366700261831261], "rgb": [178, 101, 37], "semantic_id": 9, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 686, "face_uv": [0.2583505116268929, 0.0183329837970824, 0.723316504576022]}}, {"xyz": [0.18877752820920732, -0.39151999354362477, -0.21765761749232757], "rgb": [184, 112, 46], "semantic_id": 17, "pcd_info": {"point_index": 199}, "mesh_info": {"face_index": 1, "face_uv": [0.38700420330045504, 0.5660249844159569, 0.04697081228358766]}}, {"xyz": [0.1969419481839205, -0.39151999354362477, 0.09357169258051039], "rgb": [180, 105, 40], "semantic_id": 18, "pcd_info": {"point_index": 1089}, "mesh_info": {"face_index": 458, "face_uv": [0.34670705941227936, 0.14203035183663773, 0.5112625887510827]}}, {"xyz": [-0.20012918914301525, -0.3915199935436251, 0.09602680274515607], "rgb": [184, 109, 44], "semantic_id": 19, "pcd_info": {"point_index": 1684}, "mesh_info": {"face_index": 250, "face_uv": [0.3620089640954535, 0.5972896673904732, 0.040701368514073896]}}, {"xyz": [-0.2037302925192157, -0.39151999354362477, -0.21230930270045054], "rgb": [176, 101, 42], "semantic_id": 20, "pcd_info": {"point_index": 550}, "mesh_info": {"face_index": 114, "face_uv": [0.33521896741260676, 0.41398477159175173, 0.25079626099564123]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d58df0968070bf3b4b3c42e318f3affc", "keypoints": [{"xyz": [0.15607027370160964, 0.12490462483941134, 0.016396795135650066], "rgb": [134, 173, 160], "semantic_id": 0, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 15264, "face_uv": [0.20021521238203052, 0.5390007284949205, 0.2607840591230496]}}, {"xyz": [-0.17025161975100034, 0.10853297178197926, 0.01589910768265468], "rgb": [136, 176, 164], "semantic_id": 1, "pcd_info": {"point_index": 772}, "mesh_info": {"face_index": 12182, "face_uv": [0.5765986798711255, 0.1289116684937048, 0.2944896516351708]}}, {"xyz": [0.11733453990981349, -0.18147240505760653, -0.0019972710471909405], "rgb": [142, 182, 174], "semantic_id": 2, "pcd_info": {"point_index": 1129}, "mesh_info": {"face_index": 16522, "face_uv": [0.08398369919542192, 0.3438808070010151, 0.5721354938035577]}}, {"xyz": [-0.07563712537265038, -0.18279425589788356, -0.0020815509181171254], "rgb": [132, 174, 160], "semantic_id": 3, "pcd_info": {"point_index": 623}, "mesh_info": {"face_index": 14232, "face_uv": [0.3210346840439911, 0.12701243904175977, 0.551952876914267]}}, {"xyz": [0.12842491268468678, -0.20247608087520724, -0.2933146360437544], "rgb": [141, 178, 167], "semantic_id": 4, "pcd_info": {"point_index": 21}, "mesh_info": {"face_index": 28816, "face_uv": [0.002437661646881597, 0.7460713206620331, 0.2514910176910855]}}, {"xyz": [-0.08084195349981638, -0.19841430705848945, -0.3026858662644343], "rgb": [137, 177, 167], "semantic_id": 5, "pcd_info": {"point_index": 463}, "mesh_info": {"face_index": 10669, "face_uv": [0.03674169739128913, 0.23568033663506033, 0.7275779659736507]}}, {"xyz": [0.16139876865790925, -0.5885999798774719, -0.2683456388680656], "rgb": [145, 185, 177], "semantic_id": 17, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 29246, "face_uv": [0.6208766880561594, 0.0061982476310642725, 0.3729250643127764]}}, {"xyz": [0.13145044357826458, -0.5885999798774719, -0.016643755927102034], "rgb": [139, 181, 171], "semantic_id": 18, "pcd_info": {"point_index": 619}, "mesh_info": {"face_index": 18158, "face_uv": [0.09698384808692477, 0.351351965696889, 0.5516641862161863]}}, {"xyz": [-0.11818417522139824, -0.5885999798774719, -0.045619710623354875], "rgb": [139, 175, 165], "semantic_id": 19, "pcd_info": {"point_index": 351}, "mesh_info": {"face_index": 17444, "face_uv": [0.04187497048336811, 0.7631246177658298, 0.19507767377802923]}}, {"xyz": [-0.09109951323349406, -0.5885999798774719, -0.28977056946597546], "rgb": [134, 178, 167], "semantic_id": 20, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 17038, "face_uv": [0.33355736012915205, 0.5193418210220633, 0.14710081884878476]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": [{"kp_indexes": [6, 7, 8, 9], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "e0276adea0d4f4bf1783a44a88d6274", "keypoints": [{"xyz": [0.15661805465758116, 0.27208854097114976, 0.15864275049671406], "rgb": [215, 199, 166], "semantic_id": 0, "pcd_info": {"point_index": 2016}, "mesh_info": {"face_index": 3446, "face_uv": [0.34898831853463635, 0.1947946895648846, 0.45621699190047826]}}, {"xyz": [-0.14403648649323825, 0.2738788268533986, 0.1650973025942868], "rgb": [216, 200, 167], "semantic_id": 1, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 3531, "face_uv": [0.39204841452185557, 0.17836376739658133, 0.429587818081564]}}, {"xyz": [0.13115327919228742, -0.02420765132653746, 0.11975766345742866], "rgb": [149, 61, 4], "semantic_id": 2, "pcd_info": {"point_index": 1010}, "mesh_info": {"face_index": 2552, "face_uv": [0.19234248876365267, 0.6890454930874795, 0.11861201814886932]}}, {"xyz": [-0.13500060949796427, -0.013180890293814751, 0.11468203768134821], "rgb": [152, 63, 10], "semantic_id": 3, "pcd_info": {"point_index": 760}, "mesh_info": {"face_index": 1700, "face_uv": [0.147040261790714, 0.8099445298814111, 0.043015208327875254]}}, {"xyz": [0.2143044042206899, -0.031836763924759426, -0.26657500318850835], "rgb": [142, 60, 6], "semantic_id": 4, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 913, "face_uv": [0.5518861640114527, 0.01695717326245571, 0.43115666272609177]}}, {"xyz": [-0.2159884453778265, -0.030818478328349774, -0.2665382981260138], "rgb": [153, 73, 12], "semantic_id": 5, "pcd_info": {"point_index": 1783}, "mesh_info": {"face_index": 1074, "face_uv": [0.4780687850599461, 0.013349118762466231, 0.508582096177588]}}, {"xyz": [0.22542194653392023, 0.21925658652858593, -0.1777786722394764], "rgb": [216, 200, 167], "semantic_id": 6, "pcd_info": {"point_index": 649}, "mesh_info": {"face_index": 3851, "face_uv": [0.019434980010718677, 0.3194974904851327, 0.661067529504149]}}, {"xyz": [0.1937430001350463, 0.2577041338379503, 0.11076700098602066], "rgb": [216, 200, 167], "semantic_id": 7, "pcd_info": {"point_index": 982}, "mesh_info": {"face_index": 3424, "face_uv": [0.14209247260570326, 0.406854389541839, 0.45105313785245804]}}, {"xyz": [-0.22903823275619048, 0.220508532930071, -0.1775699836787874], "rgb": [216, 200, 167], "semantic_id": 8, "pcd_info": {"point_index": 1315}, "mesh_info": {"face_index": 3650, "face_uv": [0.46166025122244647, 0.4702049214285524, 0.06813482734900128]}}, {"xyz": [-0.20405996158040182, 0.25488039153401953, 0.1016846941920031], "rgb": [216, 200, 167], "semantic_id": 9, "pcd_info": {"point_index": 529}, "mesh_info": {"face_index": 3933, "face_uv": [0.11720857479509182, 0.3715344260100149, 0.5112569991948935]}}, {"xyz": [0.1869459595195937, -0.41542291516873486, -0.26778357823751464], "rgb": [144, 64, 3], "semantic_id": 17, "pcd_info": {"point_index": 1658}, "mesh_info": {"face_index": 4178, "face_uv": [0.04118870669478449, 0.40604110286576683, 0.5527701904394489]}}, {"xyz": [0.15577371308739155, -0.4217932159941481, 0.1785399987983225], "rgb": [138, 58, 6], "semantic_id": 18, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 2739, "face_uv": [0.2658409440050391, 0.4595382670367006, 0.27462078895825975]}}, {"xyz": [-0.1646416122241577, -0.4259865843879687, 0.17263099945046778], "rgb": [133, 56, 7], "semantic_id": 19, "pcd_info": {"point_index": 1359}, "mesh_info": {"face_index": 2047, "face_uv": [0.066980779438253, 0.2575651110537542, 0.6754541095079947]}}, {"xyz": [-0.1928993996637702, -0.41239971154797367, -0.2677116921424698], "rgb": [152, 69, 6], "semantic_id": 20, "pcd_info": {"point_index": 272}, "mesh_info": {"face_index": 216, "face_uv": [0.13807229157618975, 0.6585213354859526, 0.2034063729378572]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fb912528e642f6ea7c7cfdf5546967dd", "keypoints": [{"xyz": [0.25014902273359874, 0.24931416700757003, 0.1064324165153323], "rgb": [242, 242, 240], "semantic_id": 0, "pcd_info": {"point_index": 1482}, "mesh_info": {"face_index": 16022, "face_uv": [0.003950000306652289, 0.3861126367127291, 0.6099373629806201]}}, {"xyz": [-0.2496146557542704, 0.24978722547165422, 0.10875161266918987], "rgb": [251, 251, 249], "semantic_id": 1, "pcd_info": {"point_index": 1927}, "mesh_info": {"face_index": 20152, "face_uv": [0.2788277274478175, 0.1931515770643666, 0.5280206954878146]}}, {"xyz": [0.26648589768848896, -0.007744605750188871, 0.10132515193683522], "rgb": [233, 233, 230], "semantic_id": 2, "pcd_info": {"point_index": 1016}, "mesh_info": {"face_index": 103, "face_uv": [0.010530721714089893, 0.7244305170159571, 0.2650387612699587]}}, {"xyz": [-0.2646647796392141, -0.007521417260634822, 0.08689702772940322], "rgb": [234, 235, 230], "semantic_id": 3, "pcd_info": {"point_index": 610}, "mesh_info": {"face_index": 828, "face_uv": [0.9306975706037669, 0.008218078526545972, 0.061084350869628996]}}, {"xyz": [0.24580610228563746, -0.0025550800639418947, -0.24413326390586598], "rgb": [233, 233, 229], "semantic_id": 4, "pcd_info": {"point_index": 558}, "mesh_info": {"face_index": 1626, "face_uv": [0.1910837086192697, 0.11389034718692503, 0.6950259441938055]}}, {"xyz": [-0.268426860153796, -0.017695343170082256, -0.21906274630380307], "rgb": [241, 241, 239], "semantic_id": 5, "pcd_info": {"point_index": 1390}, "mesh_info": {"face_index": 2416, "face_uv": [0.5068581258155701, 0.008755937776152072, 0.48438593640827776]}}, {"xyz": [0.28244993052677003, 0.23627089221778735, -0.11121311285291524], "rgb": [242, 242, 239], "semantic_id": 6, "pcd_info": {"point_index": 1229}, "mesh_info": {"face_index": 4065, "face_uv": [0.3338076439541173, 0.5826155466975652, 0.08357680934831535]}}, {"xyz": [0.29657249452594125, 0.250095045306603, 0.08347637014008624], "rgb": [246, 247, 242], "semantic_id": 7, "pcd_info": {"point_index": 777}, "mesh_info": {"face_index": 5302, "face_uv": [0.15516646010206483, 0.023056239600795336, 0.8217773002971398]}}, {"xyz": [-0.2786856194427514, 0.24289562988596042, -0.10747188302789312], "rgb": [245, 245, 243], "semantic_id": 8, "pcd_info": {"point_index": 679}, "mesh_info": {"face_index": 22235, "face_uv": [0.029962180978191828, 0.5869863288158396, 0.38305149020596907]}}, {"xyz": [-0.27783072509592516, 0.2515503843062867, 0.1228015393345292], "rgb": [242, 242, 240], "semantic_id": 9, "pcd_info": {"point_index": 70}, "mesh_info": {"face_index": 20092, "face_uv": [0.31870061609732686, 0.5176875987388375, 0.1636117851638362]}}, {"xyz": [0.2592527801151078, -0.25845143323538633, -0.25387976360667164], "rgb": [57, 53, 41], "semantic_id": 17, "pcd_info": {"point_index": 391}, "mesh_info": {"face_index": 40624, "face_uv": [0.7681880999269796, 0.005852836223233465, 0.22595906384978698]}}, {"xyz": [0.22084351914022549, -0.2518439533682664, 0.17367831705944003], "rgb": [72, 68, 55], "semantic_id": 18, "pcd_info": {"point_index": 2013}, "mesh_info": {"face_index": 43328, "face_uv": [0.3213262689159521, 0.2097548094069714, 0.46891892167707594]}}, {"xyz": [-0.2042720535164121, -0.2588963235936961, 0.16912819193921447], "rgb": [59, 55, 43], "semantic_id": 19, "pcd_info": {"point_index": 822}, "mesh_info": {"face_index": 23129, "face_uv": [0.18371881853271754, 0.14865489199963797, 0.6676262894676445]}}, {"xyz": [-0.24768349893196795, -0.2597942774571196, -0.25409144509931925], "rgb": [64, 60, 48], "semantic_id": 20, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 26915, "face_uv": [0.12497392096443728, 0.06371067467211189, 0.8113154043634526]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "808fa82fe9ad86d9f1cc184b6fa3e1f9", "keypoints": [{"xyz": [0.1562726336892398, 0.49299898743629467, 0.0942620604998178], "rgb": [159, 91, 42], "semantic_id": 0, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 7, "face_uv": [0.42818947596051293, 0.5697058661717658, 0.0021046578677215056]}}, {"xyz": [-0.15382576785576754, 0.49299898743629444, 0.09085775028208587], "rgb": [152, 87, 42], "semantic_id": 1, "pcd_info": {"point_index": 1726}, "mesh_info": {"face_index": 144, "face_uv": [0.01120479066947842, 0.488509738968101, 0.5002854703624203]}}, {"xyz": [0.1634208869851474, 0.04753199964761734, 0.06710360943461657], "rgb": [152, 89, 45], "semantic_id": 2, "pcd_info": {"point_index": 1702}, "mesh_info": {"face_index": 28, "face_uv": [0.9047917268727648, 0.011707685787873878, 0.08350058733936128]}}, {"xyz": [-0.1529804176345071, 0.0479031153563817, 0.07037600129842769], "rgb": [152, 86, 42], "semantic_id": 3, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 45, "face_uv": [0.000833093627445937, 0.4280060997512017, 0.5711608066213539]}}, {"xyz": [0.16566130066807944, 0.04520359645090527, -0.20913200080394756], "rgb": [149, 85, 41], "semantic_id": 4, "pcd_info": {"point_index": 696}, "mesh_info": {"face_index": 48, "face_uv": [0.15680539073558708, 0.015394786396132997, 0.8277998228682805]}}, {"xyz": [-0.16924903620014367, 0.04747874065862384, -0.20913200080394734], "rgb": [157, 93, 45], "semantic_id": 5, "pcd_info": {"point_index": 1806}, "mesh_info": {"face_index": 48, "face_uv": [0.003586705511784271, 0.9950973380823585, 0.00131595640585671]}}, {"xyz": [0.1407135282414654, -0.3900749981403351, -0.18449828161954562], "rgb": [153, 87, 43], "semantic_id": 17, "pcd_info": {"point_index": 787}, "mesh_info": {"face_index": 85, "face_uv": [0.29871926899463963, 0.5184299498894434, 0.18285078111591702]}}, {"xyz": [0.15211754630891777, -0.3900749981403351, 0.08860799678835021], "rgb": [149, 85, 42], "semantic_id": 18, "pcd_info": {"point_index": 216}, "mesh_info": {"face_index": 204, "face_uv": [0.06476846663626552, 0.49867424150196044, 0.43655729186177405]}}, {"xyz": [-0.1489384094513661, -0.3900749981403351, 0.09560307058526772], "rgb": [150, 84, 37], "semantic_id": 19, "pcd_info": {"point_index": 710}, "mesh_info": {"face_index": 79, "face_uv": [0.4896569932069501, 0.35145912831250803, 0.15888387848054186]}}, {"xyz": [-0.14767446753236912, -0.3900749981403351, -0.1754374309442378], "rgb": [152, 86, 39], "semantic_id": 20, "pcd_info": {"point_index": 1437}, "mesh_info": {"face_index": 109, "face_uv": [0.4603189412718718, 0.2908795446943062, 0.24880151403382197]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2d80c89d4284b4db21f01d01c8c9dec6", "keypoints": [{"xyz": [0.23298608696415776, 0.23819651231847216, 0.11721341291385229], "rgb": [15, 19, 19], "semantic_id": 0, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 12397, "face_uv": [0.4661042267215861, 0.3590380481592734, 0.1748577251191409]}}, {"xyz": [-0.23697532807715052, 0.23744118691050597, 0.119250120069151], "rgb": [14, 18, 18], "semantic_id": 1, "pcd_info": {"point_index": 983}, "mesh_info": {"face_index": 4392, "face_uv": [0.45427779233474763, 0.48960351964875554, 0.056118688016496596]}}, {"xyz": [0.14765595169101198, -0.10260400176048279, 0.07972781006968807], "rgb": [71, 30, 30], "semantic_id": 2, "pcd_info": {"point_index": 314}, "mesh_info": {"face_index": 8578, "face_uv": [0.8646200405800092, 0.09035762748400346, 0.045022331935987384]}}, {"xyz": [-0.15197454471405114, -0.10260400176048257, 0.0823618561859289], "rgb": [72, 30, 31], "semantic_id": 3, "pcd_info": {"point_index": 380}, "mesh_info": {"face_index": 1911, "face_uv": [0.8699831128234031, 0.05208491375504867, 0.07793197342154613]}}, {"xyz": [0.15758352461516434, -0.10260400176048257, -0.33888449505055246], "rgb": [72, 30, 31], "semantic_id": 4, "pcd_info": {"point_index": 1588}, "mesh_info": {"face_index": 8577, "face_uv": [0.958887248861515, 0.028811893769342865, 0.012300857369140022]}}, {"xyz": [-0.15446626088604803, -0.10260400176048257, -0.33265895957704567], "rgb": [72, 30, 31], "semantic_id": 5, "pcd_info": {"point_index": 20}, "mesh_info": {"face_index": 1912, "face_uv": [0.9383861001895936, 0.036637487411162, 0.024976412399242344]}}, {"xyz": [0.2366056496965203, 0.06952497889854614, -0.3363948343214275], "rgb": [98, 53, 53], "semantic_id": 6, "pcd_info": {"point_index": 1391}, "mesh_info": {"face_index": 8600, "face_uv": [0.548563992462881, 0.43406605503349494, 0.01736995250362715]}}, {"xyz": [0.2361745857941947, 0.06956627611327182, 0.1349935626751128], "rgb": [97, 54, 54], "semantic_id": 7, "pcd_info": {"point_index": 1423}, "mesh_info": {"face_index": 8586, "face_uv": [0.4444074952447326, 0.5327368561212674, 0.02285564863400156]}}, {"xyz": [-0.21950539700089597, 0.06978708864482153, -0.33984734421925095], "rgb": [67, 29, 30], "semantic_id": 8, "pcd_info": {"point_index": 779}, "mesh_info": {"face_index": 1887, "face_uv": [0.3834710132021744, 0.606188546757518, 0.010340440040311179]}}, {"xyz": [-0.237466778002418, 0.06926474406994965, 0.13183668908938884], "rgb": [97, 53, 52], "semantic_id": 9, "pcd_info": {"point_index": 991}, "mesh_info": {"face_index": 1902, "face_uv": [0.19559102577274323, 0.7751257459851724, 0.029283228242086595]}}, {"xyz": [0.20401572517934263, -0.3603050112724304, -0.32214867498011146], "rgb": [15, 19, 19], "semantic_id": 17, "pcd_info": {"point_index": 1577}, "mesh_info": {"face_index": 13747, "face_uv": [0.014788304246865773, 0.5847966053318354, 0.4004150904212988]}}, {"xyz": [0.21162920576202215, -0.3603050112724304, 0.09929541276501441], "rgb": [14, 19, 19], "semantic_id": 18, "pcd_info": {"point_index": 531}, "mesh_info": {"face_index": 1444, "face_uv": [0.05846092101243062, 0.34587816200344373, 0.5956609169841256]}}, {"xyz": [-0.1907542541740208, -0.3603050112724304, 0.09745290229262932], "rgb": [14, 19, 19], "semantic_id": 19, "pcd_info": {"point_index": 79}, "mesh_info": {"face_index": 13955, "face_uv": [0.13228646343312042, 0.8410676601241046, 0.026645876442775007]}}, {"xyz": [-0.20192896676707084, -0.3603050112724304, -0.315731494131404], "rgb": [15, 19, 19], "semantic_id": 20, "pcd_info": {"point_index": 544}, "mesh_info": {"face_index": 8122, "face_uv": [0.3530838450473627, 0.26328229514470664, 0.38363385980793063]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "54fc8ae4211e121a55450780441af433", "keypoints": [{"xyz": [0.18232913570844228, 0.255010969632818, 0.21348007504327315], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 1250}, "mesh_info": {"face_index": 3910, "face_uv": [0.19233901072329807, 0.16666094089346134, 0.64100004838324]}}, {"xyz": [-0.17723850453365014, 0.2545520990394883, 0.21696747077150855], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 147}, "mesh_info": {"face_index": 4109, "face_uv": [0.4202909636671573, 0.3955899154044771, 0.1841191209283652]}}, {"xyz": [0.15079431472989502, -0.14415560033880537, 0.15316748364727878], "rgb": [0, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 260}, "mesh_info": {"face_index": 4078, "face_uv": [0.0805584570915523, 0.8051181334054611, 0.11432340950298851]}}, {"xyz": [-0.15306180911911324, -0.14410153134106363, 0.15365109712763064], "rgb": [0, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 1049}, "mesh_info": {"face_index": 4015, "face_uv": [0.07492186052159482, 0.16412579535996644, 0.760952344118438]}}, {"xyz": [0.21694957896106942, -0.13527909580281117, -0.172984251070731], "rgb": [0, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1759}, "mesh_info": {"face_index": 4755, "face_uv": [0.03468082711083729, 0.8618353400282691, 0.1034838328608937]}}, {"xyz": [-0.22179617725227607, -0.13469979302677437, -0.1712335228285172], "rgb": [0, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 436}, "mesh_info": {"face_index": 4675, "face_uv": [0.041616903941393835, 0.006325001227442218, 0.9520580948311647]}}, {"xyz": [0.23697213206230708, 0.06901100277900696, -0.20044351923874226], "rgb": [82, 82, 82], "semantic_id": 6, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 2193, "face_uv": [0.5080698195632943, 0.3837094590948016, 0.10822072134190415]}}, {"xyz": [0.23364592843217719, 0.06901100277900718, 0.18915085074980598], "rgb": [82, 82, 82], "semantic_id": 7, "pcd_info": {"point_index": 1560}, "mesh_info": {"face_index": 2313, "face_uv": [0.007112575133950064, 0.9781746382333026, 0.014712786632750458]}}, {"xyz": [-0.2350245941930379, 0.06901100277900696, -0.20185203332099366], "rgb": [82, 82, 82], "semantic_id": 8, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 618, "face_uv": [0.227080195672826, 0.4831006048205377, 0.28981919950663626]}}, {"xyz": [-0.23252510320797629, 0.06901100277900696, 0.19226314179800194], "rgb": [82, 82, 82], "semantic_id": 9, "pcd_info": {"point_index": 716}, "mesh_info": {"face_index": 734, "face_uv": [0.42257693301050836, 0.46971476287176317, 0.10770830411772837]}}, {"xyz": [0.23214721244115377, -0.4861139953136444, -0.2015426557731242], "rgb": [28, 28, 28], "semantic_id": 17, "pcd_info": {"point_index": 1368}, "mesh_info": {"face_index": 42, "face_uv": [0.2805415389517266, 0.5559651255300114, 0.16349333551826195]}}, {"xyz": [0.23478517877044897, -0.4861139953136444, 0.1951970342537027], "rgb": [28, 28, 28], "semantic_id": 18, "pcd_info": {"point_index": 1260}, "mesh_info": {"face_index": 146, "face_uv": [0.5699728027874669, 0.18321574898709483, 0.2468114482254383]}}, {"xyz": [-0.2407855469066405, -0.4861139953136442, 0.19382208006687604], "rgb": [27, 27, 27], "semantic_id": 19, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 322, "face_uv": [0.20932474804887294, 0.19572777580266207, 0.5949474761484645]}}, {"xyz": [-0.2382032955551452, -0.4861139953136444, -0.19999068252761282], "rgb": [28, 28, 28], "semantic_id": 20, "pcd_info": {"point_index": 1938}, "mesh_info": {"face_index": 230, "face_uv": [0.3497294030910686, 0.21449624595651942, 0.43577435095241207]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "72da95dd6a486a4d4056b9c3d62d1efd", "keypoints": [{"xyz": [0.16852143242953593, 0.3201251870300279, 0.2521671699414918], "rgb": [255, 181, 193], "semantic_id": 0, "pcd_info": {"point_index": 1257}, "mesh_info": {"face_index": 4054, "face_uv": [0.5968380463445092, 0.10599569709850865, 0.29716625655698253]}}, {"xyz": [-0.22242892799871447, 0.2909149344959081, 0.23214160596243594], "rgb": [255, 181, 193], "semantic_id": 1, "pcd_info": {"point_index": 1091}, "mesh_info": {"face_index": 3483, "face_uv": [0.01240303296739266, 0.24930009219316138, 0.7382968748394463]}}, {"xyz": [0.12597043338196917, -0.06325444851145723, 0.031685754160007074], "rgb": [254, 180, 192], "semantic_id": 2, "pcd_info": {"point_index": 1497}, "mesh_info": {"face_index": 4780, "face_uv": [0.26968979862534703, 0.29848231194631886, 0.4318278894283333]}}, {"xyz": [-0.12512167990567008, -0.08010674218846936, 0.027154514518324513], "rgb": [255, 181, 193], "semantic_id": 3, "pcd_info": {"point_index": 602}, "mesh_info": {"face_index": 4070, "face_uv": [0.10849398476281749, 0.6715038728504875, 0.22000214238669497]}}, {"xyz": [0.22722640703354005, -0.012183588130226797, -0.24903219431848456], "rgb": [254, 180, 192], "semantic_id": 4, "pcd_info": {"point_index": 1811}, "mesh_info": {"face_index": 6499, "face_uv": [0.3678057073472422, 0.0979677630490922, 0.5342265296036648]}}, {"xyz": [-0.22612339349099467, -0.0577657266875089, -0.250964136748114], "rgb": [255, 181, 193], "semantic_id": 5, "pcd_info": {"point_index": 202}, "mesh_info": {"face_index": 5362, "face_uv": [0.3194632095657804, 0.5786294635557013, 0.10190732687851876]}}, {"xyz": [0.226721364036947, 0.08688881882494659, -0.11022685608162774], "rgb": [255, 181, 193], "semantic_id": 6, "pcd_info": {"point_index": 1333}, "mesh_info": {"face_index": 4499, "face_uv": [0.09404970976120872, 0.45936454370101404, 0.44658574653777866]}}, {"xyz": [0.17939235768724868, 0.039195093376836354, 0.09133163116734927], "rgb": [255, 181, 193], "semantic_id": 7, "pcd_info": {"point_index": 476}, "mesh_info": {"face_index": 4486, "face_uv": [0.02358232249893245, 0.6010310275604007, 0.3753866499406706]}}, {"xyz": [-0.23174772643450506, 0.043555997443992966, -0.1257206908337049], "rgb": [255, 181, 193], "semantic_id": 8, "pcd_info": {"point_index": 1669}, "mesh_info": {"face_index": 2851, "face_uv": [0.3630960757515406, 0.46184533118720067, 0.1750585930612589]}}, {"xyz": [-0.18665919449203067, 0.006736086896551807, 0.08911225741488277], "rgb": [255, 181, 193], "semantic_id": 9, "pcd_info": {"point_index": 1008}, "mesh_info": {"face_index": 2778, "face_uv": [0.3892572052696607, 0.17525316940019606, 0.43548962533014557]}}, {"xyz": [0.21023516364196068, -0.2933349557585416, -0.2611160973141389], "rgb": [199, 184, 140], "semantic_id": 17, "pcd_info": {"point_index": 543}, "mesh_info": {"face_index": 8161, "face_uv": [0.4216287387699212, 0.018848479884739134, 0.5595227813453418]}}, {"xyz": [0.20287162888639101, -0.29807780738570944, 0.09316061026863376], "rgb": [189, 169, 120], "semantic_id": 18, "pcd_info": {"point_index": 1904}, "mesh_info": {"face_index": 8336, "face_uv": [0.33681270073611763, 0.37336091367856533, 0.28982638558531765]}}, {"xyz": [-0.14937673963552045, -0.32924565857375565, 0.08982418282781057], "rgb": [196, 173, 126], "semantic_id": 19, "pcd_info": {"point_index": 31}, "mesh_info": {"face_index": 1555, "face_uv": [0.2782305780522739, 0.4948458887070364, 0.22692353324068995]}}, {"xyz": [-0.1538881557930627, -0.32984698683606894, -0.2504284439382374], "rgb": [203, 184, 146], "semantic_id": 20, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 33, "face_uv": [0.3099213510107805, 0.5357235796103208, 0.154355069378899]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "326f74afbed5d727da8b0c70313fbbae", "keypoints": [{"xyz": [0.1666468496570827, 0.4857349991798401, 0.05237078110965221], "rgb": [175, 104, 42], "semantic_id": 0, "pcd_info": {"point_index": 287}, "mesh_info": {"face_index": 3862, "face_uv": [0.39111927286501, 0.5677895959119514, 0.04109113122303856]}}, {"xyz": [-0.18444576896777154, 0.48573499917984, 0.06195613891454943], "rgb": [184, 114, 50], "semantic_id": 1, "pcd_info": {"point_index": 1565}, "mesh_info": {"face_index": 3822, "face_uv": [0.2956813512518138, 0.35678552922449347, 0.34753311952369254]}}, {"xyz": [0.1751541672252434, 0.09437256008989792, 0.05715842560138085], "rgb": [179, 104, 39], "semantic_id": 2, "pcd_info": {"point_index": 1779}, "mesh_info": {"face_index": 3383, "face_uv": [0.6573954324607328, 0.3329942470387019, 0.009610320500557457]}}, {"xyz": [-0.18102092385829385, 0.0910229980945585, 0.04516368375271251], "rgb": [181, 110, 47], "semantic_id": 3, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 4036, "face_uv": [0.21205595361826954, 0.1271460653748272, 0.6607979810069008]}}, {"xyz": [0.20099105011389456, 0.06515948867824117, -0.2425969766589841], "rgb": [182, 108, 46], "semantic_id": 4, "pcd_info": {"point_index": 945}, "mesh_info": {"face_index": 4052, "face_uv": [0.8262986899588877, 0.02880423742625135, 0.1448970726148616]}}, {"xyz": [-0.20009545355180416, 0.06657207462779668, -0.24136221775157168], "rgb": [174, 101, 40], "semantic_id": 5, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 4058, "face_uv": [0.22267397845816622, 0.23288483948248653, 0.5444411820593483]}}, {"xyz": [0.17737882833832752, -0.3081569969654083, -0.21638022757291048], "rgb": [183, 107, 45], "semantic_id": 17, "pcd_info": {"point_index": 1186}, "mesh_info": {"face_index": 915, "face_uv": [0.17896356574246294, 0.3251635828299093, 0.49587285142762777]}}, {"xyz": [0.1786864176383275, -0.3081569969654083, 0.07371557910119808], "rgb": [182, 107, 44], "semantic_id": 18, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 454, "face_uv": [0.535072687616999, 0.3739047461702346, 0.09102256621276647]}}, {"xyz": [-0.16406114942213848, -0.3081569969654083, 0.08564254168821928], "rgb": [182, 105, 43], "semantic_id": 19, "pcd_info": {"point_index": 60}, "mesh_info": {"face_index": 2023, "face_uv": [0.40615773718308457, 0.3295153101345911, 0.26432695268232437]}}, {"xyz": [-0.17733924396858988, -0.3081569969654081, -0.21095159170792155], "rgb": [182, 106, 44], "semantic_id": 20, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 1374, "face_uv": [0.3376129445561313, 0.4601505535652422, 0.2022365018786258]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "600f6f126d0b6c046dbda90cc7f3517e", "keypoints": [{"xyz": [0.159450186264129, 0.36675489669566197, 0.07930789222336795], "rgb": [169, 120, 72], "semantic_id": 0, "pcd_info": {"point_index": 585}, "mesh_info": {"face_index": 579, "face_uv": [0.16076118018822505, 0.6650949695328244, 0.17414385027895044]}}, {"xyz": [-0.1576970590131529, 0.3650246653157393, 0.07850096212710886], "rgb": [162, 105, 69], "semantic_id": 1, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 449, "face_uv": [0.23713477830726143, 0.11657498791222065, 0.6462902337805173]}}, {"xyz": [0.1579723729125338, -0.06759600341320038, 0.040276773248539066], "rgb": [166, 116, 71], "semantic_id": 2, "pcd_info": {"point_index": 243}, "mesh_info": {"face_index": 86, "face_uv": [0.6003334836383307, 0.024094474831210792, 0.37557204153045853]}}, {"xyz": [-0.15443671715128482, -0.06759600341320016, 0.048006107457352676], "rgb": [157, 106, 53], "semantic_id": 3, "pcd_info": {"point_index": 1137}, "mesh_info": {"face_index": 35, "face_uv": [0.2495258764201675, 0.7425529237872757, 0.007921199792553507]}}, {"xyz": [0.1597712293420382, -0.07062856039762488, -0.2281579971313476], "rgb": [162, 109, 63], "semantic_id": 4, "pcd_info": {"point_index": 769}, "mesh_info": {"face_index": 450, "face_uv": [0.08649555986486526, 0.9057714606198981, 0.007732979515236323]}}, {"xyz": [-0.15490692416038415, -0.06759600341320038, -0.22571604251955069], "rgb": [165, 112, 63], "semantic_id": 5, "pcd_info": {"point_index": 1887}, "mesh_info": {"face_index": 19, "face_uv": [0.7654494216281824, 0.22762437069724537, 0.006926207674572316]}}, {"xyz": [0.11581266080339174, -0.4216170012950895, -0.17597098331812738], "rgb": [155, 106, 66], "semantic_id": 17, "pcd_info": {"point_index": 538}, "mesh_info": {"face_index": 562, "face_uv": [0.06472112293950162, 0.5568188189326531, 0.3784600581278449]}}, {"xyz": [0.11855654972927711, -0.4216170012950895, 0.05665939226416389], "rgb": [131, 81, 39], "semantic_id": 18, "pcd_info": {"point_index": 1328}, "mesh_info": {"face_index": 204, "face_uv": [0.15025344208665864, 0.6420751114398235, 0.2076714464735173]}}, {"xyz": [-0.1168208537563678, -0.4216170012950897, 0.04621358015696253], "rgb": [141, 93, 50], "semantic_id": 19, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 135, "face_uv": [0.474828915047591, 0.3285219465680775, 0.19664913838433148]}}, {"xyz": [-0.1110328366087626, -0.4216170012950897, -0.18662132003730503], "rgb": [148, 99, 55], "semantic_id": 20, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 93, "face_uv": [0.29060949414219683, 0.4916366326231256, 0.2177538732346775]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bb8d64bab582c3f324e55bc028ee0805", "keypoints": [{"xyz": [0.2340951238362385, 0.24310959787053077, 0.08145422656825252], "rgb": [228, 228, 228], "semantic_id": 0, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 563, "face_uv": [0.597243796675589, 0.14764549362725066, 0.25511070969716076]}}, {"xyz": [-0.22656017020506142, 0.2505452848064631, 0.07384771893185837], "rgb": [189, 189, 189], "semantic_id": 1, "pcd_info": {"point_index": 1430}, "mesh_info": {"face_index": 558, "face_uv": [0.4577174583582057, 0.13380832554297215, 0.4084742160988224]}}, {"xyz": [0.24633653298235597, -0.0949677528611248, 0.0654570013284681], "rgb": [169, 169, 169], "semantic_id": 2, "pcd_info": {"point_index": 859}, "mesh_info": {"face_index": 200, "face_uv": [0.8764630877932554, 0.014666267344749222, 0.10887064486199198]}}, {"xyz": [-0.2416907374613506, -0.09840899705886841, 0.06085823198790097], "rgb": [176, 176, 176], "semantic_id": 3, "pcd_info": {"point_index": 358}, "mesh_info": {"face_index": 915, "face_uv": [0.9874767711812246, 0.012214364514426842, 0.0003088643043487494]}}, {"xyz": [0.24561017004382496, -0.09840899705886863, -0.32611948611096564], "rgb": [198, 198, 198], "semantic_id": 4, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 1134, "face_uv": [0.014774738429156432, 0.984862313624264, 0.00036294794658190484]}}, {"xyz": [-0.23384432417176693, -0.09840899705886819, -0.3221173161722146], "rgb": [204, 204, 204], "semantic_id": 5, "pcd_info": {"point_index": 1738}, "mesh_info": {"face_index": 494, "face_uv": [0.026444844909420836, 0.1820461482944565, 0.7915090067961204]}}, {"xyz": [0.20705977939554232, -0.4605009853839874, -0.3003786997083414], "rgb": [183, 183, 183], "semantic_id": 17, "pcd_info": {"point_index": 459}, "mesh_info": {"face_index": 503, "face_uv": [0.09745946170433088, 0.5729800301744618, 0.32956050812120735]}}, {"xyz": [0.19689178071944113, -0.4621089994907379, 0.09599167331073782], "rgb": [242, 242, 242], "semantic_id": 18, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 940, "face_uv": [0.3406756092352786, 0.5152434535528897, 0.14408093721183166]}}, {"xyz": [-0.21458176267440465, -0.4621089994907379, 0.10108425392686854], "rgb": [147, 147, 147], "semantic_id": 19, "pcd_info": {"point_index": 529}, "mesh_info": {"face_index": 844, "face_uv": [0.09498541176830867, 0.408024069948508, 0.49699051828318336]}}, {"xyz": [-0.22184947199730576, -0.4605009853839874, -0.2923716412155165], "rgb": [196, 196, 196], "semantic_id": 20, "pcd_info": {"point_index": 167}, "mesh_info": {"face_index": 1125, "face_uv": [0.11165247915929348, 0.2815478105836099, 0.6067997102570967]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a5898fefb1733333a82b0d8d157287f5", "keypoints": [{"xyz": [0.1583459973335266, 0.1904580335249491, 0.02228164221983489], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1319}, "mesh_info": {"face_index": 598, "face_uv": [0.06123884777900653, 0.36846488938968897, 0.5702962628313045]}}, {"xyz": [-0.15964240624607373, 0.19427559398657146, 0.019250772280699602], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 958}, "mesh_info": {"face_index": 391, "face_uv": [0.21646945011303714, 0.05523544841362678, 0.7282951014733362]}}, {"xyz": [0.13802574536896617, -0.22241200506687142, 0.03070600202758378], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 277}, "mesh_info": {"face_index": 830, "face_uv": [0.016479555930311043, 0.6803275736140116, 0.3031928704556763]}}, {"xyz": [-0.1521353693926884, -0.2281833710396841, 0.029807499111012187], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1015}, "mesh_info": {"face_index": 200, "face_uv": [0.013623713144462491, 0.40995663880450867, 0.5764196480510309]}}, {"xyz": [0.1465165470282066, -0.22465970703262905, -0.25524573509595827], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 210}, "mesh_info": {"face_index": 514, "face_uv": [0.8403392979656414, 0.012133338789701752, 0.1475273632446549]}}, {"xyz": [-0.1412652689747234, -0.22241200506687164, -0.2537974447036473], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 164}, "mesh_info": {"face_index": 512, "face_uv": [0.011875888181015374, 0.0064587522945202345, 0.9816653595244644]}}, {"xyz": [0.13451910124517766, -0.6846560239791871, -0.2276969814578817], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 487}, "mesh_info": {"face_index": 977, "face_uv": [0.30458523838679324, 0.3217005342634625, 0.3737142273497444]}}, {"xyz": [0.12452362033543649, -0.684656023979187, 0.022270863908889764], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 630}, "mesh_info": {"face_index": 1151, "face_uv": [0.06839854960692082, 0.40111256757322433, 0.5304888828198548]}}, {"xyz": [-0.134745960760611, -0.684656023979187, 0.003771920168239601], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1285}, "mesh_info": {"face_index": 659, "face_uv": [0.4030245085229964, 0.3087443277363313, 0.28823116374067226]}}, {"xyz": [-0.13124759158830387, -0.6846560239791869, -0.24630242728694277], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1441}, "mesh_info": {"face_index": 651, "face_uv": [0.45789400789533274, 0.38648595816715237, 0.15562003393751472]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cbf18927a23084bd4a62dd9e5e4067d1", "keypoints": [{"xyz": [0.2259294597632614, 0.39080101251602173, 0.26058139165256244], "rgb": [223, 216, 198], "semantic_id": 0, "pcd_info": {"point_index": 359}, "mesh_info": {"face_index": 939, "face_uv": [0.03795165876750891, 0.08108676803572291, 0.8809615731967682]}}, {"xyz": [-0.21777009580248285, 0.3908010125160215, 0.258834806669647], "rgb": [222, 215, 197], "semantic_id": 1, "pcd_info": {"point_index": 1700}, "mesh_info": {"face_index": 1993, "face_uv": [0.3641702650406564, 0.3966608263980955, 0.2391689085612475]}}, {"xyz": [0.21908782095853702, 0.07999038925665691, 0.2479737231244128], "rgb": [222, 215, 197], "semantic_id": 2, "pcd_info": {"point_index": 868}, "mesh_info": {"face_index": 692, "face_uv": [0.08273223876443442, 0.5523270323898635, 0.36494072884570133]}}, {"xyz": [-0.2174141194451955, 0.08258129242948486, 0.24871170495178108], "rgb": [223, 216, 198], "semantic_id": 3, "pcd_info": {"point_index": 1385}, "mesh_info": {"face_index": 1875, "face_uv": [0.487388271842651, 0.30518307215283325, 0.20742865600451713]}}, {"xyz": [0.19422461920555023, 0.044308394646943916, -0.23728320248548296], "rgb": [85, 108, 162], "semantic_id": 4, "pcd_info": {"point_index": 1917}, "mesh_info": {"face_index": 3056, "face_uv": [0.04100593926332848, 0.2675162201936588, 0.6914778405430144]}}, {"xyz": [-0.19691168134649162, 0.0512812437358362, -0.23826851172167673], "rgb": [222, 215, 197], "semantic_id": 5, "pcd_info": {"point_index": 656}, "mesh_info": {"face_index": 1422, "face_uv": [0.28453675189175803, 0.4108155679138502, 0.3046476801943911]}}, {"xyz": [0.21711196491682294, -0.316786126096505, -0.23701858908854978], "rgb": [223, 216, 198], "semantic_id": 17, "pcd_info": {"point_index": 1120}, "mesh_info": {"face_index": 146, "face_uv": [0.6172286007410472, 0.16661286692210986, 0.21615853233684304]}}, {"xyz": [0.21067308512481808, -0.3254264769603876, 0.2625976930638225], "rgb": [223, 216, 198], "semantic_id": 18, "pcd_info": {"point_index": 138}, "mesh_info": {"face_index": 81, "face_uv": [0.011805290344622861, 0.14167415372726963, 0.8465205559281077]}}, {"xyz": [-0.21601829231185088, -0.32524913400624333, 0.2668775999060543], "rgb": [223, 216, 198], "semantic_id": 19, "pcd_info": {"point_index": 2025}, "mesh_info": {"face_index": 2078, "face_uv": [0.0029714909963958498, 0.8487127864850899, 0.1483157225185144]}}, {"xyz": [-0.21319400877008998, -0.3194485520190331, -0.23398961474854096], "rgb": [222, 215, 197], "semantic_id": 20, "pcd_info": {"point_index": 901}, "mesh_info": {"face_index": 1141, "face_uv": [0.35317969767921886, 0.4993147769171742, 0.1475055254036066]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b2968ca25d2e2fe0f51f77a6d7299806", "keypoints": [{"xyz": [0.17686872811111037, 0.4951169299934164, 0.158747830964596], "rgb": [163, 167, 166], "semantic_id": 0, "pcd_info": {"point_index": 1299}, "mesh_info": {"face_index": 12, "face_uv": [0.922710015236528, 0.06111472452979487, 0.016175260233676315]}}, {"xyz": [-0.1810221527918506, 0.5017645535758153, 0.1599653592142185], "rgb": [212, 214, 213], "semantic_id": 1, "pcd_info": {"point_index": 1826}, "mesh_info": {"face_index": 21, "face_uv": [0.5571667739036288, 0.39209733241774863, 0.05073589367862124]}}, {"xyz": [0.18137738126795436, 0.12477800250053406, 0.07957246718628674], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1867}, "mesh_info": {"face_index": 13, "face_uv": [0.016417741682640038, 0.03351108966914625, 0.9500711686482137]}}, {"xyz": [-0.18686750298754726, 0.12477800250053406, 0.06918112878550553], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1571}, "mesh_info": {"face_index": 13, "face_uv": [0.8994127042923384, 0.06412553442262504, 0.036461761285036455]}}, {"xyz": [0.1823618544353166, 0.12477800250053406, -0.22543016684234773], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 871, "face_uv": [0.047486369866361434, 0.06790530839241983, 0.8846083217412187]}}, {"xyz": [-0.18350663430123842, 0.12477800250053406, -0.22223377980189096], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1922}, "mesh_info": {"face_index": 870, "face_uv": [0.04480002036209582, 0.9226776549673874, 0.032522324670516974]}}, {"xyz": [0.18378570790636395, -0.25547194914563787, -0.22016862967138104], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 258}, "mesh_info": {"face_index": 1149, "face_uv": [0.409771680452945, 0.29106106796070663, 0.2991672515863482]}}, {"xyz": [0.18552601559935494, -0.2562415642045719, 0.1371031867668659], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1400}, "mesh_info": {"face_index": 713, "face_uv": [0.22104333911921853, 0.24670769450470784, 0.5322489663760739]}}, {"xyz": [-0.1857847457251025, -0.25496252288212884, 0.13472020648645586], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 728, "face_uv": [0.21451586316944377, 0.3111787891035157, 0.47430534772704047]}}, {"xyz": [-0.18817897789383364, -0.2555850418354193, -0.2203830002007351], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 328}, "mesh_info": {"face_index": 723, "face_uv": [0.26882101232739375, 0.28524951952735794, 0.44592946814524737]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5c027016e14cac15ffff2fb60b0d6e6", "keypoints": [{"xyz": [0.23282554682825285, 0.4235849976539614, 0.18392251803617185], "rgb": [158, 87, 42], "semantic_id": 0, "pcd_info": {"point_index": 737}, "mesh_info": {"face_index": 123, "face_uv": [0.07641642481768239, 0.4309142326995737, 0.4926693424827444]}}, {"xyz": [-0.23156520016915635, 0.42358499765396096, 0.19063267196392036], "rgb": [154, 86, 41], "semantic_id": 1, "pcd_info": {"point_index": 1169}, "mesh_info": {"face_index": 120, "face_uv": [0.004857643290752573, 0.45209445106504176, 0.5430479056442051]}}, {"xyz": [0.2212889635690154, 0.11474400013685226, 0.1494972105673567], "rgb": [153, 86, 43], "semantic_id": 2, "pcd_info": {"point_index": 1759}, "mesh_info": {"face_index": 148, "face_uv": [0.05197619690584209, 0.024452860460488775, 0.9235709426336691]}}, {"xyz": [-0.22792488676573225, 0.11474400013685226, 0.1521829413027864], "rgb": [147, 79, 35], "semantic_id": 3, "pcd_info": {"point_index": 1844}, "mesh_info": {"face_index": 127, "face_uv": [0.4466691567517722, 0.01711857629850863, 0.5362122669497191]}}, {"xyz": [0.21656571350612822, 0.11474400013685226, -0.2381955081128697], "rgb": [158, 92, 44], "semantic_id": 4, "pcd_info": {"point_index": 1808}, "mesh_info": {"face_index": 147, "face_uv": [0.00914613646788142, 0.975785097987319, 0.01506876554479952]}}, {"xyz": [-0.2210016230152024, 0.11474400013685249, -0.24739836481972433], "rgb": [145, 78, 36], "semantic_id": 5, "pcd_info": {"point_index": 1644}, "mesh_info": {"face_index": 128, "face_uv": [0.03026715696273057, 0.00904819173792716, 0.9606846512993442]}}, {"xyz": [0.20399758406723884, -0.32412211008107483, -0.2511110007762909], "rgb": [164, 94, 44], "semantic_id": 17, "pcd_info": {"point_index": 484}, "mesh_info": {"face_index": 25, "face_uv": [0.5202400819355022, 0.005292108968924253, 0.4744678090955737]}}, {"xyz": [0.20814396233769422, -0.32415789934647543, 0.1637587319017193], "rgb": [157, 84, 37], "semantic_id": 18, "pcd_info": {"point_index": 1344}, "mesh_info": {"face_index": 288, "face_uv": [0.005789988692314948, 0.5701947568435825, 0.42401525446410365]}}, {"xyz": [-0.2054761779881168, -0.3264569938182831, 0.1894722331990788], "rgb": [144, 76, 31], "semantic_id": 19, "pcd_info": {"point_index": 1242}, "mesh_info": {"face_index": 101, "face_uv": [0.1422017836713405, 0.4723266633169803, 0.3854715530116792]}}, {"xyz": [-0.2067956707046868, -0.3264569938182831, -0.23088082625399248], "rgb": [157, 88, 40], "semantic_id": 20, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 0, "face_uv": [0.4714645877604479, 0.35271243707956085, 0.1758229751599913]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b8fe0dd70bae3a9dba7a8c9ac8add14", "keypoints": [{"xyz": [0.20744196323636, 0.5650740265846252, 0.10940367274789214], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1217}, "mesh_info": {"face_index": 2866, "face_uv": [0.39519796891597925, 0.005226336520579702, 0.5995756945634411]}}, {"xyz": [-0.1842232023276621, 0.561470502333897, 0.09829283780342729], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 480}, "mesh_info": {"face_index": 2820, "face_uv": [0.5103468869745778, 0.024257657353096568, 0.4653954556723271]}}, {"xyz": [0.19678716629800191, 0.12495200335979462, 0.12134469641411305], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1281}, "mesh_info": {"face_index": 3090, "face_uv": [0.0027962571331546235, 0.9647084509202694, 0.03249529194657592]}}, {"xyz": [-0.19101059938614695, 0.1249520033597945, 0.131743711551509], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1536}, "mesh_info": {"face_index": 3004, "face_uv": [0.08084316061471637, 0.06697041271844296, 0.8521864266668399]}}, {"xyz": [0.20022200716966793, 0.12120006287508955, -0.16908136213389846], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 377}, "mesh_info": {"face_index": 3064, "face_uv": [0.1427461661992803, 0.01578422227201327, 0.8414696115287064]}}, {"xyz": [-0.17940786464234604, 0.12182090822427749, -0.1684606112900502], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 881}, "mesh_info": {"face_index": 3030, "face_uv": [0.880874489235022, 0.0163317506740602, 0.102793760090918]}}, {"xyz": [0.2072186827183748, -0.2305221828760453, -0.18844430665804296], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1050}, "mesh_info": {"face_index": 2134, "face_uv": [0.3961608481075757, 0.4925001749525677, 0.11133897693985624]}}, {"xyz": [0.2075634125366615, -0.23023543097308985, 0.12092265668201577], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 144}, "mesh_info": {"face_index": 1491, "face_uv": [0.20258564112885347, 0.5090148810327768, 0.2883994778383703]}}, {"xyz": [-0.21304484374188445, -0.23212899267673492, 0.12053203313737552], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1464}, "mesh_info": {"face_index": 705, "face_uv": [0.35970858875840184, 0.5374811467176219, 0.10281026452397629]}}, {"xyz": [-0.21361400187015533, -0.22859006139878413, -0.19070328930883954], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1144}, "mesh_info": {"face_index": 42, "face_uv": [0.16378358129285436, 0.0118744531211994, 0.8243419655859462]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "bb7755090f984ba85dd1bba5b1310523", "keypoints": [{"xyz": [0.1489123900833662, 0.442643834960196, 0.2274194799328494], "rgb": [244, 244, 244], "semantic_id": 0, "pcd_info": {"point_index": 894}, "mesh_info": {"face_index": 924, "face_uv": [0.3567812695783278, 0.5738529429296468, 0.06936578749202561]}}, {"xyz": [-0.14711099043899623, 0.444512276905209, 0.22744533044311815], "rgb": [243, 243, 243], "semantic_id": 1, "pcd_info": {"point_index": 954}, "mesh_info": {"face_index": 980, "face_uv": [0.08492809100286751, 0.3990684370584187, 0.5160034719387135]}}, {"xyz": [0.19385137408180386, 0.062246216592819925, 0.06207636935522376], "rgb": [243, 243, 243], "semantic_id": 2, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 734, "face_uv": [0.9346865670470365, 0.0162712668970694, 0.04904216605589189]}}, {"xyz": [-0.1936799577871422, 0.061843741132711516, 0.060056201911246526], "rgb": [244, 244, 244], "semantic_id": 3, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 724, "face_uv": [0.8610198133816234, 0.016751115960101082, 0.12222907065827734]}}, {"xyz": [0.19864061743958644, 0.05696055829031055, -0.23188086904540994], "rgb": [243, 243, 243], "semantic_id": 4, "pcd_info": {"point_index": 695}, "mesh_info": {"face_index": 646, "face_uv": [0.17531575777330352, 0.0048072771580413304, 0.8198769650686548]}}, {"xyz": [-0.19729358536054822, 0.059291583035268935, -0.22121761768261916], "rgb": [244, 244, 244], "semantic_id": 5, "pcd_info": {"point_index": 1932}, "mesh_info": {"face_index": 676, "face_uv": [0.004260899443515074, 0.008167784205754544, 0.9875713163507307]}}, {"xyz": [0.2005690038204193, -0.266472110034816, -0.24178333114321804], "rgb": [244, 244, 244], "semantic_id": 17, "pcd_info": {"point_index": 323}, "mesh_info": {"face_index": 94, "face_uv": [0.3453570142601276, 0.40377501596279014, 0.25086796977708226]}}, {"xyz": [0.19973063787515488, -0.2659940123558044, 0.13378154757941352], "rgb": [243, 243, 243], "semantic_id": 18, "pcd_info": {"point_index": 1379}, "mesh_info": {"face_index": 41, "face_uv": [0.2835225141881986, 0.7154650645832157, 0.0010124212285854458]}}, {"xyz": [-0.1934667862378845, -0.2717522700923576, 0.15772777309079955], "rgb": [244, 244, 244], "semantic_id": 19, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 163, "face_uv": [0.2573126195382486, 0.41747190387032024, 0.32521547659143174]}}, {"xyz": [-0.20057000219821952, -0.26645954913282865, -0.24878686121514537], "rgb": [244, 244, 244], "semantic_id": 20, "pcd_info": {"point_index": 1214}, "mesh_info": {"face_index": 116, "face_uv": [0.47534902982731786, 0.19727234645051148, 0.3273786237221718]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "621c62aa667c4d3cfe2fba8e5d6db330", "keypoints": [{"xyz": [0.17486249327590195, 0.2650982676070588, 0.3169808756096375], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 544}, "mesh_info": {"face_index": 350, "face_uv": [0.014443558073529634, 0.2743739186383693, 0.7111825232881012]}}, {"xyz": [-0.1723110317249521, 0.26573617121024906, 0.3157288882004782], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 699}, "mesh_info": {"face_index": 342, "face_uv": [0.03179350518210821, 0.8047607116727482, 0.16344578314514266]}}, {"xyz": [0.19783127577974033, -0.07935557898087109, 0.02080744561604192], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1488}, "mesh_info": {"face_index": 304, "face_uv": [0.014981483250803715, 0.0003358857962925242, 0.9846826309529069]}}, {"xyz": [-0.17977582846710527, -0.07817174265199012, 0.015237925022659637], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1384}, "mesh_info": {"face_index": 280, "face_uv": [0.02923358183964348, 0.8358200909650155, 0.13494632719534042]}}, {"xyz": [0.19385831413911916, 0.0013772469095680862, -0.35901122136462194], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 649}, "mesh_info": {"face_index": 297, "face_uv": [0.017085874109696992, 0.969830804806279, 0.013083321084024662]}}, {"xyz": [-0.18608478122828961, 0.0006041185357770207, -0.35537393275122864], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 272, "face_uv": [0.022390943714188205, 0.11680543949468142, 0.8608036167911273]}}, {"xyz": [0.21219653077342543, 0.1506190001964569, -0.3116769857864923], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 786}, "mesh_info": {"face_index": 176, "face_uv": [0.3978275084738334, 0.013959998937289449, 0.5882124925888771]}}, {"xyz": [0.21547562203690435, 0.15061900019645713, 0.24303506374762013], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 519}, "mesh_info": {"face_index": 185, "face_uv": [0.31147192321507705, 0.024797215623810463, 0.663730861161114]}}, {"xyz": [-0.20974584637487692, 0.15061900019645713, -0.30534197597733903], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1369}, "mesh_info": {"face_index": 82, "face_uv": [0.46055762082744817, 0.02493773500746872, 0.5145046441650847]}}, {"xyz": [-0.2126206113835395, 0.1506190001964567, 0.2474235313994092], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 305}, "mesh_info": {"face_index": 92, "face_uv": [0.4433451212172492, 0.01719258025856479, 0.5394622985241845]}}, {"xyz": [0.22899616655468855, -0.26665300130844116, -0.2786461162951962], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1936}, "mesh_info": {"face_index": 142, "face_uv": [0.4441310796917515, 0.30852491869690074, 0.24734400161134773]}}, {"xyz": [0.19114031124600572, -0.26665300130844116, 0.18663433362230752], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1351}, "mesh_info": {"face_index": 118, "face_uv": [0.15162489679237953, 0.46902755546731545, 0.37934754774030505]}}, {"xyz": [-0.18920715122876958, -0.26665300130844116, 0.184843287938654], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 103}, "mesh_info": {"face_index": 20, "face_uv": [0.2997947940255461, 0.5444215615485325, 0.15578364442592138]}}, {"xyz": [-0.23040352928076413, -0.26665300130844116, -0.27136855488438216], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1011}, "mesh_info": {"face_index": 46, "face_uv": [0.38010164744168784, 0.3631727570504157, 0.25672559550789653]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ef1824754ae554af83b6e0255ae357be", "keypoints": [{"xyz": [0.1733784542290424, 0.30936026321697174, 0.060219297203973454], "rgb": [149, 81, 36], "semantic_id": 0, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 722, "face_uv": [0.04696725079467317, 0.16726705365643574, 0.7857656955488914]}}, {"xyz": [-0.1863227795381243, 0.31411045495170475, 0.05634769263458517], "rgb": [151, 85, 40], "semantic_id": 1, "pcd_info": {"point_index": 641}, "mesh_info": {"face_index": 162, "face_uv": [0.21747663081806828, 0.12581249264898103, 0.6567108765329502]}}, {"xyz": [0.17074260631480495, -0.10233539653410217, 0.02534116015840482], "rgb": [148, 84, 44], "semantic_id": 2, "pcd_info": {"point_index": 384}, "mesh_info": {"face_index": 986, "face_uv": [0.18033877930626402, 0.247567083073469, 0.572094137620268]}}, {"xyz": [-0.181016496535655, -0.11465699970722198, 0.022984969691957513], "rgb": [150, 86, 40], "semantic_id": 3, "pcd_info": {"point_index": 529}, "mesh_info": {"face_index": 1647, "face_uv": [0.03742631004912434, 0.1985999823944855, 0.7639737075563902]}}, {"xyz": [0.17675356689048102, -0.11465699970722176, -0.29814843673032276], "rgb": [154, 87, 38], "semantic_id": 4, "pcd_info": {"point_index": 2037}, "mesh_info": {"face_index": 1688, "face_uv": [0.03647446346668391, 0.959710328665993, 0.0038152078673211586]}}, {"xyz": [-0.19057569396726004, -0.11548302071209915, -0.300181766348398], "rgb": [148, 80, 42], "semantic_id": 5, "pcd_info": {"point_index": 30}, "mesh_info": {"face_index": 1648, "face_uv": [0.04914982540295434, 0.017606384313646833, 0.9332437902833987]}}, {"xyz": [0.15559013254170462, -0.5039100050926208, -0.2571464492599892], "rgb": [144, 75, 32], "semantic_id": 17, "pcd_info": {"point_index": 1300}, "mesh_info": {"face_index": 2166, "face_uv": [0.6350676392618091, 0.3383436833315537, 0.026588677406637264]}}, {"xyz": [0.15823581504915918, -0.4798189997673039, 0.07202950628143534], "rgb": [146, 79, 34], "semantic_id": 18, "pcd_info": {"point_index": 1950}, "mesh_info": {"face_index": 1100, "face_uv": [0.40094548285375037, 0.37141863263519237, 0.22763588451105818]}}, {"xyz": [-0.16301822160524382, -0.47266000509262085, 0.0613198635284824], "rgb": [151, 84, 39], "semantic_id": 19, "pcd_info": {"point_index": 631}, "mesh_info": {"face_index": 550, "face_uv": [0.37480404251285404, 0.39141160144213594, 0.23378435604501002]}}, {"xyz": [-0.18321208464259364, -0.5039100050926208, -0.2484049528208464], "rgb": [145, 77, 33], "semantic_id": 20, "pcd_info": {"point_index": 