Add asset kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d
Browse files
.gitattributes
CHANGED
|
@@ -7400,4 +7400,4 @@ dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/affordance/m
|
|
| 7400 |
dataset/kitchen_supplies/tableware/ce64695a446e5310a6106f4e7e3e1942/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7401 |
dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7402 |
dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7403 |
-
dataset/kitchen_supplies/tableware/
|
|
|
|
| 7400 |
dataset/kitchen_supplies/tableware/ce64695a446e5310a6106f4e7e3e1942/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7401 |
dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7402 |
dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7403 |
+
dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,261 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "coaster body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the coaster body from the side edge to pick it up from a table",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the coaster body across opposite rim sections to reposition it",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the coaster body to stabilize it while placing or removing a cup",
|
| 18 |
+
"confidence": 0.69
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support a cup or glass",
|
| 23 |
+
"protect the tabletop",
|
| 24 |
+
"provide a stable resting surface",
|
| 25 |
+
"insulate the surface from moisture or heat",
|
| 26 |
+
"serve as the main grasp surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large round brown wooden coaster body with visible wood grain, a mostly matte smooth hard finish, shallow dish-like top surface, and printed black branding on the upper face near the rim.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9698460698127747,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.08238944341428578,
|
| 35 |
+
0.11141856241738424,
|
| 36 |
+
0.00762969977222383
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6136182738963679,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.3299456453627515,
|
| 42 |
+
0.6441321357906908,
|
| 43 |
+
-0.3157566732284886
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9691837430000305,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.07936236192472279,
|
| 51 |
+
0.10990284610306844,
|
| 52 |
+
0.006959980120882392
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.609695866928944,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.34176629445858475,
|
| 58 |
+
0.6419702588654477,
|
| 59 |
+
-0.315183972552606
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9689984321594238,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.09522116114385426,
|
| 67 |
+
0.09819763380801305,
|
| 68 |
+
0.009054448222741485
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.6123002881592912,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.2851495042327399,
|
| 74 |
+
0.6723526729352415,
|
| 75 |
+
-0.30285310061597165
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9688184857368469,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.0998621725011617,
|
| 83 |
+
0.09726133424555883,
|
| 84 |
+
0.00020856712944805622
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.6512297665305705,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.2600624962203439,
|
| 90 |
+
0.6545069656977943,
|
| 91 |
+
-0.28264451365142124
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9682478308677673,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.08510321308858693,
|
| 99 |
+
0.10537951666628942,
|
| 100 |
+
-0.002686438849195838
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.6466402638011447,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.2795216368500881,
|
| 106 |
+
0.6386254513484575,
|
| 107 |
+
-0.30964747157665123
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_7": {
|
| 112 |
+
"confidence": 0.9682233929634094,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.08450244297273457,
|
| 115 |
+
0.1045701302937232,
|
| 116 |
+
0.013297562720254064
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.2903639260384564,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.6545096963667669,
|
| 122 |
+
-0.33301992815541315,
|
| 123 |
+
0.6135173797609809
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_8": {
|
| 128 |
+
"confidence": 0.968137800693512,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.1032956384588033,
|
| 131 |
+
0.0905705340555869,
|
| 132 |
+
0.006836478831246495
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.6411996029706559,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.2530388864272729,
|
| 138 |
+
0.6759888355185542,
|
| 139 |
+
-0.26052540252380035
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_9": {
|
| 144 |
+
"confidence": 0.968131959438324,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.09990949113853276,
|
| 147 |
+
0.09598181623732671,
|
| 148 |
+
0.009064318845048547
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.6309811768371832,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.2813162810126162,
|
| 154 |
+
0.6736844767735002,
|
| 155 |
+
-0.26243690721544766
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_10": {
|
| 160 |
+
"confidence": 0.9679335951805115,
|
| 161 |
+
"position": [
|
| 162 |
+
0.09792818198911846,
|
| 163 |
+
0.09062753099715337,
|
| 164 |
+
0.007755354279652238
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.23056121831940368,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.7012007555396343,
|
| 170 |
+
0.2064255354801846,
|
| 171 |
+
-0.6422986247373077
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_13": {
|
| 176 |
+
"confidence": 0.9671832919120789,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.10235911537893116,
|
| 179 |
+
0.08876950520789251,
|
| 180 |
+
4.229857586324215e-05
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.6557749703439033,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.2605026659883883,
|
| 186 |
+
0.6566044045382405,
|
| 187 |
+
-0.26639858337532013
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_17": {
|
| 192 |
+
"confidence": 0.9666306972503662,
|
| 193 |
+
"position": [
|
| 194 |
+
0.11340560833923519,
|
| 195 |
+
0.07648760307347402,
|
| 196 |
+
0.002780105220153928
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.22461893783353049,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.6934828643619579,
|
| 202 |
+
0.18180895548324671,
|
| 203 |
+
-0.6599798128041205
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_18": {
|
| 208 |
+
"confidence": 0.9666037559509277,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.10369586129672825,
|
| 211 |
+
0.08827782649314031,
|
| 212 |
+
-0.007063979981467128
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.6751941980842573,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.2301936476555756,
|
| 218 |
+
0.6479876002713554,
|
| 219 |
+
-0.2669002610469825
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_19": {
|
| 224 |
+
"confidence": 0.9664323925971985,
|
| 225 |
+
"position": [
|
| 226 |
+
0.09983569453470409,
|
| 227 |
+
0.08833316195523366,
|
| 228 |
+
0.016280938172712922
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.6279928966050995,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.2830886158190108,
|
| 234 |
+
-0.6987906487087452,
|
| 235 |
+
0.19281438401847556
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"part_name": "center pad",
|
| 243 |
+
"mask_color": "Purple",
|
| 244 |
+
"graspable": false,
|
| 245 |
+
"grasp_scenarios": [],
|
| 246 |
+
"functional_labels": [
|
| 247 |
+
"increase friction under a cup",
|
| 248 |
+
"center the drink vessel",
|
| 249 |
+
"provide a decorative inlay",
|
| 250 |
+
"slightly cushion the contact area"
|
| 251 |
+
],
|
| 252 |
+
"semantic_description": "Small circular raised center pad in a darker brown tone, likely wood or cork-like material, with a matte textured carved floral pattern on the top middle of the coaster.",
|
| 253 |
+
"id": 5,
|
| 254 |
+
"grasp_group": {}
|
| 255 |
+
}
|
| 256 |
+
],
|
| 257 |
+
"quality_check": {
|
| 258 |
+
"success": true,
|
| 259 |
+
"message": "YES"
|
| 260 |
+
}
|
| 261 |
+
}
|
dataset/kitchen_supplies/tableware/d428b008daf65b4eb0f36ecec21ad43d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b5695790e78ba08975e956b87cf016c7e1d6d570a8a6bd49551e472c8d23e419
|
| 3 |
+
size 3773924
|