Add asset kitchen_supplies/tableware/727914cb45f15c34be1451f2807c11b5
Browse files
.gitattributes
CHANGED
|
@@ -7285,3 +7285,4 @@ dataset/kitchen_supplies/tableware/6f91cc1b63715573afee92f303a18662/affordance/m
|
|
| 7285 |
dataset/kitchen_supplies/tableware/70ad9836919e5971946363179da1c199/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7286 |
dataset/kitchen_supplies/tableware/7108aabc84d351d3a389077df2f84d15/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7287 |
dataset/kitchen_supplies/tableware/7221b46038df557399dd65b3ce7aac7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7285 |
dataset/kitchen_supplies/tableware/70ad9836919e5971946363179da1c199/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7286 |
dataset/kitchen_supplies/tableware/7108aabc84d351d3a389077df2f84d15/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7287 |
dataset/kitchen_supplies/tableware/7221b46038df557399dd65b3ce7aac7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7288 |
+
dataset/kitchen_supplies/tableware/727914cb45f15c34be1451f2807c11b5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/727914cb45f15c34be1451f2807c11b5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,341 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "plastic tray or lid body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the outer edge to pick up the tray or lid from a flat surface",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp a corner or side rim to reposition or rotate the object",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the broad body from the sides to place or stabilize it during handling",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support or contain lightweight items",
|
| 23 |
+
"cover or act as a lid for a container",
|
| 24 |
+
"provide a flat surface for placement",
|
| 25 |
+
"enable carrying by its edges"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Single-piece bright green rigid plastic tray or lid with a shallow rectangular form, slightly raised border, smooth glossy surface, flat central panel, and a few small dark circular marks visible on one area.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9794245958328247,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.10302098421379924,
|
| 34 |
+
-0.1866966423112899,
|
| 35 |
+
-0.004042075284814928
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4938272317817759,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.4956729136773782,
|
| 41 |
+
0.4955210039262208,
|
| 42 |
+
0.514686275769305
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9786890149116516,
|
| 48 |
+
"position": [
|
| 49 |
+
0.01720132725313306,
|
| 50 |
+
0.17753470572642982,
|
| 51 |
+
-0.0024439231856376864
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5049395648194736,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.5084099114867511,
|
| 57 |
+
0.48804453192201314,
|
| 58 |
+
-0.4983652602689896
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9784053564071655,
|
| 64 |
+
"position": [
|
| 65 |
+
0.009741263929754496,
|
| 66 |
+
0.17755525442771614,
|
| 67 |
+
0.0015246071488945745
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.4914009167364536,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.5026670459904624,
|
| 73 |
+
0.4985737851234757,
|
| 74 |
+
-0.507222989121595
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.978317379951477,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.10079895285889506,
|
| 82 |
+
-0.18598926928825676,
|
| 83 |
+
0.0018276552073075436
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.49054370689759685,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.5011911040661087,
|
| 89 |
+
-0.5007069823116495,
|
| 90 |
+
-0.5074119299863982
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9778629541397095,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.1122833895497024,
|
| 98 |
+
-0.18651177850551903,
|
| 99 |
+
0.0006619448176934384
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.4994026381275067,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.4993955525030863,
|
| 105 |
+
0.5029287740366228,
|
| 106 |
+
0.49826071028874314
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9777136445045471,
|
| 112 |
+
"position": [
|
| 113 |
+
0.023998102638870478,
|
| 114 |
+
0.1790754410903901,
|
| 115 |
+
0.0020566091043292545
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.4920093916599334,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.5137274852381377,
|
| 121 |
+
0.4926349639271499,
|
| 122 |
+
-0.5013198796634913
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9775484204292297,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.109069864731282,
|
| 130 |
+
-0.18725188937969506,
|
| 131 |
+
0.0009422101647942327
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.48756363269281555,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.5048766118166831,
|
| 137 |
+
-0.4936351304349186,
|
| 138 |
+
-0.5135228027229101
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9774422645568848,
|
| 144 |
+
"position": [
|
| 145 |
+
0.021829901728779078,
|
| 146 |
+
0.17522361013107002,
|
| 147 |