1684}, "mesh_info": {"face_index": 2020, "face_uv": [0.4531224590855814, 0.08706507601236886, 0.4598124649020497]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "57cc406d478167a6a6c03a53cf0a14c9", "keypoints": [{"xyz": [0.12785571555131936, 0.4206328804708521, 0.2064542306944721], "rgb": [254, 228, 204], "semantic_id": 0, "pcd_info": {"point_index": 1210}, "mesh_info": {"face_index": 39919, "face_uv": [0.09951742040562989, 0.5445922484377637, 0.35589033115660634]}}, {"xyz": [-0.1255838623782352, 0.4230801414504114, 0.2156508652705011], "rgb": [255, 228, 204], "semantic_id": 1, "pcd_info": {"point_index": 20}, "mesh_info": {"face_index": 47279, "face_uv": [0.11096570104738789, 0.8260693959281096, 0.06296490302450251]}}, {"xyz": [0.1326714930695835, -0.12089649315168538, 0.08162101685748147], "rgb": [255, 228, 204], "semantic_id": 2, "pcd_info": {"point_index": 1590}, "mesh_info": {"face_index": 32248, "face_uv": [0.10934594254209155, 0.14224386749880533, 0.7484101899591034]}}, {"xyz": [-0.1295699009105255, -0.11998113154407886, 0.08599448062967474], "rgb": [255, 228, 204], "semantic_id": 3, "pcd_info": {"point_index": 960}, "mesh_info": {"face_index": 45798, "face_uv": [0.24249737424115148, 0.6677477878234678, 0.08975483793538086]}}, {"xyz": [0.17132227793832142, -0.08314552082624305, -0.1918377941248337], "rgb": [254, 227, 203], "semantic_id": 4, "pcd_info": {"point_index": 1555}, "mesh_info": {"face_index": 8088, "face_uv": [0.5426634815516129, 0.20295868389610078, 0.25437783455228524]}}, {"xyz": [-0.17036460094705433, -0.08658356228623887, -0.19241544216531392], "rgb": [255, 228, 204], "semantic_id": 5, "pcd_info": {"point_index": 1765}, "mesh_info": {"face_index": 11527, "face_uv": [0.5667492232157267, 0.3350377596409221, 0.09821301714335133]}}, {"xyz": [0.17840455914615652, 0.05608872134148324, -0.1825121511370127], "rgb": [255, 228, 204], "semantic_id": 6, "pcd_info": {"point_index": 734}, "mesh_info": {"face_index": 1626, "face_uv": [0.6462507417754153, 0.041516060045901006, 0.31223319817868567]}}, {"xyz": [0.14249118695064372, 0.01578692169673568, 0.08715909095039298], "rgb": [254, 227, 203], "semantic_id": 7, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 2330, "face_uv": [0.07180159875172437, 0.9125997445816705, 0.015598656666604475]}}, {"xyz": [-0.18519364956660433, 0.05557200578186716, -0.1790550620680852], "rgb": [254, 227, 203], "semantic_id": 8, "pcd_info": {"point_index": 1199}, "mesh_info": {"face_index": 17530, "face_uv": [0.5481278531879349, 0.32319329409198766, 0.12867885272007193]}}, {"xyz": [-0.14311013387957894, 0.015603426486683114, 0.0883792599203298], "rgb": [254, 227, 203], "semantic_id": 9, "pcd_info": {"point_index": 241}, "mesh_info": {"face_index": 18240, "face_uv": [0.03137849402496179, 0.8548406261002837, 0.11378087987475256]}}, {"xyz": [0.1893786577435707, -0.2961918231550118, -0.24795209344690708], "rgb": [255, 228, 204], "semantic_id": 17, "pcd_info": {"point_index": 1022}, "mesh_info": {"face_index": 1312, "face_uv": [0.29078111486432656, 0.5327336381499046, 0.1764852469857692]}}, {"xyz": [0.11494682956997831, -0.2614391657365909, 0.2392041784827586], "rgb": [255, 228, 204], "semantic_id": 18, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 416, "face_uv": [0.2830123466894549, 0.15943048982377797, 0.5575571634867678]}}, {"xyz": [-0.11297426688483383, -0.26456815218085383, 0.23711861885541236], "rgb": [255, 228, 204], "semantic_id": 19, "pcd_info": {"point_index": 1171}, "mesh_info": {"face_index": 28310, "face_uv": [0.09320957030521265, 0.6546928910107181, 0.25209753868406926]}}, {"xyz": [-0.18945837464348433, -0.29443660993197573, -0.25096481824341615], "rgb": [254, 227, 203], "semantic_id": 20, "pcd_info": {"point_index": 921}, "mesh_info": {"face_index": 29394, "face_uv": [0.21699608736113962, 0.1001554936548498, 0.6828484189840104]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4ecb13c40d55bc24fbcb0345af819bcb", "keypoints": [{"xyz": [0.17601762561531284, 0.4090642787699518, 0.16176051522067234], "rgb": [255, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 840}, "mesh_info": {"face_index": 7922, "face_uv": [0.646980926777675, 0.3137318061077993, 0.03928726711452618]}}, {"xyz": [-0.1731491364790362, 0.4075644160558335, 0.1616253062399028], "rgb": [254, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 6524, "face_uv": [0.042174782247876796, 0.788277398838492, 0.16954781891363074]}}, {"xyz": [0.18973008839681202, 0.0033848101374153172, 0.07081291215085483], "rgb": [255, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1368}, "mesh_info": {"face_index": 543, "face_uv": [0.27925608103987576, 0.150619162477707, 0.5701247564824187]}}, {"xyz": [-0.18561155801176166, 0.004256329202278808, 0.06779332466633414], "rgb": [254, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 28}, "mesh_info": {"face_index": 596, "face_uv": [0.16100885527667885, 0.09134769247634811, 0.7476434522469709]}}, {"xyz": [0.19477322328580685, 0.0004304639051342929, -0.1656123451200242], "rgb": [255, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 626}, "mesh_info": {"face_index": 1469, "face_uv": [0.17979636886676537, 0.7364468558262447, 0.08375677530699052]}}, {"xyz": [-0.1806640874694762, 0.001584617930984522, -0.18275840045403413], "rgb": [254, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 1335, "face_uv": [0.011568334416767672, 0.667395859333776, 0.3210358062494541]}}, {"xyz": [0.24060510164657664, 0.19870551453234864, -0.19474192420553205], "rgb": [254, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 1778}, "mesh_info": {"face_index": 4349, "face_uv": [0.2783468174519939, 0.4171801905590718, 0.30447299198893407]}}, {"xyz": [0.24502983554568394, 0.19703198046577342, 0.14893347527513567], "rgb": [255, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 55}, "mesh_info": {"face_index": 5948, "face_uv": [0.8494000219540877, 0.0898594818725431, 0.0607404961733694]}}, {"xyz": [-0.250379445245424, 0.19358400595785763, -0.19538324550438846], "rgb": [255, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 646}, "mesh_info": {"face_index": 3289, "face_uv": [0.28698566646507184, 0.30530529417888674, 0.4077090393560417]}}, {"xyz": [-0.24620422656200563, 0.19669289050282246, 0.13581117150908595], "rgb": [255, 0, 0], "semantic_id": 9, "pcd_info": {"point_index": 964}, "mesh_info": {"face_index": 3677, "face_uv": [0.17123834527398218, 0.7684949585784523, 0.060266696147566266]}}, {"xyz": [0.1870522651598937, -0.2693369984626772, -0.13757333078256206], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1697}, "mesh_info": {"face_index": 11067, "face_uv": [0.3678288216531376, 0.047668145508857646, 0.5845030328380055]}}, {"xyz": [0.1924095014836018, -0.2696270048618319, 0.0705462135704871], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 561}, "mesh_info": {"face_index": 11260, "face_uv": [0.0013781643375102724, 0.4439382605063042, 0.5546835751561864]}}, {"xyz": [-0.188005409946097, -0.26962700486183167, 0.07102099819152918], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 1033}, "mesh_info": {"face_index": 10809, "face_uv": [0.4918860047233565, 0.46146618470125195, 0.04664781057539156]}}, {"xyz": [-0.1934767734974141, -0.26962700486183167, -0.12704883156948035], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1450}, "mesh_info": {"face_index": 10634, "face_uv": [0.2959595976989344, 0.43701256515146714, 0.26702783714959843]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2c4719f6aa7b2c8a5a9f35e635b7e48b", "keypoints": [{"xyz": [0.1886022673081243, 0.2877690982236403, 0.15408317005041966], "rgb": [74, 12, 15], "semantic_id": 0, "pcd_info": {"point_index": 2002}, "mesh_info": {"face_index": 8452, "face_uv": [0.12071653548443687, 0.3826720527960091, 0.49661141171955464]}}, {"xyz": [-0.20178035362120283, 0.277141726088185, 0.15510002600137895], "rgb": [46, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 1811}, "mesh_info": {"face_index": 8154, "face_uv": [0.32344558385434824, 0.08738440828998885, 0.5891700078556633]}}, {"xyz": [0.12721194319383416, 0.0014534141602610129, 0.04170395111619096], "rgb": [131, 82, 80], "semantic_id": 2, "pcd_info": {"point_index": 796}, "mesh_info": {"face_index": 9643, "face_uv": [0.21959009914063066, 0.12776418336664913, 0.6526457174927203]}}, {"xyz": [-0.11573533525638693, -0.018221370180087515, 0.05702672201774639], "rgb": [87, 15, 15], "semantic_id": 3, "pcd_info": {"point_index": 611}, "mesh_info": {"face_index": 82, "face_uv": [0.7433000878337707, 0.2172929630782266, 0.03940694908800365]}}, {"xyz": [0.13274536476552, -0.035240147706019354, -0.18041355574259543], "rgb": [231, 228, 223], "semantic_id": 4, "pcd_info": {"point_index": 742}, "mesh_info": {"face_index": 9648, "face_uv": [0.0365664484327986, 0.6958072937522077, 0.2676262578149952]}}, {"xyz": [-0.13311635056244253, -0.04146831027516651, -0.1886545529163962], "rgb": [126, 29, 25], "semantic_id": 5, "pcd_info": {"point_index": 957}, "mesh_info": {"face_index": 1678, "face_uv": [0.45323037386696097, 0.016777415973828348, 0.5299922101592106]}}, {"xyz": [0.23993823934514125, 0.12290389997704843, -0.20445226679931405], "rgb": [230, 226, 213], "semantic_id": 6, "pcd_info": {"point_index": 1268}, "mesh_info": {"face_index": 9877, "face_uv": [0.19629821776515868, 0.6042463307408233, 0.1994554514940185]}}, {"xyz": [0.21365050462506918, 0.14684303660226128, 0.13542682586418575], "rgb": [87, 21, 20], "semantic_id": 7, "pcd_info": {"point_index": 1177}, "mesh_info": {"face_index": 9573, "face_uv": [0.37890779288742427, 0.09458167112811532, 0.5265105359844612]}}, {"xyz": [-0.23466711292149334, 0.1263799776064407, -0.20104439486557568], "rgb": [57, 4, 3], "semantic_id": 8, "pcd_info": {"point_index": 191}, "mesh_info": {"face_index": 2106, "face_uv": [0.14122670799172163, 0.3709333829242073, 0.48783990908407115]}}, {"xyz": [-0.23035409165525317, 0.14671162110471703, 0.11763910054593407], "rgb": [118, 28, 20], "semantic_id": 9, "pcd_info": {"point_index": 2008}, "mesh_info": {"face_index": 1761, "face_uv": [0.14109830549781746, 0.7117858934402407, 0.14711580106194272]}}, {"xyz": [0.190427048495474, -0.3503870069980619, -0.1761273768261991], "rgb": [236, 230, 214], "semantic_id": 17, "pcd_info": {"point_index": 404}, "mesh_info": {"face_index": 3959, "face_uv": [0.6984770815103744, 0.019753598679118058, 0.28176931981050707]}}, {"xyz": [0.17942392908899507, -0.3485510334522728, 0.12432303378542253], "rgb": [233, 229, 219], "semantic_id": 18, "pcd_info": {"point_index": 556}, "mesh_info": {"face_index": 4633, "face_uv": [0.03322608524488665, 0.8481650577221659, 0.11860885703294795]}}, {"xyz": [-0.17323634908104127, -0.34558515303045345, 0.12338882998205425], "rgb": [240, 233, 219], "semantic_id": 19, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 8795, "face_uv": [0.04012948969870604, 0.08690038569844652, 0.8729701246028467]}}, {"xyz": [-0.19397114329725343, -0.35038700699806213, -0.17857199559435727], "rgb": [230, 226, 216], "semantic_id": 20, "pcd_info": {"point_index": 1066}, "mesh_info": {"face_index": 2746, "face_uv": [0.16368108936545012, 0.8156753665404576, 0.020643544094092258]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "be50a399623910e1fd03f420a0b8656", "keypoints": [{"xyz": [0.22442043118580918, 0.11057242167816228, 0.026320674863725024], "rgb": [50, 23, 0], "semantic_id": 0, "pcd_info": {"point_index": 1409}, "mesh_info": {"face_index": 92476, "face_uv": [0.8551664898211737, 0.14276254323426818, 0.002070966944556599]}}, {"xyz": [-0.22315518132471218, 0.10788668452110273, 0.025381768229867152], "rgb": [51, 24, 0], "semantic_id": 1, "pcd_info": {"point_index": 1565}, "mesh_info": {"face_index": 94486, "face_uv": [0.015351073747872382, 0.8641273544400404, 0.12052157181209909]}}, {"xyz": [0.16966233641969067, -0.26001599431037925, -0.01751309529702383], "rgb": [51, 24, 0], "semantic_id": 2, "pcd_info": {"point_index": 1809}, "mesh_info": {"face_index": 91880, "face_uv": [0.08254686952582012, 0.3581541272800623, 0.5592990031941184]}}, {"xyz": [-0.17434999346733082, -0.2523084152721924, -0.025683488683468814], "rgb": [50, 23, 0], "semantic_id": 3, "pcd_info": {"point_index": 1219}, "mesh_info": {"face_index": 73833, "face_uv": [0.24405600500404445, 0.03484782722706094, 0.7210961677688941]}}, {"xyz": [0.1750816777514879, -0.26001599431037903, -0.3008746765069634], "rgb": [51, 24, 0], "semantic_id": 4, "pcd_info": {"point_index": 1698}, "mesh_info": {"face_index": 91874, "face_uv": [0.008730330847882469, 0.8029391706789157, 0.18833049847320185]}}, {"xyz": [-0.17897337949526015, -0.26431456455295943, -0.30883488935631376], "rgb": [50, 23, 0], "semantic_id": 5, "pcd_info": {"point_index": 298}, "mesh_info": {"face_index": 91723, "face_uv": [0.5715273106943077, 0.04082432503997486, 0.38764836426571475]}}, {"xyz": [0.20361896251986533, -0.14019763872588942, -0.23610809700680002], "rgb": [51, 24, 0], "semantic_id": 6, "pcd_info": {"point_index": 1659}, "mesh_info": {"face_index": 92289, "face_uv": [0.5116697705133062, 0.13736730079842863, 0.35096292868826545]}}, {"xyz": [0.20387247648877505, -0.08245299756526925, -0.050097014000321904], "rgb": [50, 23, 0], "semantic_id": 7, "pcd_info": {"point_index": 1924}, "mesh_info": {"face_index": 92232, "face_uv": [0.2557770650708777, 0.622869114636377, 0.12135382029274269]}}, {"xyz": [-0.20509859696102373, -0.14914872483209662, -0.245315582541207], "rgb": [51, 24, 0], "semantic_id": 8, "pcd_info": {"point_index": 1352}, "mesh_info": {"face_index": 94359, "face_uv": [0.44278438585618335, 0.005426691218730772, 0.5517889229250859]}}, {"xyz": [-0.20457835363815513, -0.08257099986076355, -0.04296709362793172], "rgb": [51, 24, 0], "semantic_id": 9, "pcd_info": {"point_index": 1498}, "mesh_info": {"face_index": 94367, "face_uv": [0.021183473917430844, 0.18626653767131107, 0.7925499884112581]}}, {"xyz": [0.2288266125049308, -0.6201934667193174, -0.294303924396335], "rgb": [50, 23, 0], "semantic_id": 17, "pcd_info": {"point_index": 27}, "mesh_info": {"face_index": 96466, "face_uv": [0.34309368308052607, 0.5822288989830724, 0.07467741793640129]}}, {"xyz": [0.20042205165090402, -0.6263629794120786, -0.029951232578034448], "rgb": [50, 23, 0], "semantic_id": 18, "pcd_info": {"point_index": 1978}, "mesh_info": {"face_index": 96210, "face_uv": [0.19574975827417496, 0.3716486618873508, 0.43260157983847386]}}, {"xyz": [-0.18481756841985572, -0.6263629794120789, -0.014547223547593358], "rgb": [51, 24, 0], "semantic_id": 19, "pcd_info": {"point_index": 1713}, "mesh_info": {"face_index": 101734, "face_uv": [0.8399454812502157, 0.15013003806045278, 0.00992448068933166]}}, {"xyz": [-0.22383539419750367, -0.6263629794120789, -0.2805094418699156], "rgb": [51, 24, 0], "semantic_id": 20, "pcd_info": {"point_index": 949}, "mesh_info": {"face_index": 101813, "face_uv": [0.01716662484950143, 0.44336190442810086, 0.5394714707223977]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5d20adaf6d8f89fa2f1c10544d7d6f", "keypoints": [{"xyz": [0.2502736246707254, 0.5869029760360718, 0.12119590535242447], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1926}, "mesh_info": {"face_index": 42, "face_uv": [0.953690813241809, 0.00532229953009673, 0.04098688722809422]}}, {"xyz": [-0.2487879991531371, 0.5867732044503731, 0.11880856576757814], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1126}, "mesh_info": {"face_index": 6, "face_uv": [0.00027386177322152134, 0.0002233310464084318, 0.9995028071803695]}}, {"xyz": [0.2517763844513638, 0.11690475457189686, 0.11879699677228928], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1278}, "mesh_info": {"face_index": 79, "face_uv": [0.9895274612124739, 0.008145383687712423, 0.0023271550998136825]}}, {"xyz": [-0.24364217078088024, 0.11454531578534888, 0.11879699677228928], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 281}, "mesh_info": {"face_index": 10, "face_uv": [0.9897438703198388, 0.0031661728195235095, 0.00708995686063769]}}, {"xyz": [0.24843565009909518, 0.11172713917837196, -0.19873100519180298], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 548}, "mesh_info": {"face_index": 23, "face_uv": [0.9757908141403723, 0.016810301061498584, 0.0073988847981291276]}}, {"xyz": [-0.24537497849100182, 0.1106205701780596, -0.19873100519180276], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1089}, "mesh_info": {"face_index": 89, "face_uv": [0.02555117612055313, 0.0053742456201023095, 0.9690745782593434]}}, {"xyz": [0.2432423509641669, -0.1953119933605192, -0.19325163064888873], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 803}, "mesh_info": {"face_index": 53, "face_uv": [0.13194409445540328, 0.20486185976331428, 0.6631940457812814]}}, {"xyz": [0.25222078916952567, -0.1953119933605192, 0.16741556952070497], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1615}, "mesh_info": {"face_index": 112, "face_uv": [0.05200176270796306, 0.01527131264080411, 0.9327269246512317]}}, {"xyz": [-0.24307287313194897, -0.1953119933605192, 0.16303187065912955], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 598}, "mesh_info": {"face_index": 34, "face_uv": [0.19621752888015503, 0.15037433848247933, 0.6534081326373645]}}, {"xyz": [-0.2457195355344117, -0.1953119933605192, -0.19473464362405168], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 626}, "mesh_info": {"face_index": 95, "face_uv": [0.024188092538408465, 0.08073631012032284, 0.8950755973412675]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c951e7bd4c0cbce17ec5a98b3b8c425f", "keypoints": [{"xyz": [0.21300831294670114, 0.27384797547018436, 0.08530270550544627], "rgb": [246, 177, 17], "semantic_id": 0, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 47392, "face_uv": [0.3071444103139414, 0.5888286780421117, 0.10402691164394692]}}, {"xyz": [-0.2100207251936817, 0.2753153937665178, 0.08562290959218377], "rgb": [246, 177, 17], "semantic_id": 1, "pcd_info": {"point_index": 1918}, "mesh_info": {"face_index": 52262, "face_uv": [0.18916497449160763, 0.4395261737341052, 0.3713088517742921]}}, {"xyz": [0.15199404212859605, -0.023729828799349484, 0.11013939491592584], "rgb": [246, 177, 17], "semantic_id": 2, "pcd_info": {"point_index": 1878}, "mesh_info": {"face_index": 1238, "face_uv": [0.1739512026875429, 0.28381597631322153, 0.5422328209992422]}}, {"xyz": [-0.14998980056471345, -0.02501486642424844, 0.10752180260541933], "rgb": [245, 176, 16], "semantic_id": 3, "pcd_info": {"point_index": 275}, "mesh_info": {"face_index": 18240, "face_uv": [0.2554606980517432, 0.328262405315717, 0.41627689663253575]}}, {"xyz": [0.1885624328053248, -0.05388563207929731, -0.26048983836197215], "rgb": [246, 177, 17], "semantic_id": 4, "pcd_info": {"point_index": 1755}, "mesh_info": {"face_index": 60992, "face_uv": [0.19128417272589077, 0.4405389098593464, 0.3681769174147629]}}, {"xyz": [-0.19289715750351677, -0.05458685280984521, -0.25727799632309334], "rgb": [246, 177, 17], "semantic_id": 5, "pcd_info": {"point_index": 164}, "mesh_info": {"face_index": 66781, "face_uv": [0.3587737831893041, 0.07453075519441879, 0.5666954616162779]}}, {"xyz": [0.18198811092797748, -0.4296942895366396, -0.26703805411198905], "rgb": [191, 191, 191], "semantic_id": 17, "pcd_info": {"point_index": 286}, "mesh_info": {"face_index": 102670, "face_uv": [0.39258139985850804, 0.4913127621390587, 0.11610583800243414]}}, {"xyz": [0.17535947788220926, -0.42993860635454895, 0.22374117463538956], "rgb": [191, 191, 191], "semantic_id": 18, "pcd_info": {"point_index": 1929}, "mesh_info": {"face_index": 95089, "face_uv": [0.28235555502533466, 0.42352398325693635, 0.29412046171772904]}}, {"xyz": [-0.18087649090467184, -0.4175504852755101, 0.2180579415242248], "rgb": [191, 191, 191], "semantic_id": 19, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 98923, "face_uv": [0.11863055656631073, 0.0043021754454611585, 0.8770672679882316]}}, {"xyz": [-0.1712674861722578, -0.42915686879981063, -0.26147271481352674], "rgb": [191, 191, 191], "semantic_id": 20, "pcd_info": {"point_index": 1004}, "mesh_info": {"face_index": 100920, "face_uv": [0.47200789098013524, 0.14757679142391775, 0.3804153175959471]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "639a10b856336f1fff2c92c2a4f65876", "keypoints": [{"xyz": [0.15676744770484485, 0.384026933650333, 0.24753779198221704], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1845}, "mesh_info": {"face_index": 11132, "face_uv": [0.6999841435195613, 0.03241496627489649, 0.2676008902055419]}}, {"xyz": [-0.1645515218640104, 0.3839218911320741, 0.24054788234075342], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 562}, "mesh_info": {"face_index": 10060, "face_uv": [0.05281077232168768, 0.3652006802856053, 0.5819885473927072]}}, {"xyz": [0.13222376544984538, 0.12477691592549078, 0.11354869754472752], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 270}, "mesh_info": {"face_index": 10714, "face_uv": [0.4533426503779605, 0.07772536007846853, 0.468931989543557]}}, {"xyz": [-0.12171325367351579, 0.11560311114777444, 0.10460490058803384], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1282}, "mesh_info": {"face_index": 8076, "face_uv": [0.5772006162833605, 0.3470621003103267, 0.07573728340630563]}}, {"xyz": [0.20706999957977607, 0.15076484693749004, -0.15417908196086466], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1372}, "mesh_info": {"face_index": 10536, "face_uv": [0.031013320801208527, 0.5717594162447128, 0.39722726295408944]}}, {"xyz": [-0.19874975722127347, 0.14132002541390576, -0.16284625466579705], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 165}, "mesh_info": {"face_index": 8066, "face_uv": [0.7726115444353523, 0.17511561209727772, 0.052272843467371655]}}, {"xyz": [0.26674507393714486, 0.2984740555108225, -0.01428892321150188], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1657}, "mesh_info": {"face_index": 11367, "face_uv": [0.37365122255412037, 0.5374842142858111, 0.08886456316007604]}}, {"xyz": [-0.2702436972826616, 0.28374664094994495, -0.03499606437247138], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 1685}, "mesh_info": {"face_index": 9089, "face_uv": [0.12370844142250993, 0.5277709416260946, 0.348520616951395]}}, {"xyz": [0.19179133435999177, -0.2573949992656708, -0.20102189998211922], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 386}, "mesh_info": {"face_index": 7012, "face_uv": [0.14497786555186357, 0.45503387291733927, 0.39998826153079714]}}, {"xyz": [0.20636129577161863, -0.2573949992656708, 0.1978200488276927], "rgb": [29, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 732}, "mesh_info": {"face_index": 5753, "face_uv": [0.1664989022409139, 0.5900654888988418, 0.24343560886024423]}}, {"xyz": [-0.1905392583362106, -0.25739499926567055, 0.20856198816104998], "rgb": [28, 28, 28], "semantic_id": 19, "pcd_info": {"point_index": 207}, "mesh_info": {"face_index": 4660, "face_uv": [0.2649860515050953, 0.36391735960018723, 0.3710965888947166]}}, {"xyz": [-0.2056298013054449, -0.2573949992656708, -0.19869231182416958], "rgb": [29, 29, 29], "semantic_id": 20, "pcd_info": {"point_index": 370}, "mesh_info": {"face_index": 3556, "face_uv": [0.39178324498660094, 0.01606898516055067, 0.5921477698528484]}}, {"xyz": [6.596132191551618e-05, 0.08243583144810658, -0.011270241246303492], "rgb": [113, 113, 113], "semantic_id": 15, "pcd_info": {"point_index": 1791}, "mesh_info": {"face_index": 904, "face_uv": [0.8491360969060846, 0.02553826224054359, 0.1253256408533595]}}, {"xyz": [0.0017502902145804522, -0.1679230034351351, -0.0007621152616086313], "rgb": [114, 114, 114], "semantic_id": 16, "pcd_info": {"point_index": 1549}, "mesh_info": {"face_index": 715, "face_uv": [0.16485041070501388, 0.509691455387627, 0.32545813390736045]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 7]}, {"kp_indexes": [8, 11]}, {"kp_indexes": [9, 10]}], "rotation": [{"kp_indexes": [8, 9, 10, 11], "is_circle": false, "circle": {}}]}}, {"class_id": "03001627", "model_id": "e40d5fac8951692e3849910c5019154", "keypoints": [{"xyz": [0.2732130801198583, 0.3089489150616689, 0.32503068777079414], "rgb": [58, 58, 58], "semantic_id": 0, "pcd_info": {"point_index": 1871}, "mesh_info": {"face_index": 9985, "face_uv": [0.07621040083926169, 0.41499789637769524, 0.5087917027830432]}}, {"xyz": [-0.2812452361001887, 0.3130289912223816, 0.3228825753206771], "rgb": [58, 58, 58], "semantic_id": 1, "pcd_info": {"point_index": 1625}, "mesh_info": {"face_index": 11266, "face_uv": [0.17073570231852891, 0.43972551194299286, 0.38953878573847817]}}, {"xyz": [0.2423534542616647, -0.038808537661368714, 0.18300694718460886], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 558}, "mesh_info": {"face_index": 14767, "face_uv": [0.010955669315158536, 0.8947269813091597, 0.09431734937570006]}}, {"xyz": [-0.24212258520567187, -0.04768461305696814, 0.17697189679994005], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1277}, "mesh_info": {"face_index": 14491, "face_uv": [0.38809336404711314, 0.11031571138551013, 0.5015909245673746]}}, {"xyz": [0.22914323459602018, -0.047802996788185725, -0.16699854793243119], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1580}, "mesh_info": {"face_index": 11958, "face_uv": [0.296635579420561, 0.5937671516644103, 0.10959726891502503]}}, {"xyz": [-0.21846683343772966, -0.04619808893932953, -0.1580801883645362], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 935}, "mesh_info": {"face_index": 11847, "face_uv": [0.31522345141184255, 0.17544248917685062, 0.5093340594112993]}}, {"xyz": [0.26708250530439326, 0.08855725447484386, -0.07281426669074631], "rgb": [58, 58, 58], "semantic_id": 6, "pcd_info": {"point_index": 1367}, "mesh_info": {"face_index": 9917, "face_uv": [0.13419527177103963, 0.35152351062560405, 0.5142812176033563]}}, {"xyz": [0.26049913824159915, 0.09381532831667116, 0.15681843754411706], "rgb": [57, 57, 57], "semantic_id": 7, "pcd_info": {"point_index": 175}, "mesh_info": {"face_index": 9598, "face_uv": [0.5058619450013658, 0.06488718693935537, 0.42925086805927837]}}, {"xyz": [-0.2649980632082791, 0.0899457198517028, -0.07300136348058661], "rgb": [57, 57, 57], "semantic_id": 8, "pcd_info": {"point_index": 1835}, "mesh_info": {"face_index": 8588, "face_uv": [0.1451202320917987, 0.3117948964371233, 0.5430848714710771]}}, {"xyz": [-0.26948480926401563, 0.09299771273323398, 0.17240434223565693], "rgb": [58, 58, 58], "semantic_id": 9, "pcd_info": {"point_index": 1429}, "mesh_info": {"face_index": 8537, "face_uv": [0.2628100148053289, 0.0007224551351407256, 0.736467530059536]}}, {"xyz": [0.26062513499907747, -0.2824327162652833, -0.11578783133045562], "rgb": [58, 58, 58], "semantic_id": 17, "pcd_info": {"point_index": 1410}, "mesh_info": {"face_index": 3988, "face_uv": [0.3896331193242583, 0.18030007030181702, 0.4300668103739833]}}, {"xyz": [0.2531099915504455, -0.28723614100976125, 0.24317956179930067], "rgb": [57, 57, 57], "semantic_id": 18, "pcd_info": {"point_index": 1949}, "mesh_info": {"face_index": 4603, "face_uv": [0.038934190454117855, 0.36591685906781296, 0.595148950478069]}}, {"xyz": [-0.262676490283227, -0.2971640778575241, 0.262040793867496], "rgb": [57, 57, 57], "semantic_id": 19, "pcd_info": {"point_index": 110}, "mesh_info": {"face_index": 4316, "face_uv": [0.544705562013268, 0.044214400514478114, 0.41108003747225286]}}, {"xyz": [-0.2692768747109475, -0.29983600059363613, -0.12305410786321619], "rgb": [58, 58, 58], "semantic_id": 20, "pcd_info": {"point_index": 387}, "mesh_info": {"face_index": 3708, "face_uv": [0.001965482139792439, 0.019035425507343457, 0.9789990923528641]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "dd78c16d85780d6b413102507b68bcb5", "keypoints": [{"xyz": [0.38058993940892477, 0.13555274828739106, 0.04445703568678527], "rgb": [182, 175, 152], "semantic_id": 0, "pcd_info": {"point_index": 1358}, "mesh_info": {"face_index": 1918, "face_uv": [0.22295148884420599, 0.08207191776211498, 0.6949765933936801]}}, {"xyz": [-0.3843312395241907, 0.13175595886831704, 0.04816489065581275], "rgb": [170, 164, 140], "semantic_id": 1, "pcd_info": {"point_index": 582}, "mesh_info": {"face_index": 3353, "face_uv": [0.3348481068645797, 0.44814677925088053, 0.21700511388453958]}}, {"xyz": [0.3795630599358629, 0.004836610963178445, -0.010781816197107386], "rgb": [175, 168, 140], "semantic_id": 2, "pcd_info": {"point_index": 264}, "mesh_info": {"face_index": 889, "face_uv": [0.6529016295553385, 0.1460837839843276, 0.20101458646033327]}}, {"xyz": [-0.37722360242052133, 0.0007159300553108983, -0.010786986237682372], "rgb": [176, 169, 149], "semantic_id": 3, "pcd_info": {"point_index": 1765}, "mesh_info": {"face_index": 3824, "face_uv": [0.16957847080001423, 0.6729308431895907, 0.1574906860103995]}}, {"xyz": [0.37850664970435816, -0.014849659232729184, -0.18748681024606628], "rgb": [170, 162, 139], "semantic_id": 4, "pcd_info": {"point_index": 93}, "mesh_info": {"face_index": 608, "face_uv": [0.23725433338797258, 0.7404132249683437, 0.022332441643684024]}}, {"xyz": [-0.37436186867911014, -0.012876099940677732, -0.18732875091233958], "rgb": [181, 173, 150], "semantic_id": 5, "pcd_info": {"point_index": 624}, "mesh_info": {"face_index": 3078, "face_uv": [3.8740095256456306e-05, 0.6936221648771221, 0.3063390950276212]}}, {"xyz": [0.4443746904895576, 0.028314262998800133, -0.19029643584981026], "rgb": [178, 170, 144], "semantic_id": 6, "pcd_info": {"point_index": 808}, "mesh_info": {"face_index": 272, "face_uv": [0.22053504283916384, 0.09990991836038327, 0.6795550388004534]}}, {"xyz": [0.44250470564774935, 0.027289866895214177, 0.10995681872993845], "rgb": [173, 166, 140], "semantic_id": 7, "pcd_info": {"point_index": 1252}, "mesh_info": {"face_index": 81, "face_uv": [0.10773818564342055, 0.5033873563967282, 0.3888744579598511]}}, {"xyz": [-0.4479998648087341, 0.028082678113239945, -0.18592928394306463], "rgb": [178, 171, 144], "semantic_id": 8, "pcd_info": {"point_index": 2035}, "mesh_info": {"face_index": 2321, "face_uv": [0.20065143224183637, 0.07170697913327669, 0.7276415886248873]}}, {"xyz": [-0.4424807650744209, 0.035114303427502325, 0.10364128726571709], "rgb": [178, 171, 143], "semantic_id": 9, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 2264, "face_uv": [0.0017848299038539042, 0.9541978431222471, 0.044017326973900324]}}, {"xyz": [0.44159658189471507, -0.14896788655944482, -0.1873210915335204], "rgb": [173, 166, 142], "semantic_id": 17, "pcd_info": {"point_index": 778}, "mesh_info": {"face_index": 176, "face_uv": [0.41223023746727383, 0.5870305154600686, 0.0007392470726569662]}}, {"xyz": [0.4450230888180006, -0.150395901052502, 0.09765039638374984], "rgb": [176, 170, 148], "semantic_id": 18, "pcd_info": {"point_index": 1817}, "mesh_info": {"face_index": 389, "face_uv": [0.9916823174423026, 0.00711846612749351, 0.0011992164302040609]}}, {"xyz": [-0.4462782905962379, -0.14840691461634603, 0.1016829538741143], "rgb": [177, 171, 149], "semantic_id": 19, "pcd_info": {"point_index": 971}, "mesh_info": {"face_index": 2414, "face_uv": [0.14861052504397404, 0.5713717158245136, 0.2800177591315117]}}, {"xyz": [-0.44176029176282416, -0.1506137325560164, -0.18432929766433914], "rgb": [172, 164, 140], "semantic_id": 20, "pcd_info": {"point_index": 1092}, "mesh_info": {"face_index": 2442, "face_uv": [0.14940909350795356, 0.6548754458044769, 0.19571546068756948]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d1b2d8868ca506f2a248097aeae36abc", "keypoints": [{"xyz": [0.15956087139612585, 0.3296440072586857, 0.07333069106165119], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1982}, "mesh_info": {"face_index": 83, "face_uv": [0.5155339861524078, 0.2922417944851571, 0.19222421936243517]}}, {"xyz": [-0.16289816402671092, 0.32647318900643674, 0.07857849839938891], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1996}, "mesh_info": {"face_index": 59, "face_uv": [0.5528084081247411, 0.17834753546477072, 0.26884405641048825]}}, {"xyz": [0.16343027095630677, -0.02245300076901935, 0.02478853280371629], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 137, "face_uv": [0.039679262727186526, 0.9554376806386877, 0.004883056634135786]}}, {"xyz": [-0.1621267780350356, -0.02245300076901935, 0.034680982308323616], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 760}, "mesh_info": {"face_index": 136, "face_uv": [0.9818698909120521, 0.005693406713495425, 0.012436702374462235]}}, {"xyz": [0.15983350932197785, -0.023444854265495363, -0.2183780074119568], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 744}, "mesh_info": {"face_index": 7, "face_uv": [0.9806680666682448, 0.005077107072590917, 0.014254826259164318]}}, {"xyz": [-0.15763970700369093, -0.0225734830245109, -0.2183780074119568], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 402}, "mesh_info": {"face_index": 114, "face_uv": [0.9738388887115546, 0.0006167254676745867, 0.025544385820770846]}}, {"xyz": [0.11422195114059222, -0.46417900919914246, -0.1814168181996727], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 974}, "mesh_info": {"face_index": 147, "face_uv": [0.04668186565221781, 0.42876501190512123, 0.524553122442661]}}, {"xyz": [0.12089831221245081, -0.46417900919914246, 0.06438125767816666], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1840}, "mesh_info": {"face_index": 196, "face_uv": [0.08773216035961252, 0.3679172029846456, 0.5443506366557419]}}, {"xyz": [-0.09636018066227482, -0.46417900919914246, 0.07400070615072113], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1791}, "mesh_info": {"face_index": 193, "face_uv": [0.1835000090291237, 0.5068083541995021, 0.3096916367713743]}}, {"xyz": [-0.14026207518255995, -0.4641790091991427, -0.18375205825792437], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 562}, "mesh_info": {"face_index": 1, "face_uv": [0.25666655120608517, 0.5351438650735808, 0.20818958372033453]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7905bbf9abc0c264f3443b22038d340", "keypoints": [{"xyz": [0.14942906602946426, 0.37383357473683376, 0.1868277631962838], "rgb": [187, 146, 76], "semantic_id": 0, "pcd_info": {"point_index": 1678}, "mesh_info": {"face_index": 16801, "face_uv": [0.07901819006390617, 0.32652102918131143, 0.5944607807547839]}}, {"xyz": [-0.14210202548662634, 0.3720267115921684, 0.18866797244878475], "rgb": [226, 186, 107], "semantic_id": 1, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 16794, "face_uv": [0.4526689238084911, 0.4178217251473739, 0.1295093510441335]}}, {"xyz": [0.19296465475805874, 0.09671904221850403, 0.14083575198293574], "rgb": [187, 143, 72], "semantic_id": 2, "pcd_info": {"point_index": 1651}, "mesh_info": {"face_index": 15883, "face_uv": [0.1826272238336344, 0.3061892724857469, 0.51118350368062]}}, {"xyz": [-0.1925519050959696, 0.10413321390223884, 0.14770681774490835], "rgb": [231, 190, 110], "semantic_id": 3, "pcd_info": {"point_index": 1241}, "mesh_info": {"face_index": 16184, "face_uv": [0.8243637812679687, 0.11643967258500065, 0.059196546147033534]}}, {"xyz": [0.1650310585634388, 0.10911131696822984, -0.18987799348638357], "rgb": [205, 166, 94], "semantic_id": 4, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 14882, "face_uv": [0.828342588386042, 0.06162939319775009, 0.11002801841620921]}}, {"xyz": [-0.16903961033720225, 0.10913156682879643, -0.1762367363971905], "rgb": [224, 185, 110], "semantic_id": 5, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 15445, "face_uv": [0.14133072147606043, 0.07289210559842202, 0.7857771729255154]}}, {"xyz": [0.23938162445464345, -0.31922799348831155, -0.177192976490005], "rgb": [50, 50, 50], "semantic_id": 17, "pcd_info": {"point_index": 1796}, "mesh_info": {"face_index": 4808, "face_uv": [0.21273552033606516, 0.46368711058866485, 0.3235773690752693]}}, {"xyz": [0.23902409578125614, -0.31922799348831155, 0.16337851328812245], "rgb": [50, 50, 50], "semantic_id": 18, "pcd_info": {"point_index": 1389}, "mesh_info": {"face_index": 4656, "face_uv": [0.16921404992082875, 0.6038881883410318, 0.22689776173813886]}}, {"xyz": [-0.24351487201333588, -0.319227993488312, 0.16245707375569116], "rgb": [51, 51, 51], "semantic_id": 19, "pcd_info": {"point_index": 1718}, "mesh_info": {"face_index": 5150, "face_uv": [0.06644888525595534, 0.4877311058733085, 0.44582000887073686]}}, {"xyz": [-0.24392572583699956, -0.31922799348831177, -0.18410906804070845], "rgb": [51, 51, 51], "semantic_id": 20, "pcd_info": {"point_index": 210}, "mesh_info": {"face_index": 4960, "face_uv": [0.5325312745136792, 0.16691714098789967, 0.3005515844984211]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c826c65111c867ab45a1df43bcd9e471", "keypoints": [{"xyz": [0.17328629750612923, 0.41052401065826416, 0.04145936187079635], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 1520}, "mesh_info": {"face_index": 1888, "face_uv": [0.032614337204178334, 0.6357158290400831, 0.3316698337557386]}}, {"xyz": [-0.17848156312502156, 0.4066932858375071, 0.05286765129654669], "rgb": [226, 225, 221], "semantic_id": 1, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 1999, "face_uv": [0.006615261595419512, 0.9612278003986299, 0.03215693800595128]}}, {"xyz": [0.15200169976113703, -0.06505454516740161, 0.02650386240584468], "rgb": [226, 225, 221], "semantic_id": 2, "pcd_info": {"point_index": 775}, "mesh_info": {"face_index": 1557, "face_uv": [0.14987063701879919, 0.05398447353674913, 0.7961448894444529]}}, {"xyz": [-0.1535403611861928, -0.06627114074232887, 0.0337482811197507], "rgb": [226, 225, 221], "semantic_id": 3, "pcd_info": {"point_index": 640}, "mesh_info": {"face_index": 1025, "face_uv": [0.03511643342809915, 0.051027696248747485, 0.9138558703231573]}}, {"xyz": [0.18106063998478628, -0.1020758807908253, -0.26006999611854553], "rgb": [226, 225, 221], "semantic_id": 4, "pcd_info": {"point_index": 1353}, "mesh_info": {"face_index": 1656, "face_uv": [0.006772734949816616, 0.5351459815077808, 0.4580812835424026]}}, {"xyz": [-0.17748158204068284, -0.09561634534900998, -0.25853188710952346], "rgb": [226, 225, 221], "semantic_id": 5, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 1675, "face_uv": [0.9462550850838446, 0.00340587830349635, 0.050339036612660516]}}, {"xyz": [0.16332148181314893, -0.4375149303837463, -0.24893100559711434], "rgb": [225, 224, 220], "semantic_id": 17, "pcd_info": {"point_index": 993}, "mesh_info": {"face_index": 232, "face_uv": [0.18118258400511164, 0.012363562287028364, 0.806453853707859]}}, {"xyz": [0.1604737923418224, -0.43850462836834575, 0.014236999675631523], "rgb": [226, 225, 221], "semantic_id": 18, "pcd_info": {"point_index": 1401}, "mesh_info": {"face_index": 460, "face_uv": [0.3797383978077369, 0.009395818588815084, 0.6108657836034481]}}, {"xyz": [-0.16224606412508336, -0.4373399284893724, 0.014236999675631523], "rgb": [226, 225, 221], "semantic_id": 19, "pcd_info": {"point_index": 1550}, "mesh_info": {"face_index": 697, "face_uv": [0.0012486002908767744, 0.9871116707868117, 0.011639728922311576]}}, {"xyz": [-0.16934590577755548, -0.4387074922022154, -0.24130139323520772], "rgb": [225, 224, 220], "semantic_id": 20, "pcd_info": {"point_index": 1928}, "mesh_info": {"face_index": 20, "face_uv": [0.2946479833132546, 0.009179357666222132, 0.6961726590205224]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "928678562a6a57db698a862d11861eaa", "keypoints": [{"xyz": [0.20335077149923794, 0.2653757284303535, 0.32792654702939306], "rgb": [20, 9, 3], "semantic_id": 0, "pcd_info": {"point_index": 28}, "mesh_info": {"face_index": 1149, "face_uv": [0.1814952194422726, 0.01803782666850161, 0.8004669538892251]}}, {"xyz": [-0.21483375625121431, 0.2620650753735012, 0.32681754810568564], "rgb": [32, 19, 11], "semantic_id": 1, "pcd_info": {"point_index": 1702}, "mesh_info": {"face_index": 1058, "face_uv": [0.28983504661943327, 0.006795741299803331, 0.7033692120807622]}}, {"xyz": [0.17136011405061452, -0.14506196137906602, 0.2900170087814331], "rgb": [31, 17, 9], "semantic_id": 2, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 645, "face_uv": [0.7723110985767229, 0.09263698855126375, 0.13505191287201349]}}, {"xyz": [-0.1739328596878557, -0.14700320054371896, 0.2900170087814331], "rgb": [33, 16, 6], "semantic_id": 3, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 706, "face_uv": [0.8736142175435453, 0.10217273093436285, 0.02421305152209188]}}, {"xyz": [0.1680194922170917, -0.1520374038095571, -0.08979416796126083], "rgb": [21, 10, 3], "semantic_id": 4, "pcd_info": {"point_index": 1393}, "mesh_info": {"face_index": 661, "face_uv": [0.2707147834535712, 0.5142225567174493, 0.2150626598289799]}}, {"xyz": [-0.17573972031250062, -0.15522926610147625, -0.09420137533741779], "rgb": [29, 15, 7], "semantic_id": 5, "pcd_info": {"point_index": 798}, "mesh_info": {"face_index": 1296, "face_uv": [0.13679669138591233, 0.8247411272859207, 0.03846218132816479]}}, {"xyz": [0.18469556918349583, 0.07744661785861351, -0.04837736065683407], "rgb": [18, 8, 0], "semantic_id": 6, "pcd_info": {"point_index": 1603}, "mesh_info": {"face_index": 28, "face_uv": [0.22853986054942987, 0.21600023158718148, 0.5554599078633817]}}, {"xyz": [0.19605354932162314, 0.08569049706868093, 0.2911213161974715], "rgb": [19, 12, 4], "semantic_id": 7, "pcd_info": {"point_index": 1383}, "mesh_info": {"face_index": 784, "face_uv": [0.03505425277342383, 0.020139409282936557, 0.9448063379436397]}}, {"xyz": [-0.19684479529504623, 0.07800672551881838, -0.05209278049010546], "rgb": [19, 8, 1], "semantic_id": 8, "pcd_info": {"point_index": 2010}, "mesh_info": {"face_index": 2073, "face_uv": [0.2501750117819633, 0.364005955192279, 0.3858190330257562]}}, {"xyz": [-0.19742853158348167, 0.08057376724613463, 0.28383235485940317], "rgb": [16, 6, 0], "semantic_id": 9, "pcd_info": {"point_index": 404}, "mesh_info": {"face_index": 2029, "face_uv": [0.4832187422915842, 0.019184359232723176, 0.49759689847569166]}}, {"xyz": [0.18863632511613465, -0.49315500259399414, -0.061595561020921896], "rgb": [47, 15, 15], "semantic_id": 17, "pcd_info": {"point_index": 1217}, "mesh_info": {"face_index": 2128, "face_uv": [0.1641031689032431, 0.22345585514009106, 0.6124409759566658]}}, {"xyz": [0.1888802423640248, -0.4931550025939939, 0.31058836208138657], "rgb": [46, 14, 14], "semantic_id": 18, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 2199, "face_uv": [0.3996455036567194, 0.46939368340636406, 0.13096081293691608]}}, {"xyz": [-0.1960807942394568, -0.49315500259399414, 0.3096354358895766], "rgb": [47, 15, 15], "semantic_id": 19, "pcd_info": {"point_index": 250}, "mesh_info": {"face_index": 2175, "face_uv": [0.5736471337215246, 0.4221724048846783, 0.004180461393797026]}}, {"xyz": [-0.19558735501110175, -0.49315500259399414, -0.06069853875388853], "rgb": [47, 15, 15], "semantic_id": 20, "pcd_info": {"point_index": 1759}, "mesh_info": {"face_index": 2150, "face_uv": [0.4019009741575971, 0.1790070044047325, 0.4190920214376704]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "736630a749935489f78c99506bdaf97d", "keypoints": [{"xyz": [0.1466759900720874, 0.3368045139947782, 0.12356068216351734], "rgb": [107, 20, 20], "semantic_id": 0, "pcd_info": {"point_index": 1818}, "mesh_info": {"face_index": 46, "face_uv": [0.1505667148000178, 0.4968346504589745, 0.35259863474100767]}}, {"xyz": [-0.11975154176234298, 0.34647699731710835, 0.12506820282955888], "rgb": [107, 20, 20], "semantic_id": 1, "pcd_info": {"point_index": 1556}, "mesh_info": {"face_index": 51, "face_uv": [0.37985944218917783, 0.47586854253610855, 0.1442720152747137]}}, {"xyz": [0.19662556136018763, 0.0321366690460716, 0.09612199664115906], "rgb": [106, 20, 20], "semantic_id": 2, "pcd_info": {"point_index": 1294}, "mesh_info": {"face_index": 18, "face_uv": [0.009189055470523141, 0.9368411728965341, 0.05396977163294261]}}, {"xyz": [-0.17895318657722525, 0.030321141070263513, 0.09612199664115906], "rgb": [107, 20, 20], "semantic_id": 3, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 65, "face_uv": [0.7670876035775941, 0.003159063977782189, 0.22975333244462376]}}, {"xyz": [0.19887166153979022, 0.021918224760646754, -0.2641499936580658], "rgb": [107, 20, 20], "semantic_id": 4, "pcd_info": {"point_index": 544}, "mesh_info": {"face_index": 158, "face_uv": [0.1198818038763958, 0.8542753478306374, 0.025842848292966916]}}, {"xyz": [-0.18127841707364456, 0.025279000401496776, -0.26123652072983705], "rgb": [106, 19, 19], "semantic_id": 5, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 79, "face_uv": [0.03391387384212069, 0.14060634149503992, 0.825479784662835]}}, {"xyz": [0.17362654157226218, -0.39812400937080383, -0.20871230242651265], "rgb": [107, 20, 20], "semantic_id": 17, "pcd_info": {"point_index": 1948}, "mesh_info": {"face_index": 219, "face_uv": [0.4358302831872451, 0.5147240689226893, 0.049445647890065586]}}, {"xyz": [0.18587522941863288, -0.39812400937080383, 0.11927903341616031], "rgb": [107, 20, 20], "semantic_id": 18, "pcd_info": {"point_index": 389}, "mesh_info": {"face_index": 93, "face_uv": [0.3733058780430825, 0.5887860356583896, 0.03790808629852791]}}, {"xyz": [-0.16736940635354397, -0.39812400937080383, 0.11026785776136916], "rgb": [107, 20, 20], "semantic_id": 19, "pcd_info": {"point_index": 319}, "mesh_info": {"face_index": 109, "face_uv": [0.45072803856403193, 0.31856478345091294, 0.23070717798505516]}}, {"xyz": [-0.161278196132412, -0.3981240093708036, -0.214364132912269], "rgb": [106, 19, 19], "semantic_id": 20, "pcd_info": {"point_index": 1128}, "mesh_info": {"face_index": 116, "face_uv": [0.06284073905930132, 0.5166846047651511, 0.420474656175547]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e916dfe829b5b3daf4b6538438a0b930", "keypoints": [{"xyz": [0.21266217304537505, 0.2810449248074258, 0.1623572876803816], "rgb": [242, 181, 80], "semantic_id": 0, "pcd_info": {"point_index": 754}, "mesh_info": {"face_index": 4855, "face_uv": [0.07515933628878876, 0.649373057920702, 0.2754676057905089]}}, {"xyz": [-0.21154683474724761, 0.2826356620319057, 0.15680901077476928], "rgb": [241, 181, 79], "semantic_id": 1, "pcd_info": {"point_index": 1838}, "mesh_info": {"face_index": 5714, "face_uv": [0.09507101650122649, 0.406495214299934, 0.4984337691988389]}}, {"xyz": [0.21046896493094452, -0.09705118723324624, 0.03672026168831799], "rgb": [241, 181, 91], "semantic_id": 2, "pcd_info": {"point_index": 1300}, "mesh_info": {"face_index": 4431, "face_uv": [0.42897013870097966, 0.5643617169637946, 0.006668144335225452]}}, {"xyz": [-0.20394796332099674, -0.09574627943228231, 0.0370944392396626], "rgb": [241, 180, 88], "semantic_id": 3, "pcd_info": {"point_index": 806}, "mesh_info": {"face_index": 5319, "face_uv": [0.28884086431886147, 0.7010364598180108, 0.01012267586312726]}}, {"xyz": [0.20599342748556043, -0.06160434124061753, -0.32012831612745773], "rgb": [246, 187, 96], "semantic_id": 4, "pcd_info": {"point_index": 1844}, "mesh_info": {"face_index": 4346, "face_uv": [0.39088459127216774, 0.06409840869456485, 0.5450170000332675]}}, {"xyz": [-0.20336900596860102, -0.06044539484498679, -0.3195420863925833], "rgb": [245, 183, 81], "semantic_id": 5, "pcd_info": {"point_index": 1466}, "mesh_info": {"face_index": 5370, "face_uv": [0.27652246832921684, 0.22663993411373765, 0.4968375975570449]}}, {"xyz": [0.20278395557352988, -0.40049698948860146, -0.3400133912131798], "rgb": [243, 175, 72], "semantic_id": 17, "pcd_info": {"point_index": 1463}, "mesh_info": {"face_index": 4499, "face_uv": [0.2033524935584171, 0.2664816633374957, 0.5301658431040867]}}, {"xyz": [0.2026625628272638, -0.4004969894886019, 0.19397928759416413], "rgb": [244, 181, 85], "semantic_id": 18, "pcd_info": {"point_index": 600}, "mesh_info": {"face_index": 4738, "face_uv": [0.4735040161194761, 0.26177633689143764, 0.26471964698908673]}}, {"xyz": [-0.20680193710841227, -0.4004969894886019, 0.18982973682508197], "rgb": [243, 180, 80], "semantic_id": 19, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 5828, "face_uv": [0.4095869402723359, 0.5603983154362112, 0.03001474429145342]}}, {"xyz": [-0.20866481536180803, -0.40049698948860146, -0.3450221817601722], "rgb": [242, 176, 80], "semantic_id": 20, "pcd_info": {"point_index": 1309}, "mesh_info": {"face_index": 5351, "face_uv": [0.11901302059068815, 0.3627812844632485, 0.5182056949460628]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d8592dc28b9f0afa387379bbd607d69e", "keypoints": [{"xyz": [0.15927682682562788, 0.21745448453997818, 0.20089578123161367], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 326}, "mesh_info": {"face_index": 15443, "face_uv": [0.2487763252307427, 0.07510344569683172, 0.6761202290724243]}}, {"xyz": [-0.14065500449158044, 0.22998447679263956, 0.2089985764016702], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 962}, "mesh_info": {"face_index": 27682, "face_uv": [0.2641396237533208, 0.13219575805380235, 0.6036646181928765]}}, {"xyz": [0.16826932250900284, -0.05777461788405325, 0.08308162756710513], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 199}, "mesh_info": {"face_index": 11344, "face_uv": [0.43405842716521326, 0.41121495044871453, 0.154726622386072]}}, {"xyz": [-0.14519600998084983, -0.07383302013357262, 0.09467487435825661], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1243}, "mesh_info": {"face_index": 20282, "face_uv": [0.8639991674425722, 0.012847202079790943, 0.12315363047763597]}}, {"xyz": [0.16548308365591316, -0.06993521520102175, -0.18932336709831876], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 776}, "mesh_info": {"face_index": 8097, "face_uv": [0.06779120220383966, 0.5601547665167985, 0.3720540312793625]}}, {"xyz": [-0.16650691040405324, -0.07006266838189301, -0.1945754867287306], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1925}, "mesh_info": {"face_index": 18142, "face_uv": [0.035779123440129075, 0.30290052046024946, 0.661320356099618]}}, {"xyz": [0.23342759955669062, 0.08151224140918978, -0.12565483275393752], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 9}, "mesh_info": {"face_index": 4018, "face_uv": [0.248442129219297, 0.6561708791050562, 0.09538699167564688]}}, {"xyz": [0.23932365184158821, 0.12979927717597883, 0.08814400498612818], "rgb": [254, 254, 254], "semantic_id": 7, "pcd_info": {"point_index": 702}, "mesh_info": {"face_index": 10459, "face_uv": [0.16283470278588583, 0.41351407993895495, 0.423651217275149]}}, {"xyz": [-0.22332153311712055, 0.0850885414676088, -0.1276315659684779], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 364}, "mesh_info": {"face_index": 37594, "face_uv": [0.19149111116141007, 0.07225955073873996, 0.73624933809985]}}, {"xyz": [-0.2405720516326721, 0.13342794250963008, 0.09220012547877054], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1832}, "mesh_info": {"face_index": 30156, "face_uv": [0.1921384535664939, 0.10425794269628608, 0.70360360373722]}}, {"xyz": [0.23956923466561708, -0.4583953830532477, -0.21183392309901805], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1142}, "mesh_info": {"face_index": 43903, "face_uv": [0.3279537959627623, 0.2714940046075118, 0.4005521994297262]}}, {"xyz": [0.21213134863991046, -0.45407035617403446, 0.23050300055864956], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 268}, "mesh_info": {"face_index": 44895, "face_uv": [0.3761126906972038, 0.08622555917851074, 0.5376617501242856]}}, {"xyz": [-0.2065469958768329, -0.4557057088859593, 0.229267051845532], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 483}, "mesh_info": {"face_index": 48246, "face_uv": [0.19577238238349604, 0.3273838146438785, 0.4768438029726255]}}, {"xyz": [-0.24374794713469017, -0.4571113359849399, -0.21387805393777037], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 2043}, "mesh_info": {"face_index": 46980, "face_uv": [0.16290009591329835, 0.30212261326259154, 0.5349772908241105]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "52f9bde46afeecc5dc3653f8341633a", "keypoints": [{"xyz": [0.08115053884579804, 0.2675542141321323, 0.16527212745716968], "rgb": [207, 207, 207], "semantic_id": 0, "pcd_info": {"point_index": 1908}, "mesh_info": {"face_index": 16472, "face_uv": [0.09601031615283799, 0.5818452852749518, 0.32214439857221044]}}, {"xyz": [-0.08260000841819264, 0.27499255567004455, 0.1661146244391361], "rgb": [206, 206, 206], "semantic_id": 1, "pcd_info": {"point_index": 1078}, "mesh_info": {"face_index": 16433, "face_uv": [0.08585548477718204, 0.42169804421127083, 0.49244647101154676]}}, {"xyz": [0.13017211324436978, -0.06920915020797602, 0.05180063485286179], "rgb": [206, 206, 206], "semantic_id": 2, "pcd_info": {"point_index": 1628}, "mesh_info": {"face_index": 14816, "face_uv": [0.1590097524522797, 0.17656384623898394, 0.6644264013087353]}}, {"xyz": [-0.13370901683826827, -0.07468599826097488, 0.04104038874178528], "rgb": [206, 206, 206], "semantic_id": 3, "pcd_info": {"point_index": 1349}, "mesh_info": {"face_index": 18706, "face_uv": [0.12043063827092725, 0.851340245441243, 0.028229116287829363]}}, {"xyz": [0.1578601036383921, -0.07469302452635396, -0.2382017041874882], "rgb": [206, 206, 206], "semantic_id": 4, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 18742, "face_uv": [0.034795971595123536, 0.7027193558185263, 0.26248467258634967]}}, {"xyz": [-0.17740242904302347, -0.0750377188364818, -0.24099945005715795], "rgb": [206, 206, 206], "semantic_id": 5, "pcd_info": {"point_index": 868}, "mesh_info": {"face_index": 18760, "face_uv": [0.020115278769897865, 0.21564730794714077, 0.7642374132829605]}}, {"xyz": [0.19187669020909298, 0.0945881548472054, -0.14815770710897713], "rgb": [206, 206, 206], "semantic_id": 6, "pcd_info": {"point_index": 396}, "mesh_info": {"face_index": 8786, "face_uv": [0.4152788209975222, 0.06385677727553705, 0.5208644017269405]}}, {"xyz": [0.15697481871017135, 0.10652620621438191, 0.08335219020062323], "rgb": [207, 207, 207], "semantic_id": 7, "pcd_info": {"point_index": 221}, "mesh_info": {"face_index": 5739, "face_uv": [0.5958925507448835, 0.3605647832997523, 0.043542665955365586]}}, {"xyz": [-0.20572033292368824, 0.0950184388921349, -0.14776996877341886], "rgb": [206, 206, 206], "semantic_id": 8, "pcd_info": {"point_index": 1138}, "mesh_info": {"face_index": 3008, "face_uv": [0.403420132682992, 0.035453884640784784, 0.5611259826762223]}}, {"xyz": [-0.16828008572941705, 0.10671437306286191, 0.08233060906795464], "rgb": [206, 206, 206], "semantic_id": 9, "pcd_info": {"point_index": 481}, "mesh_info": {"face_index": 706, "face_uv": [0.5362213459717267, 0.11920672457672209, 0.3445719294515506]}}, {"xyz": [0.19040427629581935, -0.46168699860572804, -0.2535764932757882], "rgb": [206, 206, 206], "semantic_id": 17, "pcd_info": {"point_index": 1692}, "mesh_info": {"face_index": 44, "face_uv": [0.21801766770207606, 0.5781656792169954, 0.2038166530809283]}}, {"xyz": [0.14170623671598404, -0.46565300226211537, 0.13601600191144073], "rgb": [206, 206, 206], "semantic_id": 