Add asset livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466
Browse files
.gitattributes
CHANGED
|
@@ -7740,3 +7740,4 @@ dataset/livingroom_supplies/ornaments/9aef7ed73af55f539aa5f9a5d101d6ad/affordanc
|
|
| 7740 |
dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7741 |
dataset/livingroom_supplies/ornaments/9b29e9dfe396551899f43c09ed9b0e58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7742 |
dataset/livingroom_supplies/ornaments/a7235f3257bb504487f4b901a96d2444/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7740 |
dataset/livingroom_supplies/ornaments/9b1a9d9ff843543c872054f57f4aa318/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7741 |
dataset/livingroom_supplies/ornaments/9b29e9dfe396551899f43c09ed9b0e58/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7742 |
dataset/livingroom_supplies/ornaments/a7235f3257bb504487f4b901a96d2444/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7743 |
+
dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,532 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wick",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"ignite the candle",
|
| 10 |
+
"sustain the flame",
|
| 11 |
+
"draw melted wax to burn"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Very small upright beige wick with a fibrous matte texture, protruding from the candle center at the top of the holder.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "wax candle",
|
| 19 |
+
"mask_color": "Orange",
|
| 20 |
+
"graspable": false,
|
| 21 |
+
"grasp_scenarios": [],
|
| 22 |
+
"functional_labels": [
|
| 23 |
+
"provide burnable fuel",
|
| 24 |
+
"emit light when lit",
|
| 25 |
+
"hold the wick in place"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small round amber-yellow wax candle with a smooth slightly glossy surface, seated inside the top cup and occupying the holder's upper center.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "candle cup",
|
| 33 |
+
"mask_color": "Blue",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the upper cup to pick up and reposition the candle holder",
|
| 38 |
+
"confidence": 0.69
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "hold the cup to stabilize the object during placement on a surface",
|
| 42 |
+
"confidence": 0.61
|
| 43 |
+
}
|
| 44 |
+
],
|
| 45 |
+
"functional_labels": [
|
| 46 |
+
"hold the candle",
|
| 47 |
+
"contain melted wax",
|
| 48 |
+
"support the wick area",
|
| 49 |
+
"provide an upper grasp region"
|
| 50 |
+
],
|
| 51 |
+
"semantic_description": "Short cylindrical light pink metal cup with a smooth satin finish and hard surface, mounted at the top and sized to fit a small candle.",
|
| 52 |
+
"id": 2,
|
| 53 |
+
"grasp_group": {
|
| 54 |
+
"grasp_20": {
|
| 55 |
+
