Add asset kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790
Browse files
.gitattributes
CHANGED
|
@@ -7383,3 +7383,4 @@ dataset/kitchen_supplies/tableware/c0769bb884ac56bf86f474812bc12c93/affordance/m
|
|
| 7383 |
dataset/kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7384 |
dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7385 |
dataset/kitchen_supplies/tableware/c2c59177d9cc5806b3e38079ae1b9553/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7383 |
dataset/kitchen_supplies/tableware/c13102d8bad95ca2b08d15193e2b40c3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7384 |
dataset/kitchen_supplies/tableware/c28be9c33aca536485234928ed21c698/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7385 |
dataset/kitchen_supplies/tableware/c2c59177d9cc5806b3e38079ae1b9553/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7386 |
+
dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spoon body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle end to pick up and orient the spoon",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp along the narrow neck to stabilize the spoon during manipulation",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the bowl area to reposition the spoon when precision is not required",
|
| 18 |
+
"confidence": 0.31
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"scoop food",
|
| 23 |
+
"hold small portions",
|
| 24 |
+
"transfer food to mouth",
|
| 25 |
+
"provide handle for holding",
|
| 26 |
+
"support stirring"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "One-piece light beige spoon, likely plastic or bamboo fiber, with a matte smooth hard surface, shallow rounded bowl, slim tapered handle, small size, and faint printed markings near the handle end.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9786771535873413,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0033235661685466766,
|
| 35 |
+
-0.09032801307330374,
|
| 36 |
+
-0.012274958789930679
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.4168124009373544,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.5457109446765802,
|
| 42 |
+
0.3670917037496808,
|
| 43 |
+
0.6274636788876223
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9783952236175537,
|
| 49 |
+
"position": [
|
| 50 |
+
0.00828763097524643,
|
| 51 |
+
-0.09090078390727285,
|
| 52 |
+
-0.006093451884225942
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.41946781017580087,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.5662970525264815,
|
| 58 |
+
0.37362063352939157,
|
| 59 |
+
0.6031268744859857
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9775526523590088,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.016466831788420677,
|
| 67 |
+
-0.09424657888303045,
|
| 68 |
+
0.0034692484041443095
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5398594518210452,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.4696829726824457,
|
| 74 |
+
-0.5472749654993766,
|
| 75 |
+
-0.4340965210518476
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9771899580955505,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.01586853712797165,
|
| 83 |
+
-0.09408212966809515,
|
| 84 |
+
0.0002252760314149782
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.44922239778507644,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.5548779554259612,
|
| 90 |
+
0.4298255899634157,
|
| 91 |
+
0.5527745056739986
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9767354130744934,
|
| 97 |
+
"position": [
|
| 98 |
+
0.008854789659380913,
|
| 99 |
+
-0.09331848240981344,
|
| 100 |
+
0.004087863359018229
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.3794847861911565,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5885943292347352,
|
| 106 |
+
0.40422890172551196,
|
| 107 |
+
0.5883425937767481
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_8": {
|
| 112 |
+
"confidence": 0.9751254320144653,
|
| 113 |
+
"position": [
|
| 114 |
+
0.004506267607212067,
|
| 115 |
+
-0.09449266410956625,
|
| 116 |
+
-0.005164825954125263
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.4102530658478986,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.5652844171482202,
|
| 122 |
+
0.39340259456999727,
|
| 123 |
+
0.5978129709845638
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_9": {
|
| 128 |
+
"confidence": 0.9750269055366516,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.02178832283243537,
|
| 131 |
+
-0.09527010984311346,
|
| 132 |
+
-0.004866997376666404
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.4971905614344346,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.4935008200147958,
|
| 138 |
+
0.4817826328778332,
|
| 139 |
+
0.5264446608358171
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_10": {
|
| 144 |
+
"confidence": 0.9749100804328918,
|
| 145 |
+
"position": [
|
| 146 |
+
0.05654109828174114,
|
| 147 |
+
0.09395759039034601,
|
| 148 |
+
0.004217730238451622
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.4228257003474922,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.5690218949537187,
|
| 154 |
+
0.4188706344494052,
|
| 155 |
+
-0.5674327288629771
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_12": {
|
| 160 |
+
"confidence": 0.9745103120803833,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.021098232362419367,
|
| 163 |
+
-0.09822331882605795,
|
| 164 |
+
0.003766747991903685
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.4738495873022621,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.5161026157438878,
|
| 170 |
+
0.4989710767393879,
|
| 171 |
+
0.5100318845065763
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_13": {
|
| 176 |
+
"confidence": 0.9738181829452515,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.014742618964191934,
|
| 179 |
+
-0.09574270762095693,
|
| 180 |
+
0.017715161069645546
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.42857160385596593,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.5710181198263339,
|
| 186 |
+
0.5088375564820196,
|
| 187 |
+
0.4809875552566102
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_15": {
|
| 192 |
+
"confidence": 0.9737039804458618,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.006675700657069683,
|
| 195 |
+
0.09298815809597727,
|
| 196 |
+
0.004014380610897206
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.5872720932879332,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.42728996285750004,
|
| 202 |
+
-0.5697912303893637,
|
| 203 |
+
0.3845422341665746
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_16": {
|
| 208 |
+
"confidence": 0.9735759496688843,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.004889673553407192,
|
| 211 |
+
0.0959189929853892,
|
| 212 |
+
-0.0018217750039184466
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.42941568970957394,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.5496217123128571,
|
| 218 |
+
0.43812479010889605,
|
| 219 |
+
-0.5670668453344541
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_17": {
|
| 224 |
+
"confidence": 0.9735745191574097,
|
| 225 |
+
"position": [
|
| 226 |
+
0.05150437913835049,
|
| 227 |
+
0.09621487044205423,
|
| 228 |
+
-0.011467286050901748
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.5109944530238901,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.49063056844985853,
|
| 234 |
+
0.4332654719725436,
|
| 235 |
+
-0.557178019198347
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_18": {
|
| 240 |
+
"confidence": 0.9735544919967651,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.0029707998037338257,
|
| 243 |
+
-0.09516333557257894,
|
| 244 |
+
-0.009198574014590122
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.5674957671168495,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.44251026926009274,
|
| 250 |
+
-0.5104659837779365,
|
| 251 |
+
-0.47069915584101285
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
}
|
| 256 |
+
}
|
| 257 |
+
],
|
| 258 |
+
"quality_check": {
|
| 259 |
+
"success": true,
|
| 260 |
+
"message": "YES"
|
| 261 |
+
}
|
| 262 |
+
}
|
dataset/kitchen_supplies/tableware/c2d098d9273c5effba42767fc9162790/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9b311cadeb64e2a026ad29bbe0d715533395e4dc809ebb35a0b186fc3e51082a
|
| 3 |
+
size 3777308
|