18, "pcd_info": {"point_index": 38}, "mesh_info": {"face_index": 82, "face_uv": [0.5484971799577224, 0.024446272108015647, 0.4270565479342618]}}, {"xyz": [-0.1550697978830763, -0.4656530022621155, 0.13486509130473798], "rgb": [207, 207, 207], "semantic_id": 19, "pcd_info": {"point_index": 1928}, "mesh_info": {"face_index": 58, "face_uv": [0.3728980091983335, 0.12349446998300928, 0.5036075208186572]}}, {"xyz": [-0.2046285182362583, -0.46168699860572815, -0.24769222360566684], "rgb": [207, 207, 207], "semantic_id": 20, "pcd_info": {"point_index": 319}, "mesh_info": {"face_index": 8, "face_uv": [0.07828310705578832, 0.4393803041927612, 0.48233658875145047]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4ad85a7d1ebf49e3490ad276cd2af3a4", "keypoints": [{"xyz": [0.1079695253956644, 0.6062542067127633, 0.16646391133242555], "rgb": [28, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 1064}, "mesh_info": {"face_index": 994, "face_uv": [0.027170567094898693, 0.1344139162458622, 0.8384155166592385]}}, {"xyz": [-0.10680315522082984, 0.6117973228426893, 0.16742993133000694], "rgb": [28, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 193}, "mesh_info": {"face_index": 1369, "face_uv": [0.6519445410776802, 0.02433747051857388, 0.3237179884037453]}}, {"xyz": [0.14102361332849467, 0.2535740663527577, 0.11385926541719282], "rgb": [29, 29, 29], "semantic_id": 2, "pcd_info": {"point_index": 288}, "mesh_info": {"face_index": 16005, "face_uv": [0.34331879840563134, 0.1919544765725302, 0.4647267250218391]}}, {"xyz": [-0.147723950687165, 0.24942432747183885, 0.12800450820991283], "rgb": [29, 29, 29], "semantic_id": 3, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 16973, "face_uv": [0.5513327780074194, 0.3636983390933986, 0.084968882899182]}}, {"xyz": [0.15388711302430835, 0.23751110853432, -0.17523842801092926], "rgb": [29, 29, 29], "semantic_id": 4, "pcd_info": {"point_index": 312}, "mesh_info": {"face_index": 16465, "face_uv": [0.049001129885403075, 0.32375853177967867, 0.6272403383349192]}}, {"xyz": [-0.16652150829651535, 0.24598608588309734, -0.169481556441463], "rgb": [29, 29, 29], "semantic_id": 5, "pcd_info": {"point_index": 1506}, "mesh_info": {"face_index": 17663, "face_uv": [0.12970866326889155, 0.7803794810966387, 0.08991185563447107]}}, {"xyz": [0.1613088297431205, -0.16252000629901886, -0.1590349911491913], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 1408}, "mesh_info": {"face_index": 11285, "face_uv": [0.14130324045697845, 0.614422171922485, 0.24427458762053653]}}, {"xyz": [0.12876109449579842, -0.16252000629901842, 0.1528943434057934], "rgb": [28, 28, 28], "semantic_id": 18, "pcd_info": {"point_index": 1773}, "mesh_info": {"face_index": 20977, "face_uv": [0.022842640927433502, 0.3394618065789268, 0.637695552493637]}}, {"xyz": [-0.11800243901699808, -0.16252000629901842, 0.1664903186419332], "rgb": [28, 28, 28], "semantic_id": 19, "pcd_info": {"point_index": 1934}, "mesh_info": {"face_index": 4155, "face_uv": [0.43683990815636514, 0.39987702246436224, 0.1632830693792699]}}, {"xyz": [-0.17674015878550153, -0.16252000629901886, -0.15594714192293307], "rgb": [28, 28, 28], "semantic_id": 20, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 28260, "face_uv": [0.0011498069732240768, 0.6670526810372976, 0.33179751198947816]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fb5ba735ef95fe417ca68e217a316e15", "keypoints": [{"xyz": [0.2405393008352359, 0.31170099973678567, 0.2688188245717923], "rgb": [164, 114, 68], "semantic_id": 0, "pcd_info": {"point_index": 820}, "mesh_info": {"face_index": 1032, "face_uv": [0.3676809600855449, 0.17958342402203237, 0.45273561589242206]}}, {"xyz": [-0.24581032112440668, 0.3117009997367859, 0.27197101393708634], "rgb": [152, 102, 53], "semantic_id": 1, "pcd_info": {"point_index": 835}, "mesh_info": {"face_index": 2925, "face_uv": [0.02245874095585712, 0.670533521251021, 0.30700773779312196]}}, {"xyz": [0.23976424163077448, -0.027420080280488257, 0.18422764405357994], "rgb": [154, 104, 62], "semantic_id": 2, "pcd_info": {"point_index": 498}, "mesh_info": {"face_index": 1168, "face_uv": [0.023785950609281854, 0.5954658736266136, 0.3807481757641052]}}, {"xyz": [-0.24281952439604926, -0.025363014804346662, 0.18498104899344847], "rgb": [154, 105, 59], "semantic_id": 3, "pcd_info": {"point_index": 914}, "mesh_info": {"face_index": 2640, "face_uv": [0.3715505282580901, 0.5507833463862469, 0.07766612535566508]}}, {"xyz": [0.2173502235478963, -0.04421246423744618, -0.1975310546614737], "rgb": [160, 113, 67], "semantic_id": 4, "pcd_info": {"point_index": 796}, "mesh_info": {"face_index": 3252, "face_uv": [0.09154809573321517, 0.02509542745751371, 0.8833564768092714]}}, {"xyz": [-0.2171252929514622, -0.04685873272863783, -0.19764100015163422], "rgb": [158, 110, 69], "semantic_id": 5, "pcd_info": {"point_index": 1924}, "mesh_info": {"face_index": 128, "face_uv": [0.8658744416048676, 0.02533180603469878, 0.10879375236043363]}}, {"xyz": [0.24064447875611172, 0.09300543895543556, -0.1778631501996102], "rgb": [157, 115, 64], "semantic_id": 6, "pcd_info": {"point_index": 656}, "mesh_info": {"face_index": 1754, "face_uv": [0.07764062311260157, 0.6373201280707189, 0.28503924881667986]}}, {"xyz": [0.24827200174331665, 0.10903834615759267, 0.19626977065177148], "rgb": [166, 115, 69], "semantic_id": 7, "pcd_info": {"point_index": 1096}, "mesh_info": {"face_index": 982, "face_uv": [0.027122606510585706, 0.1946656425547865, 0.7782117509346278]}}, {"xyz": [-0.23586476698088743, 0.10003301106904505, -0.1702158300532819], "rgb": [152, 104, 63], "semantic_id": 8, "pcd_info": {"point_index": 437}, "mesh_info": {"face_index": 1832, "face_uv": [0.22009269715960006, 0.16524875210774223, 0.6146585507326584]}}, {"xyz": [-0.24918950277188945, 0.10909032053465473, 0.20024920918099154], "rgb": [158, 108, 64], "semantic_id": 9, "pcd_info": {"point_index": 747}, "mesh_info": {"face_index": 2777, "face_uv": [0.7929696443882618, 0.06069878610950795, 0.1463315695022306]}}, {"xyz": [0.24583959660426336, -0.4033539891242983, -0.19874355800715504], "rgb": [169, 122, 76], "semantic_id": 17, "pcd_info": {"point_index": 346}, "mesh_info": {"face_index": 1737, "face_uv": [0.007309030289438601, 0.8770329263599395, 0.11565804335062246]}}, {"xyz": [0.24112006687124554, -0.4033539891242983, 0.28470526469294016], "rgb": [157, 110, 58], "semantic_id": 18, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 915, "face_uv": [0.6238038613838811, 0.03612992999236284, 0.34006620862375664]}}, {"xyz": [-0.24501128624529028, -0.4033539891242983, 0.2807909878826842], "rgb": [154, 103, 57], "semantic_id": 19, "pcd_info": {"point_index": 1937}, "mesh_info": {"face_index": 2859, "face_uv": [0.20547187058301639, 0.13952904902170168, 0.6549990803952825]}}, {"xyz": [-0.24848650556857899, -0.4033539891242981, -0.1969643534748604], "rgb": [151, 100, 56], "semantic_id": 20, "pcd_info": {"point_index": 277}, "mesh_info": {"face_index": 1995, "face_uv": [0.6267776261788786, 0.1934641026110179, 0.17975827121010352]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8ad57afa55cebfe0dad433a29cb627ea", "keypoints": [{"xyz": [0.17314805415821732, 0.18685828084576084, 0.1484315462474015], "rgb": [147, 56, 38], "semantic_id": 0, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 3838, "face_uv": [0.15245184987290775, 0.020739925443003532, 0.8268082246840888]}}, {"xyz": [-0.11915474913830647, 0.18519215746995954, 0.14617916130984066], "rgb": [147, 56, 38], "semantic_id": 1, "pcd_info": {"point_index": 1472}, "mesh_info": {"face_index": 3913, "face_uv": [0.3704901728071835, 0.07334423719656477, 0.5561655899962531]}}, {"xyz": [0.1768002607640356, -0.08225159891851153, 0.042640243929495725], "rgb": [146, 55, 37], "semantic_id": 2, "pcd_info": {"point_index": 1174}, "mesh_info": {"face_index": 3509, "face_uv": [0.28596332619218306, 0.009420869422294033, 0.7046158043855191]}}, {"xyz": [-0.13926566274102062, -0.08250066095694808, 0.04218730959618089], "rgb": [147, 56, 38], "semantic_id": 3, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 3440, "face_uv": [0.25560427288118426, 0.011015737671351502, 0.7333799894474672]}}, {"xyz": [0.1699065631418264, -0.08282584242679314, -0.22852881923380408], "rgb": [146, 55, 37], "semantic_id": 4, "pcd_info": {"point_index": 1310}, "mesh_info": {"face_index": 4121, "face_uv": [0.7539762094861717, 0.03078607626773674, 0.2152377142460859]}}, {"xyz": [-0.1421458049493723, -0.08265743482091881, -0.22761296689139432], "rgb": [146, 55, 37], "semantic_id": 5, "pcd_info": {"point_index": 311}, "mesh_info": {"face_index": 4120, "face_uv": [0.31768675166111165, 0.002089492657718593, 0.680223755681169]}}, {"xyz": [0.2086289072850952, 0.058553658985726065, -0.22525950240522774], "rgb": [128, 128, 128], "semantic_id": 6, "pcd_info": {"point_index": 957}, "mesh_info": {"face_index": 280, "face_uv": [0.19709133754927652, 0.3422207054714008, 0.46068795697932285]}}, {"xyz": [0.20547831395422395, 0.06103062710710572, 0.1313891961442657], "rgb": [127, 127, 127], "semantic_id": 7, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 272, "face_uv": [0.03885581471212434, 0.9049264361456654, 0.05621774914221015]}}, {"xyz": [-0.17164309498410113, 0.059173180410613035, -0.2073793843998909], "rgb": [127, 127, 127], "semantic_id": 8, "pcd_info": {"point_index": 440}, "mesh_info": {"face_index": 963, "face_uv": [0.03649435599952935, 0.6696007308928333, 0.29390491310763645]}}, {"xyz": [-0.16729883899787842, 0.061337999999523385, 0.13993550294830978], "rgb": [128, 128, 128], "semantic_id": 9, "pcd_info": {"point_index": 2033}, "mesh_info": {"face_index": 978, "face_uv": [0.015529149899492186, 0.8924110649317829, 0.09205978516872843]}}, {"xyz": [0.19916645300830482, -0.3816330134868624, -0.22163127977308905], "rgb": [128, 128, 128], "semantic_id": 17, "pcd_info": {"point_index": 1418}, "mesh_info": {"face_index": 216, "face_uv": [0.3637062253974753, 0.6055596606515826, 0.030734113950942617]}}, {"xyz": [0.20240779728974428, -0.3816330134868622, 0.1483859400387293], "rgb": [128, 128, 128], "semantic_id": 18, "pcd_info": {"point_index": 724}, "mesh_info": {"face_index": 29, "face_uv": [0.07301711023341972, 0.3982086020585279, 0.5287742877080523]}}, {"xyz": [-0.1625600867970853, -0.3816330134868622, 0.14823419923853765], "rgb": [128, 128, 128], "semantic_id": 19, "pcd_info": {"point_index": 1060}, "mesh_info": {"face_index": 117, "face_uv": [0.09648822117801785, 0.316421149522232, 0.5870906292997502]}}, {"xyz": [-0.16161438511551038, -0.3816330134868622, -0.22011405998956413], "rgb": [128, 128, 128], "semantic_id": 20, "pcd_info": {"point_index": 1238}, "mesh_info": {"face_index": 889, "face_uv": [0.02793220971958504, 0.3737158047517772, 0.5983519855286378]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "30fe29d73b410c3855efe429bf27a556", "keypoints": [{"xyz": [0.13258560540425807, 0.5531759858131409, 0.09103800236194631], "rgb": [161, 115, 72], "semantic_id": 0, "pcd_info": {"point_index": 1323}, "mesh_info": {"face_index": 22, "face_uv": [0.4237862358731481, 0.1567581984889454, 0.41945556563790654]}}, {"xyz": [-0.1204342972388464, 0.5531759858131408, 0.08763787762111595], "rgb": [160, 112, 73], "semantic_id": 1, "pcd_info": {"point_index": 1016}, "mesh_info": {"face_index": 213, "face_uv": [0.4217079280984682, 0.5162448487939152, 0.06204722310761645]}}, {"xyz": [0.12682152658703078, 0.08476762250556757, 0.10017445715505358], "rgb": [164, 117, 73], "semantic_id": 2, "pcd_info": {"point_index": 1549}, "mesh_info": {"face_index": 272, "face_uv": [0.25150635221913953, 0.023117912538551427, 0.7253757352423084]}}, {"xyz": [-0.13868118279499578, 0.07850325947324355, 0.10728592695673556], "rgb": [152, 109, 54], "semantic_id": 3, "pcd_info": {"point_index": 698}, "mesh_info": {"face_index": 290, "face_uv": [0.4378845961946995, 0.012498884081404206, 0.5496165197238968]}}, {"xyz": [0.139201969547775, 0.07465328192957488, -0.23152374629520034], "rgb": [170, 123, 77], "semantic_id": 4, "pcd_info": {"point_index": 2025}, "mesh_info": {"face_index": 274, "face_uv": [0.011465149042892142, 0.24698923024984612, 0.7415456207072615]}}, {"xyz": [-0.14098130272567355, 0.07309380164896195, -0.2339122228827767], "rgb": [152, 108, 59], "semantic_id": 5, "pcd_info": {"point_index": 71}, "mesh_info": {"face_index": 286, "face_uv": [0.16966473797041282, 0.1937558225512593, 0.6365794394783282]}}, {"xyz": [0.1329696259411871, -0.2956849932670593, -0.20598186421413378], "rgb": [170, 114, 67], "semantic_id": 17, "pcd_info": {"point_index": 360}, "mesh_info": {"face_index": 968, "face_uv": [0.2352243099132666, 0.5055519328624468, 0.2592237572242866]}}, {"xyz": [0.13065949621865064, -0.2956849932670593, 0.0853408829828396], "rgb": [170, 114, 67], "semantic_id": 18, "pcd_info": {"point_index": 1729}, "mesh_info": {"face_index": 2224, "face_uv": [0.43429003547519396, 0.5630243876455069, 0.0026855768792991195]}}, {"xyz": [-0.13195992821997898, -0.29568499326705944, 0.08184449864826632], "rgb": [171, 115, 68], "semantic_id": 19, "pcd_info": {"point_index": 667}, "mesh_info": {"face_index": 2841, "face_uv": [0.17913841881024234, 0.4003846217732431, 0.4204769594165149]}}, {"xyz": [-0.13258508157354848, -0.2956849932670593, -0.20896539746949155], "rgb": [171, 115, 68], "semantic_id": 20, "pcd_info": {"point_index": 1723}, "mesh_info": {"face_index": 1608, "face_uv": [0.20378594100392491, 0.3749205868422897, 0.4212934721537854]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f68c32ea1e6cecd3c48d90eef8384210", "keypoints": [{"xyz": [0.18436831803211245, 0.3255839943885803, 0.03363856224289888], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 640}, "mesh_info": {"face_index": 4074, "face_uv": [0.5611436200532371, 0.017012267719902868, 0.4218441122268599]}}, {"xyz": [-0.18023242971704972, 0.3255839943885803, 0.03668183941936806], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 795}, "mesh_info": {"face_index": 4076, "face_uv": [0.5401537646670949, 0.013163034613919496, 0.4466832007189857]}}, {"xyz": [0.15374056247371082, -0.09677151499095038, -0.03038649498789825], "rgb": [198, 164, 119], "semantic_id": 2, "pcd_info": {"point_index": 2044}, "mesh_info": {"face_index": 4267, "face_uv": [0.888146822582868, 0.11025984577592365, 0.0015933316411920256]}}, {"xyz": [-0.14331157785922644, -0.10952683803901186, -0.00924772296011378], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 861}, "mesh_info": {"face_index": 202, "face_uv": [0.09654287766509663, 0.48494178307578717, 0.41851533925909806]}}, {"xyz": [0.15994744837353914, -0.11631038806355998, -0.2967257130954709], "rgb": [176, 142, 94], "semantic_id": 4, "pcd_info": {"point_index": 1443}, "mesh_info": {"face_index": 4155, "face_uv": [0.8289823932451439, 0.029503933075337618, 0.1415136736795185]}}, {"xyz": [-0.1539896126322735, -0.1211132835118569, -0.2985961083641766], "rgb": [132, 98, 50], "semantic_id": 5, "pcd_info": {"point_index": 1431}, "mesh_info": {"face_index": 4138, "face_uv": [0.14648218276662292, 0.8455646979340534, 0.00795311929932425]}}, {"xyz": [0.1443601170198729, -0.5296900272369386, -0.26922488787104126], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 39}, "mesh_info": {"face_index": 125, "face_uv": [0.10409188749588909, 0.41157861119419853, 0.4843295013099126]}}, {"xyz": [0.1434214039171941, -0.5294319987297059, 0.012067069628733773], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 207}, "mesh_info": {"face_index": 637, "face_uv": [0.32094643709712006, 0.5707046196634962, 0.10834894323938393]}}, {"xyz": [-0.14742993062711995, -0.5296900272369385, 0.011480129732567845], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 418}, "mesh_info": {"face_index": 175, "face_uv": [0.1060277522248818, 0.5550920246196769, 0.3388802231554413]}}, {"xyz": [-0.1420259879603621, -0.5296900272369385, -0.27296130467208213], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1089}, "mesh_info": {"face_index": 73, "face_uv": [0.11306819530285218, 0.4890327954976574, 0.3978990091994904]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b3c503ee276ed0a75298386582afecd3", "keypoints": [{"xyz": [0.19275675491601452, 0.270099014043808, 0.05508054895608683], "rgb": [214, 117, 0], "semantic_id": 0, "pcd_info": {"point_index": 791}, "mesh_info": {"face_index": 323, "face_uv": [0.8069203872076619, 0.16858456151621476, 0.024495051276123437]}}, {"xyz": [-0.1975201695116947, 0.2694175998501498, 0.04572699964046478], "rgb": [213, 116, 0], "semantic_id": 1, "pcd_info": {"point_index": 1954}, "mesh_info": {"face_index": 825, "face_uv": [0.9055167806241867, 0.023443677441650802, 0.07103954193416231]}}, {"xyz": [0.19721535934245993, -0.10649794820765035, 0.04572699964046523], "rgb": [214, 117, 0], "semantic_id": 2, "pcd_info": {"point_index": 1780}, "mesh_info": {"face_index": 362, "face_uv": [0.015194017583772612, 0.054024373666841666, 0.9307816087493954]}}, {"xyz": [-0.19541786076353074, -0.11476992317936885, 0.04572699964046478], "rgb": [214, 117, 0], "semantic_id": 3, "pcd_info": {"point_index": 1301}, "mesh_info": {"face_index": 717, "face_uv": [0.10129942643287361, 0.04206888210669954, 0.8566316914604268]}}, {"xyz": [0.18522486746634742, -0.10500100255012534, -0.3346235096560619], "rgb": [214, 117, 0], "semantic_id": 4, "pcd_info": {"point_index": 2031}, "mesh_info": {"face_index": 455, "face_uv": [0.35915652871010084, 0.5722939281990086, 0.06854954309089277]}}, {"xyz": [-0.18065033686190857, -0.10917899757623672, -0.321490593810309], "rgb": [214, 117, 0], "semantic_id": 5, "pcd_info": {"point_index": 1522}, "mesh_info": {"face_index": 795, "face_uv": [0.27119959745930855, 0.34856322123545846, 0.380237181305233]}}, {"xyz": [0.19071746638158843, -0.5243849754333494, -0.3460072572558561], "rgb": [213, 116, 0], "semantic_id": 17, "pcd_info": {"point_index": 157}, "mesh_info": {"face_index": 475, "face_uv": [0.11369056445218506, 0.23874274277929566, 0.6475666927685189]}}, {"xyz": [0.19286871939128167, -0.5243849754333498, 0.08903254529365667], "rgb": [214, 117, 0], "semantic_id": 18, "pcd_info": {"point_index": 1683}, "mesh_info": {"face_index": 367, "face_uv": [0.1060700377647882, 0.8352673818543321, 0.05866258038088015]}}, {"xyz": [-0.19353107225504548, -0.5243849754333496, 0.08992056541961407], "rgb": [214, 117, 0], "semantic_id": 19, "pcd_info": {"point_index": 136}, "mesh_info": {"face_index": 470, "face_uv": [0.0877391800030933, 0.2082822208196709, 0.7039785991772358]}}, {"xyz": [-0.19345792697169148, -0.5243849754333496, -0.3487004191470936], "rgb": [213, 116, 0], "semantic_id": 20, "pcd_info": {"point_index": 1969}, "mesh_info": {"face_index": 557, "face_uv": [0.058098394972605986, 0.7892012562706384, 0.1527003487567556]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3427a6029f253860450621b513a975bb", "keypoints": [{"xyz": [0.22931776728494135, 0.23455199599266052, 0.11811886889595032], "rgb": [153, 137, 110], "semantic_id": 0, "pcd_info": {"point_index": 1116}, "mesh_info": {"face_index": 5652, "face_uv": [0.14431325751841592, 0.054680500797219124, 0.801006241684365]}}, {"xyz": [-0.236171356115575, 0.22674364147942194, 0.11121914653488063], "rgb": [129, 191, 209], "semantic_id": 1, "pcd_info": {"point_index": 1824}, "mesh_info": {"face_index": 434, "face_uv": [0.27928016671201084, 0.4211920589164061, 0.29952777437158246]}}, {"xyz": [0.11607777603050043, -0.16097217660942742, 0.013214087919817707], "rgb": [130, 192, 209], "semantic_id": 2, "pcd_info": {"point_index": 970}, "mesh_info": {"face_index": 4291, "face_uv": [0.022913097328390728, 0.36494207083051516, 0.6121448318410884]}}, {"xyz": [-0.10614370376173161, -0.15850121614078583, 0.01900543708922031], "rgb": [103, 152, 166], "semantic_id": 3, "pcd_info": {"point_index": 872}, "mesh_info": {"face_index": 581, "face_uv": [0.5936018055483795, 0.1896091458071899, 0.21678904864443344]}}, {"xyz": [0.1435153676224071, -0.17951853462679546, -0.28925976659328145], "rgb": [135, 197, 215], "semantic_id": 4, "pcd_info": {"point_index": 935}, "mesh_info": {"face_index": 4631, "face_uv": [0.440412536151426, 0.17779808082854054, 0.3817893830200338]}}, {"xyz": [-0.14806307627105725, -0.17407669302604445, -0.28520180411155827], "rgb": [132, 195, 213], "semantic_id": 5, "pcd_info": {"point_index": 618}, "mesh_info": {"face_index": 917, "face_uv": [0.09334546283777079, 0.41014601267412043, 0.49650852448810917]}}, {"xyz": [0.21804915655341262, -0.09302675759675982, -0.22840613305601054], "rgb": [125, 190, 208], "semantic_id": 6, "pcd_info": {"point_index": 999}, "mesh_info": {"face_index": 3845, "face_uv": [0.6520577494685947, 0.10508599117839683, 0.24285625935300803]}}, {"xyz": [0.18985313430036221, -0.045694128207517615, 0.0607720406372636], "rgb": [129, 192, 210], "semantic_id": 7, "pcd_info": {"point_index": 1390}, "mesh_info": {"face_index": 4411, "face_uv": [0.02217843466966445, 0.7193864347485375, 0.25843513058178974]}}, {"xyz": [-0.21618331977521954, -0.09224351575861633, -0.22956555398570955], "rgb": [126, 190, 208], "semantic_id": 8, "pcd_info": {"point_index": 394}, "mesh_info": {"face_index": 137, "face_uv": [0.1330780792438835, 0.16674320062888195, 0.7001787201272333]}}, {"xyz": [-0.19391486864697882, -0.048774998635053635, 0.060756012129107084], "rgb": [153, 137, 110], "semantic_id": 9, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 2868, "face_uv": [0.6759679449726123, 0.10792443189816779, 0.21610762312922005]}}, {"xyz": [0.2028173172823714, -0.42279264771034786, -0.31990563216688894], "rgb": [55, 55, 55], "semantic_id": 17, "pcd_info": {"point_index": 1877}, "mesh_info": {"face_index": 7319, "face_uv": [0.31416808916398625, 0.17560278351957476, 0.5102291273164377]}}, {"xyz": [0.15152839075169033, -0.4275679886341095, 0.0461195829724223], "rgb": [56, 56, 56], "semantic_id": 18, "pcd_info": {"point_index": 1504}, "mesh_info": {"face_index": 7417, "face_uv": [0.12845922965653675, 0.2091981901587721, 0.6623425801846912]}}, {"xyz": [-0.15615641503225647, -0.4275679886341095, 0.04784255881865515], "rgb": [56, 56, 56], "semantic_id": 19, "pcd_info": {"point_index": 1619}, "mesh_info": {"face_index": 3692, "face_uv": [0.09156092638057352, 0.06548769591411786, 0.8429513777053086]}}, {"xyz": [-0.20283874626056003, -0.4275679886341095, -0.31732137756759426], "rgb": [56, 56, 56], "semantic_id": 20, "pcd_info": {"point_index": 651}, "mesh_info": {"face_index": 3647, "face_uv": [0.1812097028034797, 0.3089579825750808, 0.5098323146214395]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "387600bd541f7b502d7ee37bd88bacc0", "keypoints": [{"xyz": [0.225451845387892, 0.2186115085556215, 0.1458380073308947], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 381}, "mesh_info": {"face_index": 826, "face_uv": [0.7929559224506689, 0.19747455195204977, 0.009569525597282887]}}, {"xyz": [-0.22324992666200216, 0.22333728136724362, 0.14583800733089447], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1258}, "mesh_info": {"face_index": 162, "face_uv": [0.09828819689764004, 0.8599147248073999, 0.041797078294960016]}}, {"xyz": [0.22352340901955428, -0.1046345152373267, 0.13630142210998253], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 813}, "mesh_info": {"face_index": 964, "face_uv": [0.029125568623097106, 0.48394833580388136, 0.4869260955730231]}}, {"xyz": [-0.21913240135074707, -0.10225745189076885, 0.14583800733089425], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 518}, "mesh_info": {"face_index": 373, "face_uv": [0.2000586148284739, 0.00696053221042861, 0.7929808529610958]}}, {"xyz": [0.21233191157805065, -0.10794573049062706, -0.2219491055154167], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1250}, "mesh_info": {"face_index": 816, "face_uv": [0.7987991403232229, 0.16754771840273328, 0.033653141274042495]}}, {"xyz": [-0.2075426763701541, -0.1080320908113026, -0.22272643012233506], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1431}, "mesh_info": {"face_index": 622, "face_uv": [0.24957692136513832, 0.738826531472517, 0.011596547162344673]}}, {"xyz": [0.1724690312758243, -0.4218960106372833, -0.18220307019965742], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 202}, "mesh_info": {"face_index": 186, "face_uv": [0.494590243342944, 0.2631671086335661, 0.24224264802348988]}}, {"xyz": [0.16248239771393247, -0.4218960106372833, 0.16549481979703728], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1726}, "mesh_info": {"face_index": 382, "face_uv": [0.4737138357931139, 0.42611121051473644, 0.10017495369214961]}}, {"xyz": [-0.17200093409981954, -0.42189601063728355, 0.17422328020230116], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 466}, "mesh_info": {"face_index": 18, "face_uv": [0.21605994853277255, 0.5712242623095937, 0.21271578915763437]}}, {"xyz": [-0.16393183245804155, -0.4218960106372833, -0.18147197781565821], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1590}, "mesh_info": {"face_index": 73, "face_uv": [0.500089774629914, 0.04991463987098776, 0.4499955854990983]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8757370fa33bc4e9419786e9c37fabbe", "keypoints": [{"xyz": [0.2773023703607912, 0.5012360215187073, 0.19116564984547613], "rgb": [164, 129, 61], "semantic_id": 0, "pcd_info": {"point_index": 1971}, "mesh_info": {"face_index": 168, "face_uv": [0.0005271042438698284, 0.5358040003620931, 0.4636688953940371]}}, {"xyz": [-0.2736389296390321, 0.5012360215187073, 0.1925000643979936], "rgb": [181, 148, 75], "semantic_id": 1, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 166, "face_uv": [0.007125639061106706, 0.44657019364813205, 0.5463041672907613]}}, {"xyz": [0.18871032304868962, 0.046989001333713754, 0.14471706098137394], "rgb": [200, 163, 92], "semantic_id": 2, "pcd_info": {"point_index": 2021}, "mesh_info": {"face_index": 126, "face_uv": [0.9673662152631908, 0.013715154798660076, 0.018918629938153863]}}, {"xyz": [-0.18618853774068644, 0.04698900133371353, 0.13759277987587382], "rgb": [204, 170, 98], "semantic_id": 3, "pcd_info": {"point_index": 1}, "mesh_info": {"face_index": 127, "face_uv": [0.9307991951058591, 0.030321483421092286, 0.038879321473048636]}}, {"xyz": [0.19577103112352234, 0.03312514124837773, -0.2784090042114258], "rgb": [202, 165, 94], "semantic_id": 4, "pcd_info": {"point_index": 658}, "mesh_info": {"face_index": 76, "face_uv": [0.13734344822258185, 0.015147002049457618, 0.8475095497279606]}}, {"xyz": [-0.1952051261491215, 0.037765252906999336, -0.2784090042114258], "rgb": [188, 153, 85], "semantic_id": 5, "pcd_info": {"point_index": 114}, "mesh_info": {"face_index": 47, "face_uv": [0.07482726680638492, 0.016548540989201225, 0.9086241922044139]}}, {"xyz": [0.2487607038757991, 0.24887700378894806, -0.2552597274230875], "rgb": [181, 146, 76], "semantic_id": 6, "pcd_info": {"point_index": 1360}, "mesh_info": {"face_index": 147, "face_uv": [0.32690227747593426, 0.6191379626513059, 0.05395975987275991]}}, {"xyz": [0.24514587539847082, 0.24887700378894806, 0.1279478332585735], "rgb": [169, 134, 64], "semantic_id": 7, "pcd_info": {"point_index": 227}, "mesh_info": {"face_index": 149, "face_uv": [0.5185876394755308, 0.42860900830835313, 0.052803352216116164]}}, {"xyz": [-0.24889074407977213, 0.24887700378894806, -0.26619067723288153], "rgb": [183, 146, 76], "semantic_id": 8, "pcd_info": {"point_index": 620}, "mesh_info": {"face_index": 131, "face_uv": [0.3506640984638687, 0.028480284539223272, 0.6208556169969079]}}, {"xyz": [-0.2577527936263752, 0.24887700378894828, 0.13588569400616068], "rgb": [175, 140, 72], "semantic_id": 9, "pcd_info": {"point_index": 1782}, "mesh_info": {"face_index": 101, "face_uv": [0.7036106345562166, 0.03430061177374615, 0.26208875367003803]}}, {"xyz": [0.2540987515277669, -0.15984199941158295, -0.25750038644119955], "rgb": [144, 62, 12], "semantic_id": 17, "pcd_info": {"point_index": 604}, "mesh_info": {"face_index": 244, "face_uv": [0.4655305707160864, 0.4142616738207591, 0.12020775546315453]}}, {"xyz": [0.25020726607258, -0.15984199941158295, 0.19265653962677487], "rgb": [144, 62, 12], "semantic_id": 18, "pcd_info": {"point_index": 705}, "mesh_info": {"face_index": 198, "face_uv": [0.1241225578885002, 0.3332450133945233, 0.5426324287169766]}}, {"xyz": [-0.2573395981006934, -0.15984199941158272, 0.20558623419899125], "rgb": [142, 60, 11], "semantic_id": 19, "pcd_info": {"point_index": 295}, "mesh_info": {"face_index": 175, "face_uv": [0.18810077882896564, 0.41057942424453525, 0.40131979692649766]}}, {"xyz": [-0.24940435745740847, -0.15984199941158295, -0.2626297186707367], "rgb": [144, 62, 11], "semantic_id": 20, "pcd_info": {"point_index": 166}, "mesh_info": {"face_index": 220, "face_uv": [0.44145957246161505, 0.31263440326934727, 0.24590602426903763]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e4931ffa06d7b05cb04cb542e2c50eb4", "keypoints": [{"xyz": [0.143788600836326, 0.19490509823453572, 0.175293220804795], "rgb": [178, 181, 175], "semantic_id": 0, "pcd_info": {"point_index": 915}, "mesh_info": {"face_index": 2783, "face_uv": [0.33916088401004624, 0.4779113183779848, 0.1829277976119685]}}, {"xyz": [-0.13604198805238432, 0.201024640763807, 0.1745364344728545], "rgb": [175, 185, 178], "semantic_id": 1, "pcd_info": {"point_index": 1641}, "mesh_info": {"face_index": 1661, "face_uv": [0.12019102070038135, 0.049121001564979, 0.8306879777346399]}}, {"xyz": [0.16028657953771175, -0.05541200225856513, 0.06493589643083084], "rgb": [66, 29, 28], "semantic_id": 2, "pcd_info": {"point_index": 1904}, "mesh_info": {"face_index": 6768, "face_uv": [0.325411473357223, 0.39193188888208447, 0.28265663776068894]}}, {"xyz": [-0.16509641424833918, -0.054971248835621545, 0.06695370636456623], "rgb": [72, 28, 25], "semantic_id": 3, "pcd_info": {"point_index": 514}, "mesh_info": {"face_index": 9197, "face_uv": [0.6291407499494005, 0.03958593582510423, 0.33127331422549583]}}, {"xyz": [0.1861837877872597, -0.05798218322132076, -0.2195453684243478], "rgb": [68, 29, 25], "semantic_id": 4, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 4006, "face_uv": [0.16781038050630215, 0.0032963521328375884, 0.8288932673608612]}}, {"xyz": [-0.19273996825107959, -0.06702063991982277, -0.22156459737086076], "rgb": [161, 160, 158], "semantic_id": 5, "pcd_info": {"point_index": 277}, "mesh_info": {"face_index": 3750, "face_uv": [0.2848945223573151, 0.1779995767630511, 0.5371059008796335]}}, {"xyz": [0.18461983171020385, -0.5654879808425902, -0.22246423949068342], "rgb": [188, 189, 181], "semantic_id": 17, "pcd_info": {"point_index": 1948}, "mesh_info": {"face_index": 3779, "face_uv": [0.10688602831212192, 0.5099435832542394, 0.3831703884336385]}}, {"xyz": [0.19170132064575518, -0.5654879808425903, 0.23363148290666058], "rgb": [181, 183, 182], "semantic_id": 18, "pcd_info": {"point_index": 1558}, "mesh_info": {"face_index": 3379, "face_uv": [0.05670377521487962, 0.4400732664652885, 0.5032229583198319]}}, {"xyz": [-0.19185632766856636, -0.5654879808425903, 0.23474459444594756], "rgb": [173, 173, 174], "semantic_id": 19, "pcd_info": {"point_index": 583}, "mesh_info": {"face_index": 3372, "face_uv": [0.44828598341672715, 0.49485489171586144, 0.05685912486741145]}}, {"xyz": [-0.18414975253774923, -0.5654879808425902, -0.22720196403253448], "rgb": [194, 201, 190], "semantic_id": 20, "pcd_info": {"point_index": 1459}, "mesh_info": {"face_index": 3822, "face_uv": [0.5871183655352464, 0.40526541389998827, 0.007616220564765091]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ff2dbafa8d66856419fb4103277a6b93", "keypoints": [{"xyz": [0.33478267698926, 0.23625950307182775, 0.15190462793929882], "rgb": [222, 199, 164], "semantic_id": 0, "pcd_info": {"point_index": 1718}, "mesh_info": {"face_index": 673, "face_uv": [0.3328467584979607, 0.29180312481080317, 0.3753501166912355]}}, {"xyz": [-0.3349927335796193, 0.23702746231032457, 0.14979161169789434], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 412}, "mesh_info": {"face_index": 22736, "face_uv": [0.8325467232811763, 0.0050809301281685235, 0.16237234659065516]}}, {"xyz": [0.33718388411937344, 0.0603299107755122, 0.045391236086174555], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 600}, "mesh_info": {"face_index": 3342, "face_uv": [0.05176194343639334, 0.937772571378275, 0.010465485185331466]}}, {"xyz": [-0.33703156556342706, 0.06051243830159936, 0.04415968842632115], "rgb": [222, 199, 164], "semantic_id": 3, "pcd_info": {"point_index": 1497}, "mesh_info": {"face_index": 19848, "face_uv": [0.592985757110258, 0.3998383758070726, 0.007175867082667345]}}, {"xyz": [0.34037789528576706, 0.05945305577844939, -0.1881496464097036], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 263}, "mesh_info": {"face_index": 3156, "face_uv": [0.06596775274302272, 0.2305919988283194, 0.7034402484286573]}}, {"xyz": [-0.3428429708388381, 0.05482662469869792, -0.19260643896733465], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 1987}, "mesh_info": {"face_index": 20102, "face_uv": [0.11100991391550281, 0.11971284089789903, 0.7692772451865982]}}, {"xyz": [0.4010442327291566, 0.15015024490651174, -0.1894175431828966], "rgb": [222, 199, 164], "semantic_id": 6, "pcd_info": {"point_index": 1364}, "mesh_info": {"face_index": 13515, "face_uv": [0.329668788133139, 0.669401143474199, 0.0009300683926617551]}}, {"xyz": [0.4019865102394589, 0.1495085407188339, 0.15603117686932694], "rgb": [223, 200, 165], "semantic_id": 7, "pcd_info": {"point_index": 1219}, "mesh_info": {"face_index": 13648, "face_uv": [0.1876285612592219, 0.8043173908025909, 0.008054047938187963]}}, {"xyz": [-0.40216548334482305, 0.14860484579740985, -0.1855436106591763], "rgb": [223, 200, 165], "semantic_id": 8, "pcd_info": {"point_index": 509}, "mesh_info": {"face_index": 7149, "face_uv": [0.08715593433405043, 0.011116643653024273, 0.9017274220129262]}}, {"xyz": [-0.4107216654677728, 0.13754945841172406, 0.15992701606260126], "rgb": [223, 200, 165], "semantic_id": 9, "pcd_info": {"point_index": 1856}, "mesh_info": {"face_index": 7380, "face_uv": [0.41022693322724973, 0.4232013390918425, 0.16657172768090775]}}, {"xyz": [0.36315023318072903, -0.16502730437580349, -0.1914731111374972], "rgb": [161, 72, 18], "semantic_id": 17, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 16091, "face_uv": [0.047233854978011844, 0.17412783032181406, 0.7786383147001742]}}, {"xyz": [0.3555701307910043, -0.17816295976676289, 0.12066656356465444], "rgb": [168, 79, 20], "semantic_id": 18, "pcd_info": {"point_index": 455}, "mesh_info": {"face_index": 15705, "face_uv": [0.911122932287311, 0.051281633009215725, 0.03759543470347344]}}, {"xyz": [-0.3688181087995258, -0.17859500646591187, 0.1341039073005943], "rgb": [161, 72, 19], "semantic_id": 19, "pcd_info": {"point_index": 1113}, "mesh_info": {"face_index": 10068, "face_uv": [0.35854029288604117, 0.3099503446797868, 0.33150936243417206]}}, {"xyz": [-0.3692107590537509, -0.17364539372560417, -0.1936409625253468], "rgb": [167, 79, 19], "semantic_id": 20, "pcd_info": {"point_index": 1878}, "mesh_info": {"face_index": 5740, "face_uv": [0.263480015076639, 0.43070076209874114, 0.30581922282462015]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5b3fd3199d1bc950c1ae25a29e9d46d3", "keypoints": [{"xyz": [0.07982566933456434, 0.20133111261425285, 0.07040099799633026], "rgb": [155, 81, 33], "semantic_id": 0, "pcd_info": {"point_index": 202}, "mesh_info": {"face_index": 136, "face_uv": [0.4908840890898929, 0.0027526279798051026, 0.5063632829303019]}}, {"xyz": [-0.08568682751339246, 0.20146599411964417, 0.072974891866189], "rgb": [153, 89, 46], "semantic_id": 1, "pcd_info": {"point_index": 617}, "mesh_info": {"face_index": 32, "face_uv": [0.057165925256927444, 0.4678773456179161, 0.47495672912515646]}}, {"xyz": [0.08437902285552426, 0.008555939222569586, 0.07040099799633048], "rgb": [159, 90, 45], "semantic_id": 2, "pcd_info": {"point_index": 40}, "mesh_info": {"face_index": 12, "face_uv": [0.3842159224644761, 0.005930812728090842, 0.6098532648074362]}}, {"xyz": [-0.08387453205698893, 0.011456799647058702, 0.07188999652862571], "rgb": [154, 85, 42], "semantic_id": 3, "pcd_info": {"point_index": 1805}, "mesh_info": {"face_index": 9, "face_uv": [0.4783102036890958, 0.020879001748614887, 0.5008107945622925]}}, {"xyz": [0.09208804546713664, -0.010300413565980604, -0.13538199663162254], "rgb": [156, 87, 42], "semantic_id": 4, "pcd_info": {"point_index": 1044}, "mesh_info": {"face_index": 211, "face_uv": [0.16621036765337246, 0.023847659836737537, 0.8099419725098916]}}, {"xyz": [-0.09734605740347427, -0.008141130905846727, -0.13538199663162231], "rgb": [161, 92, 43], "semantic_id": 5, "pcd_info": {"point_index": 124}, "mesh_info": {"face_index": 14, "face_uv": [0.13274405066040726, 0.011470412955910805, 0.8557855363836819]}}, {"xyz": [0.08322833125601947, -0.1842275333574396, -0.13538199663162231], "rgb": [155, 86, 40], "semantic_id": 17, "pcd_info": {"point_index": 388}, "mesh_info": {"face_index": 74, "face_uv": [0.4574242920824394, 0.013441886021650605, 0.52913382189591]}}, {"xyz": [0.0755833908552091, -0.18107500672340393, 0.07243132308833333], "rgb": [147, 79, 36], "semantic_id": 18, "pcd_info": {"point_index": 696}, "mesh_info": {"face_index": 133, "face_uv": [0.038002669593525745, 0.6254830083945461, 0.3365143220119282]}}, {"xyz": [-0.08342220340255457, -0.17586599290370952, 0.08125769492178248], "rgb": [149, 85, 40], "semantic_id": 19, "pcd_info": {"point_index": 1295}, "mesh_info": {"face_index": 152, "face_uv": [0.5033690255681308, 0.48318669878523723, 0.013444275646632526]}}, {"xyz": [-0.08674738084496039, -0.1933549940586089, -0.12993232857592352], "rgb": [150, 86, 41], "semantic_id": 20, "pcd_info": {"point_index": 974}, "mesh_info": {"face_index": 49, "face_uv": [0.23431376980013963, 0.5239344570293271, 0.24175177317053276]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8f668f18d84a6960b27c368aa9b96968", "keypoints": [{"xyz": [0.1175050994915777, 0.21500266416116665, 0.24563398769592237], "rgb": [235, 235, 235], "semantic_id": 0, "pcd_info": {"point_index": 468}, "mesh_info": {"face_index": 2271, "face_uv": [0.32931013913110596, 0.020965187599829457, 0.6497246732690649]}}, {"xyz": [-0.11585504193344419, 0.21172203712722037, 0.2413655371642136], "rgb": [220, 220, 220], "semantic_id": 1, "pcd_info": {"point_index": 1622}, "mesh_info": {"face_index": 2221, "face_uv": [0.0020714313658400222, 0.9900349409054909, 0.007893627728669694]}}, {"xyz": [0.20447663400483085, -0.020252853927118064, 0.09006160302416077], "rgb": [208, 208, 208], "semantic_id": 2, "pcd_info": {"point_index": 873}, "mesh_info": {"face_index": 2215, "face_uv": [0.975932244233043, 0.0041139448246376165, 0.01995381094227364]}}, {"xyz": [-0.2015807040323082, -0.019818963972297432, 0.0857519267015967], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1203}, "mesh_info": {"face_index": 2002, "face_uv": [0.966810976981767, 0.01113700297078816, 0.022052020047465627]}}, {"xyz": [0.2040029032324544, 0.008886279700659028, -0.23357585318131002], "rgb": [223, 223, 223], "semantic_id": 4, "pcd_info": {"point_index": 800}, "mesh_info": {"face_index": 1922, "face_uv": [0.015097147570355143, 0.5109996475715631, 0.4739032048580823]}}, {"xyz": [-0.20921849325593958, 0.01018576349307021, -0.23110226163942016], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 399}, "mesh_info": {"face_index": 2165, "face_uv": [0.8032722352443499, 0.0035608711424701136, 0.1931668936131797]}}, {"xyz": [0.23301669852571633, 0.2375235576621988, -0.06681170298541672], "rgb": [194, 206, 229], "semantic_id": 6, "pcd_info": {"point_index": 393}, "mesh_info": {"face_index": 766, "face_uv": [0.533732320548625, 0.006649105028050668, 0.4596185744233248]}}, {"xyz": [0.24206130462023046, 0.16105677760001935, 0.2895231984427189], "rgb": [187, 200, 226], "semantic_id": 7, "pcd_info": {"point_index": 449}, "mesh_info": {"face_index": 1320, "face_uv": [0.5551847554977121, 0.020294501691453592, 0.4245207428108335]}}, {"xyz": [-0.23637012737297122, 0.23759308626981435, -0.0621698579614689], "rgb": [193, 205, 228], "semantic_id": 8, "pcd_info": {"point_index": 1971}, "mesh_info": {"face_index": 1196, "face_uv": [0.1266519637325324, 0.38517835598235933, 0.48816968028510843]}}, {"xyz": [-0.24870479540180782, 0.16078070902244934, 0.2901902955095882], "rgb": [208, 225, 240], "semantic_id": 9, "pcd_info": {"point_index": 1375}, "mesh_info": {"face_index": 1248, "face_uv": [0.5023533859506643, 0.007128749896119308, 0.49051786415321597]}}, {"xyz": [0.22661986776499649, -0.3801010505196707, -0.3012284341107516], "rgb": [204, 216, 236], "semantic_id": 17, "pcd_info": {"point_index": 1978}, "mesh_info": {"face_index": 22, "face_uv": [0.6209262328960006, 0.018668584751474693, 0.3604051823525246]}}, {"xyz": [0.19630088491979852, -0.38158625638518345, 0.22478007232027664], "rgb": [194, 206, 231], "semantic_id": 18, "pcd_info": {"point_index": 1258}, "mesh_info": {"face_index": 1790, "face_uv": [0.5899227957265002, 0.014459853400820519, 0.39561735087267563]}}, {"xyz": [-0.20270199439422731, -0.3847611759570102, 0.2261671632687423], "rgb": [196, 208, 230], "semantic_id": 19, "pcd_info": {"point_index": 411}, "mesh_info": {"face_index": 1787, "face_uv": [0.32923981047442746, 0.0027505906679609867, 0.6680095988576075]}}, {"xyz": [-0.23282720059627543, -0.3779007046047305, -0.3009408400303022], "rgb": [194, 207, 232], "semantic_id": 20, "pcd_info": {"point_index": 1291}, "mesh_info": {"face_index": 1193, "face_uv": [0.41198582303143183, 0.05886341825022458, 0.529150758718344]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "18f57a3d41117140ed98cca8f0ccd5f7", "keypoints": [{"xyz": [0.4106490390362474, 0.22204407537972637, 0.17629886780475348], "rgb": [29, 29, 29], "semantic_id": 0, "pcd_info": {"point_index": 1276}, "mesh_info": {"face_index": 7071, "face_uv": [0.2912520180626948, 0.1983879488099395, 0.5103600331273668]}}, {"xyz": [-0.4130114309911729, 0.22223018728949095, 0.17774033505391618], "rgb": [28, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 1245}, "mesh_info": {"face_index": 26978, "face_uv": [0.23760518653962776, 0.025737826404662375, 0.7366569870557095]}}, {"xyz": [0.4050945350527575, 0.02022909335494183, 0.0507059652244044], "rgb": [29, 29, 29], "semantic_id": 2, "pcd_info": {"point_index": 304}, "mesh_info": {"face_index": 3750, "face_uv": [0.1312978154897266, 0.03921693388499043, 0.8294852506252833]}}, {"xyz": [-0.4074584912871543, 0.020931609563476616, 0.04983162623463244], "rgb": [29, 29, 29], "semantic_id": 3, "pcd_info": {"point_index": 308}, "mesh_info": {"face_index": 17435, "face_uv": [0.8202680944475468, 0.09277362420768968, 0.08695828134476484]}}, {"xyz": [0.4036125899832909, -0.008243408797743212, -0.17168856825353007], "rgb": [29, 29, 29], "semantic_id": 4, "pcd_info": {"point_index": 1892}, "mesh_info": {"face_index": 6040, "face_uv": [0.096428586904378, 0.09014430115385923, 0.813427111941763]}}, {"xyz": [-0.39941488250520124, 0.007187483498536373, -0.17981158627272098], "rgb": [195, 107, 49], "semantic_id": 5, "pcd_info": {"point_index": 1270}, "mesh_info": {"face_index": 32873, "face_uv": [0.5750686795102748, 0.24794851455651123, 0.1769828059332143]}}, {"xyz": [0.40811188712299806, -0.1600629985332489, -0.14271766154895071], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 1852}, "mesh_info": {"face_index": 726, "face_uv": [0.08227692237622405, 0.39485991195449427, 0.5228631656692818]}}, {"xyz": [0.41774411857958405, -0.1565390518509433, 0.12272967764177656], "rgb": [29, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 1286}, "mesh_info": {"face_index": 8028, "face_uv": [0.40751573433061594, 0.43091968229686745, 0.16156458337251678]}}, {"xyz": [-0.41660617700046954, -0.1577547701298308, 0.11771647348701131], "rgb": [29, 29, 29], "semantic_id": 19, "pcd_info": {"point_index": 502}, "mesh_info": {"face_index": 14974, "face_uv": [0.013412310689960884, 0.36116837067969126, 0.625419318630348]}}, {"xyz": [-0.4131077432172109, -0.15744657079086674, -0.1386241865953468], "rgb": [28, 28, 28], "semantic_id": 20, "pcd_info": {"point_index": 675}, "mesh_info": {"face_index": 16932, "face_uv": [0.46095530218467834, 0.5140926052151811, 0.024952092600140082]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "19a3ac2ec0312e13c8687ff9b0b4e4ac", "keypoints": [{"xyz": [0.1646819915685383, 0.3607988298889321, 0.07786714943570061], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1277}, "mesh_info": {"face_index": 278, "face_uv": [0.030252903631047875, 0.3097743410557029, 0.6599727553132493]}}, {"xyz": [-0.17738517660759, 0.3603292791751225, 0.08546063617146038], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 140, "face_uv": [0.41699213833716753, 0.0053245653553309225, 0.5776832963075017]}}, {"xyz": [0.15692463430550896, -0.09701400250196435, 0.04590042258128313], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1412}, "mesh_info": {"face_index": 258, "face_uv": [0.03559286056249739, 0.09812190481791325, 0.8662852346195868]}}, {"xyz": [-0.16607169918479425, -0.09701400250196457, 0.04312957624139713], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 385}, "mesh_info": {"face_index": 76, "face_uv": [0.1600121201222397, 0.06068306585934552, 0.7793048140184149]}}, {"xyz": [0.1730636111862408, -0.09701400250196457, -0.22105902500373453], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1002}, "mesh_info": {"face_index": 299, "face_uv": [0.7150244448701748, 0.01683519423577309, 0.2681403608940522]}}, {"xyz": [-0.15622487970225185, -0.09701400250196435, -0.21863133057906825], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 110, "face_uv": [0.08890237939400392, 0.0031031550504672886, 0.9079944655555263]}}, {"xyz": [0.16411693966334703, -0.43342098593711853, -0.19376430067164083], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1713}, "mesh_info": {"face_index": 305, "face_uv": [0.051454963303388605, 0.547643384932846, 0.40090165176376535]}}, {"xyz": [0.13188038195770405, -0.43342098593711853, 0.1001249544958753], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1385}, "mesh_info": {"face_index": 222, "face_uv": [0.473718170562057, 0.37595200391388534, 0.1503298255240577]}}, {"xyz": [-0.15628383631295525, -0.43342098593711853, 0.09650132792738741], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1532}, "mesh_info": {"face_index": 2, "face_uv": [0.050513473127531114, 0.572883455689378, 0.37660307118309083]}}, {"xyz": [-0.1196644484463171, -0.4334209859371183, -0.19472129360257792], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 858}, "mesh_info": {"face_index": 159, "face_uv": [0.04984506217725986, 0.43884434566733965, 0.5113105921554]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ff14d078e2f0f8c65242f8291aafac22", "keypoints": [{"xyz": [0.20214700698852534, 0.3502407438561832, 0.2557713928931534], "rgb": [177, 35, 55], "semantic_id": 0, "pcd_info": {"point_index": 461}, "mesh_info": {"face_index": 1690, "face_uv": [0.35322056812376346, 0.618035882182315, 0.028743549693921185]}}, {"xyz": [-0.19535930781354538, 0.3556656769398435, 0.25773600963577137], "rgb": [129, 6, 11], "semantic_id": 1, "pcd_info": {"point_index": 278}, "mesh_info": {"face_index": 849, "face_uv": [0.12672508660808016, 0.6422623797733966, 0.2310125336185234]}}, {"xyz": [0.1869666094950374, -0.023895365814201375, 0.1330646863184124], "rgb": [163, 14, 35], "semantic_id": 2, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 2207, "face_uv": [0.42881939771887007, 0.01656457981619338, 0.5546160224649366]}}, {"xyz": [-0.19746290788765386, -0.016681042937829238, 0.13322371837952685], "rgb": [155, 13, 31], "semantic_id": 3, "pcd_info": {"point_index": 1382}, "mesh_info": {"face_index": 958, "face_uv": [0.8801696185197959, 0.03574436584320486, 0.08408601563700022]}}, {"xyz": [0.20508031314674613, -0.06141409165137596, -0.2383579893764345], "rgb": [165, 26, 42], "semantic_id": 4, "pcd_info": {"point_index": 1577}, "mesh_info": {"face_index": 22279, "face_uv": [0.20834205477646428, 0.4480377216783664, 0.34362022354516997]}}, {"xyz": [-0.20231332196855356, -0.07374346395759229, -0.23859939256540552], "rgb": [159, 21, 38], "semantic_id": 5, "pcd_info": {"point_index": 1500}, "mesh_info": {"face_index": 21693, "face_uv": [0.4290960936808442, 0.006038951162107778, 0.5648649551570472]}}, {"xyz": [0.23104913248171807, 0.06357842725872209, -0.10796658688264577], "rgb": [95, 53, 29], "semantic_id": 6, "pcd_info": {"point_index": 763}, "mesh_info": {"face_index": 7611, "face_uv": [0.12284306323295485, 0.3839159670580084, 0.4932409697090393]}}, {"xyz": [0.2343447395859598, 0.04478057875051866, 0.22547647118478042], "rgb": [92, 50, 25], "semantic_id": 7, "pcd_info": {"point_index": 1159}, "mesh_info": {"face_index": 5387, "face_uv": [0.23168077107676033, 0.4799225691767543, 0.2883966597464858]}}, {"xyz": [-0.23417017352973457, 0.05309918027319427, -0.16515120531862626], "rgb": [98, 56, 31], "semantic_id": 8, "pcd_info": {"point_index": 937}, "mesh_info": {"face_index": 15490, "face_uv": [0.09123159278790925, 0.22172754879738119, 0.68704085841471]}}, {"xyz": [-0.24073071808925928, 0.04325760408907453, 0.1980807446945513], "rgb": [92, 50, 25], "semantic_id": 9, "pcd_info": {"point_index": 921}, "mesh_info": {"face_index": 13255, "face_uv": [0.2317229417980238, 0.7367047848311292, 0.03157227337084532]}}, {"xyz": [0.18272087858758218, -0.3352999985218048, -0.1580524528605351], "rgb": [93, 51, 26], "semantic_id": 17, "pcd_info": {"point_index": 1334}, "mesh_info": {"face_index": 20296, "face_uv": [0.4104848596264671, 0.1690040068696077, 0.42051113350392527]}}, {"xyz": [0.17868195447513113, -0.3352999985218046, 0.26950768142841935], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1174}, "mesh_info": {"face_index": 22927, "face_uv": [0.06467817165291112, 0.374857273541477, 0.5604645548056112]}}, {"xyz": [-0.19000970232734066, -0.3352999985218048, 0.2667916258513708], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 22827, "face_uv": [0.2828342986632122, 0.32738259761348865, 0.3897831037232992]}}, {"xyz": [-0.1805011093715729, -0.3352999985218048, -0.1566297580630371], "rgb": [91, 49, 24], "semantic_id": 20, "pcd_info": {"point_index": 185}, "mesh_info": {"face_index": 20349, "face_uv": [0.3244739805173067, 0.5310549760011273, 0.14447104348156603]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "cc5dea482768651ed0e93cdb469eb63", "keypoints": [{"xyz": [0.18472957718479074, 0.3144875355118546, 0.15147646723178204], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1967}, "mesh_info": {"face_index": 367, "face_uv": [0.6231392150880353, 0.17470574286442314, 0.20215504204754187]}}, {"xyz": [-0.18639029743085406, 0.314104322185345, 0.15387289234483886], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 318, "face_uv": [0.763559494940446, 0.10615457500267766, 0.1302859300568774]}}, {"xyz": [0.15442447308349794, -0.1049790009856224, 0.04705042358450595], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 405, "face_uv": [0.7953420251717369, 0.20048559311605002, 0.004172381712213091]}}, {"xyz": [-0.15397410708953663, -0.10497900098562218, 0.05148375963640839], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1981}, "mesh_info": {"face_index": 404, "face_uv": [0.07236807914562779, 0.9011801076815149, 0.026451813172855027]}}, {"xyz": [0.14831632405227005, -0.1049790009856224, -0.28984038853338356], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 547, "face_uv": [0.03638677158467967, 0.5328893568496211, 0.43072387156569936]}}, {"xyz": [-0.15056588828871975, -0.1049790009856224, -0.2940372627646386], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 730}, "mesh_info": {"face_index": 562, "face_uv": [0.13159745474641082, 0.019659986947645914, 0.8487425583059434]}}, {"xyz": [0.17263511765786035, -0.4526830017566681, -0.27360132412506644], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1632}, "mesh_info": {"face_index": 6, "face_uv": [0.4966260244159918, 0.3260594659700666, 0.17731450961394163]}}, {"xyz": [0.1418041455044215, -0.4526830017566681, 0.2040082165223167], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 40, "face_uv": [0.3734917862022645, 0.40837815494592844, 0.21813005885180708]}}, {"xyz": [-0.1425367707905477, -0.4526830017566681, 0.20353306072570376], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 374}, "mesh_info": {"face_index": 174, "face_uv": [0.38983645079352436, 0.5727207538723226, 0.03744279533415308]}}, {"xyz": [-0.16907450817639982, -0.4526830017566681, -0.26999335954676895], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1511}, "mesh_info": {"face_index": 149, "face_uv": [0.5633902628252292, 0.17908471881904237, 0.25752501835572844]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ff3581996365bdddc3bd24f986301745", "keypoints": [{"xyz": [0.24959179020121217, 0.37095532529959774, 0.245266187287843], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1671}, "mesh_info": {"face_index": 7796, "face_uv": [0.23764936760986513, 0.05325827466686244, 0.7090923577232726]}}, {"xyz": [-0.27484496701777905, 0.37273665030780845, 0.24462775417963623], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 323}, "mesh_info": {"face_index": 7657, "face_uv": [0.3506229673873741, 0.06665032453531071, 0.5827267080773124]}}, {"xyz": [0.24009342393230318, 0.026555797797904068, 0.11021320720258321], "rgb": [28, 50, 28], "semantic_id": 2, "pcd_info": {"point_index": 1921}, "mesh_info": {"face_index": 325, "face_uv": [0.06307643620046387, 0.4836928633454366, 0.4532307004540985]}}, {"xyz": [-0.2698777560175034, 0.02041834735737913, 0.1114822232200332], "rgb": [29, 51, 29], "semantic_id": 3, "pcd_info": {"point_index": 207}, "mesh_info": {"face_index": 392, "face_uv": [0.3077248811518717, 0.06950369967622343, 0.622771419171907]}}, {"xyz": [0.24115987510750064, 0.060625341546758804, -0.3313149582424332], "rgb": [29, 51, 29], "semantic_id": 4, "pcd_info": {"point_index": 1171}, "mesh_info": {"face_index": 2997, "face_uv": [0.07928880674356024, 0.26600442757474374, 0.6547067656816962]}}, {"xyz": [-0.2621558850763259, 0.05970294532965026, -0.3327297668378032], "rgb": [28, 50, 28], "semantic_id": 5, "pcd_info": {"point_index": 882}, "mesh_info": {"face_index": 2534, "face_uv": [0.11687151154653276, 0.4421883795011266, 0.4409401089523405]}}, {"xyz": [0.25781187001139316, -0.1941674305714145, -0.2632696962420591], "rgb": [142, 142, 142], "semantic_id": 17, "pcd_info": {"point_index": 1115}, "mesh_info": {"face_index": 9317, "face_uv": [0.398606315808206, 0.3643050537453032, 0.23708863044649095]}}, {"xyz": [0.2580286035700021, -0.19791212977886108, 0.1050670912861944], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1245}, "mesh_info": {"face_index": 6227, "face_uv": [0.6270982270605567, 0.054580039521391226, 0.31832173341805625]}}, {"xyz": [-0.28678706275329735, -0.19726615707924133, 0.10801369031614505], "rgb": [235, 