"confidence": 0.9750246405601501,
|
| 56 |
+
"position": [
|
| 57 |
+
-0.04663511039689183,
|
| 58 |
+
-0.008945624635089189,
|
| 59 |
+
0.14423210732638836
|
| 60 |
+
],
|
| 61 |
+
"orientation": {
|
| 62 |
+
"w": 0.15543347309399788,
|
| 63 |
+
"xyz": [
|
| 64 |
+
0.6829178045391433,
|
| 65 |
+
0.6841064318474293,
|
| 66 |
+
0.20362243881839923
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"grasp_21": {
|
| 71 |
+
"confidence": 0.9743943810462952,
|
| 72 |
+
"position": [
|
| 73 |
+
-0.10216208593919873,
|
| 74 |
+
0.02301056933356449,
|
| 75 |
+
0.038236042484641075
|
| 76 |
+
],
|
| 77 |
+
"orientation": {
|
| 78 |
+
"w": 0.5592732763567025,
|
| 79 |
+
"xyz": [
|
| 80 |
+
0.5378401131098435,
|
| 81 |
+
0.4314274590865841,
|
| 82 |
+
0.46023011921138285
|
| 83 |
+
]
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"grasp_22": {
|
| 87 |
+
"confidence": 0.9733774662017822,
|
| 88 |
+
"position": [
|
| 89 |
+
-0.1024900977499783,
|
| 90 |
+
0.023444533988367766,
|
| 91 |
+
0.04035320691764355
|
| 92 |
+
],
|
| 93 |
+
"orientation": {
|
| 94 |
+
"w": 0.5679226761477199,
|
| 95 |
+
"xyz": [
|
| 96 |
+
0.5319344975104637,
|
| 97 |
+
0.4416367062662234,
|
| 98 |
+
0.44661677527140015
|
| 99 |
+
]
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"grasp_23": {
|
| 103 |
+
"confidence": 0.9728305339813232,
|
| 104 |
+
"position": [
|
| 105 |
+
-0.05303135188296437,
|
| 106 |
+
-0.008778106712270528,
|
| 107 |
+
0.13970333151519299
|
| 108 |
+
],
|
| 109 |
+
"orientation": {
|
| 110 |
+
"w": 0.15526895538861002,
|
| 111 |
+
"xyz": [
|
| 112 |
+
0.6993365936168242,
|
| 113 |
+
0.6589667138882469,
|
| 114 |
+
0.2293092896248899
|
| 115 |
+
]
|
| 116 |
+
}
|
| 117 |
+
},
|
| 118 |
+
"grasp_24": {
|
| 119 |
+
"confidence": 0.9714535474777222,
|
| 120 |
+
"position": [
|
| 121 |
+
-0.07854308234527707,
|
| 122 |
+
0.060112421109806746,
|
| 123 |
+
0.0859223734587431
|
| 124 |
+
],
|
| 125 |
+
"orientation": {
|
| 126 |
+
"w": 0.4923220531360277,
|
| 127 |
+
"xyz": [
|
| 128 |
+
0.7356425185452236,
|
| 129 |
+
0.3997224515194322,
|
| 130 |
+
0.2380568055226769
|
| 131 |
+
]
|
| 132 |
+
}
|
| 133 |
+
},
|
| 134 |
+
"grasp_25": {
|
| 135 |
+
"confidence": 0.9710685610771179,
|
| 136 |
+
"position": [
|
| 137 |
+
-0.05154040129855275,
|
| 138 |
+
-0.005159944121260196,
|
| 139 |
+
0.14275756292045116
|
| 140 |
+
],
|
| 141 |
+
"orientation": {
|
| 142 |
+
"w": 0.1735633390688998,
|
| 143 |
+
"xyz": [
|
| 144 |
+
0.692267983509236,
|
| 145 |
+
0.6724725340024744,
|
| 146 |
+
0.19601402335445547
|
| 147 |
+
]
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"grasp_26": {
|
| 151 |
+
"confidence": 0.9708776473999023,
|
| 152 |
+
"position": [
|
| 153 |
+
-0.05196156771853566,
|
| 154 |
+
-0.006323236797470599,
