Add asset kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e
Browse files
.gitattributes
CHANGED
|
@@ -7612,3 +7612,4 @@ dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/affordance/mesh_p
|
|
| 7612 |
dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7613 |
dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7614 |
dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7612 |
dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7613 |
dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7614 |
dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7615 |
+
dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,293 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "wine glass",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bowl area to pick up and reposition the wine glass",
|
| 10 |
+
"confidence": 0.83
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the stem to lift the wine glass carefully",
|
| 14 |
+
"confidence": 0.61
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the base to stabilize or slide the wine glass on a surface",
|
| 18 |
+
"confidence": 0.38
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"support drinking",
|
| 24 |
+
"provide a grasp surface for handling",
|
| 25 |
+
"support upright placement"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A single-piece wine glass with a clear translucent glass body, glossy reflective finish, hard smooth texture, faceted bowl, slender twisted stem, and round foot forming the full object.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9760180711746216,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.030540295876562595,
|
| 34 |
+
-0.08756264147814363,
|
| 35 |
+
-0.02106327749788761
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6342488245674125,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7516625541540848,
|
| 41 |
+
0.11864717878141107,
|
| 42 |
+
-0.13658213713595496
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9743908643722534,
|
| 48 |
+
"position": [
|
| 49 |
+
0.007276781369000673,
|
| 50 |
+
-0.09591506270226091,
|
| 51 |
+
-0.026351874694228172
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.7127016996741009,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.699230914263941,
|
| 57 |
+
-0.007310118162273005,
|
| 58 |
+
0.05548853928257776
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9742421507835388,
|
| 64 |
+
"position": [
|
| 65 |
+
0.057541958056390285,
|
| 66 |
+
-0.08275223372038454,
|
| 67 |
+
-0.026311883702874184
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.24204335165440014,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.16672616923100017,
|
| 73 |
+
-0.7026211861541052,
|
| 74 |
+
-0.6480284478175778
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9727654457092285,
|
| 80 |
+
"position": [
|
| 81 |
+
0.005733083002269268,
|
| 82 |
+
-0.09784293023403734,
|
| 83 |
+
-0.035772865638136864
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.7143024416225571,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6976025191446045,
|
| 89 |
+
-0.05476453819311089,
|
| 90 |
+
-0.011117217801733921
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.971006453037262,
|
| 96 |
+
"position": [
|
| 97 |
+
0.0906205540522933,
|
| 98 |
+
-0.03625775349792093,
|
| 99 |
+
-0.017191840335726738
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6022230271361388,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.5732658387698302,
|
| 105 |
+
-0.41584142879513764,
|
| 106 |
+
0.36846927929493284
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9698001146316528,
|
| 112 |
+
"position": [
|
| 113 |
+
0.030401763506233692,
|
| 114 |
+
-0.092989994562231,
|
| 115 |
+
-0.035945190116763115
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.7032924392886594,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.6906631432148691,
|
| 121 |
+
-0.08766450274701976,
|
| 122 |
+
0.1438023031876808
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_7": {
|
| 127 |
+
"confidence": 0.9668922424316406,
|
| 128 |
+
"position": [
|
| 129 |
+
0.026351849548518658,
|
| 130 |
+
-0.08714617637451738,
|
| 131 |
+
3.182794898748398e-05
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5080477636338304,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.8502876287021567,
|
| 137 |
+
-0.07913165868576888,
|
| 138 |
+
0.11241262801111691
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_8": {
|
| 143 |
+
"confidence": 0.9667087197303772,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.030124236829578876,
|
| 146 |
+
-0.08908913133200258,
|
| 147 |
+
-0.02795512042939663
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.579810037252837,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.7982422766385991,
|
| 153 |
+
0.10100177926317544,
|
| 154 |
+
-0.1281726533756814
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_10": {
|
| 159 |
+
"confidence": 0.9658104777336121,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.02203561458736658,
|
| 162 |
+
-0.0889253377681598,
|
| 163 |
+
-0.023640068247914314
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.590584074075628,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.7946687672545213,
|
| 169 |
+
0.1283831966636534,
|
| 170 |
+
-0.05683094766792859
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_11": {
|
| 175 |
+
"confidence": 0.9652233123779297,
|
| 176 |
+
"position": [
|
| 177 |
+
0.08252385910600424,
|
| 178 |
+
0.038196088396944106,
|
| 179 |
+
0.0027304738759994507
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.413239619982967,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.7296372884157162,
|
| 185 |
+
-0.4467893299277095,
|
| 186 |
+
-0.3118360763164567
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_12": {
|
| 191 |
+
"confidence": 0.965142548084259,
|
| 192 |
+
"position": [
|
| 193 |
+
0.07096309866756201,
|
| 194 |
+
0.05439594539348036,
|
| 195 |
+
0.003189818002283573
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.4723707711944958,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.7450591502676501,
|
| 201 |
+
-0.4275656652542683,
|
| 202 |
+
-0.1973330155327264
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_13": {
|
| 207 |
+
"confidence": 0.9642966985702515,
|
| 208 |
+
"position": [
|
| 209 |
+
0.05595626961439848,
|
| 210 |
+
-0.07729820010717958,
|
| 211 |
+
-0.009805567562580109
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.6862696972320095,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.6575822430693462,
|
| 217 |
+
-0.2574424422135201,
|
| 218 |
+
0.17419209284038067
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_14": {
|
| 223 |
+
"confidence": 0.9610694050788879,
|
| 224 |
+
"position": [
|
| 225 |
+
0.08947635348886251,
|
| 226 |
+
0.02774300950113684,
|
| 227 |
+
-0.012531625106930733
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.31179796098587015,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.5090548922155894,
|
| 233 |
+
-0.6438772529453093,
|
| 234 |
+
0.4786096858359965
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_16": {
|
| 239 |
+
"confidence": 0.9606002569198608,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.022302703000605106,
|
| 242 |
+
0.0963783502811566,
|
| 243 |
+
-0.03221175633370876
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.11656162211056849,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.07212551988302476,
|
| 249 |
+
0.7049912983348253,
|
| 250 |
+
-0.6958437805317611
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_17": {
|
| 255 |
+
"confidence": 0.9603344798088074,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.02569598238915205,
|
| 258 |
+
0.09446861746255308,
|
| 259 |
+
-0.03099159710109234
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.10834017138597668,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.10148842566358983,
|
| 265 |
+
0.6814683028827135,
|
| 266 |
+
-0.7166334201574311
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_18": {
|
| 271 |
+
"confidence": 0.9598605036735535,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.08102753106504679,
|
| 274 |
+
0.05921679886523634,
|
| 275 |
+
-0.00956704281270504
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.6495208163101853,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.6092579258764962,
|
| 281 |
+
0.3245107554593418,
|
| 282 |
+
0.31877932575314183
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
}
|
| 288 |
+
],
|
| 289 |
+
"quality_check": {
|
| 290 |
+
"success": true,
|
| 291 |
+
"message": "YES"
|
| 292 |
+
}
|
| 293 |
+
}
|
dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0e57c1bf6fc793c80430482aa6ceced504ddda0972a26756800d6645a46db935
|
| 3 |
+
size 3775084
|