235, 235], "semantic_id": 19, "pcd_info": {"point_index": 1528}, "mesh_info": {"face_index": 10746, "face_uv": [0.16916522085167843, 0.7778616667574162, 0.052973112390905075]}}, {"xyz": [-0.285947966964333, -0.19752672540978455, -0.24100381475517407], "rgb": [142, 142, 142], "semantic_id": 20, "pcd_info": {"point_index": 328}, "mesh_info": {"face_index": 13101, "face_uv": [0.011984469716373082, 0.41366745138032834, 0.5743480789032999]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e3c79d6e34b1285e4580ed619ae2daa1", "keypoints": [{"xyz": [0.1607689497214016, 0.29558364437435225, 0.09565567696938726], "rgb": [183, 184, 186], "semantic_id": 0, "pcd_info": {"point_index": 2043}, "mesh_info": {"face_index": 365, "face_uv": [0.03270037751431744, 0.3662264778597461, 0.6010731446259363]}}, {"xyz": [-0.10702725107162778, 0.30011464011723366, 0.14561644981798166], "rgb": [255, 255, 253], "semantic_id": 1, "pcd_info": {"point_index": 441}, "mesh_info": {"face_index": 405, "face_uv": [0.11817211436560576, 0.6301509223301197, 0.25167696330427475]}}, {"xyz": [0.1408447691115663, -0.05360800027847268, -0.010731942610185518], "rgb": [118, 123, 125], "semantic_id": 2, "pcd_info": {"point_index": 156}, "mesh_info": {"face_index": 539, "face_uv": [0.9551495964256209, 0.044369014580548635, 0.00048138899382626626]}}, {"xyz": [-0.135688899082648, -0.05360800027847312, 0.04210219703538944], "rgb": [126, 127, 121], "semantic_id": 3, "pcd_info": {"point_index": 333}, "mesh_info": {"face_index": 539, "face_uv": [0.022315448691181707, 0.035117304115493554, 0.942567247193329]}}, {"xyz": [0.11258759736871338, -0.0536080002784729, -0.287068678401439], "rgb": [198, 198, 193], "semantic_id": 4, "pcd_info": {"point_index": 856}, "mesh_info": {"face_index": 172, "face_uv": [0.6902902445087953, 0.27982889095741, 0.029880864533794797]}}, {"xyz": [-0.20611308859453922, -0.0536080002784729, -0.2343684635656543], "rgb": [177, 177, 169], "semantic_id": 5, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 537, "face_uv": [0.010004171314779303, 0.9819793218049444, 0.00801650688027635]}}, {"xyz": [0.09023524842666397, -0.47087401151657104, -0.30884592875665945], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1365}, "mesh_info": {"face_index": 243, "face_uv": [0.27595529677478126, 0.2730639582176699, 0.45098074500754887]}}, {"xyz": [0.16012092224176644, -0.47087401151657127, 0.039268430030403645], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1312}, "mesh_info": {"face_index": 294, "face_uv": [0.441652064629695, 0.4466441066685564, 0.11170382870174915]}}, {"xyz": [-0.13468801172449202, -0.4708740115165708, 0.08530391109106306], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1401}, "mesh_info": {"face_index": 177, "face_uv": [0.13187924650431745, 0.43817941261137644, 0.42994134088430563]}}, {"xyz": [-0.20277359090315886, -0.47087401151657104, -0.2622746521062013], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1343}, "mesh_info": {"face_index": 146, "face_uv": [0.14773475152491294, 0.6576919910018748, 0.19457325747321216]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f1dac1909107c0eef51f77a6d7299806", "keypoints": [{"xyz": [0.18177525241060627, 0.46043883128511987, 0.15723912824300745], "rgb": [89, 70, 55], "semantic_id": 0, "pcd_info": {"point_index": 1445}, "mesh_info": {"face_index": 31818, "face_uv": [0.02836635443005117, 0.6139964887969046, 0.35763715677304597]}}, {"xyz": [-0.17215323769108204, 0.4610777876046719, 0.1578959958576549], "rgb": [88, 69, 54], "semantic_id": 1, "pcd_info": {"point_index": 1095}, "mesh_info": {"face_index": 32101, "face_uv": [0.0700341285074484, 0.13617286714056007, 0.7937930043519884]}}, {"xyz": [0.1292314933194449, 0.21597148728846627, 0.11647361814726032], "rgb": [90, 71, 56], "semantic_id": 2, "pcd_info": {"point_index": 987}, "mesh_info": {"face_index": 31121, "face_uv": [0.19119676211053388, 0.6436082203167534, 0.16519501757271463]}}, {"xyz": [-0.1292552747630363, 0.21218700706958815, 0.10934050264805606], "rgb": [108, 90, 65], "semantic_id": 3, "pcd_info": {"point_index": 740}, "mesh_info": {"face_index": 5883, "face_uv": [0.19440762065901218, 0.13303153602151127, 0.6725608433194786]}}, {"xyz": [0.13274748204287018, 0.2010039617212951, -0.1694391849414003], "rgb": [136, 116, 89], "semantic_id": 4, "pcd_info": {"point_index": 1848}, "mesh_info": {"face_index": 839, "face_uv": [0.35478139351033283, 0.3206860400410307, 0.32453256644863704]}}, {"xyz": [-0.13639786716083396, 0.20235713804248334, -0.16855658026931186], "rgb": [103, 86, 60], "semantic_id": 5, "pcd_info": {"point_index": 2005}, "mesh_info": {"face_index": 3863, "face_uv": [0.14268684704866305, 0.5937341928867335, 0.2635789600646043]}}, {"xyz": [0.13964340311416562, -0.35086887941959277, -0.16997153702064738], "rgb": [99, 80, 63], "semantic_id": 17, "pcd_info": {"point_index": 678}, "mesh_info": {"face_index": 6155, "face_uv": [0.02489647985131413, 0.3963537312212886, 0.5787497889274004]}}, {"xyz": [0.14970556546034097, -0.3543725854684877, 0.12885699493802116], "rgb": [94, 75, 60], "semantic_id": 18, "pcd_info": {"point_index": 65}, "mesh_info": {"face_index": 6459, "face_uv": [0.09801313463282842, 0.3948339025335398, 0.5071529628336329]}}, {"xyz": [-0.1455252387697339, -0.36001771014482314, 0.1302863257641671], "rgb": [103, 84, 67], "semantic_id": 19, "pcd_info": {"point_index": 1983}, "mesh_info": {"face_index": 26590, "face_uv": [0.5720660983115894, 0.17175563915488448, 0.25617826253352444]}}, {"xyz": [-0.14988684945425956, -0.3572615664114215, -0.1618122890810536], "rgb": [95, 76, 61], "semantic_id": 20, "pcd_info": {"point_index": 1587}, "mesh_info": {"face_index": 7318, "face_uv": [0.23042946430262362, 0.1349422151082033, 0.634628320589173]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e967ee5f0790d685286e59f068d9cd0e", "keypoints": [{"xyz": [0.10445393894284143, 0.40806141748921687, 0.1976613996021599], "rgb": [216, 197, 95], "semantic_id": 0, "pcd_info": {"point_index": 1048}, "mesh_info": {"face_index": 1106, "face_uv": [0.031584943280812176, 0.003891561506756725, 0.9645234952124292]}}, {"xyz": [-0.16338149898218793, 0.39716782580231846, 0.19835236761031472], "rgb": [215, 200, 106], "semantic_id": 1, "pcd_info": {"point_index": 89}, "mesh_info": {"face_index": 1200, "face_uv": [0.4427023492223881, 0.355692581170546, 0.20160506960706598]}}, {"xyz": [0.06862987872326634, 0.06859317944748711, 0.11297212964589742], "rgb": [214, 202, 114], "semantic_id": 2, "pcd_info": {"point_index": 1129}, "mesh_info": {"face_index": 725, "face_uv": [0.8213364187026863, 0.12300148188846467, 0.05566209940885894]}}, {"xyz": [-0.09236484634748116, 0.06779525649803275, 0.11117828350281922], "rgb": [222, 207, 145], "semantic_id": 3, "pcd_info": {"point_index": 948}, "mesh_info": {"face_index": 762, "face_uv": [0.524891272468554, 0.007010862172827541, 0.4680978653586307]}}, {"xyz": [0.13045722466444504, 0.05560571002519188, -0.15015359059042344], "rgb": [211, 193, 101], "semantic_id": 4, "pcd_info": {"point_index": 266}, "mesh_info": {"face_index": 1698, "face_uv": [0.0017929458864264444, 0.8390603695593626, 0.15914668455421552]}}, {"xyz": [-0.12674378913248346, 0.05516073810756339, -0.15208045110439988], "rgb": [217, 200, 112], "semantic_id": 5, "pcd_info": {"point_index": 1152}, "mesh_info": {"face_index": 1687, "face_uv": [0.8304837586339717, 0.019445317893206297, 0.15007092347282452]}}, {"xyz": [0.19108427677976314, -0.3362449705241568, -0.21809898830489566], "rgb": [17, 14, 10], "semantic_id": 17, "pcd_info": {"point_index": 403}, "mesh_info": {"face_index": 7570, "face_uv": [0.03468657551037786, 0.6326593877151001, 0.3326540367745232]}}, {"xyz": [0.20214255976355283, -0.33572938161676014, 0.17875793958915545], "rgb": [16, 13, 9], "semantic_id": 18, "pcd_info": {"point_index": 1715}, "mesh_info": {"face_index": 4638, "face_uv": [0.8711707287851276, 0.11164865689600957, 0.01718061431886221]}}, {"xyz": [-0.1934752368766201, -0.335934904483683, 0.16780073952538802], "rgb": [16, 13, 9], "semantic_id": 19, "pcd_info": {"point_index": 1332}, "mesh_info": {"face_index": 7787, "face_uv": [0.014664124832953668, 0.34825029843570354, 0.6370855767313425]}}, {"xyz": [-0.18918253741611055, -0.3360709412769509, -0.2146693007844674], "rgb": [16, 13, 9], "semantic_id": 20, "pcd_info": {"point_index": 780}, "mesh_info": {"face_index": 4794, "face_uv": [0.5071583371492332, 0.15126958744776653, 0.3415720754029999]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "878eee28ccc28b2e4c7384dbb75cab0d", "keypoints": [{"xyz": [0.14356347570173475, 0.32302549245981527, 0.15288335051558843], "rgb": [179, 157, 117], "semantic_id": 0, "pcd_info": {"point_index": 624}, "mesh_info": {"face_index": 1568, "face_uv": [0.7671285798072244, 0.0949282095291667, 0.13794321066360932]}}, {"xyz": [-0.13569712757441388, 0.3287389273785093, 0.15907356842695108], "rgb": [184, 162, 125], "semantic_id": 1, "pcd_info": {"point_index": 1056}, "mesh_info": {"face_index": 6783, "face_uv": [0.10361997296684795, 0.17478095522161705, 0.7215990718115355]}}, {"xyz": [0.11739804643268117, -0.05442814054644329, 0.10619157356909281], "rgb": [128, 81, 153], "semantic_id": 2, "pcd_info": {"point_index": 1017}, "mesh_info": {"face_index": 0, "face_uv": [0.3130999392776362, 0.4170611225577492, 0.26983893816461063]}}, {"xyz": [-0.11788892550168532, -0.03684669986304079, 0.08263172738648672], "rgb": [124, 80, 155], "semantic_id": 3, "pcd_info": {"point_index": 1803}, "mesh_info": {"face_index": 7885, "face_uv": [0.02769554855326312, 0.17271710511575333, 0.7995873463309584]}}, {"xyz": [0.1901138506704057, -0.04427795217227182, -0.22980638976149992], "rgb": [135, 88, 159], "semantic_id": 4, "pcd_info": {"point_index": 1506}, "mesh_info": {"face_index": 2420, "face_uv": [0.30882747151369583, 0.6754408991831554, 0.015731629303147948]}}, {"xyz": [-0.18168290780477753, -0.041448017064630416, -0.24632189115258374], "rgb": [122, 78, 153], "semantic_id": 5, "pcd_info": {"point_index": 957}, "mesh_info": {"face_index": 7677, "face_uv": [0.1322628230625589, 0.6045662861061607, 0.2631708908312795]}}, {"xyz": [0.2128302611556558, 0.07507864783972673, -0.14266572065822108], "rgb": [182, 158, 121], "semantic_id": 6, "pcd_info": {"point_index": 1103}, "mesh_info": {"face_index": 1466, "face_uv": [0.1899132721943262, 0.31247879241708415, 0.4976079353885901]}}, {"xyz": [0.16271750450053538, 0.07522364691891781, 0.11550460620363767], "rgb": [193, 171, 132], "semantic_id": 7, "pcd_info": {"point_index": 11}, "mesh_info": {"face_index": 1046, "face_uv": [0.34363732511863926, 0.19711339684197932, 0.4592492780393822]}}, {"xyz": [-0.2159282156332719, 0.07423593384914184, -0.14414609561308284], "rgb": [180, 156, 119], "semantic_id": 8, "pcd_info": {"point_index": 1265}, "mesh_info": {"face_index": 6672, "face_uv": [0.647033464808499, 0.22052774878074408, 0.13243878641075651]}}, {"xyz": [-0.16224078131506015, 0.07208170466289454, 0.10573713388657724], "rgb": [184, 162, 125], "semantic_id": 9, "pcd_info": {"point_index": 1686}, "mesh_info": {"face_index": 6279, "face_uv": [0.28664638923738606, 0.08989847501283897, 0.6234551357497767]}}, {"xyz": [0.1675438744638939, -0.36506922306049394, -0.20809833440568337], "rgb": [181, 158, 119], "semantic_id": 17, "pcd_info": {"point_index": 1244}, "mesh_info": {"face_index": 3649, "face_uv": [0.1376235544603208, 0.4445509909237472, 0.4178254546159323]}}, {"xyz": [0.14353991228273064, -0.36495775420018517, 0.13172900493953116], "rgb": [191, 168, 127], "semantic_id": 18, "pcd_info": {"point_index": 389}, "mesh_info": {"face_index": 572, "face_uv": [0.08500017364957606, 0.7217547747687404, 0.19324505158168162]}}, {"xyz": [-0.1391060735682023, -0.3633775531172059, 0.14214281632507347], "rgb": [193, 169, 131], "semantic_id": 19, "pcd_info": {"point_index": 298}, "mesh_info": {"face_index": 5815, "face_uv": [0.14945743135010015, 0.3906093950595312, 0.45993317359036895]}}, {"xyz": [-0.16085712273877095, -0.3691059947013855, -0.21660320823532897], "rgb": [186, 163, 126], "semantic_id": 20, "pcd_info": {"point_index": 1891}, "mesh_info": {"face_index": 8748, "face_uv": [0.5316726757775698, 0.020123151970454323, 0.44820417225197584]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d2815e678f173616e6cfc789522bfbab", "keypoints": [{"xyz": [0.178101948853524, 0.3238897329479382, 0.1943632204280356], "rgb": [28, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 1433}, "mesh_info": {"face_index": 159, "face_uv": [0.004406791957757234, 0.9130100878965313, 0.08258312014571129]}}, {"xyz": [-0.16702149233709213, 0.3450795027966749, 0.20440095755234414], "rgb": [28, 28, 28], "semantic_id": 1, "pcd_info": {"point_index": 340}, "mesh_info": {"face_index": 58, "face_uv": [0.028111885349592067, 0.16413587747976274, 0.8077522371706445]}}, {"xyz": [0.16077485523148252, 0.022502991782840542, 0.11491786257765457], "rgb": [29, 29, 29], "semantic_id": 2, "pcd_info": {"point_index": 1170}, "mesh_info": {"face_index": 104, "face_uv": [0.1143077067766932, 0.03796782894380427, 0.8477244642795101]}}, {"xyz": [-0.1526868145303913, 0.02202241906082958, 0.11418952142151273], "rgb": [28, 28, 28], "semantic_id": 3, "pcd_info": {"point_index": 455}, "mesh_info": {"face_index": 8, "face_uv": [0.7198495581850213, 0.04799253406400725, 0.23215790775097017]}}, {"xyz": [0.17774058869917758, 0.03983325051797926, -0.19803742208869302], "rgb": [29, 29, 29], "semantic_id": 4, "pcd_info": {"point_index": 402}, "mesh_info": {"face_index": 108, "face_uv": [0.015522232023307622, 0.19265015587308465, 0.791827612103611]}}, {"xyz": [-0.1722083763507336, 0.04003755705580603, -0.20183738901069193], "rgb": [29, 29, 29], "semantic_id": 5, "pcd_info": {"point_index": 642}, "mesh_info": {"face_index": 10, "face_uv": [0.6826741535759459, 0.31338824385000247, 0.003937602574051575]}}, {"xyz": [0.1794316768267958, -0.38896192056417517, -0.22826116734474922], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 1032}, "mesh_info": {"face_index": 134, "face_uv": [0.01122981709847181, 0.35921645860423534, 0.6295537242972933]}}, {"xyz": [0.21092599155714473, -0.38674943019457697, 0.22050040160281825], "rgb": [29, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 521}, "mesh_info": {"face_index": 164, "face_uv": [0.01718815345024506, 0.648655934617819, 0.3341559119319362]}}, {"xyz": [-0.2263940799420976, -0.39117139121079175, 0.2287584173397239], "rgb": [28, 28, 28], "semantic_id": 19, "pcd_info": {"point_index": 499}, "mesh_info": {"face_index": 74, "face_uv": [0.4594641157977504, 0.5354794750069154, 0.005056409195333803]}}, {"xyz": [-0.18076041160126843, -0.3880360387051642, -0.22824910950700816], "rgb": [28, 28, 28], "semantic_id": 20, "pcd_info": {"point_index": 1998}, "mesh_info": {"face_index": 38, "face_uv": [0.681645356449182, 0.30489890281740417, 0.013455740733413492]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8a85b0675605ed8219fb4103277a6b93", "keypoints": [{"xyz": [0.19971686478498474, 0.25026078526856443, 0.30125359630419024], "rgb": [222, 199, 164], "semantic_id": 0, "pcd_info": {"point_index": 829}, "mesh_info": {"face_index": 1704, "face_uv": [0.4354406179090748, 0.4953330966558454, 0.0692262854350686]}}, {"xyz": [-0.20635441505380248, 0.24597533414156658, 0.30247449009883587], "rgb": [222, 199, 164], "semantic_id": 1, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 5269, "face_uv": [0.19166130412681648, 0.3227653696791566, 0.4855733261940265]}}, {"xyz": [0.20327018686398796, -0.06259382364038002, 0.21920575869036485], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 1841}, "mesh_info": {"face_index": 360, "face_uv": [0.014080184584891976, 0.5409654901230392, 0.4449543252920675]}}, {"xyz": [-0.2070788114589289, -0.06482951694366279, 0.2134877236257342], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 1259}, "mesh_info": {"face_index": 6472, "face_uv": [0.16701788840611423, 0.7401748354191358, 0.09280727617475042]}}, {"xyz": [0.20453194566103822, -0.03205823657927431, -0.2469236833653372], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 134}, "mesh_info": {"face_index": 277, "face_uv": [0.23914231392449428, 0.3378919390078852, 0.42296574706762063]}}, {"xyz": [-0.20373010184663728, -0.030034729598821253, -0.24669565712760222], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 272}, "mesh_info": {"face_index": 4478, "face_uv": [0.13936858292035043, 0.42950866887111033, 0.43112274820854046]}}, {"xyz": [0.23691716843826693, 0.15337795425720913, -0.14539303995854236], "rgb": [170, 76, 19], "semantic_id": 6, "pcd_info": {"point_index": 833}, "mesh_info": {"face_index": 21411, "face_uv": [0.789419054473665, 0.20382771917964945, 0.0067532263466866934]}}, {"xyz": [0.23763710606156097, 0.06634418804781927, 0.3179643830327872], "rgb": [155, 75, 19], "semantic_id": 7, "pcd_info": {"point_index": 1567}, "mesh_info": {"face_index": 18877, "face_uv": [0.01918401295363157, 0.04158169080540853, 0.9392342962409584]}}, {"xyz": [-0.24124751441515666, 0.15123221002416432, -0.14625875801195942], "rgb": [168, 75, 19], "semantic_id": 8, "pcd_info": {"point_index": 1431}, "mesh_info": {"face_index": 10342, "face_uv": [0.23152049797536184, 0.16646218885068337, 0.6020173131739546]}}, {"xyz": [-0.23669172438476752, 0.06923401570015497, 0.3094931737240625], "rgb": [161, 76, 19], "semantic_id": 9, "pcd_info": {"point_index": 1411}, "mesh_info": {"face_index": 15176, "face_uv": [0.3525139466224105, 0.006805865283059988, 0.6406801880945299]}}, {"xyz": [0.200538148867216, -0.26813587896424607, -0.26870305219980684], "rgb": [223, 200, 165], "semantic_id": 17, "pcd_info": {"point_index": 929}, "mesh_info": {"face_index": 423, "face_uv": [0.2379833299907003, 0.4561042757240994, 0.3059123942852007]}}, {"xyz": [0.20403880973163524, -0.3283475535559245, 0.2869563295170343], "rgb": [223, 200, 165], "semantic_id": 18, "pcd_info": {"point_index": 1555}, "mesh_info": {"face_index": 957, "face_uv": [0.057445217538710645, 0.6365556382480555, 0.30599914421323465]}}, {"xyz": [-0.20012318750840552, -0.3296209500833732, 0.2821863461734846], "rgb": [223, 200, 165], "semantic_id": 19, "pcd_info": {"point_index": 625}, "mesh_info": {"face_index": 5256, "face_uv": [0.7850438390126084, 0.20859447672270343, 0.0063616842646883505]}}, {"xyz": [-0.20074857329983975, -0.2706196917405965, -0.26666056647568315], "rgb": [223, 200, 165], "semantic_id": 20, "pcd_info": {"point_index": 1068}, "mesh_info": {"face_index": 4695, "face_uv": [0.1427103157127436, 0.7671299983869587, 0.09015968590029776]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7824cba870f915ba2922dc9c4df31134", "keypoints": [{"xyz": [0.29378849982464955, 0.3904690146446228, 0.2623824959916594], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 97}, "mesh_info": {"face_index": 760, "face_uv": [0.5267763474168937, 0.004986794713748417, 0.46823685786935787]}}, {"xyz": [-0.2719428702104273, 0.3904690146446228, 0.2677524094978283], "rgb": [226, 225, 221], "semantic_id": 1, "pcd_info": {"point_index": 347}, "mesh_info": {"face_index": 790, "face_uv": [0.400542029904057, 0.007370922953672443, 0.5920870471422706]}}, {"xyz": [0.17547599971294395, 0.139843346038657, 0.19232162585479928], "rgb": [50, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 1202}, "mesh_info": {"face_index": 126, "face_uv": [0.9213829781341306, 0.03371441723812363, 0.044902604627745216]}}, {"xyz": [-0.13763145322594766, 0.1359940022230146, 0.2028609965261028], "rgb": [50, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 1284}, "mesh_info": {"face_index": 1120, "face_uv": [0.03170917785037639, 0.9462212760836619, 0.02206954606596001]}}, {"xyz": [0.16475994582828493, 0.12292831138444393, -0.2513299882411957], "rgb": [51, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1986}, "mesh_info": {"face_index": 1126, "face_uv": [0.0820513753242484, 0.8855643486511806, 0.03238427602457094]}}, {"xyz": [-0.14797845868134996, 0.11743376475533585, -0.2513299882411957], "rgb": [51, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1518}, "mesh_info": {"face_index": 1134, "face_uv": [0.02250972468377609, 0.16255955311084963, 0.8149307222053743]}}, {"xyz": [0.2551447734074048, 0.2501690089702606, -0.2353618745445779], "rgb": [51, 0, 0], "semantic_id": 6, "pcd_info": {"point_index": 44}, "mesh_info": {"face_index": 123, "face_uv": [0.03423871292846948, 0.6575013652328106, 0.30825992183872]}}, {"xyz": [0.2369917400860494, 0.2501690089702604, 0.20490771623213466], "rgb": [50, 0, 0], "semantic_id": 7, "pcd_info": {"point_index": 111}, "mesh_info": {"face_index": 88, "face_uv": [0.021738441534583795, 0.4923144740028016, 0.4859470844626136]}}, {"xyz": [-0.23692021118179718, 0.24766092278032192, -0.2513299882411958], "rgb": [51, 0, 0], "semantic_id": 8, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 767, "face_uv": [0.6668333124390942, 0.008125750785311754, 0.3250409367755944]}}, {"xyz": [-0.22849967980038, 0.2526548950700884, 0.2150460034608841], "rgb": [54, 3, 3], "semantic_id": 9, "pcd_info": {"point_index": 1264}, "mesh_info": {"face_index": 1110, "face_uv": [0.6052168912101386, 0.0177183606506586, 0.3770647481392029]}}, {"xyz": [0.23597012256468572, -0.07687400281429291, -0.1896370515725549], "rgb": [50, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1249}, "mesh_info": {"face_index": 991, "face_uv": [0.5616958649404483, 0.07418536947683224, 0.3641187655827194]}}, {"xyz": [0.21684116244997434, -0.07687400281429313, 0.1640478237836891], "rgb": [51, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 1838}, "mesh_info": {"face_index": 182, "face_uv": [0.12775465111426088, 0.43428933281044685, 0.4379560160752952]}}, {"xyz": [-0.23321220776887677, -0.07687400281429291, 0.16472785374943666], "rgb": [50, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 113}, "mesh_info": {"face_index": 795, "face_uv": [0.4496073457129644, 0.4508098407040643, 0.09958281358297122]}}, {"xyz": [-0.23634756497222234, -0.07687400281429291, -0.16863869780114027], "rgb": [50, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1977}, "mesh_info": {"face_index": 1006, "face_uv": [0.4093298438115129, 0.5798284628292854, 0.010841693359201755]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "685f2f19452cb973e98f4318c324e998", "keypoints": [{"xyz": [0.12865458408144265, 0.3226740062236786, -0.01050554824633132], "rgb": [135, 122, 41], "semantic_id": 0, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 1280, "face_uv": [0.07160013829325142, 0.5279660424436696, 0.4004338192630789]}}, {"xyz": [-0.13522606634489284, 0.3226740062236786, -0.01329762632856718], "rgb": [132, 119, 40], "semantic_id": 1, "pcd_info": {"point_index": 1444}, "mesh_info": {"face_index": 1267, "face_uv": [0.3724524573010041, 0.48607466788050135, 0.14147287481849455]}}, {"xyz": [0.13875837668155694, -0.1494300067424772, -0.030496440748855408], "rgb": [133, 120, 41], "semantic_id": 2, "pcd_info": {"point_index": 402}, "mesh_info": {"face_index": 964, "face_uv": [0.13707547387718225, 0.02141775401833088, 0.8415067721044853]}}, {"xyz": [-0.14326457687278293, -0.1494300067424772, -0.030390897064913963], "rgb": [135, 120, 40], "semantic_id": 3, "pcd_info": {"point_index": 338}, "mesh_info": {"face_index": 961, "face_uv": [0.3786653598503121, 0.05497541382835115, 0.5663592263213353]}}, {"xyz": [0.14032793594600051, -0.14943000674247764, -0.318618509678632], "rgb": [143, 131, 49], "semantic_id": 4, "pcd_info": {"point_index": 525}, "mesh_info": {"face_index": 716, "face_uv": [0.024415718229011885, 0.032705049511600734, 0.9428792322593889]}}, {"xyz": [-0.14538160836309644, -0.14943000674247742, -0.31677383808988696], "rgb": [127, 114, 36], "semantic_id": 5, "pcd_info": {"point_index": 270}, "mesh_info": {"face_index": 888, "face_uv": [0.02245801240984756, 0.9660805634031028, 0.011461424187049608]}}, {"xyz": [0.13106651389634622, -0.5501649975776672, -0.3106467673780208], "rgb": [143, 131, 47], "semantic_id": 17, "pcd_info": {"point_index": 405}, "mesh_info": {"face_index": 767, "face_uv": [0.4201943308792616, 0.5492860194413223, 0.030519649679416148]}}, {"xyz": [0.12879369299372384, -0.5501649975776672, -0.04470572194946876], "rgb": [142, 125, 44], "semantic_id": 18, "pcd_info": {"point_index": 17}, "mesh_info": {"face_index": 1058, "face_uv": [0.11171540011592565, 0.41060870887116885, 0.4776758910129055]}}, {"xyz": [-0.13835042669797734, -0.5501649975776671, -0.046336117956329526], "rgb": [126, 109, 29], "semantic_id": 19, "pcd_info": {"point_index": 709}, "mesh_info": {"face_index": 790, "face_uv": [0.38263959020799376, 0.5187374908220099, 0.09862291896999618]}}, {"xyz": [-0.13363525144561444, -0.5501649975776672, -0.3081643731795307], "rgb": [143, 128, 50], "semantic_id": 20, "pcd_info": {"point_index": 1425}, "mesh_info": {"face_index": 944, "face_uv": [0.015386215172234886, 0.48650416183039896, 0.49810962299736616]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a1240606049c440edbf3c13c5c0e828e", "keypoints": [{"xyz": [0.205797113543767, 0.41302099823951743, -0.014541713367354658], "rgb": [102, 51, 0], "semantic_id": 0, "pcd_info": {"point_index": 773}, "mesh_info": {"face_index": 221, "face_uv": [0.11153850517569303, 0.8840573875920879, 0.004404107232219745]}}, {"xyz": [-0.21441956101857365, 0.41010235502077186, -0.016854093382672408], "rgb": [101, 50, 0], "semantic_id": 1, "pcd_info": {"point_index": 1872}, "mesh_info": {"face_index": 387, "face_uv": [0.008534375415467378, 0.017661059685791833, 0.9738045648987402]}}, {"xyz": [0.18748908620768978, 0.03328765769431896, 0.030739998269644797], "rgb": [101, 50, 0], "semantic_id": 2, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 2224, "face_uv": [0.02312359583878408, 0.3431128682307643, 0.6337635359304412]}}, {"xyz": [-0.18644762582951296, 0.02851224154802756, 0.030854404734738772], "rgb": [102, 51, 0], "semantic_id": 3, "pcd_info": {"point_index": 1190}, "mesh_info": {"face_index": 2040, "face_uv": [0.006794986626144975, 0.6013665378217938, 0.39183847555206214]}}, {"xyz": [0.19391276302139837, 0.024157340673123473, -0.2194372217352074], "rgb": [101, 50, 0], "semantic_id": 4, "pcd_info": {"point_index": 357}, "mesh_info": {"face_index": 31, "face_uv": [0.09072611261156223, 0.01706625722364463, 0.892207630164793]}}, {"xyz": [-0.1957879006621665, 0.02357509419208781, -0.22591404324497644], "rgb": [101, 50, 0], "semantic_id": 5, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 42, "face_uv": [0.1298149915812908, 0.8656997097120438, 0.004485298706664923]}}, {"xyz": [0.1872302014627919, -0.3215013406106675, -0.2246830016374588], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1006}, "mesh_info": {"face_index": 1175, "face_uv": [0.033285429622120784, 0.3273016120559769, 0.6394129583219023]}}, {"xyz": [0.18752571084391467, -0.32054748626400964, 0.07783199846744537], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1316}, "mesh_info": {"face_index": 1753, "face_uv": [0.5823167467234592, 0.37028483575674126, 0.04739841751979944]}}, {"xyz": [-0.18627941919441027, -0.31796816345460166, 0.0778319984674456], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1968}, "mesh_info": {"face_index": 1559, "face_uv": [0.08556142607654758, 0.26331872244142307, 0.6511198514820323]}}, {"xyz": [-0.184042576855457, -0.31731985869225254, -0.2246830016374587], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 890}, "mesh_info": {"face_index": 791, "face_uv": [0.09515357952962282, 0.5886306770058573, 0.31621574346451947]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ce935c8e977b8c58aa53a70b14c57bcb", "keypoints": [{"xyz": [0.2278480958751023, 0.347137987613678, 0.1382429267776054], "rgb": [204, 192, 184], "semantic_id": 0, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 189, "face_uv": [0.41116874591879077, 0.572824569395385, 0.016006684685824255]}}, {"xyz": [-0.23527777859099852, 0.34713798761367776, 0.1389366477208624], "rgb": [203, 192, 183], "semantic_id": 1, "pcd_info": {"point_index": 848}, "mesh_info": {"face_index": 166, "face_uv": [0.0238584026020201, 0.4176207036116262, 0.5585208937863531]}}, {"xyz": [0.22291627973696299, 0.08638177029070948, 0.05900837458948788], "rgb": [204, 193, 184], "semantic_id": 2, "pcd_info": {"point_index": 1690}, "mesh_info": {"face_index": 148, "face_uv": [0.05325152578623888, 0.920517336267226, 0.026231137946536344]}}, {"xyz": [-0.2342195308042102, 0.08666600286960602, 0.04804751037378535], "rgb": [204, 193, 184], "semantic_id": 3, "pcd_info": {"point_index": 717}, "mesh_info": {"face_index": 115, "face_uv": [0.9534369967597693, 0.020510681657615413, 0.026052321582615307]}}, {"xyz": [0.2218862135031084, 0.08666600286960602, -0.3427525977495514], "rgb": [204, 193, 184], "semantic_id": 4, "pcd_info": {"point_index": 343}, "mesh_info": {"face_index": 156, "face_uv": [0.9496586526041948, 0.021974715390186965, 0.02836663200561823]}}, {"xyz": [-0.23642543439229927, 0.08666600286960602, -0.34134527426271627], "rgb": [204, 193, 184], "semantic_id": 5, "pcd_info": {"point_index": 1121}, "mesh_info": {"face_index": 114, "face_uv": [0.021479126333175013, 0.9746615409343528, 0.0038593327324724386]}}, {"xyz": [0.2254990145001164, -0.35710000991821267, -0.33644906879847924], "rgb": [207, 214, 224], "semantic_id": 17, "pcd_info": {"point_index": 1639}, "mesh_info": {"face_index": 70, "face_uv": [0.41752977622787246, 0.36823417820827886, 0.2142360455638481]}}, {"xyz": [0.22455937214268668, -0.3571000099182129, 0.15882987574405372], "rgb": [195, 202, 212], "semantic_id": 18, "pcd_info": {"point_index": 1005}, "mesh_info": {"face_index": 86, "face_uv": [0.45648997668940205, 0.4323794042594181, 0.1111306190511798]}}, {"xyz": [-0.23398355321760234, -0.3571000099182129, 0.16775768504480681], "rgb": [201, 208, 218], "semantic_id": 19, "pcd_info": {"point_index": 1635}, "mesh_info": {"face_index": 43, "face_uv": [0.46915251196000457, 0.06220722950207662, 0.46864025853791885]}}, {"xyz": [-0.23471938653293817, -0.3571000099182129, -0.338676692333401], "rgb": [206, 213, 223], "semantic_id": 20, "pcd_info": {"point_index": 1854}, "mesh_info": {"face_index": 2, "face_uv": [0.039738817711038384, 0.4605976809677218, 0.49966350132123977]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8fbe7ef85a9c57db784a45ea6efa1d77", "keypoints": [{"xyz": [0.19981815882810633, 0.372517881269413, 0.13447305002641707], "rgb": [255, 251, 244], "semantic_id": 0, "pcd_info": {"point_index": 1146}, "mesh_info": {"face_index": 1923, "face_uv": [0.6581346600086019, 0.014855371399140357, 0.3270099685922579]}}, {"xyz": [-0.18988631363839045, 0.37119211606505276, 0.13221551000336484], "rgb": [255, 251, 244], "semantic_id": 1, "pcd_info": {"point_index": 516}, "mesh_info": {"face_index": 1381, "face_uv": [0.5993479080837216, 0.005956201981077793, 0.39469588993520155]}}, {"xyz": [0.19809193893766439, -0.02471524952345705, 0.012487746143447609], "rgb": [254, 250, 243], "semantic_id": 2, "pcd_info": {"point_index": 82}, "mesh_info": {"face_index": 5711, "face_uv": [0.09402101459019221, 0.8950742973932571, 0.010904688016548963]}}, {"xyz": [-0.18792681589890833, -0.025083142895641286, 0.010311268219235004], "rgb": [255, 251, 244], "semantic_id": 3, "pcd_info": {"point_index": 1643}, "mesh_info": {"face_index": 5632, "face_uv": [0.4405363063725276, 0.5524844376472318, 0.006979255980243257]}}, {"xyz": [0.20132565295412716, -0.0257430002093314, -0.34261851253972764], "rgb": [254, 250, 243], "semantic_id": 4, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 6048, "face_uv": [0.9871598923509524, 0.010162694645170334, 0.0026774130038730304]}}, {"xyz": [-0.18951233134237402, -0.0282513500930881, -0.34953739404372275], "rgb": [255, 250, 244], "semantic_id": 5, "pcd_info": {"point_index": 51}, "mesh_info": {"face_index": 3387, "face_uv": [0.6233461068057468, 0.01132343144249729, 0.3653304617517559]}}, {"xyz": [0.1719387165021824, -0.39695599675178517, -0.3420063122862361], "rgb": [158, 158, 158], "semantic_id": 17, "pcd_info": {"point_index": 566}, "mesh_info": {"face_index": 97, "face_uv": [0.6060045053395462, 0.010715027446832061, 0.38328046721362147]}}, {"xyz": [0.17112351813263188, -0.3969559967517853, 0.03933902082504526], "rgb": [155, 155, 155], "semantic_id": 18, "pcd_info": {"point_index": 1537}, "mesh_info": {"face_index": 86, "face_uv": [0.4313282432906416, 0.006972938486617619, 0.5616988182227408]}}, {"xyz": [-0.1560443507220187, -0.3969559967517853, 0.03949831311114721], "rgb": [155, 155, 155], "semantic_id": 19, "pcd_info": {"point_index": 1483}, "mesh_info": {"face_index": 198, "face_uv": [0.4142859749679124, 0.006562615569341327, 0.5791514094627462]}}, {"xyz": [-0.1579502075191671, -0.39695599675178517, -0.34217961890002724], "rgb": [158, 158, 158], "semantic_id": 20, "pcd_info": {"point_index": 957}, "mesh_info": {"face_index": 209, "face_uv": [0.49843352503972194, 0.010268604854161558, 0.49129787010611625]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d3a958aa302f198b938da3ea2c9e0e4f", "keypoints": [{"xyz": [0.18602762140639476, 0.17064851773968892, 0.03245663756942063], "rgb": [185, 175, 134], "semantic_id": 0, "pcd_info": {"point_index": 1259}, "mesh_info": {"face_index": 4343, "face_uv": [0.33069265458679825, 0.23827424904093095, 0.4310330963722709]}}, {"xyz": [-0.18010847098531596, 0.16966208658717385, 0.030991396911364655], "rgb": [188, 177, 137], "semantic_id": 1, "pcd_info": {"point_index": 1402}, "mesh_info": {"face_index": 4205, "face_uv": [0.6384073301994253, 0.00869575336753099, 0.3528969164330491]}}, {"xyz": [0.1800291818321017, -0.25387325305890185, -0.005095523844032224], "rgb": [188, 176, 136], "semantic_id": 2, "pcd_info": {"point_index": 1516}, "mesh_info": {"face_index": 4594, "face_uv": [0.008771286725089986, 0.00882750425893158, 0.9824012090159246]}}, {"xyz": [-0.17303932232308258, -0.25481367778318464, -0.005099649827419617], "rgb": [188, 176, 136], "semantic_id": 3, "pcd_info": {"point_index": 1660}, "mesh_info": {"face_index": 7693, "face_uv": [0.006386879854641823, 0.6586343504495542, 0.3349787696957946]}}, {"xyz": [0.17842866733158946, -0.26391673766949175, -0.41133124855477643], "rgb": [189, 177, 137], "semantic_id": 4, "pcd_info": {"point_index": 900}, "mesh_info": {"face_index": 345, "face_uv": [0.020482176935441833, 0.007568827066860627, 0.9719489959976971]}}, {"xyz": [-0.17333494539270425, -0.2604557639160281, -0.40993036113725534], "rgb": [185, 176, 133], "semantic_id": 5, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 337, "face_uv": [0.8054051139315607, 0.01637206725258185, 0.1782228188158581]}}, {"xyz": [0.15075969967285097, -0.6137250065803528, -0.4074377801768021], "rgb": [152, 78, 39], "semantic_id": 17, "pcd_info": {"point_index": 1920}, "mesh_info": {"face_index": 551, "face_uv": [0.1373788190727215, 0.2655837265083539, 0.5970374544189246]}}, {"xyz": [0.15440556500520997, -0.6048660278320312, 0.05623356421975201], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 813}, "mesh_info": {"face_index": 5401, "face_uv": [0.6035688231140154, 0.03949162809180481, 0.3569395487941798]}}, {"xyz": [-0.1765086790657312, -0.6048660278320312, 0.057828062017715176], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1711}, "mesh_info": {"face_index": 5429, "face_uv": [0.089363482259115, 0.6847390376080918, 0.22589748013279315]}}, {"xyz": [-0.16325384508257124, -0.613725006580353, -0.3991835677035893], "rgb": [157, 82, 42], "semantic_id": 20, "pcd_info": {"point_index": 911}, "mesh_info": {"face_index": 7, "face_uv": [0.4707455632176853, 0.37481807255634736, 0.15443636422596768]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7051b028c8c1facfced9bf2a92246703", "keypoints": [{"xyz": [0.3653632010005422, 0.12098960131812553, 0.10164508301124814], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1773}, "mesh_info": {"face_index": 456, "face_uv": [0.2500577940132907, 0.6840233812177919, 0.06591882476891724]}}, {"xyz": [-0.3408906335327429, 0.1307282364218536, 0.09645628676975637], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 120}, "mesh_info": {"face_index": 482, "face_uv": [0.4738944106067692, 0.39640561936541885, 0.1296999700278126]}}, {"xyz": [0.33168197831753526, -0.03703594361532736, 0.045907083184609454], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 35}, "mesh_info": {"face_index": 759, "face_uv": [0.04667104194560628, 0.3817809157712109, 0.5715480422831857]}}, {"xyz": [-0.3189484572595581, -0.0375392651077322, 0.05204434602032593], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1997}, "mesh_info": {"face_index": 262, "face_uv": [0.2913864701638648, 0.07569997478984247, 0.632913555046295]}}, {"xyz": [0.3393574491129489, -0.035485845927299975, -0.14778625887583605], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 61}, "mesh_info": {"face_index": 716, "face_uv": [0.15503649706306344, 0.7878631749394265, 0.05710032799750996]}}, {"xyz": [-0.3297303754716137, -0.07995396551440148, -0.15371148039999635], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1155}, "mesh_info": {"face_index": 630, "face_uv": [0.4848820370440779, 0.39218469309770015, 0.12293326985821768]}}, {"xyz": [0.37792597993525756, 0.006705258051077578, -0.1581458972343284], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 1934}, "mesh_info": {"face_index": 852, "face_uv": [0.5584902081809155, 0.007344938630017547, 0.43416485318907166]}}, {"xyz": [0.4001390485615973, 0.004480376068952685, 0.057034963397762595], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 734}, "mesh_info": {"face_index": 813, "face_uv": [0.11037122054581193, 0.23027551873024998, 0.6593532607239397]}}, {"xyz": [-0.3679726836896863, 0.006255926122955557, -0.1445431878776477], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 472}, "mesh_info": {"face_index": 373, "face_uv": [0.7230252336767017, 0.05553894300171231, 0.2214358233215952]}}, {"xyz": [-0.3881312385677951, 0.005837313161273672, 0.06916286161464483], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1158}, "mesh_info": {"face_index": 857, "face_uv": [0.18127888114112214, 0.8126932725860789, 0.006027846272801171]}}, {"xyz": [0.38234563734320304, -0.23253799974918365, -0.15173371300911198], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1055}, "mesh_info": {"face_index": 49, "face_uv": [0.026643508691868465, 0.9699368788021571, 0.0034196125059744423]}}, {"xyz": [0.3763016269672268, -0.23253799974918343, 0.106908572498775], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 348}, "mesh_info": {"face_index": 49, "face_uv": [0.933837594534548, 0.053574769488276996, 0.012587635977174112]}}, {"xyz": [-0.3715686252176955, -0.23253799974918365, 0.10898639846681649], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 693}, "mesh_info": {"face_index": 56, "face_uv": [0.9057338903667701, 0.04805301723160031, 0.04621309240162961]}}, {"xyz": [-0.3717833414456966, -0.23253799974918343, -0.14994089908347974], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 466}, "mesh_info": {"face_index": 70, "face_uv": [0.9623102276928498, 0.03641500889197416, 0.001274763415175255]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "10c08a28cae054e53a762233fffc49ea", "keypoints": [{"xyz": [0.23292621361038007, 0.1371316586653344, 0.1926831084216537], "rgb": [49, 49, 49], "semantic_id": 0, "pcd_info": {"point_index": 1769}, "mesh_info": {"face_index": 318, "face_uv": [0.9947950045242504, 0.003201377429639435, 0.002003618046112601]}}, {"xyz": [-0.23434349963290935, 0.1367788552122604, 0.19151933360125994], "rgb": [64, 64, 64], "semantic_id": 1, "pcd_info": {"point_index": 1290}, "mesh_info": {"face_index": 318, "face_uv": [0.01321844023531003, 0.18147556988100866, 0.8053059898836847]}}, {"xyz": [0.23540399968624115, -0.06631348615592292, 0.09420432436094964], "rgb": [26, 26, 26], "semantic_id": 2, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 268, "face_uv": [0.42176834602648405, 0.03327924623651526, 0.5449524077370007]}}, {"xyz": [-0.238382255559287, -0.047214863653386674, 0.1057651972141331], "rgb": [50, 50, 50], "semantic_id": 3, "pcd_info": {"point_index": 1313}, "mesh_info": {"face_index": 46, "face_uv": [0.004734371925596862, 0.06835447995028573, 0.9269111481241176]}}, {"xyz": [0.22667357768560142, -0.08945709040602212, -0.2476331795990608], "rgb": [36, 36, 36], "semantic_id": 4, "pcd_info": {"point_index": 767}, "mesh_info": {"face_index": 436, "face_uv": [0.018339681321737453, 0.30161907121823006, 0.680041247460037]}}, {"xyz": [-0.24063600599765778, -0.0695966616571404, -0.2559475141670877], "rgb": [111, 111, 111], "semantic_id": 5, "pcd_info": {"point_index": 987}, "mesh_info": {"face_index": 494, "face_uv": [0.15723207650413948, 0.11688895513610151, 0.725878968359759]}}, {"xyz": [0.2837096810005514, 0.0724988231363961, -0.24379058167462822], "rgb": [89, 89, 89], "semantic_id": 6, "pcd_info": {"point_index": 1753}, "mesh_info": {"face_index": 478, "face_uv": [0.33806078737293843, 0.18367090135040956, 0.47826831127665254]}}, {"xyz": [0.29345709176688606, 0.07639399915933587, 0.27417954460785005], "rgb": [60, 60, 60], "semantic_id": 7, "pcd_info": {"point_index": 596}, "mesh_info": {"face_index": 48, "face_uv": [0.795509286214023, 0.08171864622081575, 0.12277206756515831]}}, {"xyz": [-0.28133541494661807, 0.07339047752941497, -0.24160196427670058], "rgb": [28, 28, 28], "semantic_id": 8, "pcd_info": {"point_index": 335}, "mesh_info": {"face_index": 152, "face_uv": [0.44228281108589945, 0.2195323292665607, 0.33818485964753947]}}, {"xyz": [-0.29848183052857613, 0.07639399915933609, 0.27509445862189924], "rgb": [14, 14, 14], "semantic_id": 9, "pcd_info": {"point_index": 851}, "mesh_info": {"face_index": 2, "face_uv": [0.1481845686845519, 0.05913535362045833, 0.7926800776949897]}}, {"xyz": [0.29901255877593147, -0.41010698676109314, -0.26173545446845303], "rgb": [57, 57, 57], "semantic_id": 17, "pcd_info": {"point_index": 1454}, "mesh_info": {"face_index": 472, "face_uv": [0.12836340623771836, 0.015736905900125234, 0.8558996878621564]}}, {"xyz": [0.2994133849222365, -0.41010698676109314, 0.2814064063001716], "rgb": [10, 10, 10], "semantic_id": 18, "pcd_info": {"point_index": 620}, "mesh_info": {"face_index": 412, "face_uv": [0.8771291680613404, 0.014023857927039203, 0.10884697401162037]}}, {"xyz": [-0.3008474202252187, -0.41010698676109314, 0.2861454114645926], "rgb": [1, 1, 1], "semantic_id": 19, "pcd_info": {"point_index": 1710}, "mesh_info": {"face_index": 466, "face_uv": [0.17490348015494928, 0.0055583554808824, 0.8195381643641684]}}, {"xyz": [-0.3053851043206657, -0.41010698676109336, -0.2591776258069356], "rgb": [39, 39, 39], "semantic_id": 20, "pcd_info": {"point_index": 2027}, "mesh_info": {"face_index": 340, "face_uv": [0.023349985273476793, 0.08937213934713244, 0.8872778753793913]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8e2c39986badb61e6fe3612af521500", "keypoints": [{"xyz": [0.18708069746004075, 0.3231167726638695, 0.18347284078096426], "rgb": [0, 0, 205], "semantic_id": 0, "pcd_info": {"point_index": 1676}, "mesh_info": {"face_index": 8234, "face_uv": [0.01690890886317154, 0.1025606251883544, 0.8805304659484745]}}, {"xyz": [-0.2183969182478736, 0.32233772746564804, 0.18258774996723526], "rgb": [0, 0, 205], "semantic_id": 1, "pcd_info": {"point_index": 206}, "mesh_info": {"face_index": 8232, "face_uv": [0.014881126002784203, 0.5056518752419068, 0.4794669987553093]}}, {"xyz": [0.19110111139623337, -0.010438569962724742, 0.06507928707697586], "rgb": [0, 0, 204], "semantic_id": 2, "pcd_info": {"point_index": 596}, "mesh_info": {"face_index": 7509, "face_uv": [0.4493111299427087, 0.007308860213900357, 0.5433800098433861]}}, {"xyz": [-0.21900042148112528, -0.008618984721610268, 0.06399506640762387], "rgb": [0, 0, 204], "semantic_id": 3, "pcd_info": {"point_index": 1423}, "mesh_info": {"face_index": 7371, "face_uv": [0.3851261594007895, 0.013440065333121446, 0.6014337752660874]}}, {"xyz": [0.24410909410274678, -0.03285163741663846, -0.32067288611604927], "rgb": [0, 0, 204], "semantic_id": 4, "pcd_info": {"point_index": 1037}, "mesh_info": {"face_index": 6500, "face_uv": [0.07142550505885967, 0.017666642070780638, 0.9109078528703596]}}, {"xyz": [-0.2760483599416544, -0.035299577398496124, -0.320770324330653], "rgb": [0, 0, 205], "semantic_id": 5, "pcd_info": {"point_index": 1202}, "mesh_info": {"face_index": 6476, "face_uv": [0.9559455582962345, 0.0028426808362649377, 0.041211760867500835]}}, {"xyz": [0.2468724653465753, 0.12902249919069075, -0.3142296207670574], "rgb": [0, 0, 204], "semantic_id": 6, "pcd_info": {"point_index": 694}, "mesh_info": {"face_index": 6455, "face_uv": [0.0179771668926512, 0.002074060837805303, 0.9799487722695429]}}, {"xyz": [0.24117465763047174, 0.17379579693245328, 0.20030514287740453], "rgb": [0, 0, 205], "semantic_id": 7, "pcd_info": {"point_index": 1436}, "mesh_info": {"face_index": 7185, "face_uv": [0.12033902092681584, 0.005641062517385855, 0.8740199165557989]}}, {"xyz": [-0.27137716307329446, 0.12786244904582733, -0.31427579559805996], "rgb": [0, 0, 205], "semantic_id": 8, "pcd_info": {"point_index": 120}, "mesh_info": {"face_index": 6526, "face_uv": [0.13089741074262637, 0.009098962798228801, 0.860003626459145]}}, {"xyz": [-0.2706050206274712, 0.17337782600609342, 0.19506445986889154], "rgb": [0, 0, 204], "semantic_id": 9, "pcd_info": {"point_index": 1815}, "mesh_info": {"face_index": 7017, "face_uv": [0.8389083597850271, 0.015839205608889968, 0.14525243460608261]}}, {"xyz": [0.2510121905754652, -0.24176099896430975, -0.3023216968881952], "rgb": [214, 214, 214], "semantic_id": 17, "pcd_info": {"point_index": 337}, "mesh_info": {"face_index": 6222, "face_uv": [0.5106900995346738, 0.1983442489847283, 0.2909656514805981]}}, {"xyz": [0.2292024616892523, -0.24152749237381382, 0.26167265253496885], "rgb": [213, 213, 213], "semantic_id": 18, "pcd_info": {"point_index": 1999}, "mesh_info": {"face_index": 8574, "face_uv": [0.10130433280765634, 0.5500053367324765, 0.34869033045986664]}}, {"xyz": [-0.2539994104301365, -0.2417609989643097, 0.2653044551531032], "rgb": [214, 214, 214], "semantic_id": 19, "pcd_info": {"point_index": 444}, "mesh_info": {"face_index": 10219, "face_uv": [0.21362700048507463, 0.15805153819342455, 0.6283214613215008]}}, {"xyz": [-0.28104050133262504, -0.24176099896430975, -0.3019723502280429], "rgb": [214, 214, 214], "semantic_id": 20, "pcd_info": {"point_index": 1474}, "mesh_info": {"face_index": 446, "face_uv": [0.5095436053564738, 0.03453425303281001, 0.4559221416107164]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9db73a6184c82d33f28699debac30ad6", "keypoints": [{"xyz": [0.27449171736556777, 0.4333887222282595, 0.15147668510413181], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 1098, "face_uv": [0.08485611865109025, 0.9127339629904759, 0.0024099183584356037]}}, {"xyz": [-0.24469738537860714, 0.42565482240799435, 0.14612260439279567], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 856}, "mesh_info": {"face_index": 1270, "face_uv": [0.6655115108250402, 0.3067172215361916, 0.027771267638781565]}}, {"xyz": [0.19490300118923193, 0.19228779882033975, 0.11010053549657872], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1153}, "mesh_info": {"face_index": 1161, "face_uv": [0.15362528644920584, 0.8117905224513681, 0.03458419109942635]}}, {"xyz": [-0.16265057357705826, 0.17919395081244582, 0.12781989936797067], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 900}, "mesh_info": {"face_index": 830, "face_uv": [0.5321300088176197, 0.08597075690763109, 0.3818992342747481]}}, {"xyz": [0.19257453272086825, 0.16652565921197016, -0.30456098914146423], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1956}, "mesh_info": {"face_index": 2974, "face_uv": [0.97866863779893, 0.011860777302893269, 0.009470584898176822]}}, {"xyz": [-0.16302700340747833, 0.168198192645705, -0.2964154091421667], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 550}, "mesh_info": {"face_index": 570, "face_uv": [0.01430750938780516, 0.00465704660964491, 0.9810354440025499]}}, {"xyz": [0.27782866599956535, 0.30895876302939984, -0.3012547135672654], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 413}, "mesh_info": {"face_index": 2070, "face_uv": [0.27799135547421205, 0.04115498497684999, 0.680853659548938]}}, {"xyz": [0.2831719653869489, 0.30949415477676506, 0.14058194267030233], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 431}, "mesh_info": {"face_index": 3136, "face_uv": [0.13946927679823898, 0.6618044092476466, 0.19872631395411472]}}, {"xyz": [-0.2452105589855908, 0.3067166593021875, -0.3026008794755892], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 318}, "mesh_info": {"face_index": 688, "face_uv": [0.18494916595664027, 0.06049667530657596, 0.7545541587367834]}}, {"xyz": [-0.24045139001221533, 0.3177659222462703, 0.13350590451179783], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 2005}, "mesh_info": {"face_index": 2009, "face_uv": [0.0854724768919727, 0.1945433625131314, 0.7199841605948973]}}, {"xyz": [0.27873678541491587, -0.15298446299932922, -0.3045193700522699], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 313}, "mesh_info": {"face_index": 2877, "face_uv": [0.08747979022546844, 0.7949633096063513, 0.11755690016818018]}}, {"xyz": [0.27705152056000815, -0.15833198155635908, 0.2905756898451526], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1190}, "mesh_info": {"face_index": 612, "face_uv": [0.6469481667998961, 0.07646853881430835, 0.2765832943857956]}}, {"xyz": [-0.2467210718108107, -0.16026597497935025, 0.2876555258936826], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1793}, "mesh_info": {"face_index": 4237, "face_uv": [0.4789946771037912, 0.07721782342104198, 0.4437874994751659]}}, {"xyz": [-0.2469623951382688, -0.16046075062384624, -0.29513425231237245], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1721}, "mesh_info": {"face_index": 1837, "face_uv": [0.27080416701221227, 0.005921364997552809, 0.7232744679902358]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f4a36a5ae5a596942d19175e7d19b7cb", "keypoints": [{"xyz": [0.24357817394507378, 0.28494449426524926, 0.22276160479464913], "rgb": [148, 148, 148], "semantic_id": 0, "pcd_info": {"point_index": 1459}, "mesh_info": {"face_index": 5748, "face_uv": [0.46877973625093344, 0.5163877513661214, 0.014832512382944918]}}, {"xyz": [-0.22106161372826344, 0.2881582985286144, 0.2272497039764546], "rgb": [148, 148, 148], "semantic_id": 1, "pcd_info": {"point_index": 544}, "mesh_info": {"face_index": 5765, "face_uv": [0.20453767346085192, 0.12076252443830832, 0.6746998021008396]}}, {"xyz": [0.23417869278505737, 0.05026699975132942, 0.09149598706561923], "rgb": [149, 149, 149], "semantic_id": 2, "pcd_info": {"point_index": 292}, "mesh_info": {"face_index": 14529, "face_uv": [0.011030986845783006, 0.6668275105133759, 0.32214150264084107]}}, {"xyz": [-0.2258459751782595, 0.050266999751329644, 0.09198663168949606], "rgb": [149, 149, 149], "semantic_id": 3, "pcd_info": {"point_index": 56}, "mesh_info": {"face_index": 46985, "face_uv": [0.10422073701404014, 0.1892073555427994, 0.7065719074431648]}}, {"xyz": [0.23244937122416975, 0.04803797380957675, -0.2565705453247108], "rgb": [148, 148, 148], "semantic_id": 4, "pcd_info": {"point_index": 1138}, "mesh_info": {"face_index": 11372, "face_uv": [0.24278109306656487, 0.2943890773098263, 0.4628298296236079]}}, {"xyz": [-0.22450382437776956, 0.044032052525526, -0.2602978451641438], "rgb": [149, 149, 149], "semantic_id": 5, "pcd_info": {"point_index": 472}, "mesh_info": {"face_index": 26885, "face_uv": [0.20150771026333403, 0.4739569383104446, 0.3245353514262224]}}, {"xyz": [0.2957142349576774, 0.16402410521578958, -0.266173966366239], "rgb": [148, 148, 148], "semantic_id": 6, "pcd_info": {"point_index": 428}, "mesh_info": {"face_index": 91456, "face_uv": [0.615968627145701, 0.08147940445834324, 0.30255196839595544]}}, {"xyz": [0.29856806249034307, 0.17319600284099557, 0.24184644001441313], "rgb": [148, 148, 148], "semantic_id": 7, "pcd_info": {"point_index": 1475}, "mesh_info": {"face_index": 86419, "face_uv": [0.03772736097556983, 0.13442941056606242, 0.8278432284583666]}}, {"xyz": [-0.29047877442054154, 0.16493659297340102, -0.26385125048766356], "rgb": [148, 148, 148], "semantic_id": 8, "pcd_info": {"point_index": 907}, "mesh_info": {"face_index": 76687, "face_uv": [0.1390680116426393, 0.7196456639196526, 0.141286324437707]}}, {"xyz": [-0.29259101824182837, 0.17430600523948647, 0.23980099642346953], "rgb": [148, 148, 148], "semantic_id": 9, "pcd_info": {"point_index": 459}, "mesh_info": {"face_index": 71586, "face_uv": [0.03146446610388949, 0.5650889707567465, 0.40344656313936267]}}, {"xyz": [0.3340888464325467, -0.19078145684241132, -0.2528495993806388], "rgb": [149, 149, 149], "semantic_id": 17, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 1830, "face_uv": [0.2480343330454379, 0.23552392076394513, 0.5164417461906172]}}, {"xyz": [0.3316515969016742, -0.19084578835906374, 0.2596406458061487], "rgb": [149, 149, 149], "semantic_id": 18, "pcd_info": {"point_index": 1458}, "mesh_info": {"face_index": 1317, "face_uv": [0.37599920842937595, 0.055524954103941156, 0.5685199974344584]}}, {"xyz": [-0.3237429213011991, -0.19094017704506028, 0.25579212552528874], "rgb": [149, 149, 149], "semantic_id": 19, "pcd_info": {"point_index": 390}, "mesh_info": {"face_index": 420, "face_uv": [0.24580446132117212, 0.6365382362775784, 0.1176573024012502]}}, {"xyz": [-0.3283220482358198, -0.1907030249422037, -0.2538566138237157], "rgb": [148, 148, 148], "semantic_id": 20, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 802, "face_uv": [0.5557622096706174, 0.15773965349033417, 0.28649813683904735]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "30074024ad3c581a19fb4103277a6b93", "keypoints": [{"xyz": [0.21199622475074767, 0.24190179196557038, 0.17697799648551715], "rgb": [154, 72, 19], "semantic_id": 0, "pcd_info": {"point_index": 632}, "mesh_info": {"face_index": 6957, "face_uv": [0.6001478459377255, 0.3897811493646312, 0.010071004697643826]}}, {"xyz": [-0.23170069080758682, 0.24080634834169024, 0.17662267987042202], "rgb": [163, 72, 19], "semantic_id": 1, "pcd_info": {"point_index": 1806}, "mesh_info": {"face_index": 7116, "face_uv": [0.2050985237334938, 0.33713333549006536, 0.4577681407764428]}}, {"xyz": [0.17772648121281776, -0.07431367199871941, 0.07229173142493095], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 1935}, "mesh_info": {"face_index": 16974, "face_uv": [0.11021014331259658, 0.3167079269945952, 0.5730819296928035]}}, {"xyz": [-0.19290550385484004, -0.07086133915984183, 0.0627106217621467], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 1395}, "mesh_info": {"face_index": 16683, "face_uv": [0.24005024492520377, 0.7278553516019943, 0.032094403472804976]}}, {"xyz": [0.18250788925369044, -0.09293216023510631, -0.2707731841231521], "rgb": [223, 