|
| 155 |
+
0.1418436598032713
|
| 156 |
+
],
|
| 157 |
+
"orientation": {
|
| 158 |
+
"w": 0.1640930252536989,
|
| 159 |
+
"xyz": [
|
| 160 |
+
0.672120344956003,
|
| 161 |
+
0.693438721525002,
|
| 162 |
+
0.20117271298335443
|
| 163 |
+
]
|
| 164 |
+
}
|
| 165 |
+
},
|
| 166 |
+
"grasp_27": {
|
| 167 |
+
"confidence": 0.9706928133964539,
|
| 168 |
+
"position": [
|
| 169 |
+
-0.09419955359771848,
|
| 170 |
+
0.034248706593643874,
|
| 171 |
+
0.06812755577266216
|
| 172 |
+
],
|
| 173 |
+
"orientation": {
|
| 174 |
+
"w": 0.5335514703085625,
|
| 175 |
+
"xyz": [
|
| 176 |
+
0.614098440727127,
|
| 177 |
+
0.447504118371593,
|
| 178 |
+
0.37141082061316705
|
| 179 |
+
]
|
| 180 |
+
}
|
| 181 |
+
},
|
| 182 |
+
"grasp_28": {
|
| 183 |
+
"confidence": 0.9703325033187866,
|
| 184 |
+
"position": [
|
| 185 |
+
-0.040973563212901354,
|
| 186 |
+
0.003430089622270316,
|
| 187 |
+
0.14370673708617687
|
| 188 |
+
],
|
| 189 |
+
"orientation": {
|
| 190 |
+
"w": 0.16761117698483496,
|
| 191 |
+
"xyz": [
|
| 192 |
+
0.6962323010004842,
|
| 193 |
+
0.6752153337047337,
|
| 194 |
+
0.17678045571650136
|
| 195 |
+
]
|
| 196 |
+
}
|
| 197 |
+
},
|
| 198 |
+
"grasp_29": {
|
| 199 |
+
"confidence": 0.9701811075210571,
|
| 200 |
+
"position": [
|
| 201 |
+
-0.0981406276114285,
|
| 202 |
+
0.028083541139494628,
|
| 203 |
+
0.03889456205070019
|
| 204 |
+
],
|
| 205 |
+
"orientation": {
|
| 206 |
+
"w": 0.5927569682454158,
|
| 207 |
+
"xyz": [
|
| 208 |
+
0.5291239774194901,
|
| 209 |
+
0.43942010960464106,
|
| 210 |
+
0.4190190453801916
|
| 211 |
+
]
|
| 212 |
+
}
|
| 213 |
+
},
|
| 214 |
+
"grasp_30": {
|
| 215 |
+
"confidence": 0.9699087738990784,
|
| 216 |
+
"position": [
|
| 217 |
+
-0.03905657725408673,
|
| 218 |
+
0.01129930530441925,
|
| 219 |
+
0.14487959258258343
|
| 220 |
+
],
|
| 221 |
+
"orientation": {
|
| 222 |
+
"w": 0.1784894753486123,
|
| 223 |
+
"xyz": [
|
| 224 |
+
0.7249317914586282,
|
| 225 |
+
0.6464381323257388,
|
| 226 |
+
0.1572677525673086
|
| 227 |
+
]
|
| 228 |
+
}
|
| 229 |
+
},
|
| 230 |
+
"grasp_31": {
|
| 231 |
+
"confidence": 0.9690258502960205,
|
| 232 |
+
"position": [
|
| 233 |
+
-0.045596778858453035,
|
| 234 |
+
-0.012596548825968057,
|
| 235 |
+
0.14305771701037884
|
| 236 |
+
],
|
| 237 |
+
"orientation": {
|
| 238 |
+
"w": 0.20725895025164312,
|
| 239 |
+
"xyz": [
|
| 240 |
+
-0.7525425479940437,
|
| 241 |
+
0.6056413465300093,
|
| 242 |
+
-0.15466738626011817
|
| 243 |
+
]
|
| 244 |
+
}
|
| 245 |
+
},
|
| 246 |
+
"grasp_32": {
|
| 247 |
+
"confidence": 0.9689468741416931,
|
| 248 |
+
"position": [
|
| 249 |
+
-0.04054574714973569,
|
| 250 |
+
-0.0037169582792557776,
|
| 251 |
+
0.14297261647880077
|
| 252 |
+
],
|
| 253 |
+
"orientation": {
|
| 254 |
+
"w": 0.15591452519984111,