+
-0.0004402802514960058
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.49300439704225807,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.4993998154915348,
|
| 153 |
+
-0.4973857877525071,
|
| 154 |
+
0.510052807977604
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.9773717522621155,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.04367790324613452,
|
| 162 |
+
-0.18505687383003533,
|
| 163 |
+
-0.013029464324063156
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.43506850623372767,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.5388085266856122,
|
| 169 |
+
0.4051795165747293,
|
| 170 |
+
0.5968503378592501
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9772899150848389,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.09868453023955226,
|
| 178 |
+
-0.1843485173303634,
|
| 179 |
+
-0.008817049478238914
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.5041062385782499,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.488229478749279,
|
| 185 |
+
0.4841057486833036,
|
| 186 |
+
0.5226380204295075
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9772681593894958,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.10602453676983714,
|
| 194 |
+
-0.19077142444439232,
|
| 195 |
+
0.0005611578453681432
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.4916925210559418,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.5030533754687135,
|
| 201 |
+
0.49650742878848175,
|
| 202 |
+
0.5085824803559758
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9771713018417358,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.05106170056387782,
|
| 210 |
+
-0.18576284614391625,
|
| 211 |
+
-0.0020164321540505625
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.4533546661365758,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.5479816003907632,
|
| 217 |
+
0.436311443521875,
|
| 218 |
+
0.5511969127065476
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9771534204483032,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.09118328569456935,
|
| 226 |
+
-0.18647449580021203,
|
| 227 |
+
-0.0063552719439030625
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.5088698369362418,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.49138777846992104,
|
| 233 |
+
0.4864898439905634,
|
| 234 |
+
0.5127544947837278
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9771046042442322,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.08069493202492595,
|
| 242 |
+
-0.18429925409145653,
|
| 243 |
+
-0.0004898682018392719
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.5041916616882701,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.4934163974264562,
|
| 249 |
+
-0.5001788779946479,
|
| 250 |
+
-0.5021475052638752
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.9770132303237915,
|
| 256 |
+
"position": [
|
| 257 |
+
0.019409383181482553,
|
| 258 |
+
0.17729752394370735,
|
| 259 |
+
-0.004310952303058002
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.5054609694676062,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.48768100100823575,
|
| 265 |
+
-0.5027138305087062,
|
| 266 |
+
0.5039397327218174
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.9768286943435669,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.08343003271147609,
|
| 274 |
+
-0.18388731149025261,
|
| 275 |
+
-0.0008400173173868097
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.5009918821760267,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.4938204748373322,
|
| 281 |
+
-0.4981147612186426,
|
| 282 |
+
-0.5069814170965717
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.9767922759056091,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.10886840848252177,
|
| 290 |
+
-0.1873326685745269,
|
| 291 |
+
-0.0026686108103604056
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.49773147649475546,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.49041873158726024,
|
| 297 |
+
-0.5005506915098025,
|
| 298 |
+
-0.5110791037048487
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.976740300655365,
|
| 304 |
+
"position": [
|
| 305 |
+
-0.10366794047877192,
|
| 306 |
+
-0.1897145148832351,
|
| 307 |
+
-0.00674265230918536
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.49623655547760187,
|
| 311 |
+
"xyz": [
|
| 312 |
+
-0.49542628640055403,
|
| 313 |
+
0.4974597755091478,
|
| 314 |
+
0.5107209095988432
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.9765552878379822,
|
| 320 |
+
"position": [
|
| 321 |
+
-0.003254827344790101,
|
| 322 |
+
0.17552321287803352,
|
| 323 |
+
0.0028808710267185234
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.4817762627476664,
|
| 327 |
+
"xyz": [
|
| 328 |
+
0.5197317584492418,
|
| 329 |
+
0.481237450856702,
|
| 330 |
+
-0.5159273667921618
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
}
|
| 336 |
+
],
|
| 337 |
+
"quality_check": {
|
| 338 |
+
"success": true,
|
| 339 |
+
"message": "YES"
|
| 340 |
+
}
|
| 341 |
+
}
|
dataset/kitchen_supplies/tableware/727914cb45f15c34be1451f2807c11b5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a8f2a74b4ad46c8b79a0eea95f557873bd2bf616069752a441c13baebb9f762c
|
| 3 |
+
size 2115852
|