200, 165], "semantic_id": 4, "pcd_info": {"point_index": 1445}, "mesh_info": {"face_index": 18588, "face_uv": [0.7635111710235268, 0.10340683183092407, 0.13308199714554964]}}, {"xyz": [-0.20033699274063113, -0.08108707483635769, -0.2802168937543027], "rgb": [173, 78, 19], "semantic_id": 5, "pcd_info": {"point_index": 288}, "mesh_info": {"face_index": 874, "face_uv": [0.2140030931546894, 0.29833775856519096, 0.48765914828011986]}}, {"xyz": [0.20313143948783452, 0.07527363053505454, -0.1968331748101262], "rgb": [165, 74, 19], "semantic_id": 6, "pcd_info": {"point_index": 2043}, "mesh_info": {"face_index": 11693, "face_uv": [0.2493675716923242, 0.21095732649896265, 0.5396751018087126]}}, {"xyz": [0.20136277612786802, 0.06558059602403432, 0.11199442565759643], "rgb": [156, 69, 18], "semantic_id": 7, "pcd_info": {"point_index": 104}, "mesh_info": {"face_index": 13885, "face_uv": [0.04068869325562975, 0.7263474069830248, 0.23296389976134732]}}, {"xyz": [-0.22156118877838846, 0.06776548621872114, -0.20838425407246342], "rgb": [172, 79, 19], "semantic_id": 8, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 3336, "face_uv": [0.5942099381367952, 0.21060040290533608, 0.19518965895787083]}}, {"xyz": [-0.22241874615424825, 0.06268856997878025, 0.11819529787177985], "rgb": [155, 69, 18], "semantic_id": 9, "pcd_info": {"point_index": 760}, "mesh_info": {"face_index": 5868, "face_uv": [0.012248908958744559, 0.16669023976177053, 0.821060851279485]}}, {"xyz": [0.20102506740563986, -0.44806501269340515, -0.2721595133284216], "rgb": [163, 72, 19], "semantic_id": 17, "pcd_info": {"point_index": 1891}, "mesh_info": {"face_index": 2318, "face_uv": [0.6281045092609944, 0.21250605022085955, 0.15938944051814607]}}, {"xyz": [0.1960992549659798, -0.44806501269340493, 0.12822604077733835], "rgb": [158, 71, 18], "semantic_id": 18, "pcd_info": {"point_index": 824}, "mesh_info": {"face_index": 16631, "face_uv": [0.23462976928692852, 0.183527817040594, 0.5818424136724769]}}, {"xyz": [-0.21170130783900815, -0.44806501269340493, 0.12560243534099313], "rgb": [161, 70, 18], "semantic_id": 19, "pcd_info": {"point_index": 1568}, "mesh_info": {"face_index": 8010, "face_uv": [0.2364551952880057, 0.363197673103423, 0.4003471316085708]}}, {"xyz": [-0.22992650622833372, -0.4480581998136368, -0.2816168181082712], "rgb": [175, 81, 19], "semantic_id": 20, "pcd_info": {"point_index": 1448}, "mesh_info": {"face_index": 10487, "face_uv": [0.02874811164992757, 0.03784806472041052, 0.9334038236296619]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9d28a066df22319cca2e16d6cd76503c", "keypoints": [{"xyz": [0.1856885598113846, 0.3946155464461909, 0.19044971744519656], "rgb": [28, 28, 28], "semantic_id": 0, "pcd_info": {"point_index": 741}, "mesh_info": {"face_index": 4646, "face_uv": [0.8014502983614641, 0.11825240459718933, 0.08029729704134642]}}, {"xyz": [-0.18012927969001338, 0.3966909479177383, 0.19155101862286128], "rgb": [29, 29, 29], "semantic_id": 1, "pcd_info": {"point_index": 1071}, "mesh_info": {"face_index": 4657, "face_uv": [0.05754184204333159, 0.016824515838275066, 0.9256336421183934]}}, {"xyz": [0.17139522995863676, -0.02751393386409462, 0.11826744189263283], "rgb": [28, 28, 28], "semantic_id": 2, "pcd_info": {"point_index": 14}, "mesh_info": {"face_index": 4915, "face_uv": [0.22673831923144108, 0.7505219704722471, 0.022739710296311274]}}, {"xyz": [-0.1605406574832225, -0.03644720313183658, 0.11912745710370198], "rgb": [28, 28, 28], "semantic_id": 3, "pcd_info": {"point_index": 1226}, "mesh_info": {"face_index": 4954, "face_uv": [0.048457099702314405, 0.16917013248607737, 0.7823727678116059]}}, {"xyz": [0.1661285363922388, -0.03416996457370258, -0.2916285361572588], "rgb": [164, 136, 85], "semantic_id": 4, "pcd_info": {"point_index": 996}, "mesh_info": {"face_index": 2552, "face_uv": [0.5888612315311977, 0.3766728243461721, 0.034465944122630696]}}, {"xyz": [-0.16224458604987485, -0.03392405844795099, -0.2866063411829052], "rgb": [175, 147, 95], "semantic_id": 5, "pcd_info": {"point_index": 709}, "mesh_info": {"face_index": 82, "face_uv": [0.10271817281496272, 0.4100780003680323, 0.4872038268170047]}}, {"xyz": [0.1855913839576167, -0.3669779896736145, -0.3069104598497183], "rgb": [28, 28, 28], "semantic_id": 17, "pcd_info": {"point_index": 1896}, "mesh_info": {"face_index": 5167, "face_uv": [0.040358388813764065, 0.16194399866024373, 0.7976976125259921]}}, {"xyz": [0.18341583885954862, -0.3669779896736145, 0.1694600292018984], "rgb": [29, 29, 29], "semantic_id": 18, "pcd_info": {"point_index": 218}, "mesh_info": {"face_index": 4944, "face_uv": [0.2863164399097913, 0.2851119280956508, 0.4285716319945579]}}, {"xyz": [-0.17306265230664658, -0.3669779896736145, 0.1692168723179138], "rgb": [29, 29, 29], "semantic_id": 19, "pcd_info": {"point_index": 2005}, "mesh_info": {"face_index": 4974, "face_uv": [0.6527381982605616, 0.29450203771686206, 0.052759764022576365]}}, {"xyz": [-0.17627156212308207, -0.36575375130533594, -0.3110387056175633], "rgb": [28, 28, 28], "semantic_id": 20, "pcd_info": {"point_index": 2033}, "mesh_info": {"face_index": 5078, "face_uv": [0.004308984142888406, 0.22082025409350628, 0.774870761763605]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9fae85a69532d03fda686a7d8e3d0692", "keypoints": [{"xyz": [0.20827656992728813, 0.4010902917876903, 0.17637947677677124], "rgb": [101, 79, 60], "semantic_id": 0, "pcd_info": {"point_index": 1299}, "mesh_info": {"face_index": 1694, "face_uv": [0.13527637649882449, 0.2315720554281396, 0.6331515680730353]}}, {"xyz": [-0.19934332404727056, 0.40370499487534284, 0.17579339700812358], "rgb": [101, 79, 60], "semantic_id": 1, "pcd_info": {"point_index": 2014}, "mesh_info": {"face_index": 1674, "face_uv": [0.12520305833016512, 0.6014727875377408, 0.27332415413209343]}}, {"xyz": [0.12471556866966164, 0.02219600044190928, 0.11340081696862514], "rgb": [102, 80, 61], "semantic_id": 2, "pcd_info": {"point_index": 1661}, "mesh_info": {"face_index": 1806, "face_uv": [0.23668229066830734, 0.004859484412153383, 0.7584582249195593]}}, {"xyz": [-0.12081899594912611, 0.022196000441908836, 0.10977672597066912], "rgb": [102, 80, 61], "semantic_id": 3, "pcd_info": {"point_index": 248}, "mesh_info": {"face_index": 1940, "face_uv": [0.3429834378846683, 0.344556970337286, 0.3124595917780457]}}, {"xyz": [0.1486331052771025, 0.022196000441908836, -0.22652423968463753], "rgb": [102, 80, 61], "semantic_id": 4, "pcd_info": {"point_index": 1955}, "mesh_info": {"face_index": 1842, "face_uv": [0.02721693125528898, 0.22458758488680403, 0.748195483857907]}}, {"xyz": [-0.14619573018401552, 0.022196000441908392, -0.23905520152755977], "rgb": [101, 79, 60], "semantic_id": 5, "pcd_info": {"point_index": 1376}, "mesh_info": {"face_index": 2106, "face_uv": [0.03408529209710153, 0.04325279908006017, 0.9226619088228183]}}, {"xyz": [0.13619681132827877, -0.3402859866619108, -0.21494983011229948], "rgb": [101, 79, 60], "semantic_id": 17, "pcd_info": {"point_index": 1298}, "mesh_info": {"face_index": 2411, "face_uv": [0.19370604559901197, 0.37456022004078454, 0.43173373436020285]}}, {"xyz": [0.10728488513037272, -0.3393230140209198, 0.15593222690478334], "rgb": [101, 79, 60], "semantic_id": 18, "pcd_info": {"point_index": 1864}, "mesh_info": {"face_index": 1528, "face_uv": [0.3391552130746402, 0.5668630844813055, 0.09398170244405424]}}, {"xyz": [-0.11033865374737753, -0.3393230140209196, 0.14951994884870132], "rgb": [101, 79, 60], "semantic_id": 19, "pcd_info": {"point_index": 408}, "mesh_info": {"face_index": 793, "face_uv": [0.018053348541113425, 0.4179792114324233, 0.5639674400264626]}}, {"xyz": [-0.13009553375738767, -0.340285986661911, -0.19605000634331518], "rgb": [102, 80, 61], "semantic_id": 20, "pcd_info": {"point_index": 589}, "mesh_info": {"face_index": 282, "face_uv": [0.08405786479993652, 0.17819129996504646, 0.7377508352350169]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "23e726da58f115f69b9f2eb77f5e247e", "keypoints": [{"xyz": [0.20483499765396118, 0.2718239969245033, 0.10914262878328415], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 715}, "mesh_info": {"face_index": 50, "face_uv": [0.6563695622640678, 0.018116426727935293, 0.32551401100799693]}}, {"xyz": [-0.20116630619487302, 0.2821578884096384, 0.09625847757990513], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1755}, "mesh_info": {"face_index": 92, "face_uv": [0.3733134033859075, 0.13866620943515673, 0.488020387178936]}}, {"xyz": [0.20169300721743014, -0.06301851705922035, 0.07926599681377411], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1778}, "mesh_info": {"face_index": 24, "face_uv": [0.9797770111395759, 0.007669564460461473, 0.012553424399962614]}}, {"xyz": [-0.20130728305476703, -0.07005999982357003, 0.07524821055417363], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1579}, "mesh_info": {"face_index": 3, "face_uv": [0.9803555892946767, 0.011033297761737492, 0.008611112943582648]}}, {"xyz": [0.19723664291326426, -0.07437279706248268, -0.2848849892616272], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1814}, "mesh_info": {"face_index": 6, "face_uv": [0.9140770320000347, 0.07579742217561038, 0.010125545824354897]}}, {"xyz": [-0.19413332100512937, -0.07206242807195445, -0.2848849892616272], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 18, "face_uv": [0.006633902051210092, 0.9648073185658457, 0.0285587793829443]}}, {"xyz": [0.18442920140161817, -0.4370560050010682, -0.26084097870409917], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 841}, "mesh_info": {"face_index": 55, "face_uv": [0.07992738764613952, 0.4717807168036839, 0.44829189555017684]}}, {"xyz": [0.17407870544257809, -0.437056005001068, 0.09790503083326865], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 722}, "mesh_info": {"face_index": 136, "face_uv": [0.3243196018899344, 0.4094870738069123, 0.26619332430315307]}}, {"xyz": [-0.18226738573623139, -0.4370560050010681, 0.10341826764817971], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 755}, "mesh_info": {"face_index": 143, "face_uv": [0.026393689788424643, 0.4693908118076939, 0.5042154984038815]}}, {"xyz": [-0.18303902075032402, -0.4370560050010681, -0.2604018887503306], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1048}, "mesh_info": {"face_index": 111, "face_uv": [0.016698151941600417, 0.4621344150736387, 0.5211674329847609]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "30afd2ef2ed30238aa3d0a2f00b54836", "keypoints": [{"xyz": [0.19882556874825164, 0.24267414053824887, -0.013810570779392628], "rgb": [110, 72, 42], "semantic_id": 0, "pcd_info": {"point_index": 175}, "mesh_info": {"face_index": 1054, "face_uv": [0.33783378279336507, 0.4176416166023032, 0.24452460060433215]}}, {"xyz": [-0.19339131425464412, 0.2408090497159805, -0.011839752762505817], "rgb": [109, 70, 38], "semantic_id": 1, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 1039, "face_uv": [0.6402518463981051, 0.14061690399992144, 0.21913124960197355]}}, {"xyz": [0.1676732611259263, -0.19166720641951396, -0.01667433201344748], "rgb": [127, 89, 53], "semantic_id": 2, "pcd_info": {"point_index": 1311}, "mesh_info": {"face_index": 4148, "face_uv": [0.4971213584016074, 0.10907214401846158, 0.3938064975799317]}}, {"xyz": [-0.18625096707850455, -0.2143470048904419, -0.01603896533132665], "rgb": [120, 76, 42], "semantic_id": 3, "pcd_info": {"point_index": 698}, "mesh_info": {"face_index": 88, "face_uv": [0.18550191587423584, 0.0679215091826753, 0.7465765749430889]}}, {"xyz": [0.1877641162074424, -0.2506496723701309, -0.358227014541626], "rgb": [125, 88, 53], "semantic_id": 4, "pcd_info": {"point_index": 303}, "mesh_info": {"face_index": 70, "face_uv": [0.7472634000594122, 0.14493238116222584, 0.10780421877836206]}}, {"xyz": [-0.19489814637000752, -0.22022907283020388, -0.3290578559088402], "rgb": [123, 79, 45], "semantic_id": 5, "pcd_info": {"point_index": 1212}, "mesh_info": {"face_index": 119, "face_uv": [0.05089684987326102, 0.7043145467041159, 0.24478860342262668]}}, {"xyz": [0.18163974954626114, -0.5484380125999453, -0.33641715252687493], "rgb": [130, 88, 56], "semantic_id": 17, "pcd_info": {"point_index": 99}, "mesh_info": {"face_index": 9584, "face_uv": [0.43578390109295617, 0.46949673692715754, 0.09471936197988673]}}, {"xyz": [0.18802210493608634, -0.5484380125999453, -0.020174642813189925], "rgb": [130, 88, 56], "semantic_id": 18, "pcd_info": {"point_index": 1758}, "mesh_info": {"face_index": 8197, "face_uv": [0.38280641401800974, 0.5174703555129772, 0.09972323046901352]}}, {"xyz": [-0.18504587907570602, -0.5484380125999448, -0.019990275183526474], "rgb": [130, 88, 56], "semantic_id": 19, "pcd_info": {"point_index": 149}, "mesh_info": {"face_index": 4178, "face_uv": [0.4198772512892682, 0.4877700407930981, 0.0923527079176333]}}, {"xyz": [-0.18528581214909423, -0.5484380125999453, -0.3382366719535971], "rgb": [129, 87, 55], "semantic_id": 20, "pcd_info": {"point_index": 1275}, "mesh_info": {"face_index": 8060, "face_uv": [0.41305748326018404, 0.41777939658955204, 0.1691631201502643]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e04ceec8711a6027a6e27bc066049db5", "keypoints": [{"xyz": [0.15948734638412385, 0.33695294445797863, 0.04699100181460336], "rgb": [177, 103, 38], "semantic_id": 0, "pcd_info": {"point_index": 1218}, "mesh_info": {"face_index": 125, "face_uv": [0.9575018441603902, 0.03155266886354317, 0.010945486976057095]}}, {"xyz": [-0.15935869298765065, 0.342612901489618, 0.046991001814603806], "rgb": [176, 106, 44], "semantic_id": 1, "pcd_info": {"point_index": 291}, "mesh_info": {"face_index": 16, "face_uv": [0.034317437212382604, 0.9093795101951836, 0.056303052592433823]}}, {"xyz": [0.15922427611138762, -0.07085599750280402, 0.026794282486966248], "rgb": [183, 107, 45], "semantic_id": 2, "pcd_info": {"point_index": 147}, "mesh_info": {"face_index": 128, "face_uv": [0.8905224868200595, 0.0430109828049069, 0.06646653037503676]}}, {"xyz": [-0.15717026254313443, -0.0708559975028038, 0.03869612560031843], "rgb": [174, 99, 33], "semantic_id": 3, "pcd_info": {"point_index": 869}, "mesh_info": {"face_index": 115, "face_uv": [0.7930378141575057, 0.027298079104338093, 0.17966410673815617]}}, {"xyz": [0.15750229416010053, -0.0708559975028038, -0.24490702301322131], "rgb": [175, 100, 38], "semantic_id": 4, "pcd_info": {"point_index": 1390}, "mesh_info": {"face_index": 131, "face_uv": [0.9528689156240112, 0.039376216557981264, 0.007754867818007593]}}, {"xyz": [-0.15697132414771986, -0.07085599750280358, -0.24500097761965955], "rgb": [178, 103, 45], "semantic_id": 5, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 30, "face_uv": [0.9254056570568326, 0.03906701600904819, 0.03552732693411625]}}, {"xyz": [0.13413231160424463, -0.45291399955749523, -0.22746765667663693], "rgb": [180, 105, 44], "semantic_id": 17, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 200, "face_uv": [0.5284944479717013, 0.4664329836533404, 0.005072568374958521]}}, {"xyz": [0.14022436767419802, -0.4529139995574951, 0.08688488271133121], "rgb": [178, 106, 39], "semantic_id": 18, "pcd_info": {"point_index": 792}, "mesh_info": {"face_index": 155, "face_uv": [0.49319744819826694, 0.4130541423119688, 0.09374840948976423]}}, {"xyz": [-0.1445274275051762, -0.4529139995574951, 0.09064973370582494], "rgb": [177, 105, 42], "semantic_id": 19, "pcd_info": {"point_index": 298}, "mesh_info": {"face_index": 110, "face_uv": [0.09096094339795842, 0.3541473491491649, 0.5548917074528766]}}, {"xyz": [-0.13660049084036072, -0.4529139995574951, -0.23065565199357713], "rgb": [176, 102, 41], "semantic_id": 20, "pcd_info": {"point_index": 324}, "mesh_info": {"face_index": 171, "face_uv": [0.04196001062351272, 0.4757181051011258, 0.4823218842753615]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c48014610839bde3b8e687cbf40e9e47", "keypoints": [{"xyz": [0.26133390420788366, 0.33104899525642395, -0.015351704459674962], "rgb": [211, 195, 92], "semantic_id": 0, "pcd_info": {"point_index": 755}, "mesh_info": {"face_index": 610, "face_uv": [0.2053713252179464, 0.5489043143715117, 0.24572436041054196]}}, {"xyz": [-0.25789263892888403, 0.33104899525642395, -0.011234638611823115], "rgb": [223, 203, 110], "semantic_id": 1, "pcd_info": {"point_index": 1148}, "mesh_info": {"face_index": 556, "face_uv": [0.13714786822246008, 0.27491025229083804, 0.5879418794867018]}}, {"xyz": [0.1726738983648945, 0.022352000698447227, 0.13060880950218684], "rgb": [222, 206, 128], "semantic_id": 2, "pcd_info": {"point_index": 1180}, "mesh_info": {"face_index": 1952, "face_uv": [0.9300660003948368, 0.05371122238311301, 0.016222777222050195]}}, {"xyz": [-0.17510289794550676, 0.022352000698447227, 0.12211453718991344], "rgb": [213, 190, 96], "semantic_id": 3, "pcd_info": {"point_index": 895}, "mesh_info": {"face_index": 1990, "face_uv": [0.007438094814725574, 0.9508071873650924, 0.0417547178201821]}}, {"xyz": [0.1731251143167206, 0.022352000698447227, -0.18876173871314067], "rgb": [223, 206, 135], "semantic_id": 4, "pcd_info": {"point_index": 11}, "mesh_info": {"face_index": 1954, "face_uv": [0.027018094548032123, 0.9491632954965207, 0.023818609955447195]}}, {"xyz": [-0.1745290367166805, 0.022352000698447227, -0.19008580279671472], "rgb": [222, 204, 118], "semantic_id": 5, "pcd_info": {"point_index": 1357}, "mesh_info": {"face_index": 1989, "face_uv": [0.01983876044190071, 0.051931418708653206, 0.928229820849446]}}, {"xyz": [0.18258069851995035, -0.411406010389328, -0.18946378225780838], "rgb": [221, 206, 120], "semantic_id": 17, "pcd_info": {"point_index": 761}, "mesh_info": {"face_index": 83, "face_uv": [0.4436641352049057, 0.06772927875317361, 0.4886065860419207]}}, {"xyz": [0.18522756133233165, -0.4114060103893282, 0.12208077140583237], "rgb": [220, 200, 114], "semantic_id": 18, "pcd_info": {"point_index": 929}, "mesh_info": {"face_index": 168, "face_uv": [0.3228369076422968, 0.32901106745272807, 0.34815202490497577]}}, {"xyz": [-0.18887466671289865, -0.4114060103893278, 0.12849718870653778], "rgb": [214, 201, 129], "semantic_id": 19, "pcd_info": {"point_index": 1940}, "mesh_info": {"face_index": 357, "face_uv": [0.254190478625906, 0.13097622663073819, 0.6148332947433554]}}, {"xyz": [-0.18552741810417073, -0.4114060103893282, -0.18861663172874676], "rgb": [220, 206, 127], "semantic_id": 20, "pcd_info": {"point_index": 115}, "mesh_info": {"face_index": 267, "face_uv": [0.4083499131913848, 0.4025330307589638, 0.18911705604965193]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fbd48960edc73ef0490ad276cd2af3a4", "keypoints": [{"xyz": [0.14399022592030833, 0.4775159955024719, 0.0947988878003832], "rgb": [214, 219, 191], "semantic_id": 0, "pcd_info": {"point_index": 846}, "mesh_info": {"face_index": 450, "face_uv": [0.5330018276444549, 0.041816000840592935, 0.42518217151495213]}}, {"xyz": [-0.12975352759692624, 0.4775159955024718, 0.09091970157271573], "rgb": [213, 218, 190], "semantic_id": 1, "pcd_info": {"point_index": 1437}, "mesh_info": {"face_index": 456, "face_uv": [0.5362211485230216, 0.039919735517885385, 0.4238591159590928]}}, {"xyz": [0.16385094278524157, 0.06832158091706719, 0.0005145746904824666], "rgb": [213, 218, 190], "semantic_id": 2, "pcd_info": {"point_index": 943}, "mesh_info": {"face_index": 907, "face_uv": [0.02139684231875593, 0.18839812607442402, 0.7902050316068194]}}, {"xyz": [-0.14775209437822276, 0.06881432035339485, 0.00030872632572710723], "rgb": [213, 218, 190], "semantic_id": 3, "pcd_info": {"point_index": 1498}, "mesh_info": {"face_index": 900, "face_uv": [0.8100651579110066, 0.18162355131910995, 0.008311290769879359]}}, {"xyz": [0.17303134402766585, 0.06888262659380762, -0.3034749313284715], "rgb": [214, 219, 191], "semantic_id": 4, "pcd_info": {"point_index": 1070}, "mesh_info": {"face_index": 910, "face_uv": [0.01010064614263858, 0.4747902306611548, 0.5151091231962068]}}, {"xyz": [-0.15565515262925939, 0.06900499761104584, -0.29599940404023045], "rgb": [213, 218, 190], "semantic_id": 5, "pcd_info": {"point_index": 720}, "mesh_info": {"face_index": 882, "face_uv": [0.9818554154768984, 0.01632296068710841, 0.0018216238359930763]}}, {"xyz": [0.18115619705997546, -0.3258180022239685, -0.3006687291203264], "rgb": [180, 135, 98], "semantic_id": 17, "pcd_info": {"point_index": 1364}, "mesh_info": {"face_index": 229, "face_uv": [0.22952084308167292, 0.24586200216469342, 0.5246171547536337]}}, {"xyz": [0.15934029334913183, -0.3258180022239685, 0.12998198179438597], "rgb": [156, 128, 113], "semantic_id": 18, "pcd_info": {"point_index": 844}, "mesh_info": {"face_index": 381, "face_uv": [0.09890912436793556, 0.2542115341492974, 0.646879341482767]}}, {"xyz": [-0.14272753600458365, -0.32581800222396873, 0.1246448636937399], "rgb": [153, 126, 112], "semantic_id": 19, "pcd_info": {"point_index": 785}, "mesh_info": {"face_index": 164, "face_uv": [0.5377468307087492, 0.40757913334783463, 0.05467403594341679]}}, {"xyz": [-0.16243750151243683, -0.3258180022239685, -0.30090516789322036], "rgb": [174, 123, 90], "semantic_id": 20, "pcd_info": {"point_index": 1344}, "mesh_info": {"face_index": 14, "face_uv": [0.5330012158517945, 0.42782420543446154, 0.03917457871374393]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7139284dff5142d4593ebeeedbff73b", "keypoints": [{"xyz": [0.23582867617339143, 0.42452785805458215, 0.19826447332012745], "rgb": [176, 32, 32], "semantic_id": 0, "pcd_info": {"point_index": 1242}, "mesh_info": {"face_index": 24030, "face_uv": [0.04856890747459769, 0.5227888266221973, 0.42864226590320426]}}, {"xyz": [-0.24006535642813698, 0.4231716282222233, 0.20332588784785557], "rgb": [176, 32, 32], "semantic_id": 1, "pcd_info": {"point_index": 2006}, "mesh_info": {"face_index": 29293, "face_uv": [0.22506960930320213, 0.21811170774252142, 0.5568186829542761]}}, {"xyz": [0.24384416902828443, 0.12117718388403298, 0.08282876329629088], "rgb": [176, 32, 32], "semantic_id": 2, "pcd_info": {"point_index": 1729}, "mesh_info": {"face_index": 25388, "face_uv": [0.47118676678074745, 0.45211354762632744, 0.07669968559292384]}}, {"xyz": [-0.23958030542439396, 0.12084062896796444, 0.08007524750005116], "rgb": [176, 32, 32], "semantic_id": 3, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 24649, "face_uv": [0.13345823094172615, 0.7533322349595998, 0.11320953409867375]}}, {"xyz": [0.23958180948342261, 0.19645713400137987, -0.3208663138115443], "rgb": [177, 33, 33], "semantic_id": 4, "pcd_info": {"point_index": 1720}, "mesh_info": {"face_index": 19173, "face_uv": [0.20788033557919505, 0.6801717095750941, 0.11194795484571217]}}, {"xyz": [-0.24233943583221074, 0.1959407081296929, -0.31818298785233784], "rgb": [176, 32, 32], "semantic_id": 5, "pcd_info": {"point_index": 1144}, "mesh_info": {"face_index": 24393, "face_uv": [0.7548298574122607, 0.22946266548726146, 0.015707477100476906]}}, {"xyz": [0.24601572093639773, -0.19220305929190684, -0.2743557212711637], "rgb": [201, 201, 201], "semantic_id": 17, "pcd_info": {"point_index": 31}, "mesh_info": {"face_index": 1256, "face_uv": [0.46361102712250113, 0.259122704235394, 0.2772662686421062]}}, {"xyz": [0.2438888442568315, -0.19253393346985304, 0.1894408144516205], "rgb": [197, 197, 197], "semantic_id": 18, "pcd_info": {"point_index": 1434}, "mesh_info": {"face_index": 82, "face_uv": [0.06940581217178107, 0.37239198959502556, 0.5582021982331961]}}, {"xyz": [-0.2419038312773527, -0.19091376912689895, 0.18990355560536928], "rgb": [204, 204, 204], "semantic_id": 19, "pcd_info": {"point_index": 355}, "mesh_info": {"face_index": 2392, "face_uv": [0.8048660885969888, 0.06557449350104805, 0.12955941790196066]}}, {"xyz": [-0.2430402621438028, -0.19162436326611276, -0.2789826819732697], "rgb": [215, 215, 215], "semantic_id": 20, "pcd_info": {"point_index": 72}, "mesh_info": {"face_index": 1989, "face_uv": [0.24236750950460692, 0.17986820199650577, 0.5777642884988883]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "445d6cef46b853ee713decb1a0563b12", "keypoints": [{"xyz": [0.16789661874689496, 0.3736239410758848, 0.07642908283700556], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1270}, "mesh_info": {"face_index": 85, "face_uv": [0.24856471916938305, 0.4939131633584182, 0.2575221174721988]}}, {"xyz": [-0.1903907312849445, 0.3732862664225932, 0.06735374862780585], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1207}, "mesh_info": {"face_index": 132, "face_uv": [0.23894100906185792, 0.6087791875848265, 0.1522798033533158]}}, {"xyz": [0.1731659091145127, 0.015455916489198418, 0.03277999907731988], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 80, "face_uv": [0.9766617854341227, 0.005034401422639707, 0.01830381314323071]}}, {"xyz": [-0.19522167010155003, 0.012685684216811488, 0.0327799990773201], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1230}, "mesh_info": {"face_index": 57, "face_uv": [0.9794876378971484, 0.00482809743090517, 0.015684264671946436]}}, {"xyz": [0.17238445354281495, 0.0011363383925065973, -0.20217500627040852], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1271}, "mesh_info": {"face_index": 13, "face_uv": [0.9682139065205061, 0.028290649677052165, 0.0034954438024411972]}}, {"xyz": [-0.18758857758785794, 0.0070090000517665785, -0.19978007526389596], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 210}, "mesh_info": {"face_index": 30, "face_uv": [0.9746559797369208, 0.010193147419722364, 0.015150872843348973]}}, {"xyz": [0.13267696391171135, -0.4402270019054413, -0.15630751643823296], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1777}, "mesh_info": {"face_index": 3, "face_uv": [0.0005395225645145159, 0.5485284012093817, 0.4509320762261037]}}, {"xyz": [0.13023597285739935, -0.4402270019054412, 0.07834257333762659], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 114, "face_uv": [0.41022969054120884, 0.529461415877256, 0.060308893581534864]}}, {"xyz": [-0.1597063716830264, -0.4402270019054414, 0.07418807980987088], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 501}, "mesh_info": {"face_index": 183, "face_uv": [0.15702723008370106, 0.35299738221404586, 0.48997538770225335]}}, {"xyz": [-0.1576543038251264, -0.4402270019054414, -0.14863420749162773], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 96, "face_uv": [0.5607367845439316, 0.3590768683827325, 0.08018634707333609]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2e0beb3b6927a2b7e45ef4135c266a12", "keypoints": [{"xyz": [0.15463197519193356, 0.30368907491181396, 0.2618467767574846], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1121}, "mesh_info": {"face_index": 10496, "face_uv": [0.05602124227032386, 0.7645771103781059, 0.17940164735157174]}}, {"xyz": [-0.15440384862038217, 0.3072724465444816, 0.26473169643027816], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 841}, "mesh_info": {"face_index": 692, "face_uv": [0.45883863632382, 0.3049013654616207, 0.23625999821455893]}}, {"xyz": [0.10200733363527525, -0.025373281654598845, 0.23773640027346343], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 480}, "mesh_info": {"face_index": 17514, "face_uv": [0.11169604760069475, 0.789630412635151, 0.09867353976415469]}}, {"xyz": [-0.0875465539026444, -0.019125271945816147, 0.23737476677594982], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1363}, "mesh_info": {"face_index": 7721, "face_uv": [0.38167016390830005, 0.15780478274643894, 0.4605250533452608]}}, {"xyz": [0.17094426144771935, -0.025240575667506038, -0.1260932129788077], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1699}, "mesh_info": {"face_index": 13685, "face_uv": [0.16240985188466311, 0.6659872671610796, 0.171602880954257]}}, {"xyz": [-0.16406255861908645, -0.02348466747858491, -0.11201395377705037], "rgb": [143, 116, 102], "semantic_id": 5, "pcd_info": {"point_index": 1171}, "mesh_info": {"face_index": 3599, "face_uv": [0.16668848363285746, 0.623686265658174, 0.2096252507089669]}}, {"xyz": [0.18715566306726905, 0.13553298885781384, -0.12800947984656919], "rgb": [255, 255, 255], "semantic_id": 6, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 19095, "face_uv": [0.37005892262567086, 0.29337993985400207, 0.33656113752032857]}}, {"xyz": [0.18865370788291508, 0.1613373370314115, 0.2114505877793471], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 630}, "mesh_info": {"face_index": 19329, "face_uv": [0.36928371230395374, 0.3222440481174355, 0.30847223957861064]}}, {"xyz": [-0.19698766320337285, 0.13989268182711512, -0.12569047659257215], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 218}, "mesh_info": {"face_index": 9278, "face_uv": [0.4937958853007144, 0.3511852954128742, 0.15501881928641223]}}, {"xyz": [-0.19249738822643292, 0.1607751773217725, 0.20734200212576948], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 1999}, "mesh_info": {"face_index": 9062, "face_uv": [0.004771134408436069, 0.5741316366240741, 0.4210972289674889]}}, {"xyz": [0.1912485385383172, -0.3753478871102378, -0.10228424966985239], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 164}, "mesh_info": {"face_index": 17274, "face_uv": [0.35179403847344104, 0.2166471683511482, 0.43155879317541124]}}, {"xyz": [0.11851290538828074, -0.38220400272808774, 0.2629329046075033], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1074}, "mesh_info": {"face_index": 16919, "face_uv": [0.1550510005184134, 0.3615393260340585, 0.48340967344752733]}}, {"xyz": [-0.10995565608933089, -0.3787603951983216, 0.2675556607055165], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 2015}, "mesh_info": {"face_index": 7106, "face_uv": [0.1596472322879458, 0.44005417595868884, 0.40029859175336635]}}, {"xyz": [-0.18573738529645434, -0.37720908546619114, -0.10420079091319412], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 691}, "mesh_info": {"face_index": 7294, "face_uv": [0.20928835072855456, 0.13453319478564024, 0.6561784544857975]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7f6858bd9d4af9df97316612e1a4343a", "keypoints": [{"xyz": [0.17630989185555, 0.22322543501302777, 0.044237107718273605], "rgb": [134, 111, 88], "semantic_id": 0, "pcd_info": {"point_index": 601}, "mesh_info": {"face_index": 8835, "face_uv": [0.2298085488367694, 0.42439129087674543, 0.34580016028649596]}}, {"xyz": [-0.1777200401015498, 0.23119276681370415, 0.04518920337367338], "rgb": [145, 121, 94], "semantic_id": 1, "pcd_info": {"point_index": 1866}, "mesh_info": {"face_index": 37531, "face_uv": [0.1160422170241452, 0.7826898528437636, 0.10126793013209216]}}, {"xyz": [0.13231025090692702, -0.15997725027504994, -0.02002783116790352], "rgb": [243, 243, 242], "semantic_id": 2, "pcd_info": {"point_index": 375}, "mesh_info": {"face_index": 6314, "face_uv": [0.07317013020614664, 0.6781516663421343, 0.24867820345171987]}}, {"xyz": [-0.13127169140815903, -0.16086379917491067, -0.011901695181317673], "rgb": [241, 241, 240], "semantic_id": 3, "pcd_info": {"point_index": 1728}, "mesh_info": {"face_index": 7324, "face_uv": [0.16394857263573476, 0.22141456320309916, 0.6146368641611643]}}, {"xyz": [0.16343471147355454, -0.16526974982766096, -0.35019329083770967], "rgb": [246, 246, 245], "semantic_id": 4, "pcd_info": {"point_index": 1150}, "mesh_info": {"face_index": 6512, "face_uv": [0.37274917150950626, 0.0057074483732346346, 0.6215433801172596]}}, {"xyz": [-0.1775005228170732, -0.1658199884726092, -0.3437439936486373], "rgb": [242, 242, 240], "semantic_id": 5, "pcd_info": {"point_index": 1401}, "mesh_info": {"face_index": 6588, "face_uv": [0.6116238457795512, 0.2833508426846566, 0.1050253115357263]}}, {"xyz": [0.17167872694677716, -0.5542349815368652, -0.3454520706586164], "rgb": [128, 107, 85], "semantic_id": 17, "pcd_info": {"point_index": 2044}, "mesh_info": {"face_index": 2589, "face_uv": [0.05841456560631523, 0.5203577839790897, 0.42122765041459515]}}, {"xyz": [0.12628365922410112, -0.5434825795632571, 0.031906935808061206], "rgb": [141, 118, 92], "semantic_id": 18, "pcd_info": {"point_index": 1817}, "mesh_info": {"face_index": 1522, "face_uv": [0.19529882926662237, 0.43515040824702267, 0.3695507624863544]}}, {"xyz": [-0.12971009902247338, -0.5500602455554834, 0.033048088512773015], "rgb": [143, 119, 92], "semantic_id": 19, "pcd_info": {"point_index": 916}, "mesh_info": {"face_index": 225, "face_uv": [0.2463521885859169, 0.6598872375912417, 0.09376057382284188]}}, {"xyz": [-0.17585613547953186, -0.5542349815368652, -0.34386391763323154], "rgb": [139, 114, 88], "semantic_id": 20, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 2300, "face_uv": [0.45382046740939724, 0.3019445141904979, 0.2442350184001048]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "32563c1b8b31667bb6695fcbbfeb161b", "keypoints": [{"xyz": [0.41769300428776773, 0.19252012388593998, 0.05547099933028243], "rgb": [134, 119, 36], "semantic_id": 0, "pcd_info": {"point_index": 1620}, "mesh_info": {"face_index": 95, "face_uv": [0.9197543343115919, 0.01784523269485826, 0.06240043299355383]}}, {"xyz": [-0.44472623735487465, 0.19143229140502316, 0.05547099933028199], "rgb": [122, 104, 38], "semantic_id": 1, "pcd_info": {"point_index": 1411}, "mesh_info": {"face_index": 199, "face_uv": [0.03883929470735083, 0.9516738742221907, 0.009486831070454572]}}, {"xyz": [0.4134503706925618, -0.011239999905228615, 0.04948542745444762], "rgb": [147, 133, 52], "semantic_id": 2, "pcd_info": {"point_index": 1370}, "mesh_info": {"face_index": 49, "face_uv": [0.8865688739434728, 0.02601556618718216, 0.08741555986934507]}}, {"xyz": [-0.4407665832539255, -0.011239999905228615, 0.05136548632965754], "rgb": [142, 128, 45], "semantic_id": 3, "pcd_info": {"point_index": 988}, "mesh_info": {"face_index": 201, "face_uv": [0.28140090381428146, 0.01869121869190373, 0.6999078774938149]}}, {"xyz": [0.3967244859046203, -0.01904727712466492, -0.1938939988613133], "rgb": [146, 131, 46], "semantic_id": 4, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 21, "face_uv": [0.3571712577918907, 0.15807404385892163, 0.48475469834919005]}}, {"xyz": [-0.4476577825234903, -0.03145358259441122, -0.19389399886131287], "rgb": [116, 98, 36], "semantic_id": 5, "pcd_info": {"point_index": 1840}, "mesh_info": {"face_index": 491, "face_uv": [0.008868875074863714, 0.8720988340289796, 0.11903229089615676]}}, {"xyz": [0.40070090079031, -0.1773349940776825, -0.17748694257329148], "rgb": [144, 130, 47], "semantic_id": 17, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 6, "face_uv": [0.45803153257484064, 0.30058363860728077, 0.24138482881787862]}}, {"xyz": [0.4106332983586758, -0.17733499407768205, 0.09111535387980514], "rgb": [142, 126, 46], "semantic_id": 18, "pcd_info": {"point_index": 1959}, "mesh_info": {"face_index": 52, "face_uv": [0.2655009285176301, 0.3827390314976901, 0.3517600399846773]}}, {"xyz": [-0.43801406110548446, -0.17733499407768294, 0.09992990147192923], "rgb": [142, 127, 42], "semantic_id": 19, "pcd_info": {"point_index": 1778}, "mesh_info": {"face_index": 784, "face_uv": [0.11775865589924911, 0.2300956114558299, 0.6521457326449235]}}, {"xyz": [-0.43106316439205383, -0.17737600207328796, -0.16887139772968493], "rgb": [134, 120, 50], "semantic_id": 20, "pcd_info": {"point_index": 250}, "mesh_info": {"face_index": 581, "face_uv": [0.07662576090356643, 0.45842376374698407, 0.46495047534944955]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d73e46e07bdb3fe75fe4ecea39e8bd40", "keypoints": [{"xyz": [0.20932360349297516, 0.48165903737808113, 0.2286354701936575], "rgb": [234, 197, 119], "semantic_id": 0, "pcd_info": {"point_index": 1894}, "mesh_info": {"face_index": 459, "face_uv": [0.40284239500426744, 0.5816446807526046, 0.01551292424312758]}}, {"xyz": [-0.20166628654465552, 0.4817950129508972, 0.23016957844633135], "rgb": [228, 191, 119], "semantic_id": 1, "pcd_info": {"point_index": 1554}, "mesh_info": {"face_index": 446, "face_uv": [0.9048176618795161, 0.03323606217181065, 0.06194627594867328]}}, {"xyz": [0.2107904426016174, 0.11887100338935852, 0.19071352162631494], "rgb": [238, 188, 93], "semantic_id": 2, "pcd_info": {"point_index": 1914}, "mesh_info": {"face_index": 269, "face_uv": [0.011216807114757565, 0.012117871900759051, 0.9766653209844833]}}, {"xyz": [-0.20484752523304756, 0.11887100338935852, 0.19295990414409925], "rgb": [241, 201, 131], "semantic_id": 3, "pcd_info": {"point_index": 1600}, "mesh_info": {"face_index": 269, "face_uv": [0.005685616332161655, 0.9741270302062327, 0.0201873534616057]}}, {"xyz": [0.20352323177385803, 0.11405530049921864, -0.2258317682136911], "rgb": [251, 202, 125], "semantic_id": 4, "pcd_info": {"point_index": 595}, "mesh_info": {"face_index": 317, "face_uv": [0.02893809505809547, 0.28731541354873436, 0.6837464913931687]}}, {"xyz": [-0.20173100675138367, 0.1148253453510284, -0.22467915237707875], "rgb": [253, 213, 139], "semantic_id": 5, "pcd_info": {"point_index": 1083}, "mesh_info": {"face_index": 664, "face_uv": [0.6629581611168007, 0.30395557397828427, 0.033086264904914044]}}, {"xyz": [0.20392011438504606, -0.2781124444206653, -0.2047404557620968], "rgb": [170, 170, 170], "semantic_id": 17, "pcd_info": {"point_index": 1225}, "mesh_info": {"face_index": 1947, "face_uv": [0.5978103480693953, 0.2105684626665007, 0.19162118926410399]}}, {"xyz": [0.19417428693412261, -0.27743795849407893, 0.1789438560648578], "rgb": [169, 169, 169], "semantic_id": 18, "pcd_info": {"point_index": 1003}, "mesh_info": {"face_index": 1586, "face_uv": [0.19711234347564213, 0.010865598632923997, 0.7920220578914259]}}, {"xyz": [-0.19720306318457287, -0.27844638598553795, 0.18271822767631674], "rgb": [169, 169, 169], "semantic_id": 19, "pcd_info": {"point_index": 307}, "mesh_info": {"face_index": 954, "face_uv": [0.14975492283007807, 0.7087930910267762, 0.14145198614314505]}}, {"xyz": [-0.20263161234465116, -0.27790489315780187, -0.2067901294597728], "rgb": [169, 169, 169], "semantic_id": 20, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 859, "face_uv": [0.325014011205366, 0.5682944560426028, 0.10669153275203024]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "411a1a4ac8ade7da76e9713f57a5fcb6", "keypoints": [{"xyz": [0.20787632685031682, 0.4110641413294329, 0.527132883100655], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1132}, "mesh_info": {"face_index": 34660, "face_uv": [0.01971967202625042, 0.07519296874022074, 0.9050873592335286]}}, {"xyz": [-0.20811056293562757, 0.4110849300839434, 0.5264010374672832], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 844}, "mesh_info": {"face_index": 34642, "face_uv": [0.03859267292688553, 0.9485382297895919, 0.012869097283522516]}}, {"xyz": [0.20360923791523677, 0.060104262755244386, 0.43743271387472493], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 795}, "mesh_info": {"face_index": 35420, "face_uv": [0.3798082989751039, 0.12709210648575886, 0.4930995945391386]}}, {"xyz": [-0.20788467946738398, 0.058384377495993345, 0.4366418083690524], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1701}, "mesh_info": {"face_index": 35408, "face_uv": [0.10694620218526354, 0.018552987952912443, 0.8745008098618245]}}, {"xyz": [0.19683049010588125, 0.08416623967007586, -0.05356699973344803], "rgb": [169, 125, 82], "semantic_id": 4, "pcd_info": {"point_index": 107}, "mesh_info": {"face_index": 23652, "face_uv": [0.25936048516503024, 0.7023347777552124, 0.03830473707975751]}}, {"xyz": [-0.20354913492008425, 0.08096570124953706, -0.05356699973344803], "rgb": [168, 122, 80], "semantic_id": 5, "pcd_info": {"point_index": 31}, "mesh_info": {"face_index": 6878, "face_uv": [0.1031441509956273, 0.8723519933158618, 0.024503855688510975]}}, {"xyz": [0.17264671995483596, 0.12986500561237335, -0.0603945921454474], "rgb": [165, 121, 74], "semantic_id": 6, "pcd_info": {"point_index": 1627}, "mesh_info": {"face_index": 33186, "face_uv": [0.3772647465654773, 0.02095623404381085, 0.6017790193907118]}}, {"xyz": [0.19680845155784277, 0.1393462392119995, 0.4707109627846078], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1845}, "mesh_info": {"face_index": 34275, "face_uv": [0.5919658804589948, 0.29821977655355497, 0.10981434298745021]}}, {"xyz": [-0.17606053317392656, 0.12986500561237335, -0.06553248314170346], "rgb": [163, 119, 71], "semantic_id": 8, "pcd_info": {"point_index": 27}, "mesh_info": {"face_index": 16462, "face_uv": [0.8042438884079148, 0.0007568655990386061, 0.19499924599304658]}}, {"xyz": [-0.18702474132496438, 0.12986500561237335, 0.46490818329099126], "rgb": [168, 125, 81], "semantic_id": 9, "pcd_info": {"point_index": 827}, "mesh_info": {"face_index": 16460, "face_uv": [0.500913946984465, 0.050796584395642747, 0.4482894686198922]}}, {"xyz": [0.1889362750227107, -0.15771365579443763, -0.04099376782700792], "rgb": [175, 138, 95], "semantic_id": 17, "pcd_info": {"point_index": 536}, "mesh_info": {"face_index": 30045, "face_uv": [0.03958428299830464, 0.08214104204111743, 0.8782746749605785]}}, {"xyz": [0.2000828186954976, -0.16357000172138192, 0.5184170075156642], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1827}, "mesh_info": {"face_index": 35670, "face_uv": [0.21582712520901037, 0.12414549915725866, 0.6600273756337296]}}, {"xyz": [-0.20569154792982153, -0.16357000172138236, 0.5167615681518353], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1601}, "mesh_info": {"face_index": 34445, "face_uv": [0.09512313589120489, 0.8311382533211561, 0.0737386107876403]}}, {"xyz": [-0.1900625080719148, -0.16064896649876315, -0.03051342885036673], "rgb": [175, 137, 92], "semantic_id": 20, "pcd_info": {"point_index": 870}, "mesh_info": {"face_index": 14395, "face_uv": [0.10844984812075238, 0.04696693281659142, 0.844583219062654]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "58f44c0057ae64b525633180ba767a60", "keypoints": [{"xyz": [0.19950268189091053, 0.3442059611845989, 0.05860432369437696], "rgb": [79, 79, 79], "semantic_id": 0, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 6920, "face_uv": [0.0031730181888875416, 0.35022926057372816, 0.6465977212373831]}}, {"xyz": [-0.19533116053205923, 0.34543341636462466, 0.058850043472424174], "rgb": [80, 80, 80], "semantic_id": 1, "pcd_info": {"point_index": 1234}, "mesh_info": {"face_index": 7747, "face_uv": [0.14119206317023586, 0.7524404494345814, 0.10636748739519183]}}, {"xyz": [0.15916843520219914, 0.003160000080242753, 0.08045697938979013], "rgb": [0, 0, 0], "semantic_id": 2, "pcd_info": {"point_index": 63}, "mesh_info": {"face_index": 3846, "face_uv": [0.009310092024833943, 0.6983913672857087, 0.2922985406894576]}}, {"xyz": [-0.16463672765234744, 0.003160000080242753, 0.07219279800307232], "rgb": [0, 0, 0], "semantic_id": 3, "pcd_info": {"point_index": 613}, "mesh_info": {"face_index": 3848, "face_uv": [0.42615832913330215, 0.014468208991777459, 0.5593734618749204]}}, {"xyz": [0.16372819665644336, -0.00648591672452592, -0.2508228608348513], "rgb": [0, 0, 0], "semantic_id": 4, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 3316, "face_uv": [0.5830943955309065, 0.33543639853231144, 0.08146920593678274]}}, {"xyz": [-0.16902149695091873, -0.0015143448401944148, -0.2441972751794439], "rgb": [0, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1628}, "mesh_info": {"face_index": 3645, "face_uv": [0.23270141768737193, 0.2773915048482499, 0.48990707746437845]}}, {"xyz": [0.2119121939178798, -0.37726776384108385, -0.20575110031072663], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1272}, "mesh_info": {"face_index": 8402, "face_uv": [0.3302282352038953, 0.30312667040257246, 0.36664509439353116]}}, {"xyz": [0.19144579778414528, -0.38628872159433597, 0.18496259715391428], "rgb": [79, 79, 79], "semantic_id": 18, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 1242, "face_uv": [0.5198604090560953, 0.40855217329371835, 0.07158741765018614]}}, {"xyz": [-0.1811768996030091, -0.38278099785087155, 0.1855162021865735], "rgb": [79, 79, 79], "semantic_id": 19, "pcd_info": {"point_index": 1259}, "mesh_info": {"face_index": 147, "face_uv": [0.13878434770605763, 0.6149778015720005, 0.24623785072194146]}}, {"xyz": [-0.20446034583921746, -0.38163483854566743, -0.20389501124324627], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 1897}, "mesh_info": {"face_index": 8621, "face_uv": [0.6053418646663944, 0.11131766680169464, 0.28334046853191236]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5fd2d226435431976f283df3449ca535", "keypoints": [{"xyz": [0.13479400696921678, 0.27493649144428445, 0.20031882150927582], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 500, "face_uv": [0.3788440743427513, 0.34008638326078977, 0.2810695423964587]}}, {"xyz": [-0.12849208597133033, 0.2750756901944317, 0.20738416589170627], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1117}, "mesh_info": {"face_index": 350, "face_uv": [0.019423661103411156, 0.13981469959134585, 0.8407616393052427]}}, {"xyz": [0.1401374369187702, -0.09014118904171098, 0.08885868393529928], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1680}, "mesh_info": {"face_index": 446, "face_uv": [0.787311242483152, 0.124296544513441, 0.08839221300340665]}}, {"xyz": [-0.1482781979254572, -0.10007704982896715, 0.07720462652954863], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 287, "face_uv": [0.7798079167829474, 0.16047615368215334, 0.0597159295348961]}}, {"xyz": [0.16686401769865067, -0.04821582176355782, -0.21618500351905823], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1590}, "mesh_info": {"face_index": 180, "face_uv": [0.773788457597662, 0.015486489565810864, 0.21072505283652723]}}, {"xyz": [-0.16255168110235557, -0.047943615208246304, -0.21618500351905834], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 756}, "mesh_info": {"face_index": 131, "face_uv": [0.3590488061639088, 0.01708713876006218, 0.6238640550760296]}}, {"xyz": [0.2027482803438282, 0.03258810079894686, -0.2502183297727141], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1955}, "mesh_info": {"face_index": 610, "face_uv": [0.7224868658079514, 0.2146146100018078, 0.06289852419024036]}}, {"xyz": [0.2028697292241187, 0.03793799877166748, 0.16074998151510783], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 198}, "mesh_info": {"face_index": 523, "face_uv": [0.4703205679764391, 0.007131157346376767, 0.5225482746771841]}}, {"xyz": [-0.20156590882431924, 0.03793799877166748, -0.24950018557807366], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 1351}, "mesh_info": {"face_index": 712, "face_uv": [0.002703984675510243, 0.15887863401038824, 0.8384173813141015]}}, {"xyz": [-0.20880772402678094, 0.0379379987716677, 0.15925252096676518], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1865}, "mesh_info": {"face_index": 634, "face_uv": [0.011241554312274398, 0.5853728096420306, 0.40338563604570066]}}, {"xyz": [0.176268650531503, -0.2769739925861358, -0.2035625725325042], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 351}, "mesh_info": {"face_index": 186, "face_uv": [0.49297603828649145, 0.18310360374924825, 0.3239203579642601]}}, {"xyz": [0.15632834318822839, -0.2781929969787599, 0.40865841007317344], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 96}, "mesh_info": {"face_index": 79, "face_uv": [0.1200890945408464, 0.39933891567862967, 0.4805719897805242]}}, {"xyz": [-0.1506419761948461, -0.2781929969787599, 0.40649083793821916], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1069}, "mesh_info": {"face_index": 17, "face_uv": [0.19055144942131017, 0.7046063585952088, 0.10484219198348145]}}, {"xyz": [-0.1792083757673693, -0.276973992586136, -0.18983895467216425], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 163, "face_uv": [0.17299853554909264, 0.38218125284732013, 0.4448202116035876]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e05172ca06db0781a0a34f494d525bb7", "keypoints": [{"xyz": [0.18403346959395636, 0.35428585615891106, 0.21196804089203614], "rgb": [44, 44, 44], "semantic_id": 0, "pcd_info": {"point_index": 570}, "mesh_info": {"face_index": 5142, "face_uv": [0.27673904167510127, 0.1461652595554651, 0.5770956987694338]}}, {"xyz": [-0.18705819523124614, 0.35862368066982453, 0.21172500700018437], "rgb": [41, 41, 41], "semantic_id": 1, "pcd_info": {"point_index": 533}, "mesh_info": {"face_index": 4119, "face_uv": [0.22183365522475684, 0.3180982294475556, 0.4600681153276856]}}, {"xyz": [0.1986281331349259, 0.041532916145136434, 0.08827968903194638], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1962}, "mesh_info": {"face_index": 14121, "face_uv": [0.026678407468088538, 0.12383113931197001, 0.8494904532199394]}}, {"xyz": [-0.1932538185903679, 0.04181014666440919, 0.09136372175861696], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 797}, "mesh_info": {"face_index": 13914, "face_uv": [0.00399848706427193, 0.8100814523674316, 0.18592006056829405]}}, {"xyz": [0.2073524818765563, -0.006094667529835451, -0.3020108614873811], "rgb": [14, 14, 14], "semantic_id": 4, "pcd_info": {"point_index": 1390}, "mesh_info": {"face_index": 8757, "face_uv": [0.9075339964852936, 0.07697576579409454, 0.015490237720611599]}}, {"xyz": [-0.21155616616964978, 0.009663277538028536, -0.30702986396736764], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1735}, "mesh_info": {"face_index": 13415, "face_uv": [0.7749965754169184, 0.018071162617638744, 0.2069322619654427]}}, {"xyz": [0.19397642827431877, -0.3269205401603352, -0.25939167808197006], "rgb": [19, 19, 19], "semantic_id": 17, "pcd_info": {"point_index": 1631}, "mesh_info": {"face_index": 7092, "face_uv": [0.2839189659949837, 0.547820529889711, 0.16826050411530594]}}, {"xyz": [0.18808737910338116, -0.32746852289782535, 0.12261813078824509], "rgb": [20, 20, 20], "semantic_id": 18, "pcd_info": {"point_index": 879}, "mesh_info": {"face_index": 2850, "face_uv": [0.10206577105863267, 0.07697673698437457, 0.8209574919569933]}}, {"xyz": [-0.18354504924862483, -0.3272931785954165, 0.12251834679791508], "rgb": [23, 23, 23], "semantic_id": 19, "pcd_info": {"point_index": 526}, "mesh_info": {"face_index": 6619, "face_uv": [0.094709744436228, 0.5434135016209539, 0.3618767539428178]}}, {"xyz": [-0.20272391844521306, -0.3253398202524216, -0.2643582634702115], "rgb": [52, 52, 52], "semantic_id": 20, "pcd_info": {"point_index": 377}, "mesh_info": {"face_index": 1286, "face_uv": [0.2850780101281146, 0.03467330614907458, 0.680248683722812]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "dada2389e96606307aa7cd663df90f18", "keypoints": [{"xyz": [0.17314040026037053, 0.4022060658725153, 0.10318999737501144], "rgb": [152, 99, 60], "semantic_id": 0, "pcd_info": {"point_index": 177}, "mesh_info": {"face_index": 293, "face_uv": [0.9673969569379294, 0.032467748321117054, 0.0001352947409535563]}}, {"xyz": [-0.26815467312685987, 0.4022189974784851, 0.11027060709453562], "rgb": [152, 104, 63], "semantic_id": 1, "pcd_info": {"point_index": 776}, "mesh_info": {"face_index": 73, "face_uv": [0.17868591266191367, 0.01969832445991793, 0.8016157628781684]}}, {"xyz": [0.11126400146634136, -0.07715799659490585, 0.08799750493719771], "rgb": [148, 146, 144], "semantic_id": 2, "pcd_info": {"point_index": 1391}, "mesh_info": {"face_index": 469, "face_uv": [0.5619196142610268, 0.4035940876835213, 0.03448629805545199]}}, {"xyz": [-0.20312356617367544, -0.07715799659490608, 0.08800951161341275], "rgb": [129, 80, 42], "semantic_id": 3, "pcd_info": {"point_index": 1281}, "mesh_info": {"face_index": 465, "face_uv": [0.8986909994704819, 0.06560767041781301, 0.035701330111707986]}}, {"xyz": [0.11923900246620178, -0.04771234709395, -0.27898836817659367], "rgb": [151, 99, 55], "semantic_id": 4, "pcd_info": {"point_index": 1325}, "mesh_info": {"face_index": 390, "face_uv": [0.07151050334770147, 0.5925283010586758, 0.33596119559362275]}}, {"xyz": [-0.22112178071169597, -0.07715799659490608, -0.2604574677870829], "rgb": [0, 0, 0], "semantic_id": 5, "pcd_info": {"point_index": 1073}, "mesh_info": {"face_index": 478, "face_uv": [0.0019811679239352836, 0.9872811218219575, 0.010737710254109963]}}, {"xyz": [0.13940109220257535, 0.11753799766302109, -0.21759630782325712], "rgb": [164, 113, 66], "semantic_id": 6, "pcd_info": {"point_index": 993}, "mesh_info": {"face_index": 456, "face_uv": [0.5320261012522889, 0.4288164822611213, 0.03915741648658985]}}, {"xyz": [0.1455119852708887, 0.11753799766302109, 0.08410554296140282], "rgb": [148, 96, 49], "semantic_id": 7, "pcd_info": {"point_index": 868}, "mesh_info": {"face_index": 460, "face_uv": [0.49547000042967665, 0.44121426835593636, 0.063315731214387]}}, {"xyz": [-0.25892163255855993, 0.13079200685024261, -0.23535873466093238], "rgb": [150, 95, 50], "semantic_id": 8, "pcd_info": {"point_index": 1071}, "mesh_info": {"face_index": 34, "face_uv": [0.04910590646412661, 0.3085670169937909, 0.6423270765420824]}}, {"xyz": [-0.23988604874611053, 0.13079200685024261, 0.10191734382751871], "rgb": [163, 105, 58], "semantic_id": 9, "pcd_info": {"point_index": 1197}, "mesh_info": {"face_index": 38, "face_uv": [0.003574548143041968, 0.2911051871091314, 0.7053202647478265]}}, {"xyz": [0.1426898197551249, -0.3295130133628843, -0.27806457808317], "rgb": [163, 107, 56], "semantic_id": 17, "pcd_info": {"point_index": 597}, "mesh_info": {"face_index": 189, "face_uv": [0.3041699249458723, 0.4987626336094791, 0.19706744144464797]}}, {"xyz": [0.1742604052533256, -0.07573699951171853, 0.11317537509956656], "rgb": [159, 109, 67], "semantic_id": 18, "pcd_info": {"point_index": 1717}, "mesh_info": {"face_index": 87, "face_uv": [0.2519904927207357, 0.45296240873717364, 0.2950470985420877]}}, {"xyz": [-0.24378682355266718, -0.3295130133628845, 0.12579760886301472], "rgb": [165, 119, 79], "semantic_id": 19, "pcd_info": {"point_index": 420}, "mesh_info": {"face_index": 321, "face_uv": [0.04738299924427166, 0.5231415532813118, 0.42947544747441646]}}, {"xyz": [-0.2556192484975261, -0.3295130133628843, -0.28120397951968545], "rgb": [168, 121, 76], "semantic_id": 20, "pcd_info": {"point_index": 1164}, "mesh_info": {"face_index": 1, "face_uv": [0.5964663458854198, 0.37801779640695604, 0.025515857707623414]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "b47e994452b71943bf30e5b4764cebc0", "keypoints": [{"xyz": [0.17070757369348102, 0.32175247928437156, 0.11750713703164406], "rgb": [179, 18, 1], "semantic_id": 0, "pcd_info": {"point_index": 1843}, "mesh_info": {"face_index": 596, "face_uv": [0.17455149540824186, 0.19530612865949531, 0.6301423759322633]}}, {"xyz": [-0.16947406579129562, 0.320662874084064, 0.1231821633901169], "rgb": [179, 16, 2], "semantic_id": 1, "pcd_info": {"point_index": 1630}, "mesh_info": {"face_index": 1192, "face_uv": [0.2667146148761485, 0.4878181984295698, 0.24546718669428172]}}, {"xyz": [0.17501868184540603, -0.08330308258092622, 0.053989000618457794], "rgb": [181, 6, 3], "semantic_id": 2, "pcd_info": {"point_index": 1290}, "mesh_info": {"face_index": 532, "face_uv": [0.018136694327308547, 0.07531973753927906, 0.9065435681334125]}}, {"xyz": [-0.1710831570400811, -0.08227600157260895, 