|
| 255 |
+
"xyz": [
|
| 256 |
+
0.6831797184355678,
|
| 257 |
+
0.6873726727487108,
|
| 258 |
+
0.19098414046276108
|
| 259 |
+
]
|
| 260 |
+
}
|
| 261 |
+
},
|
| 262 |
+
"grasp_33": {
|
| 263 |
+
"confidence": 0.9686864018440247,
|
| 264 |
+
"position": [
|
| 265 |
+
-0.09726150380447507,
|
| 266 |
+
0.03957260464085266,
|
| 267 |
+
0.04249591939151287
|
| 268 |
+
],
|
| 269 |
+
"orientation": {
|
| 270 |
+
"w": 0.39512383156899195,
|
| 271 |
+
"xyz": [
|
| 272 |
+
-0.3948734923141824,
|
| 273 |
+
0.5810868369275122,
|
| 274 |
+
-0.591853166539995
|
| 275 |
+
]
|
| 276 |
+
}
|
| 277 |
+
},
|
| 278 |
+
"grasp_34": {
|
| 279 |
+
"confidence": 0.9683870077133179,
|
| 280 |
+
"position": [
|
| 281 |
+
-0.09358774172142148,
|
| 282 |
+
0.035370540514122695,
|
| 283 |
+
0.05441889725625515
|
| 284 |
+
],
|
| 285 |
+
"orientation": {
|
| 286 |
+
"w": 0.5710806219722019,
|
| 287 |
+
"xyz": [
|
| 288 |
+
0.57825113031702,
|
| 289 |
+
0.40222996333693417,
|
| 290 |
+
0.42154906012100174
|
| 291 |
+
]
|
| 292 |
+
}
|
| 293 |
+
},
|
| 294 |
+
"grasp_35": {
|
| 295 |
+
"confidence": 0.9683286547660828,
|
| 296 |
+
"position": [
|
| 297 |
+
-0.07873512106016278,
|
| 298 |
+
0.04749567125691101,
|
| 299 |
+
0.10162442736327648
|
| 300 |
+
],
|
| 301 |
+
"orientation": {
|
| 302 |
+
"w": 0.2554608568525908,
|
| 303 |
+
"xyz": [
|
| 304 |
+
-0.41186016467870973,
|
| 305 |
+
0.7612772599743829,
|
| 306 |
+
-0.430775914847687
|
| 307 |
+
]
|
| 308 |
+
}
|
| 309 |
+
},
|
| 310 |
+
"grasp_36": {
|
| 311 |
+
"confidence": 0.9681305289268494,
|
| 312 |
+
"position": [
|
| 313 |
+
-0.04992854269221425,
|
| 314 |
+
0.00208449101774022,
|
| 315 |
+
0.14736434631049633
|
| 316 |
+
],
|
| 317 |
+
"orientation": {
|
| 318 |
+
"w": 0.15710168508098665,
|
| 319 |
+
"xyz": [
|
| 320 |
+
0.7012652258708905,
|
| 321 |
+
0.6685538827763413,
|
| 322 |
+
0.19126382134016298
|
| 323 |
+
]
|
| 324 |
+
}
|
| 325 |
+
},
|
| 326 |
+
"grasp_37": {
|
| 327 |
+
"confidence": 0.9680546522140503,
|
| 328 |
+
"position": [
|
| 329 |
+
0.10704635037109256,
|
| 330 |
+
-0.007969170634169132,
|
| 331 |
+
0.04689303599298
|
| 332 |
+
],
|
| 333 |
+
"orientation": {
|
| 334 |
+
"w": 0.46624919488542743,
|
| 335 |
+
"xyz": [
|
| 336 |
+
0.49350961887072214,
|
| 337 |
+
-0.47120405252937425,
|
| 338 |
+
-0.5630512278919743
|
| 339 |
+
]
|
| 340 |
+
}
|
| 341 |
+
},
|
| 342 |
+
"grasp_38": {
|
| 343 |
+
"confidence": 0.9670925140380859,
|
| 344 |
+
"position": [
|
| 345 |
+
-0.0647154082544148,
|
| 346 |
+
-0.08171031187521294,
|
| 347 |
+
0.04291955940425396
|
| 348 |
+
],
|
| 349 |
+
"orientation": {
|
| 350 |
+
"w": 0.1978973564319734,
|
| 351 |
+
"xyz": [
|
| 352 |
+
0.2507568046661682,
|
| 353 |
+
0.6404564288422913,
|
| 354 |
+
0.6984076345411957