0.05036378328539137], "rgb": [184, 16, 3], "semantic_id": 3, "pcd_info": {"point_index": 1389}, "mesh_info": {"face_index": 9, "face_uv": [0.408595306140715, 0.004893971081311488, 0.5865107227779736]}}, {"xyz": [0.22395656340396275, -0.08743863343776737, -0.2394299954175949], "rgb": [173, 1, 1], "semantic_id": 4, "pcd_info": {"point_index": 258}, "mesh_info": {"face_index": 12, "face_uv": [0.5289732135846413, 0.015205505987792889, 0.4558212804275658]}}, {"xyz": [-0.23135137652825133, -0.08350457106974274, -0.2394299954175949], "rgb": [171, 2, 1], "semantic_id": 5, "pcd_info": {"point_index": 1026}, "mesh_info": {"face_index": 5, "face_uv": [0.10758386298946687, 0.0008895156872426015, 0.8915266213232905]}}, {"xyz": [0.2115752693357903, -0.4815169870853424, -0.22998391388395967], "rgb": [177, 19, 1], "semantic_id": 17, "pcd_info": {"point_index": 336}, "mesh_info": {"face_index": 203, "face_uv": [0.16542625918787265, 0.043027093958710516, 0.7915466468534168]}}, {"xyz": [0.16900193689273932, -0.4815169870853422, 0.08049711471943866], "rgb": [171, 20, 3], "semantic_id": 18, "pcd_info": {"point_index": 936}, "mesh_info": {"face_index": 494, "face_uv": [0.234923733268935, 0.2115249507616375, 0.5535513159694271]}}, {"xyz": [-0.16527448063367395, -0.4815169870853424, 0.07769981002877946], "rgb": [173, 19, 3], "semantic_id": 19, "pcd_info": {"point_index": 349}, "mesh_info": {"face_index": 1106, "face_uv": [0.2520185601329716, 0.35386692453751656, 0.3941145153295118]}}, {"xyz": [-0.21415576995999225, -0.4815169870853422, -0.22467325034685992], "rgb": [178, 19, 2], "semantic_id": 20, "pcd_info": {"point_index": 689}, "mesh_info": {"face_index": 805, "face_uv": [0.14439667483298504, 0.6869026082068376, 0.168700716960177]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a021adf9bdfdcff68d12adb6778d2a90", "keypoints": [{"xyz": [0.1773164536167775, 0.23927607799898198, 0.22115211161655002], "rgb": [57, 89, 142], "semantic_id": 0, "pcd_info": {"point_index": 1708}, "mesh_info": {"face_index": 2564, "face_uv": [0.06310945291118582, 0.47566775133217604, 0.4612227957566379]}}, {"xyz": [-0.17542249395084342, 0.23673758456790406, 0.2260452399805375], "rgb": [47, 75, 125], "semantic_id": 1, "pcd_info": {"point_index": 700}, "mesh_info": {"face_index": 2661, "face_uv": [0.131050738157198, 0.2472984006288272, 0.621650861213975]}}, {"xyz": [0.18127451864701288, -0.06253046527720807, 0.018091163935798016], "rgb": [73, 102, 154], "semantic_id": 2, "pcd_info": {"point_index": 1877}, "mesh_info": {"face_index": 318, "face_uv": [0.06004846312722704, 0.930490114234486, 0.009461422638284702]}}, {"xyz": [-0.1876606030938761, -0.066286899853913, 0.03002270396901685], "rgb": [58, 88, 142], "semantic_id": 3, "pcd_info": {"point_index": 1779}, "mesh_info": {"face_index": 309, "face_uv": [0.04695487564971681, 0.9153342525244725, 0.037710871825810115]}}, {"xyz": [0.17496804028328977, 0.005629407096177985, -0.3353943326111889], "rgb": [41, 78, 127], "semantic_id": 4, "pcd_info": {"point_index": 970}, "mesh_info": {"face_index": 37, "face_uv": [0.8725699314178511, 0.01778487323503223, 0.10964519534711425]}}, {"xyz": [-0.1748533607289879, 0.005568485094218145, -0.33196852119261], "rgb": [64, 91, 146], "semantic_id": 5, "pcd_info": {"point_index": 1394}, "mesh_info": {"face_index": 387, "face_uv": [0.2177940763393504, 0.7805404728737495, 0.0016654507868873116]}}, {"xyz": [0.25312492837511313, 0.142159740496975, -0.26314928150935596], "rgb": [183, 142, 86], "semantic_id": 6, "pcd_info": {"point_index": 1986}, "mesh_info": {"face_index": 3890, "face_uv": [0.01224111212155982, 0.640144011374493, 0.3476148765039473]}}, {"xyz": [0.2531920925590975, 0.11997994786182509, 0.09965832063914543], "rgb": [181, 141, 82], "semantic_id": 7, "pcd_info": {"point_index": 1893}, "mesh_info": {"face_index": 3851, "face_uv": [0.027299307960205133, 0.4259039257366006, 0.5467967663031941]}}, {"xyz": [-0.24676269863935243, 0.14212192329114837, -0.262530838777645], "rgb": [156, 114, 59], "semantic_id": 8, "pcd_info": {"point_index": 1522}, "mesh_info": {"face_index": 8290, "face_uv": [0.4383927759493125, 0.5476691963841384, 0.013938027666551125]}}, {"xyz": [-0.24546125901808927, 0.11991397599759135, 0.1007346072620903], "rgb": [183, 143, 82], "semantic_id": 9, "pcd_info": {"point_index": 1192}, "mesh_info": {"face_index": 8256, "face_uv": [0.03602883013782412, 0.280666956753679, 0.6833042131084963]}}, {"xyz": [0.24032563115269723, -0.24790599942207336, -0.27085569107526336], "rgb": [187, 145, 86], "semantic_id": 17, "pcd_info": {"point_index": 1053}, "mesh_info": {"face_index": 7743, "face_uv": [0.6417954570158954, 0.11946825316063898, 0.23873628982346562]}}, {"xyz": [0.20874015368702226, -0.2478219751220896, 0.24600601120411048], "rgb": [185, 143, 86], "semantic_id": 18, "pcd_info": {"point_index": 830}, "mesh_info": {"face_index": 5255, "face_uv": [0.24839205880867912, 0.39011601586946054, 0.3614919253218597]}}, {"xyz": [-0.21080956704321951, -0.24782979806549732, 0.24593584419939318], "rgb": [187, 144, 87], "semantic_id": 19, "pcd_info": {"point_index": 395}, "mesh_info": {"face_index": 9650, "face_uv": [0.22178339964891505, 0.6868859362249792, 0.09133066412610556]}}, {"xyz": [-0.2373681684747153, -0.24790599942207336, -0.26389278471237965], "rgb": [162, 122, 69], "semantic_id": 20, "pcd_info": {"point_index": 725}, "mesh_info": {"face_index": 12068, "face_uv": [0.5169289469574144, 0.09588742814439258, 0.38718362489819297]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6e1dd008531f95fc707cdefe012d0353", "keypoints": [{"xyz": [0.1956360826156191, 0.3784673691401962, 0.09833999723196007], "rgb": [141, 74, 32], "semantic_id": 0, "pcd_info": {"point_index": 819}, "mesh_info": {"face_index": 200, "face_uv": [0.08281740695950654, 0.00586407708511848, 0.9113185159553727]}}, {"xyz": [-0.1947766430924488, 0.38334301114082336, 0.09877735405432286], "rgb": [153, 92, 48], "semantic_id": 1, "pcd_info": {"point_index": 1762}, "mesh_info": {"face_index": 9, "face_uv": [0.009554148130633416, 0.9900886820961705, 0.00035716977319600094]}}, {"xyz": [0.19857099652290344, -0.010676475182180067, 0.1031364324815871], "rgb": [154, 86, 42], "semantic_id": 2, "pcd_info": {"point_index": 1973}, "mesh_info": {"face_index": 198, "face_uv": [0.30249621839945484, 0.03307037841183204, 0.6644334031887131]}}, {"xyz": [-0.1950096859394243, -0.0040075612275281, 0.0983399972319603], "rgb": [152, 87, 45], "semantic_id": 3, "pcd_info": {"point_index": 619}, "mesh_info": {"face_index": 17, "face_uv": [0.10760871278130109, 0.8767038808973753, 0.015687406321323514]}}, {"xyz": [0.19530356962069206, -0.012851801880255254, -0.25199571187178726], "rgb": [162, 101, 60], "semantic_id": 4, "pcd_info": {"point_index": 1177}, "mesh_info": {"face_index": 320, "face_uv": [0.002961851822806856, 0.09441763974498434, 0.9026205084322111]}}, {"xyz": [-0.19785344660995036, -0.01354532721435775, -0.25173631305993394], "rgb": [156, 93, 52], "semantic_id": 5, "pcd_info": {"point_index": 133}, "mesh_info": {"face_index": 216, "face_uv": [0.017789089963889223, 0.007497233503028662, 0.9747136765330819]}}, {"xyz": [0.17703226057407362, -0.44403600692749023, -0.23811390903601282], "rgb": [149, 81, 36], "semantic_id": 17, "pcd_info": {"point_index": 952}, "mesh_info": {"face_index": 139, "face_uv": [0.3491846341226295, 0.5004106596735499, 0.1504047062038205]}}, {"xyz": [0.18334480751420806, -0.44403600692749046, 0.1266182289260316], "rgb": [147, 80, 34], "semantic_id": 18, "pcd_info": {"point_index": 777}, "mesh_info": {"face_index": 104, "face_uv": [0.4600751777706116, 0.47888724900064195, 0.061037573228746915]}}, {"xyz": [-0.18090700421474026, -0.44403600692749023, 0.12484568775624214], "rgb": [149, 79, 38], "semantic_id": 19, "pcd_info": {"point_index": 949}, "mesh_info": {"face_index": 7, "face_uv": [0.46626405355432, 0.532446416678076, 0.0012895297676039212]}}, {"xyz": [-0.18341566433435913, -0.44403600692749023, -0.2413912260731737], "rgb": [151, 79, 36], "semantic_id": 20, "pcd_info": {"point_index": 1687}, "mesh_info": {"face_index": 87, "face_uv": [0.45793416506489176, 0.4013831080241282, 0.14068272691098002]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "21e0ce3ed3e9452c93271d2223fe04be", "keypoints": [{"xyz": [0.1727092512449914, 0.44691151339510937, 0.14720149895230483], "rgb": [148, 81, 38], "semantic_id": 0, "pcd_info": {"point_index": 1133}, "mesh_info": {"face_index": 37919, "face_uv": [0.2558143446010709, 0.36004840026851775, 0.3841372551304113]}}, {"xyz": [-0.16768165102964294, 0.44903400540351857, 0.15133504461700867], "rgb": [154, 86, 41], "semantic_id": 1, "pcd_info": {"point_index": 1341}, "mesh_info": {"face_index": 37259, "face_uv": [0.4277806579522408, 0.3927264751015931, 0.1794928669461658]}}, {"xyz": [0.16597353156796552, -0.010108999907970428, 0.16956367520512428], "rgb": [152, 85, 42], "semantic_id": 2, "pcd_info": {"point_index": 119}, "mesh_info": {"face_index": 38054, "face_uv": [0.9491124736415155, 0.01543472800419192, 0.03545279835429247]}}, {"xyz": [-0.16979068258581284, -0.01507568387285918, 0.15558358426056718], "rgb": [155, 90, 45], "semantic_id": 3, "pcd_info": {"point_index": 154}, "mesh_info": {"face_index": 38238, "face_uv": [0.5693025164698212, 0.3513003207451212, 0.07939716278505767]}}, {"xyz": [0.17074535676526717, -0.02408323026328396, -0.09547223292403706], "rgb": [151, 84, 39], "semantic_id": 4, "pcd_info": {"point_index": 742}, "mesh_info": {"face_index": 38210, "face_uv": [0.9695649938715369, 0.011583656078702423, 0.018851350049758273]}}, {"xyz": [-0.16765229150232114, -0.022223120302338417, -0.09361212222789772], "rgb": [153, 90, 47], "semantic_id": 5, "pcd_info": {"point_index": 431}, "mesh_info": {"face_index": 38220, "face_uv": [0.2000491467175969, 0.6567990864640377, 0.14315176681836742]}}, {"xyz": [0.14653161622315444, -0.4188179969787599, -0.06623756374895183], "rgb": [155, 87, 43], "semantic_id": 17, "pcd_info": {"point_index": 176}, "mesh_info": {"face_index": 344, "face_uv": [0.45219547328301585, 0.4355638613809282, 0.11224066533605621]}}, {"xyz": [0.15358650099125026, -0.4188179969787599, 0.1507023457998342], "rgb": [155, 86, 42], "semantic_id": 18, "pcd_info": {"point_index": 1503}, "mesh_info": {"face_index": 17910, "face_uv": [0.3459018152201157, 0.4544226207168629, 0.1996755640630216]}}, {"xyz": [-0.15595720364394705, -0.41881799697875954, 0.1533195986832818], "rgb": [151, 84, 41], "semantic_id": 19, "pcd_info": {"point_index": 39}, "mesh_info": {"face_index": 11416, "face_uv": [0.20103592596031378, 0.6282239712380274, 0.17074010280165827]}}, {"xyz": [-0.14990064956567334, -0.41881799697875977, -0.06055784547241838], "rgb": [153, 86, 42], "semantic_id": 20, "pcd_info": {"point_index": 1203}, "mesh_info": {"face_index": 16273, "face_uv": [0.010721559684675874, 0.614915834675813, 0.37436260563951107]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "32a9329c11b5c35d4b3c42e318f3affc", "keypoints": [{"xyz": [0.29202657018931577, 0.2585259974002838, 0.17241522559185174], "rgb": [166, 167, 162], "semantic_id": 0, "pcd_info": {"point_index": 0}, "mesh_info": {"face_index": 864, "face_uv": [0.38876951252493186, 0.00915299752304488, 0.6020774899520233]}}, {"xyz": [-0.2862478095588189, 0.2585259974002836, 0.188001901911933], "rgb": [165, 166, 161], "semantic_id": 1, "pcd_info": {"point_index": 242}, "mesh_info": {"face_index": 722, "face_uv": [0.5667739553244833, 0.00966160201074903, 0.4235644426647668]}}, {"xyz": [0.2902671909473908, 0.058496197204695344, 0.13568300008773804], "rgb": [166, 167, 162], "semantic_id": 2, "pcd_info": {"point_index": 1722}, "mesh_info": {"face_index": 844, "face_uv": [0.0030028233718851377, 0.9878617807785426, 0.009135395849571888]}}, {"xyz": [-0.2912720182800257, 0.05665199831128115, 0.12856585419613387], "rgb": [158, 159, 154], "semantic_id": 3, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 845, "face_uv": [0.9845445235764929, 0.014318686195513639, 0.0011367902279924957]}}, {"xyz": [0.2968220749273586, 0.056651998311281204, -0.35657204426668265], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1400}, "mesh_info": {"face_index": 1535, "face_uv": [0.0010162385698231672, 0.00965279964479653, 0.9893309617853796]}}, {"xyz": [-0.2848184923923158, 0.056651998311281426, -0.35474779296800907], "rgb": [253, 253, 253], "semantic_id": 5, "pcd_info": {"point_index": 403}, "mesh_info": {"face_index": 1532, "face_uv": [0.012086791826387605, 0.9866770659663222, 0.0012361422072940465]}}, {"xyz": [0.2718958923021655, -0.2030230015516281, -0.34033678276442025], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 187}, "mesh_info": {"face_index": 996, "face_uv": [0.222747272849432, 0.7303504822971686, 0.04690224485339932]}}, {"xyz": [0.2550565815178224, -0.2030230015516281, 0.2133425832032939], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 191}, "mesh_info": {"face_index": 1039, "face_uv": [0.5593384391047657, 0.41575932245506964, 0.024902238440164686]}}, {"xyz": [-0.2726079239908465, -0.2030230015516281, 0.20838069347165664], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 508}, "mesh_info": {"face_index": 1157, "face_uv": [0.5759027014287801, 0.0007803591461144627, 0.42331693942510534]}}, {"xyz": [-0.25351170723491684, -0.20164301180633304, -0.3426221856468752], "rgb": [242, 242, 241], "semantic_id": 20, "pcd_info": {"point_index": 92}, "mesh_info": {"face_index": 1475, "face_uv": [0.1372713158284579, 0.3536996630468301, 0.5090290211247124]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a5eea0cf3865da9749fb53621b8edde7", "keypoints": [{"xyz": [0.19483350681373257, 0.1784485152572416, 0.03471549928619877], "rgb": [129, 120, 112], "semantic_id": 0, "pcd_info": {"point_index": 851}, "mesh_info": {"face_index": 17725, "face_uv": [0.15286498709247087, 0.572867215423974, 0.27426779748355484]}}, {"xyz": [-0.19266132997773383, 0.17804578856494468, -0.0010101598636166331], "rgb": [126, 121, 115], "semantic_id": 1, "pcd_info": {"point_index": 1085}, "mesh_info": {"face_index": 22550, "face_uv": [0.5705476939354278, 0.13991765019996333, 0.2895346558646093]}}, {"xyz": [0.19370255568696293, -0.045744707066420975, 0.09267204922575678], "rgb": [119, 110, 105], "semantic_id": 2, "pcd_info": {"point_index": 1386}, "mesh_info": {"face_index": 9566, "face_uv": [0.2582082362272818, 0.6980985700640663, 0.0436931937088115]}}, {"xyz": [-0.20064645979473753, -0.04585129998971027, 0.06223358661293199], "rgb": [123, 114, 109], "semantic_id": 3, "pcd_info": {"point_index": 116}, "mesh_info": {"face_index": 14534, "face_uv": [0.17070967334147139, 0.011713046020198134, 0.8175772806383309]}}, {"xyz": [0.231004036266854, -0.03307268185519624, -0.2454017306979368], "rgb": [108, 103, 97], "semantic_id": 4, "pcd_info": {"point_index": 347}, "mesh_info": {"face_index": 15947, "face_uv": [0.03572515136347227, 0.01898898159487724, 0.9452858670416504]}}, {"xyz": [-0.16970370369178941, -0.032662973384198546, -0.2904439288146352], "rgb": [122, 113, 108], "semantic_id": 5, "pcd_info": {"point_index": 1800}, "mesh_info": {"face_index": 8256, "face_uv": [0.11955264760604083, 0.022041588369851973, 0.8584057640241064]}}, {"xyz": [0.23634590568405262, -0.4454381702559238, -0.20308001717639587], "rgb": [208, 208, 208], "semantic_id": 17, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 2547, "face_uv": [0.018957581979184474, 0.11478484967785117, 0.8662575683429555]}}, {"xyz": [0.21343817347186383, -0.45139377693071525, 0.056260293104291786], "rgb": [189, 189, 189], "semantic_id": 18, "pcd_info": {"point_index": 612}, "mesh_info": {"face_index": 3079, "face_uv": [0.8558447339183347, 0.09816967027538089, 0.04598559580628396]}}, {"xyz": [-0.2240162708120929, -0.45204729557841006, 0.018723009635777388], "rgb": [200, 200, 200], "semantic_id": 19, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 2321, "face_uv": [0.10476735832129642, 0.6083907459454951, 0.28684189573320834]}}, {"xyz": [-0.20174743082653115, -0.4469739210680467, -0.24252921400676447], "rgb": [164, 164, 164], "semantic_id": 20, "pcd_info": {"point_index": 904}, "mesh_info": {"face_index": 5047, "face_uv": [0.3864360745482206, 0.15557073463403437, 0.4579931908177449]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9ef3323c6ced7dfef313a0fb5fd4d79", "keypoints": [{"xyz": [0.12161857258825948, 0.2901242263231465, 0.12543953679683423], "rgb": [0, 0, 0], "semantic_id": 0, "pcd_info": {"point_index": 845}, "mesh_info": {"face_index": 802, "face_uv": [0.16901955896969592, 0.33351515965948597, 0.4974652813708183]}}, {"xyz": [-0.12477194723222296, 0.2899865564292392, 0.12943178658874854], "rgb": [0, 0, 0], "semantic_id": 1, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 681, "face_uv": [0.1251327878010418, 0.5599358582947506, 0.31493135390420757]}}, {"xyz": [0.134145385363575, 0.03121222927062317, 0.0651700216455045], "rgb": [105, 105, 105], "semantic_id": 2, "pcd_info": {"point_index": 469}, "mesh_info": {"face_index": 1627, "face_uv": [0.24593874469174226, 0.30701652548605163, 0.4470447298222067]}}, {"xyz": [-0.1430451742819318, 0.03042297607394895, 0.061343780665016556], "rgb": [105, 105, 105], "semantic_id": 3, "pcd_info": {"point_index": 162}, "mesh_info": {"face_index": 1118, "face_uv": [0.14112284263573105, 0.4165487442690866, 0.4423284130951831]}}, {"xyz": [0.1657839077622338, 0.022860313503441865, -0.22888503824927842], "rgb": [105, 105, 105], "semantic_id": 4, "pcd_info": {"point_index": 1405}, "mesh_info": {"face_index": 1769, "face_uv": [0.5942304702841301, 0.3953023991994882, 0.010467130516381781]}}, {"xyz": [-0.1642410893617639, 0.01675880714576894, -0.22970748157746312], "rgb": [105, 105, 105], "semantic_id": 5, "pcd_info": {"point_index": 493}, "mesh_info": {"face_index": 1247, "face_uv": [0.11566318455004401, 0.43593632010765265, 0.4484004953423034]}}, {"xyz": [0.16327554725004595, -0.5693389773368837, -0.2157171882728136], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 1730}, "mesh_info": {"face_index": 1029, "face_uv": [0.012918613714211, 0.551095413960313, 0.43598597232547615]}}, {"xyz": [0.16373221988575126, -0.5693389773368835, 0.12365166396855506], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 119}, "mesh_info": {"face_index": 843, "face_uv": [0.41408274171281056, 0.17041120416983466, 0.4155060541173548]}}, {"xyz": [-0.16543318430016962, -0.5693389773368835, 0.12450570432753222], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 185}, "mesh_info": {"face_index": 654, "face_uv": [0.208717164631683, 0.41927476582484463, 0.3720080695434724]}}, {"xyz": [-0.16290133514593735, -0.5693389773368835, -0.21544390331523638], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 842}, "mesh_info": {"face_index": 939, "face_uv": [0.10105924909059753, 0.4570371880413193, 0.4419035628680831]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7139a30ff80da3a6b12dfa50fc9e07e6", "keypoints": [{"xyz": [0.17637682189459725, 0.3775653290316652, 0.28030041747730805], "rgb": [88, 69, 39], "semantic_id": 0, "pcd_info": {"point_index": 1896}, "mesh_info": {"face_index": 1630, "face_uv": [0.18488450052028707, 0.6663362102607783, 0.14877928921893607]}}, {"xyz": [-0.18317860398742788, 0.3800843344355458, 0.2896504052562541], "rgb": [87, 66, 34], "semantic_id": 1, "pcd_info": {"point_index": 1732}, "mesh_info": {"face_index": 9390, "face_uv": [0.49139494033123626, 0.2198961130412986, 0.28870894662746643]}}, {"xyz": [0.19254420210341755, 0.022539814044815643, 0.12223901671813867], "rgb": [35, 37, 48], "semantic_id": 2, "pcd_info": {"point_index": 823}, "mesh_info": {"face_index": 11686, "face_uv": [0.29322373615862396, 0.02064476796111326, 0.6861314958802647]}}, {"xyz": [-0.1941654001784574, 0.020091353470953255, 0.12609029603043861], "rgb": [21, 22, 32], "semantic_id": 3, "pcd_info": {"point_index": 561}, "mesh_info": {"face_index": 11930, "face_uv": [0.26946179547616167, 0.3544162188889415, 0.37612198563489674]}}, {"xyz": [0.20195116901920906, 0.07862206671188865, -0.2317970151284065], "rgb": [47, 49, 61], "semantic_id": 4, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 11426, "face_uv": [0.15465747699425583, 0.059543132809108945, 0.7857993901966357]}}, {"xyz": [-0.21110661095315758, 0.07863946161707802, -0.23219237527189773], "rgb": [51, 54, 61], "semantic_id": 5, "pcd_info": {"point_index": 362}, "mesh_info": {"face_index": 11203, "face_uv": [0.03750882216769698, 0.0141455582079824, 0.9483456196243217]}}, {"xyz": [0.226748910612465, 0.2301172718649538, -0.23660576975580652], "rgb": [86, 65, 36], "semantic_id": 6, "pcd_info": {"point_index": 307}, "mesh_info": {"face_index": 3, "face_uv": [0.12169642503043433, 0.8374260031346741, 0.04087757183489192]}}, {"xyz": [0.20499475647591375, 0.15834421757398776, 0.1865658630703038], "rgb": [82, 63, 32], "semantic_id": 7, "pcd_info": {"point_index": 233}, "mesh_info": {"face_index": 0, "face_uv": [0.4588409033247018, 0.013212809353925811, 0.5279462873213752]}}, {"xyz": [-0.2362207322311659, 0.22928349913610147, -0.23113992583747556], "rgb": [94, 74, 44], "semantic_id": 8, "pcd_info": {"point_index": 149}, "mesh_info": {"face_index": 7349, "face_uv": [0.08336312259735668, 0.05186938098348261, 0.8647674964191624]}}, {"xyz": [-0.20409146625530067, 0.16211492075207912, 0.19422231360387934], "rgb": [89, 67, 35], "semantic_id": 9, "pcd_info": {"point_index": 275}, "mesh_info": {"face_index": 7721, "face_uv": [0.16976998166687246, 0.17350291256694594, 0.6567271057661821]}}, {"xyz": [0.24017457296963088, -0.19512098699475589, -0.2841006694219372], "rgb": [89, 69, 39], "semantic_id": 17, "pcd_info": {"point_index": 1893}, "mesh_info": {"face_index": 23, "face_uv": [0.2212413599730951, 0.09143794249698863, 0.6873206975299163]}}, {"xyz": [0.23164863124496504, -0.17076898394412576, 0.286704125598882], "rgb": [86, 67, 35], "semantic_id": 18, "pcd_info": {"point_index": 689}, "mesh_info": {"face_index": 3068, "face_uv": [0.3497319111302005, 0.6027064125246888, 0.04756167634511047]}}, {"xyz": [-0.22864447233194624, -0.22302207441044164, 0.2959613133625598], "rgb": [89, 72, 42], "semantic_id": 19, "pcd_info": {"point_index": 221}, "mesh_info": {"face_index": 10908, "face_uv": [0.4215573326748387, 0.2073758790642509, 0.3710667882609103]}}, {"xyz": [-0.24078321381457884, -0.22705831930615378, -0.2671378823661752], "rgb": [91, 72, 40], "semantic_id": 20, "pcd_info": {"point_index": 189}, "mesh_info": {"face_index": 7848, "face_uv": [0.016559603722785178, 0.6587886711860288, 0.32465172509118634]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8bd8c34158a3aa04f91663a74ccd2338", "keypoints": [{"xyz": [0.17178104718418907, 0.47915125279887955, 0.21565825861654786], "rgb": [4, 57, 109], "semantic_id": 0, "pcd_info": {"point_index": 1884}, "mesh_info": {"face_index": 494, "face_uv": [0.27609403907789887, 0.7212298972184601, 0.0026760637036413533]}}, {"xyz": [-0.17189998142299429, 0.4846822536834312, 0.2129570843263645], "rgb": [4, 56, 108], "semantic_id": 1, "pcd_info": {"point_index": 1450}, "mesh_info": {"face_index": 1579, "face_uv": [0.00756539339899848, 0.5492838575142526, 0.44315074908674884]}}, {"xyz": [0.17142352152724893, 0.15448576416716153, 0.10298141701248598], "rgb": [3, 56, 108], "semantic_id": 2, "pcd_info": {"point_index": 721}, "mesh_info": {"face_index": 13014, "face_uv": [0.3081711160609549, 0.6877127235994728, 0.0041161603395716145]}}, {"xyz": [-0.17686739118920927, 0.1528293389701736, 0.10968536172374155], "rgb": [3, 56, 108], "semantic_id": 3, "pcd_info": {"point_index": 1365}, "mesh_info": {"face_index": 12177, "face_uv": [0.810145260110434, 0.0012683887750265183, 0.1885863511145391]}}, {"xyz": [0.1763426179635333, 0.14846884758221313, -0.2251909525217122], "rgb": [3, 56, 108], "semantic_id": 4, "pcd_info": {"point_index": 41}, "mesh_info": {"face_index": 12622, "face_uv": [0.3856311102762493, 0.3093959684577302, 0.3049729212660201]}}, {"xyz": [-0.19121379431114283, 0.1533248031909833, -0.2218208365463233], "rgb": [4, 57, 109], "semantic_id": 5, "pcd_info": {"point_index": 667}, "mesh_info": {"face_index": 11225, "face_uv": [0.44712819991688696, 0.04531544441008546, 0.5075563556730279]}}, {"xyz": [0.19630126581773505, -0.19694618329770686, -0.23056674221281542], "rgb": [8, 8, 10], "semantic_id": 17, "pcd_info": {"point_index": 1383}, "mesh_info": {"face_index": 18444, "face_uv": [0.6329996607439232, 0.01071513337202475, 0.3562852058840528]}}, {"xyz": [0.22975770738988338, -0.19682300090789773, 0.21425827408416734], "rgb": [7, 7, 9], "semantic_id": 18, "pcd_info": {"point_index": 381}, "mesh_info": {"face_index": 21945, "face_uv": [0.2829696204748125, 0.5694275057649713, 0.1476028737602152]}}, {"xyz": [-0.22243324226863279, -0.1980056011814597, 0.2231223038931194], "rgb": [7, 7, 9], "semantic_id": 19, "pcd_info": {"point_index": 140}, "mesh_info": {"face_index": 18063, "face_uv": [0.27063414697295207, 0.4701538576592968, 0.2592119953677498]}}, {"xyz": [-0.1888481124327917, -0.19682300090789773, -0.23304224968678497], "rgb": [7, 7, 9], "semantic_id": 20, "pcd_info": {"point_index": 224}, "mesh_info": {"face_index": 14674, "face_uv": [0.019123141217382233, 0.5064637437379378, 0.47441311504467876]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "9a522f446662bd23a07a1bace8cff15c", "keypoints": [{"xyz": [0.19605740682665565, 0.3070804692343313, 0.13500014447413666], "rgb": [213, 209, 180], "semantic_id": 0, "pcd_info": {"point_index": 1316}, "mesh_info": {"face_index": 288, "face_uv": [0.025446523686524274, 0.9601956427750113, 0.014357833538464305]}}, {"xyz": [-0.24272780484954692, 0.30532322986896987, 0.13106602515191534], "rgb": [202, 189, 177], "semantic_id": 1, "pcd_info": {"point_index": 1616}, "mesh_info": {"face_index": 16, "face_uv": [0.0124562224897199, 0.47018616765648025, 0.517357609853799]}}, {"xyz": [0.1970920563025068, -0.05505220302739944, 0.09175055462590476], "rgb": [204, 188, 180], "semantic_id": 2, "pcd_info": {"point_index": 1790}, "mesh_info": {"face_index": 402, "face_uv": [0.8079902030744579, 0.05156290639631292, 0.14044689052922776]}}, {"xyz": [-0.2415783569836807, -0.05654557185794307, 0.09143030144819209], "rgb": [202, 186, 176], "semantic_id": 3, "pcd_info": {"point_index": 316}, "mesh_info": {"face_index": 393, "face_uv": [0.6625838109053415, 0.10009960713830447, 0.23731658195635605]}}, {"xyz": [0.19994717310857096, -0.03535990541817002, -0.1895652417156488], "rgb": [197, 179, 167], "semantic_id": 4, "pcd_info": {"point_index": 707}, "mesh_info": {"face_index": 203, "face_uv": [0.015422803679871871, 0.07311570319708595, 0.9114614931230424]}}, {"xyz": [-0.25101326617593167, -0.035155345352019696, -0.18916593841889084], "rgb": [202, 189, 180], "semantic_id": 5, "pcd_info": {"point_index": 306}, "mesh_info": {"face_index": 667, "face_uv": [0.18065510660449463, 0.8153467227157013, 0.003998170679803751]}}, {"xyz": [0.19356616936899362, -0.4393489956855774, -0.27913628284114644], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1294}, "mesh_info": {"face_index": 648, "face_uv": [0.2470654286472871, 0.08208370962572425, 0.6708508617269887]}}, {"xyz": [0.19193938038569364, -0.4393489956855774, 0.1769571422428487], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1225}, "mesh_info": {"face_index": 507, "face_uv": [0.38360827045191426, 0.2791245005020759, 0.3372672290460099]}}, {"xyz": [-0.22917857313018203, -0.4393489956855774, 0.17361022227771788], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1633}, "mesh_info": {"face_index": 417, "face_uv": [0.3498744108391951, 0.4624872476442565, 0.18763834151654835]}}, {"xyz": [-0.23414669274785643, -0.4393489956855774, -0.28118743378479194], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1468}, "mesh_info": {"face_index": 636, "face_uv": [0.5702488063772033, 0.21206791111109732, 0.21768328251169938]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4c3f452cd60df0efb0957d845ac33749", "keypoints": [{"xyz": [0.21229972390797913, 0.2920014727920443, 0.13285902468900246], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1033}, "mesh_info": {"face_index": 528, "face_uv": [0.9677834853224465, 0.01928206985071905, 0.012934444826832928]}}, {"xyz": [-0.21078391919219203, 0.28926786031168816, 0.14157977957862666], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 182}, "mesh_info": {"face_index": 604, "face_uv": [0.0179214747847163, 0.6827836441764775, 0.299294881038806]}}, {"xyz": [0.19245041008079422, -0.058280391084832406, 0.10976638840397701], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 40}, "mesh_info": {"face_index": 34, "face_uv": [0.018961736337414863, 0.7297179655112463, 0.25132029815134027]}}, {"xyz": [-0.19192590967138268, -0.0595383414376095, 0.10980226244584124], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 79}, "mesh_info": {"face_index": 193, "face_uv": [0.9476680924334494, 0.03252240574440043, 0.019809501822151594]}}, {"xyz": [0.21019067817392545, -0.06532376273972451, -0.29923200607299805], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 553}, "mesh_info": {"face_index": 220, "face_uv": [0.1036389709895056, 0.0069120947611824544, 0.8894489342493119]}}, {"xyz": [-0.2055381923280769, -0.06249818759095571, -0.2981360630165708], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 912}, "mesh_info": {"face_index": 402, "face_uv": [0.1071920509530849, 0.030204582351677535, 0.8626033666952377]}}, {"xyz": [0.2069350321759591, -0.4697574991190726, -0.29923200607299805], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1947}, "mesh_info": {"face_index": 276, "face_uv": [0.6750563041354302, 0.00913807985579646, 0.3158056160087734]}}, {"xyz": [0.19346036403775357, -0.4707463897879204, 0.14447103853507448], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 136}, "mesh_info": {"face_index": 40, "face_uv": [0.3639649844561265, 0.001966350186764956, 0.6340686653571092]}}, {"xyz": [-0.19741100072860718, -0.4644385261419386, 0.15837089130492527], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 456}, "mesh_info": {"face_index": 302, "face_uv": [0.018181966907169243, 0.640819325964549, 0.3409987071282816]}}, {"xyz": [-0.20930799841880798, -0.46580909487442446, -0.2876202550573192], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 218}, "mesh_info": {"face_index": 430, "face_uv": [0.017741511916351788, 0.5565445518462563, 0.42571393623739195]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "1e3fba4500d20bb49b9f2eb77f5e247e", "keypoints": [{"xyz": [0.16034345296378172, 0.4134372869898292, 0.16524889014277044], "rgb": [226, 225, 221], "semantic_id": 0, "pcd_info": {"point_index": 546}, "mesh_info": {"face_index": 163, "face_uv": [0.038855760882424345, 0.3412044347351868, 0.6199398043823892]}}, {"xyz": [-0.16206657758285736, 0.4089241650798482, 0.16648748505508248], "rgb": [225, 224, 220], "semantic_id": 1, "pcd_info": {"point_index": 710}, "mesh_info": {"face_index": 158, "face_uv": [0.4029852495019154, 0.19578406964009196, 0.40123068085799235]}}, {"xyz": [0.164392556445821, 0.07193700224161148, 0.14259859112859474], "rgb": [225, 224, 221], "semantic_id": 2, "pcd_info": {"point_index": 1133}, "mesh_info": {"face_index": 36, "face_uv": [0.9863245200092733, 0.008869799556404193, 0.00480568043432251]}}, {"xyz": [-0.15271119959129592, 0.07193700224161148, 0.1359011714354048], "rgb": [226, 225, 221], "semantic_id": 3, "pcd_info": {"point_index": 120}, "mesh_info": {"face_index": 36, "face_uv": [0.0011234142660529183, 0.036938514048712776, 0.9619380716852345]}}, {"xyz": [0.15209044003865654, 0.07193700224161148, -0.10241255212432065], "rgb": [225, 224, 220], "semantic_id": 4, "pcd_info": {"point_index": 302}, "mesh_info": {"face_index": 106, "face_uv": [0.02624930245744283, 0.23264301792733522, 0.7411076796152217]}}, {"xyz": [-0.1495027732437499, 0.07193700224161148, -0.11082368730055236], "rgb": [225, 225, 221], "semantic_id": 5, "pcd_info": {"point_index": 1555}, "mesh_info": {"face_index": 367, "face_uv": [0.18036733768749064, 0.8052142054598759, 0.014418456852633457]}}, {"xyz": [0.14266193835785598, -0.3697890043258667, -0.10264862848345957], "rgb": [226, 225, 221], "semantic_id": 17, "pcd_info": {"point_index": 229}, "mesh_info": {"face_index": 71, "face_uv": [0.423219726499708, 0.35488879140898233, 0.22189148209130974]}}, {"xyz": [0.13467950763586434, -0.3697890043258667, 0.16895226911578032], "rgb": [225, 225, 221], "semantic_id": 18, "pcd_info": {"point_index": 712}, "mesh_info": {"face_index": 172, "face_uv": [0.2957262146716462, 0.4790008692558154, 0.22527291607253838]}}, {"xyz": [-0.13952347515960112, -0.3697890043258669, 0.16614420053251033], "rgb": [226, 225, 221], "semantic_id": 19, "pcd_info": {"point_index": 914}, "mesh_info": {"face_index": 227, "face_uv": [0.028118915438555804, 0.4298915920826725, 0.5419894924787723]}}, {"xyz": [-0.1375567537108472, -0.3697890043258667, -0.09963755992139967], "rgb": [225, 224, 221], "semantic_id": 20, "pcd_info": {"point_index": 1638}, "mesh_info": {"face_index": 122, "face_uv": [0.41666851278220857, 0.43899951528780695, 0.14433197192998443]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3efa8030c71fab9055afe589a9f09982", "keypoints": [{"xyz": [0.15827540140645663, 0.3089538517007775, 0.05994897024437529], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 285}, "mesh_info": {"face_index": 9, "face_uv": [0.4674514045581568, 0.3147359339517655, 0.21781266149007772]}}, {"xyz": [-0.1562556314394433, 0.31279642462712864, 0.06641623959296628], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1113}, "mesh_info": {"face_index": 186, "face_uv": [0.04827771943425068, 0.527561764076349, 0.4241605164894006]}}, {"xyz": [0.1608261926586194, 0.02346399985253811, -0.02596274636428264], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 903}, "mesh_info": {"face_index": 51, "face_uv": [0.012136925392613794, 0.9650060541981638, 0.02285702040922235]}}, {"xyz": [-0.1576895872030659, 0.02346399985253811, -0.02569032256019954], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 2020}, "mesh_info": {"face_index": 52, "face_uv": [0.02545471278144165, 0.03349354208887886, 0.9410517451296795]}}, {"xyz": [0.16142844406842777, 0.023463999852537887, -0.1967827091970326], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1939}, "mesh_info": {"face_index": 158, "face_uv": [0.9654862606168172, 0.024196541079039013, 0.010317198304134282]}}, {"xyz": [-0.16248508753119156, 0.023463999852537887, -0.19559512618562147], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 595}, "mesh_info": {"face_index": 52, "face_uv": [0.01096491382412521, 0.9692627163975019, 0.019772369778363566]}}, {"xyz": [0.1499769806430636, -0.49825400114059437, -0.15825908393694163], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 2024}, "mesh_info": {"face_index": 43, "face_uv": [0.30335708799379485, 0.5605296462139838, 0.1361132657922211]}}, {"xyz": [0.14348333284411607, -0.49825400114059437, 0.08658162399492295], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 284}, "mesh_info": {"face_index": 134, "face_uv": [0.11669713068790805, 0.4474358629444778, 0.4358670063676139]}}, {"xyz": [-0.14853789517887653, -0.49825400114059437, 0.0840847677753955], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 125}, "mesh_info": {"face_index": 196, "face_uv": [0.14546341216668038, 0.5267036478273527, 0.32783294000596674]}}, {"xyz": [-0.13837726519312613, -0.49825400114059437, -0.1542698067324076], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 204, "face_uv": [0.0023283763562956753, 0.48032065520925626, 0.5173509684344478]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "36cb782fbc164ac312591a3ac05fadf1", "keypoints": [{"xyz": [0.1772022764697812, 0.32370074452427233, 0.0986885771430992], "rgb": [143, 91, 51], "semantic_id": 0, "pcd_info": {"point_index": 1370}, "mesh_info": {"face_index": 72, "face_uv": [0.46993182871061223, 0.034229181274782576, 0.495838990014606]}}, {"xyz": [-0.170306131742598, 0.329874188277953, 0.10092916954504672], "rgb": [153, 106, 60], "semantic_id": 1, "pcd_info": {"point_index": 1704}, "mesh_info": {"face_index": 32, "face_uv": [0.3138363323215688, 0.4342024023324128, 0.25196126534601854]}}, {"xyz": [0.1632133371258523, -0.018590999767184258, 0.04647675692417874], "rgb": [150, 97, 57], "semantic_id": 2, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 47, "face_uv": [0.9018239972835393, 0.0656451259503704, 0.032530876766090296]}}, {"xyz": [-0.1629706683591141, -0.018590999767184258, 0.052169905152785745], "rgb": [148, 99, 58], "semantic_id": 3, "pcd_info": {"point_index": 1623}, "mesh_info": {"face_index": 47, "face_uv": [0.002714492778411592, 0.04594544624073318, 0.9513400609808554]}}, {"xyz": [0.16540339868019116, -0.018590999767184258, -0.21231840192334847], "rgb": [165, 121, 71], "semantic_id": 4, "pcd_info": {"point_index": 357}, "mesh_info": {"face_index": 46, "face_uv": [0.25552063174445977, 0.038860582493411344, 0.7056187857621288]}}, {"xyz": [-0.16739290841938348, -0.018590999767184258, -0.21253423454719647], "rgb": [159, 108, 63], "semantic_id": 5, "pcd_info": {"point_index": 355}, "mesh_info": {"face_index": 48, "face_uv": [0.03811374903853446, 0.03467434816927825, 0.9272119027921872]}}, {"xyz": [0.13730669690247516, -0.4677250087261198, -0.19169866554757126], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 276}, "mesh_info": {"face_index": 4, "face_uv": [0.06618979018260245, 0.4801581398912886, 0.45365206992610857]}}, {"xyz": [0.14852067644443517, -0.46772500872612, 0.0950311695100135], "rgb": [154, 106, 64], "semantic_id": 18, "pcd_info": {"point_index": 115}, "mesh_info": {"face_index": 132, "face_uv": [0.01290279834903938, 0.47174561487626826, 0.5153515867746924]}}, {"xyz": [-0.14750206841177715, -0.46772500872612, 0.09677287628652947], "rgb": [135, 86, 48], "semantic_id": 19, "pcd_info": {"point_index": 731}, "mesh_info": {"face_index": 137, "face_uv": [0.037777791280578246, 0.5004803982130176, 0.4617418105064041]}}, {"xyz": [-0.1482314877224621, -0.4677250087261202, -0.19400845470672892], "rgb": [150, 100, 57], "semantic_id": 20, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 139, "face_uv": [0.42798566715689856, 0.4453370206562539, 0.12667731218684794]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3f95c370fb3871621f98c0761af40e04", "keypoints": [{"xyz": [0.17456506347134326, 0.41886956230682826, 0.13120929787303615], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1868}, "mesh_info": {"face_index": 10383, "face_uv": [0.2738507754758775, 0.11234812345557954, 0.6138011010685431]}}, {"xyz": [-0.17722340860759406, 0.4184143849635532, 0.1319515645601289], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1976}, "mesh_info": {"face_index": 9963, "face_uv": [0.3796733253791734, 0.20415573454489505, 0.41617094007593153]}}, {"xyz": [0.16365277214878785, 0.034584982100443806, 0.05652541937549571], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 906}, "mesh_info": {"face_index": 15235, "face_uv": [0.44007757234595213, 0.4872971400771723, 0.07262528757686966]}}, {"xyz": [-0.16053611699600157, 0.033947471734602, 0.054082180749807085], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 14918, "face_uv": [0.6708311590064445, 0.22692872520074708, 0.1022401157928015]}}, {"xyz": [0.17638847720192163, 0.012210463311898997, -0.22592417375888685], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1538}, "mesh_info": {"face_index": 12988, "face_uv": [0.11646656669222695, 0.44558447754442015, 0.4379489557633526]}}, {"xyz": [-0.1756219362245085, -0.001560379631985187, -0.22658036579002938], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 437}, "mesh_info": {"face_index": 13851, "face_uv": [0.23943549007702342, 0.263594789610061, 0.49696972031291575]}}, {"xyz": [0.16434692406115975, -0.294963002204895, -0.2705808911378815], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1421}, "mesh_info": {"face_index": 4747, "face_uv": [0.14613249639456205, 0.13885880720974583, 0.7150086963956921]}}, {"xyz": [0.20954417411819914, -0.2958184417232328, 0.13739203916894366], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 1662}, "mesh_info": {"face_index": 1688, "face_uv": [0.45488098544401034, 0.1646162063975265, 0.3805028081584629]}}, {"xyz": [-0.21258965234203697, -0.2956037861590688, 0.12542808715518639], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1140}, "mesh_info": {"face_index": 929, "face_uv": [0.2779422389889191, 0.3478185764072524, 0.3742391846038287]}}, {"xyz": [-0.16859604247432736, -0.2954709194487637, -0.27721176505991424], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 287}, "mesh_info": {"face_index": 3020, "face_uv": [0.4960091566069619, 0.4328078090508592, 0.07118303434217921]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f39d429ab98d5323a1a6556bd50a3110", "keypoints": [{"xyz": [0.18052965814457905, 0.2779908865847358, 0.11560463286927503], "rgb": [153, 86, 47], "semantic_id": 0, "pcd_info": {"point_index": 1449}, "mesh_info": {"face_index": 1186, "face_uv": [0.027132309754073006, 0.4927835188203341, 0.48008417142559323]}}, {"xyz": [-0.168726155463774, 0.27853641586590694, 0.116761604068363], "rgb": [148, 84, 41], "semantic_id": 1, "pcd_info": {"point_index": 1591}, "mesh_info": {"face_index": 1159, "face_uv": [0.31796412018434517, 0.6047195049259602, 0.07731637488969585]}}, {"xyz": [0.17654399160006232, -0.19590400159359, 0.06392290758101304], "rgb": [155, 88, 44], "semantic_id": 2, "pcd_info": {"point_index": 1502}, "mesh_info": {"face_index": 961, "face_uv": [0.05738880260385784, 0.017691949695414693, 0.9249192477007285]}}, {"xyz": [-0.17094888191401672, -0.19590400159358956, 0.059277523054972026], "rgb": [157, 93, 49], "semantic_id": 3, "pcd_info": {"point_index": 1695}, "mesh_info": {"face_index": 766, "face_uv": [0.050576488272789724, 0.07030463524422062, 0.8791188764829885]}}, {"xyz": [0.17761408289954145, -0.19590400159358956, -0.29888587854325066], "rgb": [143, 76, 33], "semantic_id": 4, "pcd_info": {"point_index": 1633}, "mesh_info": {"face_index": 1002, "face_uv": [0.06220731930679111, 0.001175571015122031, 0.9366171096780858]}}, {"xyz": [-0.17361992696963666, -0.19590400159358956, -0.2909936024443984], "rgb": [152, 88, 42], "semantic_id": 5, "pcd_info": {"point_index": 1501}, "mesh_info": {"face_index": 829, "face_uv": [0.07926097018245473, 0.9022957992958882, 0.018443230521655796]}}, {"xyz": [0.14313893407238557, -0.514616012573242, -0.2698520311547207], "rgb": [146, 80, 40], "semantic_id": 17, "pcd_info": {"point_index": 713}, "mesh_info": {"face_index": 944, "face_uv": [0.5320230825285032, 0.4202221746924336, 0.047754742779062796]}}, {"xyz": [0.14225432702564192, -0.5146160125732422, 0.030749954021604964], "rgb": [156, 89, 45], "semantic_id": 18, "pcd_info": {"point_index": 855}, "mesh_info": {"face_index": 1115, "face_uv": [0.11231225889605564, 0.4092690402293473, 0.47841870087459704]}}, {"xyz": [-0.15046314038513228, -0.5146160125732422, 0.031135255010038998], "rgb": [151, 85, 40], "semantic_id": 19, "pcd_info": {"point_index": 1436}, "mesh_info": {"face_index": 720, "face_uv": [0.3724383458284332, 0.5952790551629025, 0.03228259900866429]}}, {"xyz": [-0.1493328016874945, -0.5146160125732422, -0.2662049124175936], "rgb": [154, 87, 43], "semantic_id": 20, "pcd_info": {"point_index": 1924}, "mesh_info": {"face_index": 882, "face_uv": [0.38578087004872624, 0.46327279195023785, 0.15094633800103593]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4217f2ce7ecc286689c81af3a850d0ca", "keypoints": [{"xyz": [0.18927097104281737, 0.4494040012359619, 0.21670467002235932], "rgb": [198, 198, 198], "semantic_id": 0, "pcd_info": {"point_index": 905}, "mesh_info": {"face_index": 49, "face_uv": [0.11485504337018189, 0.5987315654080794, 0.2864133912217388]}}, {"xyz": [-0.1919655174576251, 0.4494040012359619, 0.21512881957518581], "rgb": [198, 198, 198], "semantic_id": 1, "pcd_info": {"point_index": 420}, "mesh_info": {"face_index": 673, "face_uv": [0.44001187863026764, 0.25919323807065836, 0.30079488329907395]}}, {"xyz": [0.19277497527016652, 0.07218280516915332, 0.07632998923641166], "rgb": [197, 197, 197], "semantic_id": 2, "pcd_info": {"point_index": 1662}, "mesh_info": {"face_index": 867, "face_uv": [0.006721082087287394, 0.5538381941843965, 0.4394407237283157]}}, {"xyz": [-0.1917258059468918, 0.07044226281912991, 0.07814955690892933], "rgb": [198, 198, 198], "semantic_id": 3, "pcd_info": {"point_index": 170}, "mesh_info": {"face_index": 279, "face_uv": [0.36850107729052595, 0.6291291526035665, 0.002369770105908592]}}, {"xyz": [0.18405663083653728, 0.09775664410721929, -0.21648594221816447], "rgb": [197, 197, 197], "semantic_id": 4, "pcd_info": {"point_index": 1336}, "mesh_info": {"face_index": 168, "face_uv": [0.00576338448579728, 0.7721279002530258, 0.22210871526117615]}}, {"xyz": [-0.18709237143460625, 0.09692656079195605, -0.21410061546685394], "rgb": [197, 197, 197], "semantic_id": 5, "pcd_info": {"point_index": 108}, "mesh_info": {"face_index": 770, "face_uv": [0.8246872684423311, 0.004550692702799168, 0.17076203885486907]}}, {"xyz": [0.18336052868268765, -0.3075830535384271, -0.23171608074332584], "rgb": [198, 198, 198], "semantic_id": 17, "pcd_info": {"point_index": 990}, "mesh_info": {"face_index": 296, "face_uv": [0.8650030215591803, 0.007653682268775921, 0.12734329617204374]}}, {"xyz": [0.19074977817167907, -0.3023505878114929, 0.20317196290945128], "rgb": [198, 198, 198], "semantic_id": 18, "pcd_info": {"point_index": 264}, "mesh_info": {"face_index": 703, "face_uv": [0.9371660788115695, 0.05889945058345689, 0.0039344706049898705]}}, {"xyz": [-0.17813983539716863, -0.3051740252480786, 0.20323714458200048], "rgb": [197, 197, 197], "semantic_id": 19, "pcd_info": {"point_index": 296}, "mesh_info": {"face_index": 156, "face_uv": [0.6784300258877177, 0.010675261282162583, 0.31089471283011905]}}, {"xyz": [-0.18423551595884685, -0.29805869904625704, -0.23164029850344847], "rgb": [198, 198, 198], "semantic_id": 20, "pcd_info": {"point_index": 47}, "mesh_info": {"face_index": 271, "face_uv": [0.015686379869632304, 0.5003433438404601, 0.48397027628990813]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8f6634a231e3f3ccdfe9cab879fd37e8", "keypoints": [{"xyz": [0.19475560428617084, 0.24434889459733156, 0.1525819126749522], "rgb": [85, 50, 30], "semantic_id": 0, "pcd_info": {"point_index": 402}, "mesh_info": {"face_index": 2760, "face_uv": [0.8256742029762916, 0.093658014616481, 0.08066778240722826]}}, {"xyz": [-0.18745393189995813, 0.24418245231052738, 0.15293464507663113], "rgb": [90, 55, 34], "semantic_id": 1, "pcd_info": {"point_index": 316}, "mesh_info": {"face_index": 4534, "face_uv": [0.5615590745346267, 0.21776120608118635, 0.22067971938418757]}}, {"xyz": [0.1834279349231912, -0.09701302805991163, 0.08109500259160973], "rgb": [75, 44, 20], "semantic_id": 2, "pcd_info": {"point_index": 745}, "mesh_info": {"face_index": 11940, "face_uv": [0.038709413674068154, 0.9054442991738781, 0.055846287152050866]}}, {"xyz": [-0.18066915865598948, -0.08998700231313705, 0.08565976751384574], "rgb": [81, 49, 28], "semantic_id": 3, "pcd_info": {"point_index": 1052}, "mesh_info": {"face_index": 11979, "face_uv": [0.2067044103735183, 0.04276042391686062, 0.7505351657096212]}}, {"xyz": [0.19384451993686772, -0.10320646555614665, -0.30608092229038686], "rgb": [96, 44, 26], "semantic_id": 4, "pcd_info": {"point_index": 1817}, "mesh_info": {"face_index": 7636, "face_uv": [0.012430853111269204, 0.9447895943149794, 0.04277955257375169]}}, {"xyz": [-0.18842599991825204, -0.10306907032125895, -0.30605411367043356], "rgb": [132, 70, 36], "semantic_id": 5, "pcd_info": {"point_index": 678}, "mesh_info": {"face_index": 7824, "face_uv": [0.9244948146842698, 0.0523134225885754, 0.023191762727155795]}}, {"xyz": [0.2129981433175224, 0.07759913944071672, -0.273793288473163], "rgb": [96, 57, 32], "semantic_id": 6, "pcd_info": {"point_index": 656}, "mesh_info": {"face_index": 6614, "face_uv": [0.16227615503416062, 0.20920383011437224, 0.6285200148514674]}}, {"xyz": [0.2248961123150482, 0.07428159047852434, 0.09620600193738937], "rgb": [98, 53, 20], "semantic_id": 7, "pcd_info": {"point_index": 1194}, "mesh_info": {"face_index": 7417, "face_uv": [0.2656982498225786, 0.1732436095639994, 0.561058140613422]}}, {"xyz": [-0.21725591134688954, 0.07701185238927055, -0.2741801961946154], "rgb": [114, 67, 43], "semantic_id": 8, "pcd_info": {"point_index": 1626}, "mesh_info": {"face_index": 8450, "face_uv": [0.3112728138899573, 0.13182094032211572, 0.5569062457879269]}}, {"xyz": [-0.23239516275673566, 0.07872500270605087, 0.09103207890406549], "rgb": [100, 57, 37], "semantic_id": 9, "pcd_info": {"point_index": 718}, "mesh_info": {"face_index": 8771, "face_uv": [0.3742292682696669, 0.6179956776713582, 0.007775054058974797]}}, {"xyz": [0.2334776339054635, -0.43396401405334484, -0.36252774257918513], "rgb": [83, 51, 26], "semantic_id": 17, "pcd_info": {"point_index": 790}, "mesh_info": {"face_index": 6795, "face_uv": [0.10015291019939593, 0.3834641328631789, 0.5163829569374254]}}, {"xyz": [0.2279016879122111, -0.4339640140533447, 0.08714307137334387], "rgb": [85, 52, 31], "semantic_id": 18, "pcd_info": {"point_index": 366}, "mesh_info": {"face_index": 6409, "face_uv": [0.10663494812808863, 0.4988579573157812, 0.39450709455613014]}}, {"xyz": [-0.22888377179549996, -0.43396401405334484, 0.08694036981137013], "rgb": [83, 50, 29], "semantic_id": 19, "pcd_info": {"point_index": 318}, "mesh_info": {"face_index": 8077, "face_uv": [0.0787446913434811, 0.545327634874437, 0.3759276737820821]}}, {"xyz": [-0.22319352793140268, -0.4339640140533447, -0.3590425429775164], "rgb": [86, 53, 28], "semantic_id": 20, "pcd_info": {"point_index": 1446}, "mesh_info": {"face_index": 8430, "face_uv": [0.16419682842770483, 0.572431648898285, 0.26337152267401015]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "5bd08666f29e946c988a5637d6d8f36a", "keypoints": [{"xyz": [0.2212799936532973, 0.34792579843150095, 0.2922095507109965], "rgb": [39, 39, 203], "semantic_id": 0, "pcd_info": {"point_index": 227}, "mesh_info": {"face_index": 371, "face_uv": [0.09372536405928367, 0.904361649535343, 0.001912986405372733]}}, {"xyz": [-0.22202700376510642, 0.33873603781374384, 0.29828311184558787], "rgb": [40, 40, 204], "semantic_id": 1, "pcd_info": {"point_index": 685}, "mesh_info": {"face_index": 438, "face_uv": [0.49057894849890854, 0.042814065735948426, 0.4666069857651441]}}, {"xyz": [0.21669823082445616, 0.0014410000294446945, 0.23547416438743485], "rgb": [39, 39, 203], "semantic_id": 2, "pcd_info": {"point_index": 314}, "mesh_info": {"face_index": 135, "face_uv": [0.008034541917380166, 0.9816300407408608, 0.01033541734175895]}}, {"xyz": [-0.2220270037651062, -0.0024378006608578584, 0.24346758333220853], "rgb": [40, 40, 203], "semantic_id": 3, "pcd_info": {"point_index": 1348}, "mesh_info": {"face_index": 132, "face_uv": [0.9238837801580025, 0.0676621568554484, 0.008454062986548966]}}, {"xyz": [0.2195581271177791, -0.01035939086824178, -0.11749862602100036], "rgb": [40, 40, 204], "semantic_id": 4, "pcd_info": {"point_index": 1238}, "mesh_info": {"face_index": 54, "face_uv": [0.8426984945279141, 0.0038841402133186673, 0.1534173652587674]}}, {"xyz": [-0.2220270037651062, -0.01062874629319932, -0.1216189146565928], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1675}, "mesh_info": {"face_index": 813, "face_uv": [0.012297701057951428, 0.40597742867914216, 0.5817248702629064]}}, {"xyz": [0.2212799936532972, 0.12851223307783277, -0.06168198585655266], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 248, "face_uv": [0.30806039873406443, 0.2924725129361955, 0.39946708832973904]}}, {"xyz": [0.22933111756211255, 0.1321800053119664, 0.3878378520405831], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 167}, "mesh_info": {"face_index": 224, "face_uv": [0.513947889424649, 0.012568358258531859, 0.4734837523168225]}}, {"xyz": [-0.23791050111399337, 0.13218000531196605, -0.03605884862996084], "rgb": [247, 247, 253], "semantic_id": 8, "pcd_info": {"point_index": 1611}, "mesh_info": {"face_index": 207, "face_uv": [0.498668314994253, 0.03426592591207041, 0.46706575909367737]}}, {"xyz": [-0.23503337802463956, 0.13218000531196594, 0.3886224370174602], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 1983}, "mesh_info": {"face_index": 227, "face_uv": [0.37128313233603427, 0.011178735673853192, 0.6175381319901125]}}, {"xyz": [0.22127999365329737, -0.20425925589940697, -0.20683208238089645], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 114}, "mesh_info": {"face_index": 497, "face_uv": [0.6285868711191073, 0.36724305637331256, 0.004170072507579943]}}, {"xyz": [0.22127999365329748, -0.2483647915966271, 0.2665169700080636], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 957}, "mesh_info": {"face_index": 642, "face_uv": [0.10311872560052411, 0.029769080959422378, 0.8671121934400537]}}, {"xyz": [-0.2543215360585195, -0.24838354553399822, 0.26698280728986723], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 1653}, "mesh_info": {"face_index": 845, "face_uv": [0.8424552553744565, 0.05035585621478931, 0.10718888841075332]}}, {"xyz": [-0.2560339868068695, -0.20696327539835524, -0.1796402086924066], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1093}, "mesh_info": {"face_index": 471, "face_uv": [0.20407791982682372, 0.7713374102161495, 0.02458466995702674]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fa7347547e290732bf65e1af50b5b7d4", "keypoints": [{"xyz": [0.18863591524753137, 0.3933634302726532, 0.02099964975014612], "rgb": [179, 108, 43], "semantic_id": 0, "pcd_info": {"point_index": 559}, "mesh_info": {"face_index": 238, "face_uv": [0.43559437729306527, 0.004975105998383823, 0.5594305167085516]}}, {"xyz": [-0.1737745961044195, 0.3982258190786101, 0.02303303960439118], "rgb": [168, 92, 34], "semantic_id": 1, "pcd_info": {"point_index": 793}, "mesh_info": {"face_index": 208, "face_uv": [0.2984916524560377, 0.6626462779133697, 0.03886206963059313]}}, {"xyz": [0.16656904293663943, -0.007398044801843584, 0.04474602506990184], "rgb": [179, 106, 39], "semantic_id": 2, "pcd_info": {"point_index": 142}, "mesh_info": {"face_index": 50, "face_uv": [0.05617789954268717, 0.03712843561185109, 0.9066936648454614]}}, {"xyz": [-0.16593146198838038, -0.0060549997724590465, 0.04817549727170163], "rgb": [174, 98, 38], "semantic_id": 3, "pcd_info": {"point_index": 336}, "mesh_info": {"face_index": 87, "face_uv": [0.3895471232986004, 0.04378889961098971, 0.5666639770903732]}}, {"xyz": [0.1834513538942104, -0.03262388520522408, -0.20469099283218384], "rgb": [180, 105, 40], "semantic_id": 4, "pcd_info": {"point_index": 1400}, "mesh_info": {"face_index": 16, "face_uv": [0.1404244270924205, 0.014728303881707686, 0.8448472690258718]}}, {"xyz": [-0.1858198446313462, -0.025647668958562186, -0.20037666388164632], "rgb": [176, 