|
| 355 |
+
]
|
| 356 |
+
}
|
| 357 |
+
},
|
| 358 |
+
"grasp_39": {
|
| 359 |
+
"confidence": 0.966910183429718,
|
| 360 |
+
"position": [
|
| 361 |
+
-0.052084383089095354,
|
| 362 |
+
0.0023916507489047945,
|
| 363 |
+
0.14476696960628033
|
| 364 |
+
],
|
| 365 |
+
"orientation": {
|
| 366 |
+
"w": 0.17927914949340465,
|
| 367 |
+
"xyz": [
|
| 368 |
+
-0.6404591037846423,
|
| 369 |
+
0.7229107748098547,
|
| 370 |
+
-0.18727288805406317
|
| 371 |
+
]
|
| 372 |
+
}
|
| 373 |
+
}
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
{
|
| 377 |
+
"part_name": "rim connector",
|
| 378 |
+
"mask_color": "Yellow",
|
| 379 |
+
"graspable": false,
|
| 380 |
+
"grasp_scenarios": [],
|
| 381 |
+
"functional_labels": [
|
| 382 |
+
"connect the cup to the frame",
|
| 383 |
+
"reinforce the top joint",
|
| 384 |
+
"distribute load into the legs"
|
| 385 |
+
],
|
| 386 |
+
"semantic_description": "Thin circular light pink metal ring with a smooth satin finish, located directly beneath the cup where the upper frame members attach.",
|
| 387 |
+
"id": 3,
|
| 388 |
+
"grasp_group": {}
|
| 389 |
+
},
|
| 390 |
+
{
|
| 391 |
+
"part_name": "wire frame base",
|
| 392 |
+
"mask_color": "Green",
|
| 393 |
+
"graspable": true,
|
| 394 |
+
"grasp_scenarios": [
|
| 395 |
+
{
|
| 396 |
+
"scenario": "grasp the lower wire frame to lift the candle holder from a table",
|
| 397 |
+
"confidence": 0.83
|
| 398 |
+
},
|
| 399 |
+
{
|
| 400 |
+
"scenario": "hold the frame to stabilize or rotate the object during placement",
|
| 401 |
+
"confidence": 0.78
|
| 402 |
+
}
|
| 403 |
+
],
|
| 404 |
+
"functional_labels": [
|
| 405 |
+
"support the candle holder",
|
| 406 |
+
"stabilize on a surface",
|
| 407 |
+
"elevate the candle cup",
|
| 408 |
+
"provide the main structural frame"
|
| 409 |
+
],
|
| 410 |
+
"semantic_description": "Open geometric light pink metal wire frame with a smooth satin finish and hard surface, forming tapered legs and a rounded base beneath the candle cup.",
|
| 411 |
+
"id": 1,
|
| 412 |
+
"grasp_group": {
|
| 413 |
+
"grasp_0": {
|
| 414 |
+
"confidence": 0.9421069622039795,
|
| 415 |
+
"position": [
|
| 416 |
+
-0.07209011958912015,
|
| 417 |
+
-0.06635685573564842,
|
| 418 |
+
0.05250225029885769
|
| 419 |
+
],
|
| 420 |
+
"orientation": {
|
| 421 |
+
"w": 0.5783822781306411,
|
| 422 |
+
"xyz": [
|
| 423 |
+
-0.701769399755635,
|
| 424 |
+
0.3225202021603928,
|
| 425 |
+
-0.2626297186333737
|
| 426 |
+
]
|
| 427 |
+
}
|
| 428 |
+
},
|
| 429 |
+
"grasp_2": {
|
| 430 |
+
"confidence": 0.9217416048049927,
|
| 431 |
+
"position": [
|
| 432 |
+
-0.055929206777364016,
|
| 433 |
+
-0.08527010242687538,
|
| 434 |
+
0.035363463684916496
|
| 435 |
+
],
|
| 436 |
+
"orientation": {
|
| 437 |
+
"w": 0.6765689340161883,