101, 46], "semantic_id": 5, "pcd_info": {"point_index": 195}, "mesh_info": {"face_index": 48, "face_uv": [0.18046306919838392, 0.2717539466394969, 0.5477829841621188]}}, {"xyz": [0.1736421072801574, -0.4346820116043091, -0.17127151988791864], "rgb": [173, 100, 37], "semantic_id": 17, "pcd_info": {"point_index": 413}, "mesh_info": {"face_index": 482, "face_uv": [0.5043244955226851, 0.3389062446852425, 0.1567692597920724]}}, {"xyz": [0.17166001644168594, -0.4346820116043091, 0.056996126750489234], "rgb": [173, 101, 37], "semantic_id": 18, "pcd_info": {"point_index": 384}, "mesh_info": {"face_index": 838, "face_uv": [0.6029752656223303, 0.1814080777439436, 0.2156166566337262]}}, {"xyz": [-0.17091714796139684, -0.4346820116043091, 0.05680420145106854], "rgb": [173, 101, 37], "semantic_id": 19, "pcd_info": {"point_index": 537}, "mesh_info": {"face_index": 660, "face_uv": [0.5868083591062401, 0.19732887949794478, 0.21586276139581512]}}, {"xyz": [-0.16803953086375772, -0.43468201160430897, -0.170009274834787], "rgb": [174, 102, 39], "semantic_id": 20, "pcd_info": {"point_index": 1302}, "mesh_info": {"face_index": 304, "face_uv": [0.44358629419173584, 0.2341990188175549, 0.32221468699070904]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "286c07abeb67b83bf7248d9dbed7a7b8", "keypoints": [{"xyz": [0.24833691828609805, 0.3043573956895802, 0.23987936167342133], "rgb": [153, 61, 29], "semantic_id": 0, "pcd_info": {"point_index": 1472}, "mesh_info": {"face_index": 1142, "face_uv": [0.10724516116849465, 0.7037373076383198, 0.1890175311931856]}}, {"xyz": [-0.2468958218160912, 0.30544605508489475, 0.23849148318465158], "rgb": [153, 61, 29], "semantic_id": 1, "pcd_info": {"point_index": 743}, "mesh_info": {"face_index": 690, "face_uv": [0.058773691203842425, 0.6631174063065362, 0.2781089024896227]}}, {"xyz": [0.1991640002204591, 0.05706299841403961, 0.08785350963238009], "rgb": [153, 61, 29], "semantic_id": 2, "pcd_info": {"point_index": 1076}, "mesh_info": {"face_index": 1119, "face_uv": [0.87500010696614, 0.005979185428795913, 0.11902070760506431]}}, {"xyz": [-0.2082030028104782, 0.07061895369077553, 0.08484515374682827], "rgb": [153, 61, 29], "semantic_id": 3, "pcd_info": {"point_index": 1844}, "mesh_info": {"face_index": 904, "face_uv": [0.3722020091671464, 0.3239865090334995, 0.3038114817993541]}}, {"xyz": [0.19894455593212595, 0.057062998414039834, -0.307802511652942], "rgb": [153, 61, 29], "semantic_id": 4, "pcd_info": {"point_index": 1961}, "mesh_info": {"face_index": 1117, "face_uv": [0.9851546155600235, 0.006514734110835311, 0.008330650329145128]}}, {"xyz": [-0.2036882582061722, 0.05706299841403961, -0.31116744185139195], "rgb": [153, 61, 29], "semantic_id": 5, "pcd_info": {"point_index": 1373}, "mesh_info": {"face_index": 1118, "face_uv": [0.9816515653634674, 0.010869247059454122, 0.00747918757707857]}}, {"xyz": [0.22757588047896105, 0.20729557558890144, -0.3051442383824967], "rgb": [152, 60, 28], "semantic_id": 6, "pcd_info": {"point_index": 1655}, "mesh_info": {"face_index": 1578, "face_uv": [0.15910147853051004, 0.27183987906551965, 0.5690586424039696]}}, {"xyz": [0.2358867508269793, 0.17887662100688329, 0.07500683707645239], "rgb": [153, 61, 28], "semantic_id": 7, "pcd_info": {"point_index": 1314}, "mesh_info": {"face_index": 1391, "face_uv": [0.1416724916027728, 0.8139085863378627, 0.044418922059364534]}}, {"xyz": [-0.25210408380240557, 0.19082497876533333, -0.33181603788519276], "rgb": [152, 60, 28], "semantic_id": 8, "pcd_info": {"point_index": 12}, "mesh_info": {"face_index": 1106, "face_uv": [0.20129401406617006, 0.15239470979532782, 0.6463112761385019]}}, {"xyz": [-0.24696363707611677, 0.17871094099296003, 0.07458650716094695], "rgb": [153, 61, 29], "semantic_id": 9, "pcd_info": {"point_index": 1201}, "mesh_info": {"face_index": 926, "face_uv": [0.06062940675333554, 0.8214204403621664, 0.11795015288449932]}}, {"xyz": [0.24291020451056267, -0.21297000348567985, -0.28595947758077406], "rgb": [188, 159, 108], "semantic_id": 17, "pcd_info": {"point_index": 650}, "mesh_info": {"face_index": 1796, "face_uv": [0.07707018517712114, 0.655930271550236, 0.2669995432726438]}}, {"xyz": [0.2360333716230547, -0.21297000348567963, 0.07863314465566729], "rgb": [178, 146, 99], "semantic_id": 18, "pcd_info": {"point_index": 1409}, "mesh_info": {"face_index": 272, "face_uv": [0.41915417896437124, 0.48626401333002206, 0.09458180770560665]}}, {"xyz": [-0.2403575145532848, -0.21297000348567963, 0.07531255376360857], "rgb": [197, 165, 112], "semantic_id": 19, "pcd_info": {"point_index": 1009}, "mesh_info": {"face_index": 56, "face_uv": [0.1571949406492535, 0.5901707907455593, 0.25263426860518723]}}, {"xyz": [-0.25469655466965824, -0.21297000348567985, -0.27514187766372883], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 666}, "mesh_info": {"face_index": 548, "face_uv": [0.11034285254066271, 0.26850715148117477, 0.6211499959781636]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e25c7c2469135e3fdd3adf3090c701f7", "keypoints": [{"xyz": [0.3455449806142788, 0.30808489118542615, 0.1981095053966644], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 514}, "mesh_info": {"face_index": 3137, "face_uv": [0.14794163550990852, 0.4978630657154883, 0.3541952987746033]}}, {"xyz": [-0.3541989048536163, 0.308378304056803, 0.20146493873337423], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 360}, "mesh_info": {"face_index": 546, "face_uv": [0.15279260652268514, 0.40899107356630215, 0.43821631991101306]}}, {"xyz": [0.35513222789415866, 0.03610384935428956, 0.08111967577612345], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 273}, "mesh_info": {"face_index": 4483, "face_uv": [0.6488123065414816, 0.0028242318933430193, 0.34836346156518205]}}, {"xyz": [-0.3622508717221478, 0.03543582224726083, 0.07900605923199833], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 245}, "mesh_info": {"face_index": 4557, "face_uv": [0.06516815535082418, 0.0077800899833028085, 0.9270517546658251]}}, {"xyz": [0.35494571228173655, 0.02029620061558357, -0.1608792304160791], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1574}, "mesh_info": {"face_index": 1719, "face_uv": [0.04760228813610481, 0.9493162426019418, 0.0030814692619528217]}}, {"xyz": [-0.36095640170940907, 0.01938490986027741, -0.16098891442517815], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1253}, "mesh_info": {"face_index": 1770, "face_uv": [0.04807680804521173, 0.9423578033816996, 0.009565388573089119]}}, {"xyz": [0.3434293300503896, -0.15999659792442367, -0.2563894649313132], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1645}, "mesh_info": {"face_index": 1919, "face_uv": [0.3910072876419863, 0.015549841043078723, 0.5934428713149353]}}, {"xyz": [0.3433905714259943, -0.15597312746619785, 0.1323269677458141], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 460}, "mesh_info": {"face_index": 1925, "face_uv": [0.29224773496922507, 0.11263667300345317, 0.5951155920273209]}}, {"xyz": [-0.35698001067928964, -0.15814736736934493, 0.13244798989959694], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 910}, "mesh_info": {"face_index": 3675, "face_uv": [0.5290266607722165, 0.054017391138349816, 0.4169559480894318]}}, {"xyz": [-0.35661283153968903, -0.15669615007389665, -0.25582566213932223], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 2031}, "mesh_info": {"face_index": 2123, "face_uv": [0.3849309801488658, 0.10189021471423476, 0.5131788051369001]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "fe224defdf08a99a3002761e7a3ba3bd", "keypoints": [{"xyz": [0.16161381948031944, 0.29952952968017893, 0.17558300476909694], "rgb": [88, 83, 82], "semantic_id": 0, "pcd_info": {"point_index": 1096}, "mesh_info": {"face_index": 2053, "face_uv": [0.25150203267773125, 0.24799017754700006, 0.5005077897752688]}}, {"xyz": [-0.16739493935106992, 0.3000420934459651, 0.17816030243206682], "rgb": [64, 59, 57], "semantic_id": 1, "pcd_info": {"point_index": 1967}, "mesh_info": {"face_index": 3441, "face_uv": [0.4884717577629302, 0.3993660277835108, 0.11216221445355985]}}, {"xyz": [0.15994105415759297, -0.08128344434417689, 0.04242260189801783], "rgb": [89, 84, 81], "semantic_id": 2, "pcd_info": {"point_index": 849}, "mesh_info": {"face_index": 19628, "face_uv": [0.1699387756995642, 0.6625254806100654, 0.16753574369037047]}}, {"xyz": [-0.16925904893285237, -0.08210595643119156, -0.0009016580019054476], "rgb": [138, 135, 134], "semantic_id": 3, "pcd_info": {"point_index": 297}, "mesh_info": {"face_index": 20099, "face_uv": [0.09471662392562741, 0.43154074474958437, 0.4737426313247877]}}, {"xyz": [0.18236656259480605, -0.06849714161241738, -0.26066532065091086], "rgb": [79, 75, 73], "semantic_id": 4, "pcd_info": {"point_index": 1486}, "mesh_info": {"face_index": 19301, "face_uv": [0.09133845515070266, 0.599124367699297, 0.3095371771500004]}}, {"xyz": [-0.19157659403497207, -0.07103407326452083, -0.25558840061296073], "rgb": [40, 34, 32], "semantic_id": 5, "pcd_info": {"point_index": 1688}, "mesh_info": {"face_index": 20322, "face_uv": [0.28431113897753285, 0.08316831916256488, 0.6325205418599025]}}, {"xyz": [0.20816533426162845, 0.07301370637136739, -0.1703030010222295], "rgb": [47, 46, 52], "semantic_id": 6, "pcd_info": {"point_index": 1371}, "mesh_info": {"face_index": 9647, "face_uv": [0.3768933513859225, 0.5870757737259672, 0.0360308748881122]}}, {"xyz": [0.19583254853449455, 0.05930964311166642, 0.09442878541645358], "rgb": [47, 46, 52], "semantic_id": 7, "pcd_info": {"point_index": 567}, "mesh_info": {"face_index": 7894, "face_uv": [0.05495220116268295, 0.08310036319214306, 0.8619474356451815]}}, {"xyz": [-0.20569207762993613, 0.07753436457294671, -0.16370592161769126], "rgb": [46, 45, 51], "semantic_id": 8, "pcd_info": {"point_index": 1322}, "mesh_info": {"face_index": 5585, "face_uv": [0.1697271091107304, 0.6277257788529389, 0.2025471120363297]}}, {"xyz": [-0.19882073189350874, 0.06552345826109418, 0.08560531664193868], "rgb": [46, 45, 51], "semantic_id": 9, "pcd_info": {"point_index": 1036}, "mesh_info": {"face_index": 6979, "face_uv": [0.20648752987518207, 0.29995099228175226, 0.4935614778430636]}}, {"xyz": [0.2041650116755725, -0.4333050674899388, -0.21926576644025136], "rgb": [46, 45, 51], "semantic_id": 17, "pcd_info": {"point_index": 1569}, "mesh_info": {"face_index": 10174, "face_uv": [0.1907863283433528, 0.665531605406596, 0.14368206625005064]}}, {"xyz": [0.20117564690049067, -0.44113078615620016, 0.14844271382894114], "rgb": [47, 46, 52], "semantic_id": 18, "pcd_info": {"point_index": 1743}, "mesh_info": {"face_index": 10256, "face_uv": [0.6905192840247949, 0.07783697684192287, 0.2316437391332827]}}, {"xyz": [-0.20752694752293965, -0.4407531540050622, 0.15908173342767506], "rgb": [47, 46, 52], "semantic_id": 19, "pcd_info": {"point_index": 1493}, "mesh_info": {"face_index": 10295, "face_uv": [0.4570738288039946, 0.4901383475492129, 0.05278782364679343]}}, {"xyz": [-0.214498709751119, -0.4391813508559115, -0.2114682973589737], "rgb": [47, 46, 52], "semantic_id": 20, "pcd_info": {"point_index": 1104}, "mesh_info": {"face_index": 10291, "face_uv": [0.323168006165215, 0.11540841392934391, 0.5614235799054413]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d9bbd1a1eaf6d2259d3ea1c6b57a0095", "keypoints": [{"xyz": [0.2010144778685734, 0.2968959111942183, 0.048240985238263256], "rgb": [158, 88, 42], "semantic_id": 0, "pcd_info": {"point_index": 617}, "mesh_info": {"face_index": 40, "face_uv": [0.1237496842453998, 0.061165665273755505, 0.8150846504808448]}}, {"xyz": [-0.19961974915597774, 0.2957494861288804, 0.054016066166827637], "rgb": [157, 89, 44], "semantic_id": 1, "pcd_info": {"point_index": 1685}, "mesh_info": {"face_index": 68, "face_uv": [0.054541992854746105, 0.8864407656574981, 0.05901724148775585]}}, {"xyz": [0.20489700138568878, -0.015945186126115007, 0.04647384275519206], "rgb": [153, 90, 46], "semantic_id": 2, "pcd_info": {"point_index": 554}, "mesh_info": {"face_index": 17, "face_uv": [0.8275058727163186, 0.03781716947670079, 0.13467695780698064]}}, {"xyz": [-0.20016170759139962, -0.013077105749750434, 0.041499000042676926], "rgb": [157, 90, 46], "semantic_id": 3, "pcd_info": {"point_index": 1751}, "mesh_info": {"face_index": 101, "face_uv": [0.01207270772519625, 0.002878425150523545, 0.9850488671242803]}}, {"xyz": [0.20489700138568878, -0.017001865855155562, -0.2812752937853442], "rgb": [149, 81, 36], "semantic_id": 4, "pcd_info": {"point_index": 1866}, "mesh_info": {"face_index": 21, "face_uv": [0.002001386611051406, 0.9888123755854321, 0.009186237803516479]}}, {"xyz": [-0.19568594073394513, -0.01995239413422839, -0.2844359874725342], "rgb": [148, 77, 33], "semantic_id": 5, "pcd_info": {"point_index": 1857}, "mesh_info": {"face_index": 12, "face_uv": [0.022329796723739383, 0.9650642128351999, 0.012605990441060628]}}, {"xyz": [0.2019037766817774, -0.45300000905990606, -0.28345516924159164], "rgb": [149, 81, 36], "semantic_id": 17, "pcd_info": {"point_index": 1709}, "mesh_info": {"face_index": 1, "face_uv": [0.9586136775733405, 0.011784291692821487, 0.029602030733838148]}}, {"xyz": [0.1994929347674349, -0.45300000905990623, 0.14849129209618164], "rgb": [157, 92, 47], "semantic_id": 18, "pcd_info": {"point_index": 1439}, "mesh_info": {"face_index": 59, "face_uv": [0.06757026063968892, 0.03101301630948977, 0.9014167230508218]}}, {"xyz": [-0.1978389167596339, -0.453000009059906, 0.14742819808263335], "rgb": [161, 97, 51], "semantic_id": 19, "pcd_info": {"point_index": 1513}, "mesh_info": {"face_index": 69, "face_uv": [0.9438047091644441, 0.04121183282735723, 0.014983458008198516]}}, {"xyz": [-0.1945434329692351, -0.45300000905990623, -0.27823820138688915], "rgb": [149, 81, 36], "semantic_id": 20, "pcd_info": {"point_index": 967}, "mesh_info": {"face_index": 99, "face_uv": [0.8199790670252833, 0.07446488735508436, 0.10555604561963283]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7fd10f44a20506ec1b17743c18fb63dc", "keypoints": [{"xyz": [0.19677042755887006, 0.3939118517382434, 0.24972319374837149], "rgb": [206, 172, 113], "semantic_id": 0, "pcd_info": {"point_index": 847}, "mesh_info": {"face_index": 1254, "face_uv": [0.8017134742960758, 0.005478019345063733, 0.1928085063588602]}}, {"xyz": [-0.19640000164508814, 0.38913567209033406, 0.2621064533815345], "rgb": [208, 174, 120], "semantic_id": 1, "pcd_info": {"point_index": 1628}, "mesh_info": {"face_index": 2320, "face_uv": [0.47680307741143235, 0.08749117233666265, 0.4357057502519048]}}, {"xyz": [0.15626400709152244, -0.02414144194863388, 0.0693952324905065], "rgb": [208, 179, 130], "semantic_id": 2, "pcd_info": {"point_index": 1983}, "mesh_info": {"face_index": 419, "face_uv": [0.155562164147444, 0.15755677299007834, 0.6868810628624791]}}, {"xyz": [-0.1752679944038391, -0.01601925039837604, 0.0719341786473715], "rgb": [204, 167, 106], "semantic_id": 3, "pcd_info": {"point_index": 513}, "mesh_info": {"face_index": 3197, "face_uv": [0.389931158625772, 0.029927220607430197, 0.5801416207667978]}}, {"xyz": [0.15626400709152222, -0.03499247429201069, -0.21059923667448682], "rgb": [208, 189, 146], "semantic_id": 4, "pcd_info": {"point_index": 1406}, "mesh_info": {"face_index": 1074, "face_uv": [0.6745522383464773, 0.00017768840832400385, 0.32527007324519874]}}, {"xyz": [-0.17073078117095838, -0.025151927603124458, -0.21887203867867178], "rgb": [205, 187, 146], "semantic_id": 5, "pcd_info": {"point_index": 1660}, "mesh_info": {"face_index": 3235, "face_uv": [0.28928974017637843, 0.5246292022128257, 0.1860810576107975]}}, {"xyz": [0.1725199967622757, -0.34714982523855586, -0.20618511186027536], "rgb": [182, 151, 104], "semantic_id": 17, "pcd_info": {"point_index": 600}, "mesh_info": {"face_index": 2017, "face_uv": [0.11755418980871701, 0.07290662227997194, 0.8095391879113111]}}, {"xyz": [0.1318800002336502, -0.34430631825711333, 0.19628146182260098], "rgb": [195, 168, 120], "semantic_id": 18, "pcd_info": {"point_index": 1957}, "mesh_info": {"face_index": 1016, "face_uv": [0.7111600199644765, 0.0888439197617059, 0.19999606027381747]}}, {"xyz": [-0.1512099951505662, -0.335737707036025, 0.1834899374107427], "rgb": [184, 156, 107], "semantic_id": 19, "pcd_info": {"point_index": 890}, "mesh_info": {"face_index": 3416, "face_uv": [0.08158823724903067, 0.01815998729088098, 0.9002517754600892]}}, {"xyz": [-0.19640000164508842, -0.34799009615084, -0.21687812506746884], "rgb": [182, 153, 106], "semantic_id": 20, "pcd_info": {"point_index": 1239}, "mesh_info": {"face_index": 2814, "face_uv": [0.5166851377924055, 0.07247480478107797, 0.41084005742651764]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "da5aa9fe015114731a1272c8e47f5670", "keypoints": [{"xyz": [0.1927815184072158, 0.21042806011945236, 0.07456712160875578], "rgb": [157, 206, 56], "semantic_id": 0, "pcd_info": {"point_index": 1017}, "mesh_info": {"face_index": 5253, "face_uv": [0.037530871892777255, 0.32222609744337, 0.6402430306638633]}}, {"xyz": [-0.22015490525036863, 0.21580143472379187, 0.07703940969245981], "rgb": [154, 205, 49], "semantic_id": 1, "pcd_info": {"point_index": 1285}, "mesh_info": {"face_index": 5003, "face_uv": [0.22170643798222456, 0.5542709685458699, 0.2240225934719109]}}, {"xyz": [0.16785657518127184, -0.11746469390076641, -0.04361640947601586], "rgb": [154, 205, 49], "semantic_id": 2, "pcd_info": {"point_index": 1320}, "mesh_info": {"face_index": 5071, "face_uv": [0.3189740691221943, 0.6429723290979689, 0.0380536017798387]}}, {"xyz": [-0.20609795109802098, -0.11746079776662088, -0.04676089255702698], "rgb": [153, 204, 48], "semantic_id": 3, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 4927, "face_uv": [0.8094431749487389, 0.04615376400543494, 0.1444030610458258]}}, {"xyz": [0.16506419571162992, -0.1170293041906072, -0.3950097461007648], "rgb": [153, 204, 48], "semantic_id": 4, "pcd_info": {"point_index": 1284}, "mesh_info": {"face_index": 4101, "face_uv": [0.05676008990690118, 0.9407123489755044, 0.0025275611175924013]}}, {"xyz": [-0.2095698914098643, -0.1170239658574932, -0.39931819584419137], "rgb": [154, 205, 48], "semantic_id": 5, "pcd_info": {"point_index": 1348}, "mesh_info": {"face_index": 4877, "face_uv": [0.898681187100432, 0.05565725364570964, 0.04566155925385823]}}, {"xyz": [0.20210419070110525, -0.10892898751540048, -0.39887745567072475], "rgb": [158, 207, 57], "semantic_id": 6, "pcd_info": {"point_index": 1813}, "mesh_info": {"face_index": 5076, "face_uv": [0.4729262652968007, 0.4857465614299621, 0.04132717327324054]}}, {"xyz": [0.20867156081638308, 0.06978536037877126, 0.0032801553305989994], "rgb": [197, 226, 137], "semantic_id": 7, "pcd_info": {"point_index": 492}, "mesh_info": {"face_index": 5101, "face_uv": [0.4302920774885133, 0.04380292066770496, 0.5259050018437784]}}, {"xyz": [-0.2409778516557799, -0.11113130258949266, -0.4038332847874422], "rgb": [157, 206, 55], "semantic_id": 8, "pcd_info": {"point_index": 965}, "mesh_info": {"face_index": 4886, "face_uv": [0.35384156654271287, 0.6161052950261783, 0.03005313843111178]}}, {"xyz": [-0.24677277700892938, 0.07048634348341387, 0.00485756472182608], "rgb": [207, 231, 158], "semantic_id": 9, "pcd_info": {"point_index": 1129}, "mesh_info": {"face_index": 6328, "face_uv": [0.04021446593729384, 0.42726443191608465, 0.5325211021466209]}}, {"xyz": [0.2017033254199111, -0.43642440362786594, -0.39592101069541175], "rgb": [154, 205, 49], "semantic_id": 17, "pcd_info": {"point_index": 324}, "mesh_info": {"face_index": 4273, "face_uv": [0.5720379346854897, 0.37636880765891445, 0.05159325765559635]}}, {"xyz": [0.18833166330869355, -0.4432128837368632, -0.028421001618189612], "rgb": [154, 205, 49], "semantic_id": 18, "pcd_info": {"point_index": 176}, "mesh_info": {"face_index": 4110, "face_uv": [0.43880612753535625, 0.20572751034884798, 0.35546636211579663]}}, {"xyz": [-0.24031132901949914, -0.44308572844413874, -0.03530473163921122], "rgb": [154, 205, 49], "semantic_id": 19, "pcd_info": {"point_index": 717}, "mesh_info": {"face_index": 4822, "face_uv": [0.00649667459938494, 0.39713511569213855, 0.5963682097084775]}}, {"xyz": [-0.24159028135218857, -0.43636034477155894, -0.39939108091992914], "rgb": [153, 204, 48], "semantic_id": 20, "pcd_info": {"point_index": 823}, "mesh_info": {"face_index": 4137, "face_uv": [0.5013508798850643, 0.3564779630430418, 0.1421711570718935]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "6dff84a93b82c888486150a9b7f2cf18", "keypoints": [{"xyz": [0.20829667172846583, 0.4828689992427826, 0.14207256534512547], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 457}, "mesh_info": {"face_index": 354, "face_uv": [0.7603012993898258, 0.23661812528841186, 0.003080575321762356]}}, {"xyz": [-0.20951811181109087, 0.4794894830439881, 0.1346119940280912], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 749}, "mesh_info": {"face_index": 329, "face_uv": [0.9532298651453595, 0.026165231347127733, 0.020604903507511055]}}, {"xyz": [0.17439597838580512, 0.2506519854068756, 0.1260662898026561], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1545}, "mesh_info": {"face_index": 203, "face_uv": [0.006857200697584045, 0.9753611072356646, 0.01778169206675138]}}, {"xyz": [-0.19212859630204793, 0.2506519854068756, 0.1262490878675131], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 425}, "mesh_info": {"face_index": 180, "face_uv": [0.9623684880014232, 0.024111851130465798, 0.013519660868111112]}}, {"xyz": [0.17445833150874085, 0.2506519854068755, -0.20996115962987183], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 228}, "mesh_info": {"face_index": 203, "face_uv": [0.9758531269067822, 0.006529975940639533, 0.017616897152577752]}}, {"xyz": [-0.19071620577489823, 0.24686127938959324, -0.212226003408432], "rgb": [245, 240, 236], "semantic_id": 5, "pcd_info": {"point_index": 93}, "mesh_info": {"face_index": 389, "face_uv": [0.0809074696657923, 0.9098330908663119, 0.009259439467895788]}}, {"xyz": [0.15845206704506545, -0.3309828878171725, -0.212226003408432], "rgb": [148, 80, 37], "semantic_id": 17, "pcd_info": {"point_index": 1405}, "mesh_info": {"face_index": 130, "face_uv": [0.04125236582705718, 0.4433193644994716, 0.5154282696734712]}}, {"xyz": [0.16161414259656112, -0.33669887964853196, 0.12410199642181419], "rgb": [153, 84, 39], "semantic_id": 18, "pcd_info": {"point_index": 986}, "mesh_info": {"face_index": 76, "face_uv": [0.007261587400161869, 0.5359326032703833, 0.45680580932945664]}}, {"xyz": [-0.17141640128115976, -0.3316706493011262, 0.12410199642181396], "rgb": [156, 88, 40], "semantic_id": 19, "pcd_info": {"point_index": 444}, "mesh_info": {"face_index": 3, "face_uv": [0.03716251599848136, 0.6143431378506065, 0.34849434615091224]}}, {"xyz": [-0.1695006858694782, -0.33461034430619674, -0.21222600340843223], "rgb": [154, 86, 38], "semantic_id": 20, "pcd_info": {"point_index": 884}, "mesh_info": {"face_index": 279, "face_uv": [0.33403330783095225, 0.6599109227010012, 0.006055769468047625]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "77a4269a0d64d48336b0f2a1430e993a", "keypoints": [{"xyz": [0.14088343083686605, 0.28003917792091104, 0.10250300168991111], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1522}, "mesh_info": {"face_index": 73, "face_uv": [0.13712175791220024, 0.2999832873890713, 0.5628949546987306]}}, {"xyz": [-0.13106869650603947, 0.28715959543871794, 0.10250300168991089], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1233}, "mesh_info": {"face_index": 458, "face_uv": [0.44072240705517635, 0.29932472745404, 0.25995286549078367]}}, {"xyz": [0.16743379240675071, -0.08774399757385254, 0.08281612911178327], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1303}, "mesh_info": {"face_index": 102, "face_uv": [0.9026978593114139, 0.05561404802820619, 0.04168809266037994]}}, {"xyz": [-0.16470579867397891, -0.08774399757385254, 0.08059348926857846], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 903}, "mesh_info": {"face_index": 517, "face_uv": [0.004199123221529361, 0.05550941881464366, 0.940291457963827]}}, {"xyz": [0.16044929362172278, -0.08774399757385232, -0.25297412143509934], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 1592}, "mesh_info": {"face_index": 366, "face_uv": [0.028748749974359767, 0.19294909238348742, 0.7783021576421504]}}, {"xyz": [-0.16258755584960866, -0.08774399757385254, -0.2499145651023964], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1342}, "mesh_info": {"face_index": 517, "face_uv": [0.9459379103260307, 0.014482326165229624, 0.039579763508739686]}}, {"xyz": [0.16729614596363487, -0.4721589982509613, -0.24493258453373898], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 643}, "mesh_info": {"face_index": 289, "face_uv": [0.5566151713737133, 0.4046637175260734, 0.03872111110021339]}}, {"xyz": [0.16683081909192726, -0.4721589982509613, 0.1254161512846046], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 868}, "mesh_info": {"face_index": 90, "face_uv": [0.45592405192584756, 0.34434560366751266, 0.19973034440663975]}}, {"xyz": [-0.16767618372379864, -0.4721589982509613, 0.12395715641880023], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1140}, "mesh_info": {"face_index": 442, "face_uv": [0.5278045522420892, 0.386094399224309, 0.08610104853360181]}}, {"xyz": [-0.17026738245156975, -0.4721589982509611, -0.24399827698279436], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1232}, "mesh_info": {"face_index": 696, "face_uv": [0.38099126445823045, 0.584894430050702, 0.03411430549106714]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "828d2c47bf56b15c49560f24b21df85", "keypoints": [{"xyz": [0.17033930471360104, 0.4234200119972229, 0.050863238603405914], "rgb": [169, 89, 40], "semantic_id": 0, "pcd_info": {"point_index": 899}, "mesh_info": {"face_index": 9298, "face_uv": [0.01812345294574215, 0.033671012662380276, 0.9482055343918776]}}, {"xyz": [-0.16376362402593264, 0.42139351685429705, 0.04935628838353279], "rgb": [165, 87, 39], "semantic_id": 1, "pcd_info": {"point_index": 1449}, "mesh_info": {"face_index": 9434, "face_uv": [0.008107147556817209, 0.793784223098157, 0.19810862934502488]}}, {"xyz": [0.14424419842649538, -0.038357000797986984, 0.08254962988355063], "rgb": [167, 90, 40], "semantic_id": 2, "pcd_info": {"point_index": 1149}, "mesh_info": {"face_index": 8, "face_uv": [0.016812851824583964, 0.48005926034515395, 0.5031278878302622]}}, {"xyz": [-0.14120928824516676, -0.03190837834115823, 0.08712965637053038], "rgb": [168, 90, 49], "semantic_id": 3, "pcd_info": {"point_index": 1648}, "mesh_info": {"face_index": 2863, "face_uv": [0.6218836788130643, 0.356978494631853, 0.02113782655508392]}}, {"xyz": [0.15255735408533955, -0.02950750508764144, -0.2633482347081335], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 556}, "mesh_info": {"face_index": 8341, "face_uv": [0.14608792232094814, 0.15171950528509653, 0.7021925723939543]}}, {"xyz": [-0.1551900153336302, -0.031119856526194756, -0.2657470585254913], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 478}, "mesh_info": {"face_index": 8303, "face_uv": [0.2546380104770459, 0.7177444888516223, 0.02761750067133016]}}, {"xyz": [0.15823720584045212, 0.11877948532828908, -0.25722561567876134], "rgb": [168, 93, 47], "semantic_id": 6, "pcd_info": {"point_index": 309}, "mesh_info": {"face_index": 8973, "face_uv": [0.01822328529703318, 0.5868010693626344, 0.3949756453403326]}}, {"xyz": [0.16414813505016634, 0.11619838552597184, 0.06422707104469988], "rgb": [167, 92, 42], "semantic_id": 7, "pcd_info": {"point_index": 1661}, "mesh_info": {"face_index": 8839, "face_uv": [0.25913208847510255, 0.01696911317973736, 0.7238987983451605]}}, {"xyz": [-0.17381783712736865, 0.1218190128633796, -0.2544031513911479], "rgb": [165, 88, 42], "semantic_id": 8, "pcd_info": {"point_index": 1306}, "mesh_info": {"face_index": 10774, "face_uv": [0.6661723969816185, 0.018921939810236637, 0.3149056632081451]}}, {"xyz": [-0.15784344771544756, 0.11752409305781408, 0.0606479723898965], "rgb": [167, 93, 44], "semantic_id": 9, "pcd_info": {"point_index": 179}, "mesh_info": {"face_index": 10926, "face_uv": [0.5781422828852938, 0.05605437242854286, 0.365803344686162]}}, {"xyz": [0.15199165732502376, -0.4214619994163511, -0.24838702140829072], "rgb": [165, 88, 44], "semantic_id": 17, "pcd_info": {"point_index": 880}, "mesh_info": {"face_index": 5804, "face_uv": [0.7391664609026947, 0.11261034759951621, 0.14822319149778854]}}, {"xyz": [0.14688765078938987, -0.4214619994163513, 0.05729712199697368], "rgb": [162, 85, 40], "semantic_id": 18, "pcd_info": {"point_index": 1644}, "mesh_info": {"face_index": 8125, "face_uv": [0.19677668278228264, 0.36704258670082857, 0.43618073051688877]}}, {"xyz": [-0.1577539930232088, -0.4214619994163513, 0.057314514805229866], "rgb": [161, 84, 40], "semantic_id": 19, "pcd_info": {"point_index": 1541}, "mesh_info": {"face_index": 7352, "face_uv": [0.0792911540354055, 0.6335549400553867, 0.2871539059092077]}}, {"xyz": [-0.1570561106330477, -0.4214619994163513, -0.24657097196595706], "rgb": [164, 86, 41], "semantic_id": 20, "pcd_info": {"point_index": 1052}, "mesh_info": {"face_index": 6578, "face_uv": [0.10326677322820843, 0.174998247217659, 0.7217349795541326]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "2b110b833111b38c420adf24e49f74c8", "keypoints": [{"xyz": [0.16391191130970592, 0.382759004831314, 0.10253674025863091], "rgb": [156, 92, 50], "semantic_id": 0, "pcd_info": {"point_index": 308}, "mesh_info": {"face_index": 239, "face_uv": [0.3980477484745701, 0.4639021063417167, 0.1380501451837129]}}, {"xyz": [-0.19413164842331948, 0.3827590048313142, 0.09669900035994235], "rgb": [153, 85, 41], "semantic_id": 1, "pcd_info": {"point_index": 1874}, "mesh_info": {"face_index": 41, "face_uv": [0.4967563820021568, 0.4615271805694722, 0.04171643742837129]}}, {"xyz": [0.14971477331338412, -0.11044900119304657, 0.06015362169114437], "rgb": [152, 90, 47], "semantic_id": 2, "pcd_info": {"point_index": 68}, "mesh_info": {"face_index": 316, "face_uv": [0.02311233179903706, 0.0930528208739795, 0.883834847326983]}}, {"xyz": [-0.1944661733157872, -0.11044900119304657, 0.06617236312495306], "rgb": [143, 75, 34], "semantic_id": 3, "pcd_info": {"point_index": 402}, "mesh_info": {"face_index": 316, "face_uv": [0.0076187603516785045, 0.9431341901911802, 0.04924704945714139]}}, {"xyz": [0.18244309411472065, -0.11044900119304679, -0.31639722264678644], "rgb": [49, 47, 43], "semantic_id": 4, "pcd_info": {"point_index": 95}, "mesh_info": {"face_index": 315, "face_uv": [0.20549326545220903, 0.0075625236547398195, 0.7869442108930531]}}, {"xyz": [-0.20814702451058792, -0.11044900119304679, -0.31382767936086164], "rgb": [63, 55, 52], "semantic_id": 5, "pcd_info": {"point_index": 251}, "mesh_info": {"face_index": 314, "face_uv": [0.01417709630674401, 0.02361084865618408, 0.9622120550370739]}}, {"xyz": [0.1612883284902351, -0.40355798602104176, -0.29059093539533015], "rgb": [149, 79, 35], "semantic_id": 17, "pcd_info": {"point_index": 368}, "mesh_info": {"face_index": 193, "face_uv": [0.4820422390688179, 0.48425868172540093, 0.03369907920578096]}}, {"xyz": [0.15970212622007884, -0.4090290069580079, 0.09899582704724436], "rgb": [149, 81, 37], "semantic_id": 18, "pcd_info": {"point_index": 1495}, "mesh_info": {"face_index": 211, "face_uv": [0.461854881139377, 0.45291700840721655, 0.0852281104534066]}}, {"xyz": [-0.19094750023603602, -0.40355798602104187, 0.08905424789128837], "rgb": [151, 83, 40], "semantic_id": 19, "pcd_info": {"point_index": 1599}, "mesh_info": {"face_index": 35, "face_uv": [0.35899820894430995, 0.47555867189451473, 0.16544311916117535]}}, {"xyz": [-0.19326154206947743, -0.40355798602104176, -0.2854544808934558], "rgb": [146, 80, 39], "semantic_id": 20, "pcd_info": {"point_index": 992}, "mesh_info": {"face_index": 1, "face_uv": [0.3894852104043414, 0.4787192194752801, 0.13179557012037818]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "f3a24b3131da1ce619fb4103277a6b93", "keypoints": [{"xyz": [0.303353299538494, 0.22532146683921672, 0.1259445722813184], "rgb": [223, 200, 165], "semantic_id": 0, "pcd_info": {"point_index": 714}, "mesh_info": {"face_index": 26157, "face_uv": [0.22199061553655755, 0.6370423764825617, 0.14096700798088116]}}, {"xyz": [-0.31289099408313514, 0.23029988679771263, 0.13882891015687648], "rgb": [223, 200, 165], "semantic_id": 1, "pcd_info": {"point_index": 1941}, "mesh_info": {"face_index": 31407, "face_uv": [0.21830933896668966, 0.5612054727704507, 0.2204851882628617]}}, {"xyz": [0.31218995191111043, -0.04753199964761756, 0.040443217366666895], "rgb": [223, 200, 165], "semantic_id": 2, "pcd_info": {"point_index": 1479}, "mesh_info": {"face_index": 42986, "face_uv": [0.9435921776446181, 0.021204752803852898, 0.035203069551533635]}}, {"xyz": [-0.31660199165344244, -0.036837763671886625, 0.03737672665799563], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 1722}, "mesh_info": {"face_index": 10547, "face_uv": [0.021510029919159325, 0.03914401935712938, 0.9393459507237115]}}, {"xyz": [0.3183022917479324, -0.017214041661150148, -0.2666274951301162], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 1981}, "mesh_info": {"face_index": 7188, "face_uv": [0.0407846359228942, 0.21289892606873578, 0.7463164380083699]}}, {"xyz": [-0.3072843922120549, -0.017574420219810483, -0.25363417317848147], "rgb": [223, 200, 165], "semantic_id": 5, "pcd_info": {"point_index": 379}, "mesh_info": {"face_index": 38545, "face_uv": [0.9549757800906269, 0.036074220954315436, 0.008949998955059157]}}, {"xyz": [0.33503482048588545, 0.07643503542695096, -0.26558507204177695], "rgb": [222, 199, 164], "semantic_id": 6, "pcd_info": {"point_index": 884}, "mesh_info": {"face_index": 3040, "face_uv": [0.3771465045967661, 0.2501591483857793, 0.3726943470174543]}}, {"xyz": [0.3425640300313192, 0.08093283179098254, 0.11480983824117486], "rgb": [223, 200, 165], "semantic_id": 7, "pcd_info": {"point_index": 1416}, "mesh_info": {"face_index": 896, "face_uv": [0.4187660472415794, 0.3553326945598951, 0.22590125819852566]}}, {"xyz": [-0.3475787922751798, 0.07965036880638476, -0.26163666592215584], "rgb": [222, 199, 164], "semantic_id": 8, "pcd_info": {"point_index": 1694}, "mesh_info": {"face_index": 11291, "face_uv": [0.30750028420985615, 0.17647555891955277, 0.5160241568705906]}}, {"xyz": [-0.33950528370254657, 0.08037281064280055, 0.11629032051436489], "rgb": [223, 200, 165], "semantic_id": 9, "pcd_info": {"point_index": 862}, "mesh_info": {"face_index": 13201, "face_uv": [0.08022617959907404, 0.5775588141337069, 0.3422150062672231]}}, {"xyz": [0.33307684667202847, -0.2766565770646483, -0.26209418810760576], "rgb": [167, 77, 20], "semantic_id": 17, "pcd_info": {"point_index": 271}, "mesh_info": {"face_index": 7993, "face_uv": [0.2252285082464443, 0.5904261913557114, 0.1843453003978444]}}, {"xyz": [0.32977999055277935, -0.2704358860095383, 0.11568952940503818], "rgb": [165, 74, 18], "semantic_id": 18, "pcd_info": {"point_index": 1407}, "mesh_info": {"face_index": 8082, "face_uv": [0.02189603258293408, 0.5310505448942217, 0.4470534225228452]}}, {"xyz": [-0.32792290663205426, -0.2732007090709605, 0.11608837542034811], "rgb": [166, 75, 19], "semantic_id": 19, "pcd_info": {"point_index": 1688}, "mesh_info": {"face_index": 8213, "face_uv": [0.274010428861801, 0.15750096740439218, 0.5684886037338008]}}, {"xyz": [-0.33427664599980744, -0.2776043617110726, -0.26223091228936246], "rgb": [169, 77, 19], "semantic_id": 20, "pcd_info": {"point_index": 1862}, "mesh_info": {"face_index": 8119, "face_uv": [0.13381206721434588, 0.707784895894834, 0.15840303689082075]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a1ca000d08da97ae43b5d2063387bd6e", "keypoints": [{"xyz": [0.15373678416889855, 0.3825454523470029, 0.18234088067204463], "rgb": [146, 82, 37], "semantic_id": 0, "pcd_info": {"point_index": 345}, "mesh_info": {"face_index": 20508, "face_uv": [0.7687337184073797, 0.07245688415829091, 0.15880939743432973]}}, {"xyz": [-0.16251178533111088, 0.382724963986812, 0.18994999886774558], "rgb": [150, 82, 40], "semantic_id": 1, "pcd_info": {"point_index": 1458}, "mesh_info": {"face_index": 22354, "face_uv": [0.07689479044933818, 0.17922083370234568, 0.7438843758483167]}}, {"xyz": [0.1553307022633973, 0.011176388591337516, 0.09379068874495045], "rgb": [153, 90, 46], "semantic_id": 2, "pcd_info": {"point_index": 106}, "mesh_info": {"face_index": 16959, "face_uv": [0.10889765467601314, 0.07658343670050516, 0.8145189086234657]}}, {"xyz": [-0.16357459578045275, 0.004184087493933175, 0.09336529131561233], "rgb": [155, 86, 43], "semantic_id": 3, "pcd_info": {"point_index": 1632}, "mesh_info": {"face_index": 17840, "face_uv": [0.1383916658933936, 0.10756088375681735, 0.7540474503498087]}}, {"xyz": [0.15088689459339516, -0.021204591011213497, -0.2274627333919963], "rgb": [151, 83, 38], "semantic_id": 4, "pcd_info": {"point_index": 1635}, "mesh_info": {"face_index": 7174, "face_uv": [0.14671346609384417, 0.762383320355958, 0.09090321355019865]}}, {"xyz": [-0.16107739056961312, -0.018098266484393846, -0.22124229232856285], "rgb": [158, 88, 45], "semantic_id": 5, "pcd_info": {"point_index": 1806}, "mesh_info": {"face_index": 8846, "face_uv": [0.41499873367843143, 0.11320240941526935, 0.47179885690629886]}}, {"xyz": [0.189314423915231, -0.4058877754918492, -0.24186923396947213], "rgb": [0, 0, 0], "semantic_id": 17, "pcd_info": {"point_index": 430}, "mesh_info": {"face_index": 3990, "face_uv": [0.35514260605514414, 0.25469620044543945, 0.3901611934994164]}}, {"xyz": [0.15644434341914454, -0.4079340100288389, 0.11014096121105676], "rgb": [0, 0, 0], "semantic_id": 18, "pcd_info": {"point_index": 401}, "mesh_info": {"face_index": 450, "face_uv": [0.3654551384604133, 0.41945308257109376, 0.21509177896849246]}}, {"xyz": [-0.19634338691736086, -0.4080759882926941, 0.14152369685504404], "rgb": [0, 0, 0], "semantic_id": 19, "pcd_info": {"point_index": 470}, "mesh_info": {"face_index": 3491, "face_uv": [0.1048226821429775, 0.277141502225636, 0.6180358156313864]}}, {"xyz": [-0.15965684355371854, -0.4080759882926941, -0.21208848103114608], "rgb": [0, 0, 0], "semantic_id": 20, "pcd_info": {"point_index": 735}, "mesh_info": {"face_index": 78, "face_uv": [0.6834058590774866, 0.15731941820054512, 0.15927472272196833]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "7aabc57856fc6659597976c675750537", "keypoints": [{"xyz": [0.20817095739816988, 0.3011082791516536, 0.2617412675444397], "rgb": [147, 110, 68], "semantic_id": 0, "pcd_info": {"point_index": 914}, "mesh_info": {"face_index": 35593, "face_uv": [0.09428175474817625, 0.12708612127449048, 0.7786321239773314]}}, {"xyz": [-0.20101406180907738, 0.3084318288180742, 0.2691893479600729], "rgb": [170, 133, 89], "semantic_id": 1, "pcd_info": {"point_index": 251}, "mesh_info": {"face_index": 16985, "face_uv": [0.18528687774975425, 0.06317849719133688, 0.7515346250589094]}}, {"xyz": [0.21437721268028226, -0.05080076066134587, 0.08742222186886806], "rgb": [168, 132, 87], "semantic_id": 2, "pcd_info": {"point_index": 732}, "mesh_info": {"face_index": 32637, "face_uv": [0.3884499583863389, 0.038170603063010275, 0.5733794385506494]}}, {"xyz": [-0.19989650871581874, -0.053872865170009054, 0.08434814073552221], "rgb": [150, 109, 69], "semantic_id": 3, "pcd_info": {"point_index": 1334}, "mesh_info": {"face_index": 12789, "face_uv": [0.16464511248619124, 0.204759130611795, 0.6305957569020122]}}, {"xyz": [0.23467432127299515, 0.03633418214863471, -0.26176580508210545], "rgb": [117, 79, 35], "semantic_id": 4, "pcd_info": {"point_index": 1810}, "mesh_info": {"face_index": 34207, "face_uv": [0.005189679081850173, 0.7981823418110082, 0.19662797910714105]}}, {"xyz": [-0.22107801922702117, 0.03787701542121358, -0.25698365708181503], "rgb": [170, 132, 87], "semantic_id": 5, "pcd_info": {"point_index": 1324}, "mesh_info": {"face_index": 14845, "face_uv": [0.3706030166010453, 0.3067977468062218, 0.32259923659273626]}}, {"xyz": [0.2665898689272757, 0.16188238022867318, -0.15763545044820937], "rgb": [169, 135, 90], "semantic_id": 6, "pcd_info": {"point_index": 28}, "mesh_info": {"face_index": 44172, "face_uv": [0.8842345838653441, 0.0747958172025667, 0.04096959893209031]}}, {"xyz": [0.2399289951885682, 0.10543267163471448, 0.13943981297513242], "rgb": [144, 109, 69], "semantic_id": 7, "pcd_info": {"point_index": 1152}, "mesh_info": {"face_index": 42868, "face_uv": [0.11990895605770442, 0.4359631699435536, 0.4441278739987437]}}, {"xyz": [-0.2489124674929481, 0.1680414633687064, -0.15022987391179657], "rgb": [146, 110, 69], "semantic_id": 8, "pcd_info": {"point_index": 1364}, "mesh_info": {"face_index": 24550, "face_uv": [0.10342786837502947, 0.07548764311738752, 0.8210844885075826]}}, {"xyz": [-0.2136844178310926, 0.10352101309701878, 0.14828584176992404], "rgb": [144, 106, 63], "semantic_id": 9, "pcd_info": {"point_index": 560}, "mesh_info": {"face_index": 24960, "face_uv": [0.06879801722132804, 0.21477234970138803, 0.7164296330772824]}}, {"xyz": [0.2504908596287152, -0.2538626924320169, -0.20665516009724572], "rgb": [153, 118, 76], "semantic_id": 17, "pcd_info": {"point_index": 954}, "mesh_info": {"face_index": 17972, "face_uv": [0.3175975484510424, 0.11947295479629161, 0.562929496752666]}}, {"xyz": [0.2074919562436911, -0.24735746527791308, 0.24780493955187333], "rgb": [134, 97, 54], "semantic_id": 18, "pcd_info": {"point_index": 467}, "mesh_info": {"face_index": 27957, "face_uv": [0.09925120806502115, 0.27240105412797366, 0.6283477378070065]}}, {"xyz": [-0.19418897074098562, -0.2541372042770614, 0.2649388093247832], "rgb": [163, 126, 84], "semantic_id": 19, "pcd_info": {"point_index": 501}, "mesh_info": {"face_index": 7568, "face_uv": [0.36810944704482274, 0.2580194227542743, 0.37387113020090285]}}, {"xyz": [-0.23910284782042734, -0.25278391762274105, -0.20005108511039316], "rgb": [172, 133, 90], "semantic_id": 20, "pcd_info": {"point_index": 1854}, "mesh_info": {"face_index": 36748, "face_uv": [0.22898382187426314, 0.4774111393200902, 0.2936050388056468]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8d0c04c99429ba8919fb4103277a6b93", "keypoints": [{"xyz": [0.18161229146729277, 0.14025846033135037, 0.2083535574472264], "rgb": [157, 70, 18], "semantic_id": 0, "pcd_info": {"point_index": 1339}, "mesh_info": {"face_index": 91119, "face_uv": [0.060170738896906245, 0.8359848645026254, 0.10384439660046904]}}, {"xyz": [-0.17000106781598726, 0.1404247991545866, 0.21545389810843485], "rgb": [159, 74, 20], "semantic_id": 1, "pcd_info": {"point_index": 523}, "mesh_info": {"face_index": 92699, "face_uv": [0.1777171585747474, 0.2017298365142861, 0.6205530049109647]}}, {"xyz": [0.1960459873346212, -0.16048869685998568, 0.1421329565776559], "rgb": [222, 199, 164], "semantic_id": 2, "pcd_info": {"point_index": 1447}, "mesh_info": {"face_index": 1440, "face_uv": [0.03267950621467477, 0.330572660714987, 0.6367478330703354]}}, {"xyz": [-0.1850226314096088, -0.15872913201973726, 0.12875351029966997], "rgb": [223, 200, 165], "semantic_id": 3, "pcd_info": {"point_index": 237}, "mesh_info": {"face_index": 2561, "face_uv": [0.34293673522992774, 0.24507823618094088, 0.41198502858913155]}}, {"xyz": [0.17841721225105645, -0.15913429708327897, -0.19571909453152148], "rgb": [222, 199, 164], "semantic_id": 4, "pcd_info": {"point_index": 31}, "mesh_info": {"face_index": 361, "face_uv": [0.3953304866611853, 0.20456115536556016, 0.40010835797325317]}}, {"xyz": [-0.16755794718249106, -0.16186162897895295, -0.20649513583616952], "rgb": [222, 199, 164], "semantic_id": 5, "pcd_info": {"point_index": 768}, "mesh_info": {"face_index": 2506, "face_uv": [0.3092801273718683, 0.244346286490262, 0.44637358613786365]}}, {"xyz": [0.25233606598355335, 0.04957442554884817, -0.1604858851551465], "rgb": [173, 78, 19], "semantic_id": 6, "pcd_info": {"point_index": 208}, "mesh_info": {"face_index": 13534, "face_uv": [0.1287103826595103, 0.824885370312424, 0.04640424702806548]}}, {"xyz": [0.25027541650069474, 0.05412499979138352, 0.1504337857867939], "rgb": [28, 28, 28], "semantic_id": 7, "pcd_info": {"point_index": 1769}, "mesh_info": {"face_index": 33638, "face_uv": [0.18344590001122268, 0.23863276894703594, 0.5779213310417373]}}, {"xyz": [-0.2374193190302552, 0.045232031075882695, -0.16513480598761543], "rgb": [170, 79, 20], "semantic_id": 8, "pcd_info": {"point_index": 58}, "mesh_info": {"face_index": 50780, "face_uv": [0.33001641692881145, 0.14556712816320364, 0.5244164549079854]}}, {"xyz": [-0.2350511569284668, 0.05412499979138374, 0.14967246024012848], "rgb": [28, 28, 28], "semantic_id": 9, "pcd_info": {"point_index": 1041}, "mesh_info": {"face_index": 60420, "face_uv": [0.19641213842322178, 0.7479366870813714, 0.0556511744954068]}}, {"xyz": [0.20533872944735881, -0.5034700036048891, -0.23160767412784455], "rgb": [29, 29, 29], "semantic_id": 17, "pcd_info": {"point_index": 911}, "mesh_info": {"face_index": 26848, "face_uv": [0.23692542566836128, 0.4480284904255544, 0.31504608390608474]}}, {"xyz": [0.2081972507253645, -0.5034700036048887, 0.1891768354264864], "rgb": [28, 28, 28], "semantic_id": 18, "pcd_info": {"point_index": 1019}, "mesh_info": {"face_index": 30749, "face_uv": [0.18812778160931853, 0.1512642500318838, 0.6606079683587972]}}, {"xyz": [-0.2104573006301858, -0.5034700036048887, 0.1846348775771044], "rgb": [28, 28, 28], "semantic_id": 19, "pcd_info": {"point_index": 547}, "mesh_info": {"face_index": 89645, "face_uv": [0.0707888810342762, 0.3670095169337057, 0.5622016020320176]}}, {"xyz": [-0.20909220463265288, -0.5034700036048887, -0.22676674309794204], "rgb": [28, 28, 28], "semantic_id": 20, "pcd_info": {"point_index": 1057}, "mesh_info": {"face_index": 85838, "face_uv": [0.05734815944309898, 0.4038212058089893, 0.5388306347479113]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "aa7489c9c7cd0c1dc3a1be62b60323a7", "keypoints": [{"xyz": [0.29998946895366774, 0.21408330928355324, 0.15254600692233167], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 813}, "mesh_info": {"face_index": 25484, "face_uv": [0.08748178322351033, 0.7037224294298543, 0.20879578734663512]}}, {"xyz": [-0.3340961749904279, 0.21087554293294786, 0.03563142758392268], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1619}, "mesh_info": {"face_index": 13371, "face_uv": [0.33812009144335087, 0.4847516896225619, 0.17712821893408828]}}, {"xyz": [0.3025746415417573, -0.006727822840912445, 0.10474228605639269], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1627}, "mesh_info": {"face_index": 29478, "face_uv": [0.4713830491790647, 0.026808583394613197, 0.5018083674262915]}}, {"xyz": [-0.31661930221094015, -0.009616291063612836, -0.027470746322628026], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 488}, "mesh_info": {"face_index": 14429, "face_uv": [0.36114208500155126, 0.012344487970352272, 0.6265134270281243]}}, {"xyz": [0.34754006310048524, -0.0024340072256066048, -0.09394282048302016], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 113}, "mesh_info": {"face_index": 26705, "face_uv": [0.3434425282602186, 0.3812307898312567, 0.27532668190852194]}}, {"xyz": [-0.2876754054106383, -0.0028186793087006112, -0.20848550565577395], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1610}, "mesh_info": {"face_index": 18537, "face_uv": [0.611213332976087, 0.2844678427170017, 0.10431882430691243]}}, {"xyz": [0.369324592020475, 0.06738600134849548, -0.08669716532170746], "rgb": [154, 126, 96], "semantic_id": 6, "pcd_info": {"point_index": 340}, "mesh_info": {"face_index": 36853, "face_uv": [0.003585731427388569, 0.39860993464812383, 0.5978043339244876]}}, {"xyz": [0.3202037464276407, 0.06715588556264684, 0.23173616565063299], "rgb": [149, 118, 89], "semantic_id": 7, "pcd_info": {"point_index": 1706}, "mesh_info": {"face_index": 36833, "face_uv": [0.12169435650313602, 0.338673147022052, 0.5396324964748151]}}, {"xyz": [-0.3167693163463728, 0.05930300056934379, -0.21407463208440003], "rgb": [154, 126, 96], "semantic_id": 8, "pcd_info": {"point_index": 1453}, "mesh_info": {"face_index": 35350, "face_uv": [0.5873489950695157, 0.4111235042046089, 0.0015275007258791346]}}, {"xyz": [-0.37212462896623866, 0.059156636448698174, 0.10324980430092555], "rgb": [166, 135, 107], "semantic_id": 9, "pcd_info": {"point_index": 1313}, "mesh_info": {"face_index": 34414, "face_uv": [0.4413576074576066, 0.5166918617823334, 0.04195053076006134]}}, {"xyz": [0.3650894134426075, -0.16543500125408173, -0.06268670910224139], "rgb": [151, 122, 92], "semantic_id": 17, "pcd_info": {"point_index": 419}, "mesh_info": {"face_index": 36883, "face_uv": [0.5178885224375802, 0.07942292936559732, 0.40268854819682237]}}, {"xyz": [0.3189714900156786, -0.16543500125408217, 0.20506374952494766], "rgb": [178, 149, 118], "semantic_id": 18, "pcd_info": {"point_index": 498}, "mesh_info": {"face_index": 36081, "face_uv": [0.5189594377771796, 0.07550419854371844, 0.40553636367910467]}}, {"xyz": [-0.37788826144266097, -0.17351800203323364, 0.09039375990813281], "rgb": [183, 155, 123], "semantic_id": 19, "pcd_info": {"point_index": 2024}, "mesh_info": {"face_index": 35518, "face_uv": [0.21067612030069274, 0.03267673816159212, 0.7566471415377151]}}, {"xyz": [-0.32204242457640475, -0.17351800203323364, -0.19461284581961413], "rgb": [151, 123, 93], "semantic_id": 20, "pcd_info": {"point_index": 2043}, "mesh_info": {"face_index": 34673, "face_uv": [0.35995036543745185, 0.06402322370095659, 0.5760264108615916]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "76710f51915396e0327289c00b6dc9ca", "keypoints": [{"xyz": [0.18694510849207996, 0.3085394511814019, 0.1660727149964416], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1707}, "mesh_info": {"face_index": 34905, "face_uv": [0.3108375268211212, 0.1759041658228894, 0.5132583073559913]}}, {"xyz": [-0.18707674834239307, 0.31330513688066297, 0.16806534002542217], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1832}, "mesh_info": {"face_index": 40582, "face_uv": [0.6042986826240352, 0.3045295312938054, 0.0911717860821598]}}, {"xyz": [0.17635067166641893, -0.013067794265071875, 0.11743305087446018], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 932}, "mesh_info": {"face_index": 4937, "face_uv": [0.11346204327040589, 0.1959056772367673, 0.6906322794928219]}}, {"xyz": [-0.17761600012900836, -0.012446983019683167, 0.1350004383406205], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 864}, "mesh_info": {"face_index": 24454, "face_uv": [0.04869829641358935, 0.38348365190206674, 0.5678180516843442]}}, {"xyz": [0.19102631053028984, 0.011654916141248028, -0.2235747091789546], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 998}, "mesh_info": {"face_index": 16082, "face_uv": [0.09584206376567934, 0.39446280970782277, 0.5096951265264962]}}, {"xyz": [-0.17915411779417267, 0.013985346127985965, -0.22071918301441035], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1650}, "mesh_info": {"face_index": 34287, "face_uv": [0.34203605997584524, 0.07373245316100506, 0.5842314868631505]}}, {"xyz": [0.20084710712539056, -0.3952920138835907, -0.2738948401664424], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1726}, "mesh_info": {"face_index": 13721, "face_uv": [0.3201069946653139, 0.2571513953330486, 0.42274161000163757]}}, {"xyz": [0.2208113940401522, -0.3952920138835909, 0.21332603363020552], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 475}, "mesh_info": {"face_index": 6627, "face_uv": [0.020965108302539684, 0.27856225008402624, 0.7004726416134347]}}, {"xyz": [-0.22374356242094465, -0.3952920138835907, 0.22133852587755853], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 439}, "mesh_info": {"face_index": 29688, "face_uv": [0.26837345249783473, 0.5812604581825923, 0.1503660893195729]}}, {"xyz": [-0.20123214925070834, -0.3952920138835907, -0.2721906858202562], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1587}, "mesh_info": {"face_index": 26317, "face_uv": [0.42341630706788447, 0.14130102577553066, 0.4352826671565848]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "c993ac723dbaf479a4929a32e32d23f3", "keypoints": [{"xyz": [0.17477785885206287, 0.45729199051856995, 0.0544576419410332], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 261}, "mesh_info": {"face_index": 200, "face_uv": [0.43371127806646326, 0.47334371409636783, 0.09294500783716893]}}, {"xyz": [-0.18806209728549475, 0.45729199051856984, 0.06075603659460438], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 220}, "mesh_info": {"face_index": 396, "face_uv": [0.2345677564351701, 0.4203584768089102, 0.3450737667559195]}}, {"xyz": [0.15698706578242858, -0.004982000216841698, 0.03716419849593394], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 151}, "mesh_info": {"face_index": 71, "face_uv": [0.31779834116394173, 0.5610777308687563, 0.12112392796730195]}}, {"xyz": [-0.15127884499547353, -0.004982000216841698, 0.03387497135284839], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 758}, "mesh_info": {"face_index": 131, "face_uv": [0.8197819892532545, 0.1480288669068039, 0.03218914383994169]}}, {"xyz": [0.15736072261776027, -0.004982000216841698, -0.18577368339445577], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1774}, "mesh_info": {"face_index": 97, "face_uv": [0.022627031624167265, 0.951749882900412, 0.025623085475420845]}}, {"xyz": [-0.15322317207675065, -0.004982000216841698, -0.18388283500109404], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 331}, "mesh_info": {"face_index": 96, "face_uv": [0.032752900747765795, 0.0033108505489535707, 0.9639362487032807]}}, {"xyz": [0.16836598230429217, -0.3657500147819519, -0.18752534638802612], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 974}, "mesh_info": {"face_index": 419, "face_uv": [0.05243561619470087, 0.5001324196575874, 0.44743196414771175]}}, {"xyz": [0.1709233521564961, -0.3657500147819519, 0.052006226926864955], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 541}, "mesh_info": {"face_index": 1234, "face_uv": [0.5031937578206762, 0.473002071822886, 0.023804170356437768]}}, {"xyz": [-0.15803187533465604, -0.3657500147819519, 0.05028962086376763], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 814}, "mesh_info": {"face_index": 826, "face_uv": [0.47301708404422516, 0.5145643373053477, 0.012418578650427179]}}, {"xyz": [-0.156889947798918, -0.3657500147819519, -0.19247734871653158], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1760}, "mesh_info": {"face_index": 2343, "face_uv": [0.07548882251813971, 0.3729590861540806, 0.5515520913277797]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3b3a9f4e3aa9f2f4d39a194653571dfc", "keypoints": [{"xyz": [0.16126493717244272, 0.21674095557407627, 0.007853000424802081], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1770}, "mesh_info": {"face_index": 97, "face_uv": [0.4258310167154634, 0.10593019863477789, 0.46823878464973046]}}, {"xyz": [-0.17040753090963062, 0.21288455212134577, 0.007853000424802081], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 937}, "mesh_info": {"face_index": 86, "face_uv": [0.03653101332976858, 0.5783288926541591, 0.38514009401604404]}}, {"xyz": [0.16659999656758892, -0.22210000455379486, -0.008865735146601272], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1028}, "mesh_info": {"face_index": 263, "face_uv": [0.41192555780523615, 0.026439956472423764, 0.5616344857223401]}}, {"xyz": [-0.16392823686198144, -0.22210000455379486, -0.004216678717074873], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1808}, "mesh_info": {"face_index": 113, "face_uv": [0.5945418235290175, 0.04028890763929349, 0.365169268831689]}}, {"xyz": [0.15989961494937177, -0.22210000455379486, -0.25617328260921735], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1036}, "mesh_info": {"face_index": 172, "face_uv": [0.8946558412341203, 0.05998517471498144, 0.04535898405089816]}}, {"xyz": [-0.16587561762110367, -0.22210000455379486, -0.24816922504789485], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 1973}, "mesh_info": {"face_index": 22, "face_uv": [0.034790332724178696, 0.90789671751059, 0.05731294976523122]}}, {"xyz": [0.1461607058305906, -0.5127959847450256, -0.22728169954955538], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1933}, "mesh_info": {"face_index": 33, "face_uv": [0.4434743632432822, 0.4984299310549447, 0.05809570570177308]}}, {"xyz": [0.1512049969081649, -0.5127959847450254, 0.06381226161997344], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 356}, "mesh_info": {"face_index": 120, "face_uv": [0.4166779227122057, 0.40284642051867803, 0.1804756567691158]}}, {"xyz": [-0.145141293132, -0.5127959847450256, 0.053489744980305065], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 266, "face_uv": [0.053759289187463706, 0.48699973489901677, 0.4592409759135195]}}, {"xyz": [-0.15586548779057205, -0.5127959847450256, -0.23501136210628817], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 3}, "mesh_info": {"face_index": 1, "face_uv": [0.3102503592732694, 0.45840234626917736, 0.23134729445755323]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "77c02e92d5628be59db8ad97fd392b59", "keypoints": [{"xyz": [0.19762747183980411, 0.4078057832339812, 0.2290419541196198], "rgb": [170, 170, 170], "semantic_id": 0, "pcd_info": {"point_index": 813}, "mesh_info": {"face_index": 5548, "face_uv": [0.17820383435557488, 0.014295912102366007, 0.8075002535420605]}}, {"xyz": [-0.19981547094515018, 0.40740125526560617, 0.22878024714398038], "rgb": [170, 170, 170], "semantic_id": 1, "pcd_info": {"point_index": 1589}, "mesh_info": {"face_index": 6186, "face_uv": [0.18495030909457988, 0.00970377074388526, 0.8053459201615418]}}, {"xyz": [0.1941652721290443, 0.05953879050282351, 0.07053476378368506], "rgb": [170, 170, 170], "semantic_id": 2, "pcd_info": {"point_index": 50}, "mesh_info": {"face_index": 5604, "face_uv": [0.9155944648559403, 0.061607501977289654, 0.02279803316677131]}}, {"xyz": [-0.1910943607323737, 0.061116246626672366, 0.07874917611138588], "rgb": [170, 170, 170], "semantic_id": 3, "pcd_info": {"point_index": 660}, "mesh_info": {"face_index": 5237, "face_uv": [0.031120194127724286, 0.9521546653922365, 0.01672514048004027]}}, {"xyz": [0.19360481033521793, 0.04255260869401645, -0.27580169509644237], "rgb": [170, 170, 170], "semantic_id": 4, "pcd_info": {"point_index": 1007}, "mesh_info": {"face_index": 5161, "face_uv": [0.2934585495869212, 0.024174358746221522, 0.6823670916668575]}}, {"xyz": [-0.19404808417986866, 0.0477468941578465, -0.27144176899806993], "rgb": [170, 170, 170], "semantic_id": 5, "pcd_info": {"point_index": 1261}, "mesh_info": {"face_index": 5179, "face_uv": [0.715297069346059, 0.02386673781689121, 0.2608361928370505]}}, {"xyz": [0.20568227936485617, -0.3034827643443314, -0.2670353277489197], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 4586, "face_uv": [0.3783293885455084, 0.0003701494925773185, 0.6213004619619172]}}, {"xyz": [0.2023165817438957, -0.30882116585725417, 0.23342607406347032], "rgb": [254, 254, 254], "semantic_id": 18, "pcd_info": {"point_index": 972}, "mesh_info": {"face_index": 6217, "face_uv": [0.2638412463816378, 0.31508497818729014, 0.42107377543107155]}}, {"xyz": [-0.20466924174910262, -0.30599586578638127, 0.23855399519346415], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 6259, "face_uv": [0.7582656312526457, 0.055282239500328414, 0.1864521292470259]}}, {"xyz": [-0.21021793204559663, -0.2929321377333869, -0.26209283677919304], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1582}, "mesh_info": {"face_index": 5096, "face_uv": [0.035908868222735035, 0.16010285490930615, 0.8039882768679363]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8e93fb99aaf17b9504ca5aa564aebd0", "keypoints": [{"xyz": [0.19335004776704062, 0.23128327056624087, 0.1369712498799358], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1502}, "mesh_info": {"face_index": 2952, "face_uv": [0.845182130123125, 0.01233928150475193, 0.14247858837212307]}}, {"xyz": [-0.1804720747782601, 0.23764416061689309, 0.13213864884230586], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1321}, "mesh_info": {"face_index": 9216, "face_uv": [0.14847155457628924, 0.7570912075510061, 0.09443723787270522]}}, {"xyz": [0.19302643931057695, -0.080509770902775, 0.09647177135618967], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1882}, "mesh_info": {"face_index": 12384, "face_uv": [0.014317554087797243, 0.8494452784680969, 0.13623716744410402]}}, {"xyz": [-0.18953683580839373, -0.08061258135961447, 0.0995134227056289], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 7}, "mesh_info": {"face_index": 14572, "face_uv": [0.3603709809269121, 0.04204897155371589, 0.5975800475193705]}}, {"xyz": [0.18389951054754214, -0.09048002769194274, -0.3275368089153976], "rgb": [254, 254, 254], "semantic_id": 4, "pcd_info": {"point_index": 433}, "mesh_info": {"face_index": 12220, "face_uv": [0.06751863317257335, 0.8609368262982771, 0.07154454052914933]}}, {"xyz": [-0.18780681280129932, -0.09051115513740532, -0.32683201673208173], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 998}, "mesh_info": {"face_index": 18737, "face_uv": [0.01129127389544684, 0.03477495872039408, 0.9539337673841594]}}, {"xyz": [0.21851131295100812, 0.07795607605415666, -0.21863809179046279], "rgb": [15, 11, 8], "semantic_id": 6, "pcd_info": {"point_index": 1446}, "mesh_info": {"face_index": 71, "face_uv": [0.3585560132972182, 0.06685092291323519, 0.574593063789547]}}, {"xyz": [0.225933711315766, 0.04798425733261624, 0.1550734227194568], "rgb": [3, 3, 3], "semantic_id": 7, "pcd_info": {"point_index": 103}, "mesh_info": {"face_index": 1415, "face_uv": [0.07390779236457191, 0.9256393013033676, 0.0004529063320613729]}}, {"xyz": [-0.22549779823104069, 0.08153750253868697, -0.21568779297801577], "rgb": [19, 17, 6], "semantic_id": 8, "pcd_info": {"point_index": 486}, "mesh_info": {"face_index": 239, "face_uv": [0.49075554830565815, 0.05365907141261044, 0.45558538028173173]}}, {"xyz": [-0.2200487728665164, 0.05211205259248408, 0.14333580524142486], "rgb": [3, 4, 0], "semantic_id": 9, "pcd_info": {"point_index": 151}, "mesh_info": {"face_index": 834, "face_uv": [0.2663812591579968, 0.5159200594762429, 0.2176986813657594]}}, {"xyz": [0.21654566627326605, -0.4538399875164032, -0.27520845522787574], "rgb": [6, 5, 1], "semantic_id": 17, "pcd_info": {"point_index": 1586}, "mesh_info": {"face_index": 37, "face_uv": [0.12370013483285634, 0.340252407079519, 0.5360474580876247]}}, {"xyz": [0.2209503873807441, -0.45344350821023327, 0.18496064709738425], "rgb": [16, 14, 10], "semantic_id": 18, "pcd_info": {"point_index": 650}, "mesh_info": {"face_index": 1512, "face_uv": [0.26477931133346494, 0.5006333759852144, 0.23458731268132063]}}, {"xyz": [-0.22500804513123326, -0.4536666769611434, 0.20019790732867376], "rgb": [19, 19, 14], "semantic_id": 19, "pcd_info": {"point_index": 490}, "mesh_info": {"face_index": 1030, "face_uv": [0.33458013010458604, 0.5105057914385885, 0.15491407845682542]}}, {"xyz": [-0.2195509397262968, -0.4538399875164033, -0.26720301287478976], "rgb": [9, 7, 2], "semantic_id": 20, "pcd_info": {"point_index": 113}, "mesh_info": {"face_index": 148, "face_uv": [0.18685597134883034, 0.292626537133663, 0.5205174915175069]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "d2c465e85d2e8f1fcea003eff0268278", "keypoints": [{"xyz": [0.14425553993517273, 0.18670598516634473, 0.06620429449317711], "rgb": [204, 121, 40], "semantic_id": 0, "pcd_info": {"point_index": 1797}, "mesh_info": {"face_index": 5277, "face_uv": [0.3575193247997904, 0.5662838577644236, 0.07619681743579197]}}, {"xyz": [-0.14728170811343078, 0.17894999018399294, 0.06036679302011838], "rgb": [204, 121, 40], "semantic_id": 1, "pcd_info": {"point_index": 1928}, "mesh_info": {"face_index": 764, "face_uv": [0.4993641646687202, 0.10528229516103389, 0.3953535401702554]}}, {"xyz": [0.12484167737977492, -0.1804746058519493, -0.06547439028899271], "rgb": [40, 102, 40], "semantic_id": 2, "pcd_info": {"point_index": 953}, "mesh_info": {"face_index": 10355, "face_uv": [0.9238339244068021, 0.0639192289305935, 0.012246846662605513]}}, {"xyz": [-0.11934100067729053, -0.17381682027344336, -0.07050441181547284], "rgb": [40, 102, 40], "semantic_id": 3, "pcd_info": {"point_index": 54}, "mesh_info": {"face_index": 10054, "face_uv": [0.024435504498506233, 0.3831788892557223, 0.5923856062457774]}}, {"xyz": [0.16146910901801492, -0.19587287570883705, -0.33934801934148695], "rgb": [39, 101, 39], "semantic_id": 4, "pcd_info": {"point_index": 1042}, "mesh_info": {"face_index": 10421, "face_uv": [0.01266790663828626, 0.019201209695407548, 0.9681308836663047]}}, {"xyz": [-0.16426512837793272, -0.1984364792432749, -0.34089807813219286], "rgb": [39, 101, 39], "semantic_id": 5, "pcd_info": {"point_index": 246}, "mesh_info": {"face_index": 10169, "face_uv": [0.033185386466764236, 0.4841278413994286, 0.48268677213380695]}}, {"xyz": [0.17288607193508318, -0.6043170094490049, -0.34408909127578935], "rgb": [203, 120, 39], "semantic_id": 17, "pcd_info": {"point_index": 1017}, "mesh_info": {"face_index": 9515, "face_uv": [0.3832410488366935, 0.49327204533482927, 0.12348690582847698]}}, {"xyz": [0.1468827532175257, -0.6043170094490053, 0.016852754698661668], "rgb": [204, 121, 40], "semantic_id": 18, "pcd_info": {"point_index": 629}, "mesh_info": {"face_index": 8234, "face_uv": [0.0646532054267313, 0.4456035700493181, 0.4897432245239509]}}, {"xyz": [-0.14777534336193604, -0.6043170094490051, 0.017419266849958107], "rgb": [204, 121, 40], "semantic_id": 19, "pcd_info": {"point_index": 532}, "mesh_info": {"face_index": 4057, "face_uv": [0.07225740728252919, 0.47202820935654605, 0.4557143833609248]}}, {"xyz": [-0.17542004228743424, -0.6043170094490051, -0.3446753151347418], "rgb": [204, 121, 40], "semantic_id": 20, "pcd_info": {"point_index": 1707}, "mesh_info": {"face_index": 9103, "face_uv": [0.08817392189931159, 0.5629012036081625, 0.34892487449252585]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "70207d8482c135f8410594e2fa0c101", "keypoints": [{"xyz": [0.18924122807164395, 0.4958237366532944, 0.1409171856603934], "rgb": [0, 3, 0], "semantic_id": 0, "pcd_info": {"point_index": 1531}, "mesh_info": {"face_index": 157279, "face_uv": [0.20317122009593977, 0.06855908358835683, 0.7282696963157034]}}, {"xyz": [-0.1894362211304708, 0.49450441699962544, 0.12787200949884547], "rgb": [81, 21, 42], "semantic_id": 1, "pcd_info": {"point_index": 1380}, "mesh_info": {"face_index": 171499, "face_uv": [0.37354505886355543, 0.5095100691047054, 0.11694487203173907]}}, {"xyz": [0.15712548030643403, 0.07051102360903994, 0.053894759179440976], "rgb": [214, 183, 199], "semantic_id": 2, "pcd_info": {"point_index": 886}, "mesh_info": {"face_index": 219480, "face_uv": [0.6309564089849017, 0.2466530758188882, 0.12239051519621051]}}, {"xyz": [-0.1517733887689413, 0.06816200166940689, 0.04978919489636857], "rgb": [167, 124, 148], "semantic_id": 3, "pcd_info": {"point_index": 391}, "mesh_info": {"face_index": 223454, "face_uv": [0.7671052264642061, 0.2250069726672191, 0.007887800868574834]}}, {"xyz": [0.16994187105491065, 0.062477910557399485, -0.18354739973851225], "rgb": [163, 129, 130], "semantic_id": 4, "pcd_info": {"point_index": 1533}, "mesh_info": {"face_index": 220525, "face_uv": [0.3356573146632273, 0.5443618728737991, 0.11998081246297387]}}, {"xyz": [-0.1562573939089228, 0.06816200166940689, -0.1798967185540054], "rgb": [208, 151, 149], "semantic_id": 5, "pcd_info": {"point_index": 647}, "mesh_info": {"face_index": 224515, "face_uv": [0.01229991034001636, 0.3918911962858297, 0.5958088933741539]}}, {"xyz": [0.2041513121193197, 0.21657521119718015, -0.21314705539502804], "rgb": [35, 9, 0], "semantic_id": 6, "pcd_info": {"point_index": 1948}, "mesh_info": {"face_index": 228493, "face_uv": [0.03753313745645385, 0.7412692300759756, 0.22119763246757088]}}, {"xyz": [0.19271822754164042, 0.22584681348952895, -0.02244314668804992], "rgb": [14, 5, 3], "semantic_id": 7, "pcd_info": {"point_index": 541}, "mesh_info": {"face_index": 228158, "face_uv": [0.24074619304136335, 0.25361534277795894, 0.5056384641806778]}}, {"xyz": [-0.18770042032889, 0.21517847173649085, -0.2335764429616216], "rgb": [47, 10, 5], "semantic_id": 8, "pcd_info": {"point_index": 1447}, "mesh_info": {"face_index": 228954, "face_uv": [0.116973883125763, 0.3183952593904997, 0.5646308574837373]}}, {"xyz": [-0.17368896039684434, 0.2257401675776617, -0.01651339326164647], "rgb": [18, 6, 2], "semantic_id": 9, "pcd_info": {"point_index": 1398}, "mesh_info": {"face_index": 229718, "face_uv": [0.1638033923174957, 0.29983675649709646, 0.5363598511854079]}}, {"xyz": [0.16800400672130908, -0.28721789071470794, -0.17238378969022494], "rgb": [61, 15, 1], "semantic_id": 17, "pcd_info": {"point_index": 1893}, "mesh_info": {"face_index": 1308, "face_uv": [0.7885640404022018, 0.03274076579435467, 0.1786951938034436]}}, {"xyz": [0.17205615940683122, -0.28409455636965264, 0.1567571646958848], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1647}, "mesh_info": {"face_index": 22664, "face_uv": [0.3260173252886567, 0.08582385679599824, 0.5881588179153453]}}, {"xyz": [-0.15829151942228353, -0.2751685441556311, 0.1521571437316025], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 997}, "mesh_info": {"face_index": 41857, "face_uv": [0.15322730404746362, 0.24291428855982966, 0.6038584073927068]}}, {"xyz": [-0.16497632459242229, -0.2890588977672601, -0.16563724891290138], "rgb": [57, 16, 1], "semantic_id": 20, "pcd_info": {"point_index": 1766}, "mesh_info": {"face_index": 58408, "face_uv": [0.13015964417687548, 0.5672327578754961, 0.3026075979476282]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "763bccb675b7439ab9afb6208cab1d", "keypoints": [{"xyz": [0.18862928778940985, 0.338904212904647, 0.17702872564984218], "rgb": [255, 191, 0], "semantic_id": 0, "pcd_info": {"point_index": 588}, "mesh_info": {"face_index": 1961, "face_uv": [0.2906719285594141, 0.021993250756007374, 0.6873348206845808]}}, {"xyz": [-0.18559705563416756, 0.3410739872801405, 0.17864474053620882], "rgb": [255, 191, 0], "semantic_id": 1, "pcd_info": {"point_index": 258}, "mesh_info": {"face_index": 977, "face_uv": [0.4797124462766381, 0.01759503699405062, 0.5026925167293131]}}, {"xyz": [0.19512886720806644, -0.022745418938606266, 0.0952589259509673], "rgb": [254, 190, 0], "semantic_id": 2, "pcd_info": {"point_index": 1964}, "mesh_info": {"face_index": 1478, "face_uv": [0.29112987656831024, 0.005312778341184272, 0.7035573450905045]}}, {"xyz": [-0.19040054634734788, -0.02227346045052503, 0.10130011684309459], "rgb": [255, 191, 0], "semantic_id": 3, "pcd_info": {"point_index": 1477}, "mesh_info": {"face_index": 522, "face_uv": [0.43313516181168515, 0.005267394053637717, 0.5615974441346792]}}, {"xyz": [0.19594700339083976, -0.031070104019744305, -0.409629038306609], "rgb": [254, 190, 0], "semantic_id": 4, "pcd_info": {"point_index": 532}, "mesh_info": {"face_index": 1864, "face_uv": [0.42597270746880145, 0.5708141728216392, 0.003213119709559202]}}, {"xyz": [-0.19082464201015048, -0.02549984776014491, -0.40822162514090365], "rgb": [255, 191, 0], "semantic_id": 5, "pcd_info": {"point_index": 812}, "mesh_info": {"face_index": 833, "face_uv": [0.004178998089996711, 0.0532621443520351, 0.9425588575579684]}}, {"xyz": [0.20609115472169734, -0.2635050117969513, -0.3711703973459206], "rgb": [255, 191, 0], "semantic_id": 17, "pcd_info": {"point_index": 382}, "mesh_info": {"face_index": 701, "face_uv": [0.24351174428345604, 0.3423218376460482, 0.4141664180704958]}}, {"xyz": [0.20696822611132357, -0.2635050117969513, 0.21756588260847576], "rgb": [255, 191, 0], "semantic_id": 18, "pcd_info": {"point_index": 1740}, "mesh_info": {"face_index": 1657, "face_uv": [0.22708820491429038, 0.3760865171499077, 0.3968252779358019]}}, {"xyz": [-0.20267582535551232, -0.2635050117969513, 0.20726178901722814], "rgb": [254, 191, 0], "semantic_id": 19, "pcd_info": {"point_index": 1790}, "mesh_info": {"face_index": 1669, "face_uv": [0.14596594114734895, 0.393533824247429, 0.460500234605222]}}, {"xyz": [-0.19819782356685864, -0.2635050117969513, -0.388270777933354], "rgb": [255, 191, 0], "semantic_id": 20, "pcd_info": {"point_index": 1107}, "mesh_info": {"face_index": 716, "face_uv": [0.42734362399775383, 0.22115049721836455, 0.3515058787838817]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "99c8513bc738a21d440d6814caa3115e", "keypoints": [{"xyz": [0.17921412910527634, 0.33761128021392417, 0.19665518273556737], "rgb": [254, 184, 138], "semantic_id": 0, "pcd_info": {"point_index": 911}, "mesh_info": {"face_index": 2490, "face_uv": [0.263590790486206, 0.09327054400839635, 0.6431386655053974]}}, {"xyz": [-0.18077488812881382, 0.33963513477671436, 0.2014225709293287], "rgb": [253, 162, 113], "semantic_id": 1, "pcd_info": {"point_index": 359}, "mesh_info": {"face_index": 8644, "face_uv": [0.4755742658903548, 0.04846304214245277, 0.4759626919671921]}}, {"xyz": [0.15379726077491174, -0.09822230681027955, 0.06649613149762601], "rgb": [250, 148, 88], "semantic_id": 2, "pcd_info": {"point_index": 1721}, "mesh_info": {"face_index": 24382, "face_uv": [0.8991587897812279, 0.007607674267485203, 0.09323353595128898]}}, {"xyz": [-0.15149117820266023, -0.09785012506595725, 0.06611910192798098], "rgb": [253, 226, 205], "semantic_id": 3, "pcd_info": {"point_index": 98}, "mesh_info": {"face_index": 22371, "face_uv": [0.2815350489975507, 0.7081444695224174, 0.010320481480033082]}}, {"xyz": [0.17406630200225998, -0.1187847981526825, -0.20802823065597253], "rgb": [252, 155, 100], "semantic_id": 4, "pcd_info": {"point_index": 1559}, "mesh_info": {"face_index": 22225, "face_uv": [0.07177746489273121, 0.9099350715239092, 0.01828746358335999]}}, {"xyz": [-0.1757892514989172, -0.11667861913405897, -0.2056393491435049], "rgb": [247, 221, 203], "semantic_id": 5, "pcd_info": {"point_index": 24}, "mesh_info": {"face_index": 20991, "face_uv": [0.760187650862395, 0.08357414136465809, 0.156238207772947]}}, {"xyz": [0.16960516361012323, -0.4002380073070526, -0.17990019288689865], "rgb": [206, 105, 58], "semantic_id": 17, "pcd_info": {"point_index": 1597}, "mesh_info": {"face_index": 27000, "face_uv": [0.384017244095142, 0.16676011901379978, 0.44922263689105824]}}, {"xyz": [0.1638592835542949, -0.38596901297569275, 0.18193110188071215], "rgb": [251, 253, 233], "semantic_id": 18, "pcd_info": {"point_index": 202}, "mesh_info": {"face_index": 26751, "face_uv": [0.12854159193076858, 0.20845374616710435, 0.663004661902127]}}, {"xyz": [-0.17416816944018798, -0.3860880136489864, 0.17187383219295105], "rgb": [249, 190, 161], "semantic_id": 19, "pcd_info": {"point_index": 1226}, "mesh_info": {"face_index": 26699, "face_uv": [0.4811216935949, 0.31656775819121324, 0.2023105482138856]}}, {"xyz": [-0.16199771437208166, -0.40023800730705283, -0.1950053473917488], "rgb": [164, 87, 55], "semantic_id": 20, "pcd_info": {"point_index": 832}, "mesh_info": {"face_index": 26968, "face_uv": [0.39158353282664277, 0.35949192283460807, 0.24892454433874972]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "a374da8227eca67b89014675a548cbb", "keypoints": [{"xyz": [0.27293425974461155, 0.23753914014002098, 0.24548392360890436], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 803}, "mesh_info": {"face_index": 135, "face_uv": [0.6203250990998861, 0.37150130958407684, 0.008173591316036974]}}, {"xyz": [-0.2763591704808712, 0.23641045668452154, 0.24150030978981163], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 461}, "mesh_info": {"face_index": 152, "face_uv": [0.10404259997472558, 0.8941967257402194, 0.0017606742850561057]}}, {"xyz": [0.2759546230982164, -0.05395900085568439, 0.1820924341471204], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 442}, "mesh_info": {"face_index": 274, "face_uv": [0.03059049512637899, 0.9412596201620383, 0.028149884711584704]}}, {"xyz": [-0.26374078101515996, -0.05395900085568428, 0.1836152374415192], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1322}, "mesh_info": {"face_index": 292, "face_uv": [0.7684574955299062, 0.01501696318506806, 0.2165255412850257]}}, {"xyz": [0.27514156140621304, -0.05395900085568428, -0.2489691363773665], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1960}, "mesh_info": {"face_index": 16, "face_uv": [0.0007718480197223187, 0.0902776171341637, 0.908950534846114]}}, {"xyz": [-0.27442161325661957, -0.0572174661606667, -0.2540540099143982], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1956}, "mesh_info": {"face_index": 280, "face_uv": [0.0016277852923141502, 0.9724553624584843, 0.025916852249201535]}}, {"xyz": [0.2473101641564726, 0.05865177226541873, -0.17882505765368478], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 598}, "mesh_info": {"face_index": 205, "face_uv": [0.5207018336231316, 0.025699934263315193, 0.453598232113552]}}, {"xyz": [0.24783460420971756, 0.06825300306081794, 0.18787194914341632], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1182}, "mesh_info": {"face_index": 349, "face_uv": [0.019536980078652236, 0.44571049367512033, 0.5347525262462307]}}, {"xyz": [-0.2457300078307139, 0.0572397047968749, -0.1799815134191674], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 876}, "mesh_info": {"face_index": 461, "face_uv": [0.18537323869534778, 0.5246432432960727, 0.28998351800857913]}}, {"xyz": [-0.2480083378083596, 0.0682530030608175, 0.19206483097118454], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 137}, "mesh_info": {"face_index": 126, "face_uv": [0.5513450134857765, 0.007564501067740587, 0.4410904854464797]}}, {"xyz": [0.21711258490869026, -0.33453899621963545, -0.20593320997060738], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1429}, "mesh_info": {"face_index": 3, "face_uv": [0.009788287362265497, 0.5541955216545775, 0.4360161909831583]}}, {"xyz": [0.23985948560337653, -0.334538996219635, 0.2648950295141015], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1238}, "mesh_info": {"face_index": 323, "face_uv": [0.35143172601919637, 0.570740752575093, 0.07782752140571064]}}, {"xyz": [-0.2173185658087176, -0.334538996219635, 0.26191317763523103], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1501}, "mesh_info": {"face_index": 104, "face_uv": [0.024452893681675063, 0.40830676966306834, 0.5672403366552566]}}, {"xyz": [-0.208765190844049, -0.3345389962196348, -0.20875804583700508], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 1067}, "mesh_info": {"face_index": 56, "face_uv": [0.16974307561170587, 0.4783374243562062, 0.3519195000320873]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "49cbfde1ae92ee555706d1c54190f27a", "keypoints": [{"xyz": [0.1887702978541882, 0.48494778022912155, 0.18581469536414885], "rgb": [150, 150, 150], "semantic_id": 0, "pcd_info": {"point_index": 1458}, "mesh_info": {"face_index": 11418, "face_uv": [0.06812001497250267, 0.3369255986969441, 0.5949543863305558]}}, {"xyz": [-0.19540733348065062, 0.4854082090177614, 0.1857688944735536], "rgb": [58, 58, 58], "semantic_id": 1, "pcd_info": {"point_index": 889}, "mesh_info": {"face_index": 11500, "face_uv": [0.565137011142895, 0.048438345417273106, 0.38642464343983196]}}, {"xyz": [0.19365034211761561, 0.14808594106768935, 0.06105835235227164], "rgb": [57, 57, 57], "semantic_id": 2, "pcd_info": {"point_index": 2045}, "mesh_info": {"face_index": 313, "face_uv": [0.139827825441314, 0.040606584609620994, 0.8195655899490645]}}, {"xyz": [-0.20681049863599835, 0.14854524639290245, 0.05633793527782238], "rgb": [57, 57, 57], "semantic_id": 3, "pcd_info": {"point_index": 374}, "mesh_info": {"face_index": 357, "face_uv": [0.9405947169120342, 0.05538058614764517, 0.00402469694031986]}}, {"xyz": [0.19512264244457714, 0.14820247813900278, -0.15573213032574929], "rgb": [158, 158, 158], "semantic_id": 4, "pcd_info": {"point_index": 1040}, "mesh_info": {"face_index": 308, "face_uv": [0.18153800423265806, 0.5122058957216825, 0.3062561000456582]}}, {"xyz": [-0.2041132129796434, 0.14832977488209598, -0.15178405161452435], "rgb": [59, 59, 59], "semantic_id": 5, "pcd_info": {"point_index": 1282}, "mesh_info": {"face_index": 360, "face_uv": [0.007887625792104721, 0.16883414935574495, 0.82327822485215]}}, {"xyz": [0.19913979369933132, -0.24866187707194753, -0.18575301679644618], "rgb": [197, 197, 197], "semantic_id": 17, "pcd_info": {"point_index": 586}, "mesh_info": {"face_index": 7371, "face_uv": [0.17868780650811486, 0.12019952281267854, 0.7011126706792065]}}, {"xyz": [0.1941701325037028, -0.2520008964483529, 0.21808665679763378], "rgb": [198, 198, 198], "semantic_id": 18, "pcd_info": {"point_index": 759}, "mesh_info": {"face_index": 7713, "face_uv": [0.9208877492494515, 0.0364367707972728, 0.04267547995327582]}}, {"xyz": [-0.20000595138671012, -0.25199223495635104, 0.22189685409621507], "rgb": [198, 198, 198], "semantic_id": 19, "pcd_info": {"point_index": 1949}, "mesh_info": {"face_index": 8430, "face_uv": [0.03669785667268634, 0.0882647261338844, 0.8750374171934301]}}, {"xyz": [-0.21061888478193888, -0.24074735921584756, -0.19985470810799433], "rgb": [198, 198, 198], "semantic_id": 20, "pcd_info": {"point_index": 1783}, "mesh_info": {"face_index": 9006, "face_uv": [0.03447199942137073, 0.5968585187553013, 0.3686694818233288]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "4c9b6e0823be25ae52bee19dc0453f5e", "keypoints": [{"xyz": [0.14804520617855912, 0.2625745955073573, 0.22593180824976744], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1684}, "mesh_info": {"face_index": 738, "face_uv": [0.05093087991042495, 0.020757157783596325, 0.9283119623059792]}}, {"xyz": [-0.2257326527502686, 0.26393699645996094, 0.23391152104126411], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1654}, "mesh_info": {"face_index": 731, "face_uv": [0.841772049154371, 0.13367390395739082, 0.024554046888238264]}}, {"xyz": [0.15617200732231135, -0.05816080493810283, 0.20961278754409451], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1712}, "mesh_info": {"face_index": 184, "face_uv": [0.11953947871321237, 0.43146343346418753, 0.4489970878225997]}}, {"xyz": [-0.2283722990120347, -0.05801704834955834, 0.18993272943631023], "rgb": [254, 254, 254], "semantic_id": 3, "pcd_info": {"point_index": 1923}, "mesh_info": {"face_index": 787, "face_uv": [0.8157928820377044, 0.16639515236518182, 0.017811965596997235]}}, {"xyz": [0.15279175321469057, -0.08127651804244754, -0.26499568267604245], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1596}, "mesh_info": {"face_index": 838, "face_uv": [0.622169181160312, 0.008633712898768034, 0.3691971059409207]}}, {"xyz": [-0.22976476869523454, -0.083620687082375, -0.2664011322924551], "rgb": [254, 254, 254], "semantic_id": 5, "pcd_info": {"point_index": 480}, "mesh_info": {"face_index": 819, "face_uv": [0.8098754935950486, 0.01425537396749658, 0.17586913243745442]}}, {"xyz": [0.17739736618265678, 0.04396596439433487, -0.20572143534895782], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 75, "face_uv": [0.2785039890657121, 0.10098795267615228, 0.6205080582581343]}}, {"xyz": [0.19409673888499085, 0.1088223724738484, 0.242740612355124], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 1595}, "mesh_info": {"face_index": 180, "face_uv": [0.3219370228105612, 0.22249782072928398, 0.45556515646015516]}}, {"xyz": [-0.2673877118409148, 0.05291462809509251, -0.19642427656300587], "rgb": [254, 254, 254], "semantic_id": 8, "pcd_info": {"point_index": 76}, "mesh_info": {"face_index": 296, "face_uv": [0.42713102849950724, 0.5189779346485702, 0.05389103685192159]}}, {"xyz": [-0.2638441911031492, 0.10909022575289007, 0.24219702918253772], "rgb": [255, 255, 255], "semantic_id": 9, "pcd_info": {"point_index": 928}, "mesh_info": {"face_index": 388, "face_uv": [0.509514885823903, 0.153410034629747, 0.3370750795463499]}}, {"xyz": [0.1975046474070546, -0.34198400378227223, -0.2666283459127061], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 786}, "mesh_info": {"face_index": 444, "face_uv": [0.47797783353003553, 0.07127635978367226, 0.4507458066862919]}}, {"xyz": [0.1973147369267078, -0.34198400378227245, 0.2601249201789848], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1988}, "mesh_info": {"face_index": 476, "face_uv": [0.471186826235965, 0.4094195021881744, 0.11939367157586084]}}, {"xyz": [-0.2807679239305071, -0.3375570372073379, 0.25440001487731956], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1329}, "mesh_info": {"face_index": 542, "face_uv": [0.07915049658364888, 0.3758164722641342, 0.5450330311522177]}}, {"xyz": [-0.27949709046062365, -0.34198400378227234, -0.2582468787988801], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1100}, "mesh_info": {"face_index": 500, "face_uv": [0.5787414265378263, 0.3293200520666668, 0.0919385213955069]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e039a013f1877fbf42bd71dd667c95ad", "keypoints": [{"xyz": [0.2173859947690076, 0.4105262374978908, 0.18085228938055442], "rgb": [254, 254, 254], "semantic_id": 0, "pcd_info": {"point_index": 1497}, "mesh_info": {"face_index": 13456, "face_uv": [0.3682803627552585, 0.61774125596145, 0.013978381283291047]}}, {"xyz": [-0.2125452203139666, 0.4061425868945503, 0.18026049692595492], "rgb": [254, 254, 254], "semantic_id": 1, "pcd_info": {"point_index": 1287}, "mesh_info": {"face_index": 1127, "face_uv": [0.37019117007092656, 0.6064376631321695, 0.023371166796903233]}}, {"xyz": [0.20230163875096163, 0.022417389392705322, 0.13081302209060208], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1055}, "mesh_info": {"face_index": 7893, "face_uv": [0.841211920926413, 0.0016677033449706271, 0.15712037572861623]}}, {"xyz": [-0.19839400053024292, 0.028122716602646702, 0.13309484676879713], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 544}, "mesh_info": {"face_index": 1192, "face_uv": [0.16665105832530294, 0.20713471141404105, 0.6262142302606559]}}, {"xyz": [0.18530402674755383, 0.017500016459113255, -0.26863500475883484], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 2047}, "mesh_info": {"face_index": 17055, "face_uv": [0.8800007623836218, 0.043062996506277075, 0.07693624111010122]}}, {"xyz": [-0.18227588915206366, 0.018402209242322165, -0.27010453072664853], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1525}, "mesh_info": {"face_index": 16332, "face_uv": [0.023507373832509365, 0.7984086557538879, 0.17808397041360285]}}, {"xyz": [0.20816738989912364, 0.17585012999623173, -0.29197099804878224], "rgb": [254, 254, 254], "semantic_id": 6, "pcd_info": {"point_index": 451}, "mesh_info": {"face_index": 11965, "face_uv": [0.44511814341393996, 0.3193717073664991, 0.23551014921956057]}}, {"xyz": [0.21699030304931222, 0.1839500069618225, 0.144789283105347], "rgb": [255, 255, 255], "semantic_id": 7, "pcd_info": {"point_index": 637}, "mesh_info": {"face_index": 11272, "face_uv": [0.6069254961062799, 0.010537601284811189, 0.38253690260890894]}}, {"xyz": [-0.2083570845283217, 0.17712906669731998, -0.2928909957408906], "rgb": [255, 255, 255], "semantic_id": 8, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 15492, "face_uv": [0.3979077352710246, 0.2725109546883388, 0.329581310040637]}}, {"xyz": [-0.21386987160285742, 0.18491456327299127, 0.15039473275546467], "rgb": [254, 254, 254], "semantic_id": 9, "pcd_info": {"point_index": 853}, "mesh_info": {"face_index": 1066, "face_uv": [0.50260670792372, 0.3367956097321353, 0.1605976823441445]}}, {"xyz": [0.21212175502814606, -0.2804200053215027, -0.2875223498563071], "rgb": [254, 254, 254], "semantic_id": 17, "pcd_info": {"point_index": 1224}, "mesh_info": {"face_index": 12895, "face_uv": [0.01720904787463229, 0.19063461911396629, 0.7921563330114013]}}, {"xyz": [0.21654106679473478, -0.2830049991607666, 0.13560186777906802], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 514}, "mesh_info": {"face_index": 13438, "face_uv": [0.4789735116453217, 0.10255914697536361, 0.41846734137931474]}}, {"xyz": [-0.21114692014052128, -0.2830049991607666, 0.15149126563834286], "rgb": [255, 255, 255], "semantic_id": 19, "pcd_info": {"point_index": 1454}, "mesh_info": {"face_index": 1185, "face_uv": [0.12348245440649214, 0.33000276561215225, 0.5465147799813557]}}, {"xyz": [-0.2229142349627704, -0.28067201375961304, -0.28413112950645103], "rgb": [255, 255, 255], "semantic_id": 20, "pcd_info": {"point_index": 1018}, "mesh_info": {"face_index": 16422, "face_uv": [0.4991541567891107, 0.3753958667479722, 0.12544997646291717]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "48429b3467c7185060fcaed6cc231482", "keypoints": [{"xyz": [0.18858983143846086, 0.2948148271844458, 0.08228742059702165], "rgb": [147, 79, 36], "semantic_id": 0, "pcd_info": {"point_index": 926}, "mesh_info": {"face_index": 42, "face_uv": [0.307643534395109, 0.14047203012072185, 0.5518844354841692]}}, {"xyz": [-0.19195586282809943, 0.28062007434347014, 0.07614500075578667], "rgb": [155, 91, 47], "semantic_id": 1, "pcd_info": {"point_index": 1985}, "mesh_info": {"face_index": 67, "face_uv": [0.9819535170071512, 0.012235372917387657, 0.005811110075458372]}}, {"xyz": [0.18457114561784332, -0.06288199871778488, 0.06991847449547861], "rgb": [150, 82, 37], "semantic_id": 2, "pcd_info": {"point_index": 1566}, "mesh_info": {"face_index": 41, "face_uv": [0.9689998767743758, 0.01779948390414304, 0.01320063932148114]}}, {"xyz": [-0.19181856456166424, -0.06288199871778488, 0.06601531670809724], "rgb": [159, 94, 52], "semantic_id": 3, "pcd_info": {"point_index": 69}, "mesh_info": {"face_index": 41, "face_uv": [0.012584251231081521, 0.02895726134012634, 0.9584584874287921]}}, {"xyz": [0.18979916084228604, -0.06288199871778466, -0.2677838750790553], "rgb": [149, 81, 36], "semantic_id": 4, "pcd_info": {"point_index": 456}, "mesh_info": {"face_index": 40, "face_uv": [0.01771560636449309, 0.016826359728676167, 0.9654580339068275]}}, {"xyz": [-0.18832604973514816, -0.06395710797268439, -0.27366998791694663], "rgb": [156, 91, 49], "semantic_id": 5, "pcd_info": {"point_index": 753}, "mesh_info": {"face_index": 2, "face_uv": [0.0005093392718077594, 0.9754131502228301, 0.024077510505363]}}, {"xyz": [0.17300157461738877, -0.4564250111579895, -0.24474576797064954], "rgb": [146, 78, 35], "semantic_id": 17, "pcd_info": {"point_index": 1545}, "mesh_info": {"face_index": 14, "face_uv": [0.5435868830837217, 0.3385269348031312, 0.11788618211314703]}}, {"xyz": [0.16917020083830556, -0.4564250111579895, 0.09987433875771032], "rgb": [147, 84, 40], "semantic_id": 18, "pcd_info": {"point_index": 1718}, "mesh_info": {"face_index": 62, "face_uv": [0.36879278701207385, 0.5426702128327511, 0.08853700015517514]}}, {"xyz": [-0.1754951680593187, -0.4564250111579895, 0.10369565343873632], "rgb": [145, 76, 35], "semantic_id": 19, "pcd_info": {"point_index": 395}, "mesh_info": {"face_index": 90, "face_uv": [0.5134395237945814, 0.36993950046455143, 0.11662097574086723]}}, {"xyz": [-0.1703585598942767, -0.4564250111579897, -0.26028129813363365], "rgb": [153, 85, 40], "semantic_id": 20, "pcd_info": {"point_index": 449}, "mesh_info": {"face_index": 31, "face_uv": [0.6040304303160596, 0.30618829777886025, 0.08978127190508074]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "ef018d0bcb3d4c89601104cd2d998272", "keypoints": [{"xyz": [0.2421778755260237, 0.18811471140515557, 0.1290174694976777], "rgb": [197, 197, 197], "semantic_id": 0, "pcd_info": {"point_index": 1418}, "mesh_info": {"face_index": 8, "face_uv": [0.024803365448650156, 0.6069849087972742, 0.3682117257540747]}}, {"xyz": [-0.24228783759083639, 0.1873415304482362, 0.13327589004084936], "rgb": [197, 197, 197], "semantic_id": 1, "pcd_info": {"point_index": 609}, "mesh_info": {"face_index": 329, "face_uv": [0.792946646282293, 0.1921366787812371, 0.014916674936469178]}}, {"xyz": [0.2204898861062306, -0.07056249476089538, 0.027732026672575613], "rgb": [254, 254, 254], "semantic_id": 2, "pcd_info": {"point_index": 1788}, "mesh_info": {"face_index": 3155, "face_uv": [0.058890374121702664, 0.9136329305449314, 0.02747669533336517]}}, {"xyz": [-0.22046397614818383, -0.07276750583089386, 0.030701334997196083], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 1765}, "mesh_info": {"face_index": 3211, "face_uv": [0.014521482078135807, 0.18648449540444123, 0.7989940225174302]}}, {"xyz": [0.22412757303955416, -0.040695998817682266, -0.276075989898863], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 446}, "mesh_info": {"face_index": 3585, "face_uv": [0.02194282731683662, 0.01957357663901183, 0.9584835960441517]}}, {"xyz": [-0.21758601238365818, -0.040695998817682266, -0.2738946489134082], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 854}, "mesh_info": {"face_index": 3595, "face_uv": [0.12901503848261758, 0.020774051264539573, 0.8502109102528429]}}, {"xyz": [0.2436456660761478, -0.4275059998035431, -0.29296257543304094], "rgb": [143, 143, 143], "semantic_id": 17, "pcd_info": {"point_index": 1415}, "mesh_info": {"face_index": 1691, "face_uv": [0.3656629950811352, 0.4877320009195595, 0.14660500399930534]}}, {"xyz": [0.24136921635016745, -0.4246610105037689, 0.2844044294526805], "rgb": [148, 148, 148], "semantic_id": 18, "pcd_info": {"point_index": 1313}, "mesh_info": {"face_index": 1661, "face_uv": [0.38207662892384164, 0.43184043544182793, 0.18608293563433043]}}, {"xyz": [-0.23707930595837937, -0.4246610105037689, 0.2879279569266715], "rgb": [148, 148, 148], "semantic_id": 19, "pcd_info": {"point_index": 936}, "mesh_info": {"face_index": 2659, "face_uv": [0.019505416656323687, 0.5758700814250854, 0.40462450191859084]}}, {"xyz": [-0.23569913690651753, -0.4275059998035431, -0.2931823804308757], "rgb": [151, 151, 151], "semantic_id": 20, "pcd_info": {"point_index": 158}, "mesh_info": {"face_index": 2361, "face_uv": [0.01579163250959418, 0.3600730352063871, 0.6241353322840187]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "3dadf67ebe6c29a3d291861d5bc3e7c8", "keypoints": [{"xyz": [0.13757244826894005, 0.3689090013504026, 0.10107196309716551], "rgb": [152, 84, 42], "semantic_id": 0, "pcd_info": {"point_index": 425}, "mesh_info": {"face_index": 681, "face_uv": [0.11275365803806221, 0.46221973751608353, 0.4250266044458536]}}, {"xyz": [-0.14325678318145907, 0.36890900135040305, 0.10482157336594544], "rgb": [156, 87, 45], "semantic_id": 1, "pcd_info": {"point_index": 817}, "mesh_info": {"face_index": 588, "face_uv": [0.3308249335431104, 0.5852020096397593, 0.08397305681713083]}}, {"xyz": [0.1426089744423515, 0.06828175632657718, 0.07100022429244923], "rgb": [116, 130, 104], "semantic_id": 2, "pcd_info": {"point_index": 238}, "mesh_info": {"face_index": 292, "face_uv": [0.42812254504122604, 0.01504434340040193, 0.5568331115583718]}}, {"xyz": [-0.13955040814989517, 0.069412000477314, 0.06282363572181832], "rgb": [116, 130, 105], "semantic_id": 3, "pcd_info": {"point_index": 1309}, "mesh_info": {"face_index": 314, "face_uv": [0.0967014797104891, 0.019433470519012744, 0.8838650497704981]}}, {"xyz": [0.15920789197615082, 0.06827908134414917, -0.23064906717135508], "rgb": [116, 130, 104], "semantic_id": 4, "pcd_info": {"point_index": 912}, "mesh_info": {"face_index": 268, "face_uv": [0.5708642046055682, 0.011604129912393646, 0.4175316654820353]}}, {"xyz": [-0.1503200311871879, 0.06894213364763058, -0.23817741500042333], "rgb": [117, 131, 105], "semantic_id": 5, "pcd_info": {"point_index": 669}, "mesh_info": {"face_index": 264, "face_uv": [0.12921899456657632, 0.8220202397654744, 0.04876076566795237]}}, {"xyz": [0.16957351661947767, -0.4541560113430022, -0.24939449048534612], "rgb": [147, 84, 43], "semantic_id": 17, "pcd_info": {"point_index": 2013}, "mesh_info": {"face_index": 779, "face_uv": [0.2323289386057874, 0.304278627678085, 0.4633924337161273]}}, {"xyz": [0.17188657107745597, -0.4541560113430023, 0.13572165244973672], "rgb": [151, 81, 37], "semantic_id": 18, "pcd_info": {"point_index": 1194}, "mesh_info": {"face_index": 719, "face_uv": [0.015686750699122957, 0.4321832506170876, 0.5521299986837894]}}, {"xyz": [-0.1714864341694362, -0.45415601134300254, 0.13572505149480235], "rgb": [153, 84, 40], "semantic_id": 19, "pcd_info": {"point_index": 2040}, "mesh_info": {"face_index": 625, "face_uv": [0.033966398283183326, 0.5680162626480334, 0.39801733906878384]}}, {"xyz": [-0.16700642348004058, -0.4541560113430021, -0.24822197962487275], "rgb": [147, 83, 37], "semantic_id": 20, "pcd_info": {"point_index": 704}, "mesh_info": {"face_index": 671, "face_uv": [0.20615309448217017, 0.3666613754407972, 0.42718553007703214]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8cb44a50906b827615e7ec87bf4cc5ab", "keypoints": [{"xyz": [0.16486732426773765, 0.5130630135536195, 0.061527336197054604], "rgb": [100, 149, 237], "semantic_id": 0, "pcd_info": {"point_index": 1613}, "mesh_info": {"face_index": 1171, "face_uv": [0.4438588941832071, 0.03819503240807353, 0.5179460734087196]}}, {"xyz": [-0.1637163477790789, 0.5130630135536193, 0.06495520092704701], "rgb": [99, 148, 236], "semantic_id": 1, "pcd_info": {"point_index": 618}, "mesh_info": {"face_index": 1166, "face_uv": [0.6879668493744445, 0.03192619812463508, 0.28010695250092016]}}, {"xyz": [0.1635187773636088, 0.037892866876377385, 0.052857232715875946], "rgb": [99, 148, 236], "semantic_id": 2, "pcd_info": {"point_index": 1860}, "mesh_info": {"face_index": 1240, "face_uv": [0.417886634119675, 0.049227925157652654, 0.5328854407226712]}}, {"xyz": [-0.15814690230795092, 0.044190000742673874, 0.03965287614263824], "rgb": [99, 149, 236], "semantic_id": 3, "pcd_info": {"point_index": 740}, "mesh_info": {"face_index": 1223, "face_uv": [0.9041954315744904, 0.004349850712246945, 0.09145471771326254]}}, {"xyz": [0.16153590799884704, 0.03456139319082974, -0.1585404621925044], "rgb": [99, 148, 236], "semantic_id": 4, "pcd_info": {"point_index": 1381}, "mesh_info": {"face_index": 1231, "face_uv": [0.6389678997670534, 0.019035739183425503, 0.3419963610495206]}}, {"xyz": [-0.17049627488495178, 0.03397860805939956, -0.15924398870601186], "rgb": [100, 149, 237], "semantic_id": 5, "pcd_info": {"point_index": 1160}, "mesh_info": {"face_index": 1220, "face_uv": [0.32235766164560103, 0.07416376952083013, 0.6034785688335704]}}, {"xyz": [0.1416472687615805, -0.36546799540519714, -0.14075924157885258], "rgb": [234, 240, 253], "semantic_id": 17, "pcd_info": {"point_index": 1343}, "mesh_info": {"face_index": 269, "face_uv": [0.4815909926061744, 0.4149899908997968, 0.1034190164940287]}}, {"xyz": [0.13713589177352, -0.3654679954051969, 0.015673859058135786], "rgb": [234, 240, 253], "semantic_id": 18, "pcd_info": {"point_index": 552}, "mesh_info": {"face_index": 675, "face_uv": [0.5056726488084764, 0.494109203271806, 0.00021814791971705658]}}, {"xyz": [-0.13841877738128328, -0.36546799540519703, 0.011583250045619997], "rgb": [233, 239, 253], "semantic_id": 19, "pcd_info": {"point_index": 194}, "mesh_info": {"face_index": 472, "face_uv": [0.426841847992562, 0.5246189695350228, 0.04853918247241489]}}, {"xyz": [-0.1359671221757372, -0.36546799540519714, -0.14149823846593282], "rgb": [233, 240, 253], "semantic_id": 20, "pcd_info": {"point_index": 577}, "mesh_info": {"face_index": 948, "face_uv": [0.46734938772859547, 0.4928642883860534, 0.039786323885351034]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "e9ccf4cc84c085f8c785f06f424b9d06", "keypoints": [{"xyz": [0.16646466838234103, 0.14172346439382777, 0.07611847902479063], "rgb": [152, 84, 37], "semantic_id": 0, "pcd_info": {"point_index": 422}, "mesh_info": {"face_index": 1125, "face_uv": [0.012125613063349775, 0.2106820000178859, 0.7771923869187641]}}, {"xyz": [-0.15724596349397618, 0.144468422084441, 0.09428378851389718], "rgb": [144, 78, 32], "semantic_id": 1, "pcd_info": {"point_index": 592}, "mesh_info": {"face_index": 680, "face_uv": [0.5000413626336188, 0.2031803108212479, 0.29677832654513364]}}, {"xyz": [0.1309832409740834, -0.04969700053334236, 0.02446163281086644], "rgb": [149, 82, 35], "semantic_id": 2, "pcd_info": {"point_index": 1887}, "mesh_info": {"face_index": 760, "face_uv": [0.018221284608379733, 0.9462795480721077, 0.03549916731951259]}}, {"xyz": [-0.12227188348530876, -0.05348230662152442, 0.03663307116540082], "rgb": [143, 81, 39], "semantic_id": 3, "pcd_info": {"point_index": 523}, "mesh_info": {"face_index": 1631, "face_uv": [0.7312821713601262, 0.223216513829183, 0.045501314810691106]}}, {"xyz": [0.16564449258941003, -0.06286911259581984, -0.26616839984795526], "rgb": [147, 79, 33], "semantic_id": 4, "pcd_info": {"point_index": 201}, "mesh_info": {"face_index": 1063, "face_uv": [0.09547694991761513, 0.22325094302592838, 0.6812721070564519]}}, {"xyz": [-0.1526322050235683, -0.06107187856300289, -0.26757934957602714], "rgb": [146, 83, 40], "semantic_id": 5, "pcd_info": {"point_index": 1267}, "mesh_info": {"face_index": 1647, "face_uv": [0.3159337009690579, 0.013298715151771931, 0.6707675838791703]}}, {"xyz": [0.1600639929723474, 0.0240506884918813, -0.14200944641691848], "rgb": [151, 89, 46], "semantic_id": 6, "pcd_info": {"point_index": 628}, "mesh_info": {"face_index": 1512, "face_uv": [0.11419713006648555, 0.48831922807414085, 0.39748364185937485]}}, {"xyz": [0.15677352087971738, 0.03678642401369325, 0.05676979207199359], "rgb": [150, 87, 41], "semantic_id": 7, "pcd_info": {"point_index": 275}, "mesh_info": {"face_index": 786, "face_uv": [0.7941812546201447, 0.17997450510607682, 0.02584424027377212]}}, {"xyz": [-0.15081522505599657, 0.009008812875070937, -0.16439743299025827], "rgb": [156, 89, 44], "semantic_id": 8, "pcd_info": {"point_index": 4}, "mesh_info": {"face_index": 1447, "face_uv": [0.500367538702099, 0.44241970945490755, 0.05721275184299324]}}, {"xyz": [-0.14868904203139288, 0.038126995072401026, 0.05324440868687484], "rgb": [156, 92, 46], "semantic_id": 9, "pcd_info": {"point_index": 655}, "mesh_info": {"face_index": 707, "face_uv": [0.0013728268924508142, 0.3123111336155106, 0.6863160394920375]}}, {"xyz": [0.14658674220673973, -0.42803001403808594, -0.2919734754095653], "rgb": [151, 86, 40], "semantic_id": 17, "pcd_info": {"point_index": 1453}, "mesh_info": {"face_index": 1058, "face_uv": [0.16757404201482426, 0.4898831067093089, 0.3425428512758668]}}, {"xyz": [0.14968797370818, -0.42803001403808605, 0.13608811685957506], "rgb": [147, 81, 34], "semantic_id": 18, "pcd_info": {"point_index": 524}, "mesh_info": {"face_index": 566, "face_uv": [0.43191507738364593, 0.10926921121910496, 0.45881571139724936]}}, {"xyz": [-0.137782891776293, -0.42803001403808616, 0.13531748814374345], "rgb": [142, 78, 32], "semantic_id": 19, "pcd_info": {"point_index": 1915}, "mesh_info": {"face_index": 576, "face_uv": [0.09994419501172176, 0.5431593000831764, 0.35689650490510233]}}, {"xyz": [-0.1430689800499022, -0.42803001403808616, -0.29306013269568093], "rgb": [147, 82, 34], "semantic_id": 20, "pcd_info": {"point_index": 1198}, "mesh_info": {"face_index": 1070, "face_uv": [0.44435759315730905, 0.18072317154597914, 0.3749192352967124]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}, {"class_id": "03001627", "model_id": "587ebb2aa71acfe644dd3aaee16d3f4c", "keypoints": [{"xyz": [0.1920195719863867, 0.555670976638794, 0.17089494506852226], "rgb": [255, 255, 255], "semantic_id": 0, "pcd_info": {"point_index": 1110}, "mesh_info": {"face_index": 33, "face_uv": [0.029713394730214317, 0.4880617515507461, 0.4822248537190396]}}, {"xyz": [-0.19480385087669735, 0.555670976638794, 0.17380265534881606], "rgb": [255, 255, 255], "semantic_id": 1, "pcd_info": {"point_index": 1247}, "mesh_info": {"face_index": 34, "face_uv": [0.022765941485671685, 0.3944882126654948, 0.5827458458488336]}}, {"xyz": [0.1925603247280861, 0.14742299914360069, 0.14930065200295117], "rgb": [255, 255, 255], "semantic_id": 2, "pcd_info": {"point_index": 1395}, "mesh_info": {"face_index": 30, "face_uv": [0.9716111744826995, 0.02480201485615144, 0.0035868106611506214]}}, {"xyz": [-0.19564895304912502, 0.14742299914360069, 0.15312036963521303], "rgb": [255, 255, 255], "semantic_id": 3, "pcd_info": {"point_index": 579}, "mesh_info": {"face_index": 30, "face_uv": [0.020695870946878983, 0.01484163068463111, 0.9644624983684912]}}, {"xyz": [0.19167065806891848, 0.14742299914360069, -0.2130149310722684], "rgb": [255, 255, 255], "semantic_id": 4, "pcd_info": {"point_index": 1187}, "mesh_info": {"face_index": 29, "face_uv": [0.030568056384972297, 0.030415478636800747, 0.9390164649782284]}}, {"xyz": [-0.1922842510753293, 0.14742299914360069, -0.2099318623801004], "rgb": [255, 255, 255], "semantic_id": 5, "pcd_info": {"point_index": 1973}, "mesh_info": {"face_index": 30, "face_uv": [0.028937679635840263, 0.9615450400303893, 0.009517280333771902]}}, {"xyz": [0.18929387241166554, -0.2608250081539156, -0.205694172608376], "rgb": [255, 255, 255], "semantic_id": 17, "pcd_info": {"point_index": 1629}, "mesh_info": {"face_index": 24, "face_uv": [0.4131490096645958, 0.5671174398415971, 0.019733550493807983]}}, {"xyz": [0.19311919130421096, -0.2608250081539156, 0.16921475273879583], "rgb": [255, 255, 255], "semantic_id": 18, "pcd_info": {"point_index": 1562}, "mesh_info": {"face_index": 39, "face_uv": [0.43574221491677945, 0.5103369206554529, 0.05392086442776847]}}, {"xyz": [-0.1918219412277881, -0.2608250081539153, 0.16741453979826404], "rgb": [254, 254, 254], "semantic_id": 19, "pcd_info": {"point_index": 680}, "mesh_info": {"face_index": 1, "face_uv": [0.4871839439815932, 0.40527703057708436, 0.10753902544132206]}}, {"xyz": [-0.1911109044208996, -0.2608250081539154, -0.21341105458771722], "rgb": [254, 254, 254], "semantic_id": 20, "pcd_info": {"point_index": 105}, "mesh_info": {"face_index": 54, "face_uv": [0.515401932397078, 0.4105794598985781, 0.0740186077043438]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 9]}, {"kp_indexes": [7, 8]}], "rotation": []}}, {"class_id": "03001627", "model_id": "8c629a89e570c8776a9cd58b3a6e8ee5", "keypoints": [{"xyz": [0.2017888066559791, 0.29670597197833093, 0.153682708642692], "rgb": [151, 88, 45], "semantic_id": 0, "pcd_info": {"point_index": 1753}, "mesh_info": {"face_index": 5013, "face_uv": [0.06829996554571972, 0.30113768313449074, 0.630562351319789]}}, {"xyz": [-0.1977599298081819, 0.3009155394537779, 0.14930918773190432], "rgb": [147, 78, 37], "semantic_id": 1, "pcd_info": {"point_index": 1680}, "mesh_info": {"face_index": 5032, "face_uv": [0.07629236201763702, 0.5205583663317498, 0.4031492716506135]}}, {"xyz": [0.17212532842727782, -0.0541125524641799, 0.03689009073460231], "rgb": [153, 90, 47], "semantic_id": 2, "pcd_info": {"point_index": 1976}, "mesh_info": {"face_index": 80, "face_uv": [0.8641080241538359, 0.11347293363462353, 0.02241904221153763]}}, {"xyz": [-0.16684335829593475, -0.05290167826489278, 0.036663607176267266], "rgb": [157, 89, 43], "semantic_id": 3, "pcd_info": {"point_index": 1212}, "mesh_info": {"face_index": 2625, "face_uv": [0.36550444991780723, 0.02672367453667914, 0.6077718755455033]}}, {"xyz": [0.19195055588070584, -0.034669698750419364, -0.2760947658196781], "rgb": [159, 91, 45], "semantic_id": 4, "pcd_info": {"point_index": 711}, "mesh_info": {"face_index": 2, "face_uv": [0.08170580869202658, 0.41203536955738623, 0.5062588217505839]}}, {"xyz": [-0.18373303059925736, -0.035328039085431806, -0.2755775430995192], "rgb": [150, 84, 40], "semantic_id": 5, "pcd_info": {"point_index": 1915}, "mesh_info": {"face_index": 2621, "face_uv": [0.5268643606145484, 0.3294370809154223, 0.14369855847002827]}}, {"xyz": [0.2160897503583086, 0.11908860137338584, -0.23321883795286935], "rgb": [151, 84, 40], "semantic_id": 6, "pcd_info": {"point_index": 1533}, "mesh_info": {"face_index": 2962, "face_uv": [0.2521652859498319, 0.4557712312428335, 0.2920634828073345]}}, {"xyz": [0.196389197986019, 0.08515930148180617, 0.057324443816569315], "rgb": [153, 84, 39], "semantic_id": 7, "pcd_info": {"point_index": 1284}, "mesh_info": {"face_index": 2400, "face_uv": [0.07856066753825171, 0.4832398332053591, 0.4381994992563882]}}, {"xyz": [-0.2150267881737436, 0.11925188669438347, -0.23320370287001663], "rgb": [146, 80, 37], "semantic_id": 8, "pcd_info": {"point_index": 1553}, "mesh_info": {"face_index": 5067, "face_uv": [0.1525423956079241, 0.5776952034215552, 0.26976240097052195]}}, {"xyz": [-0.2067262752957232, 0.081674275518556, 0.07748642250835014], "rgb": [158, 94, 51], "semantic_id": 9, "pcd_info": {"point_index": 127}, "mesh_info": {"face_index": 4250, "face_uv": [0.7725002899906077, 0.2170079152815515, 0.010491794727843085]}}, {"xyz": [0.23885790898229597, -0.414360961466119, -0.2932824763107625], "rgb": [150, 82, 42], "semantic_id": 17, "pcd_info": {"point_index": 1077}, "mesh_info": {"face_index": 3634, "face_uv": [0.06722018286854038, 0.5756646106491573, 0.3571152064823021]}}, {"xyz": [0.2045961343077033, -0.405944358992558, 0.12991846732749351], "rgb": [156, 89, 45], "semantic_id": 18, "pcd_info": {"point_index": 1340}, "mesh_info": {"face_index": 1891, "face_uv": [0.24744433184183837, 0.719119032769717, 0.03343663538844354]}}, {"xyz": [-0.19225307384343104, -0.4144571422722395, 0.14288290468841036], "rgb": [149, 83, 44], "semantic_id": 19, "pcd_info": {"point_index": 980}, "mesh_info": {"face_index": 5209, "face_uv": [0.34839200295480777, 0.07026234473147475, 0.5813456523137208]}}, {"xyz": [-0.2308537542263822, -0.4172753765860261, -0.30895049599281443], "rgb": [161, 92, 48], "semantic_id": 20, "pcd_info": {"point_index": 1098}, "mesh_info": {"face_index": 5263, "face_uv": [0.0004951934542383195, 0.5305352058705227, 0.46896960067523863]}}], "symmetries": {"reflection": [{"kp_indexes": [0, 1]}, {"kp_indexes": [2, 3]}, {"kp_indexes": [4, 5]}, {"kp_indexes": [6, 8]}, {"kp_indexes": [7, 9]}, {"kp_indexes": [10, 13]}, {"kp_indexes": [11, 12]}], "rotation": []}}]