|
| 438 |
+
"xyz": [
|
| 439 |
+
-0.6759547162880897,
|
| 440 |
+
0.24005865030909346,
|
| 441 |
+
-0.16646784513491877
|
| 442 |
+
]
|
| 443 |
+
}
|
| 444 |
+
},
|
| 445 |
+
"grasp_3": {
|
| 446 |
+
"confidence": 0.9025989770889282,
|
| 447 |
+
"position": [
|
| 448 |
+
-0.09810685412958264,
|
| 449 |
+
0.00026624894235283136,
|
| 450 |
+
0.022908063605427742
|
| 451 |
+
],
|
| 452 |
+
"orientation": {
|
| 453 |
+
"w": 0.5164137814383536,
|
| 454 |
+
"xyz": [
|
| 455 |
+
-0.4571718630682262,
|
| 456 |
+
0.4833506780821557,
|
| 457 |
+
-0.539150086670481
|
| 458 |
+
]
|
| 459 |
+
}
|
| 460 |
+
},
|
| 461 |
+
"grasp_4": {
|
| 462 |
+
"confidence": 0.8917580842971802,
|
| 463 |
+
"position": [
|
| 464 |
+
0.09837837470695376,
|
| 465 |
+
-0.006669666909147054,
|
| 466 |
+
0.03192449174821377
|
| 467 |
+
],
|
| 468 |
+
"orientation": {
|
| 469 |
+
"w": 0.5041846915126281,
|
| 470 |
+
"xyz": [
|
| 471 |
+
0.4614346704965899,
|
| 472 |
+
-0.537783918492047,
|
| 473 |
+
-0.4936236407622298
|
| 474 |
+
]
|
| 475 |
+
}
|
| 476 |
+
},
|
| 477 |
+
"grasp_5": {
|
| 478 |
+
"confidence": 0.890272319316864,
|
| 479 |
+
"position": [
|
| 480 |
+
0.09760123444721103,
|
| 481 |
+
0.0033094544778577983,
|
| 482 |
+
0.027832144871354103
|
| 483 |
+
],
|
| 484 |
+
"orientation": {
|
| 485 |
+
"w": 0.5009786711150833,
|
| 486 |
+
"xyz": [
|
| 487 |
+
-0.5098150598782224,
|
| 488 |
+
-0.47427660833580676,
|
| 489 |
+
0.5139753638012363
|
| 490 |
+
]
|
| 491 |
+
}
|
| 492 |
+
},
|
| 493 |
+
"grasp_10": {
|
| 494 |
+
"confidence": 0.8086971044540405,
|
| 495 |
+
"position": [
|
| 496 |
+
-0.08024659799411893,
|
| 497 |
+
-0.05545179854379967,
|
| 498 |
+
-0.010509144514799118
|
| 499 |
+
],
|
| 500 |
+
"orientation": {
|
| 501 |
+
"w": 0.7280262618560811,
|
| 502 |
+
"xyz": [
|
| 503 |
+
-0.499338410136051,
|
| 504 |
+
0.2846218747742657,
|
| 505 |
+
-0.3736700451075037
|
| 506 |
+
]
|
| 507 |
+
}
|
| 508 |
+
},
|
| 509 |
+
"grasp_13": {
|
| 510 |
+
"confidence": 0.7814294695854187,
|
| 511 |
+
"position": [
|
| 512 |
+
0.07859557075425982,
|
| 513 |
+
0.054645926400553435,
|
| 514 |
+
0.05032488517463207
|
| 515 |
+
],
|
| 516 |
+
"orientation": {
|
| 517 |
+
"w": 0.3436620925452438,
|
| 518 |
+
"xyz": [
|
| 519 |
+
-0.3204635944636658,
|
| 520 |
+
-0.7109222903511895,
|
| 521 |
+
0.5232484570953556
|
| 522 |
+
]
|
| 523 |
+
}
|
| 524 |
+
}
|
| 525 |
+
}
|
| 526 |
+
}
|
| 527 |
+
],
|
| 528 |
+
"quality_check": {
|
| 529 |
+
"success": true,
|
| 530 |
+
"message": "YES"
|
| 531 |
+
}
|
| 532 |
+
}
|
dataset/livingroom_supplies/ornaments/a8586ab62b855d72a7d3a03a0a953466/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:12159d2cfde247408984c98e545f9fd99781fa4385691ac808127962e8d15289
|
| 3 |
+
size 37307768
|