Add asset kitchen_supplies/tableware/d3714e52326958f390103963996496a7
Browse files
.gitattributes
CHANGED
|
@@ -7399,4 +7399,4 @@ dataset/kitchen_supplies/tableware/cd9db611a23f59bdaef3c03291a5863d/affordance/m
|
|
| 7399 |
dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 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/
|
|
|
|
| 7399 |
dataset/kitchen_supplies/tableware/caba72e7c150584592598be7b3f64650/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 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
|
dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,310 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 area to pick up and move the spoon",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp near the neck to stabilize and reorient the spoon",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the bowl to retrieve or reposition the spoon when the handle is obstructed",
|
| 18 |
+
"confidence": 0.34
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"scoop food or liquid",
|
| 23 |
+
"transfer contents",
|
| 24 |
+
"provide a grasping handle",
|
| 25 |
+
"support hanging by the end hole",
|
| 26 |
+
"define utensil orientation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Single-piece yellow-orange plastic spoon with a glossy smooth hard surface, featuring a shallow rounded bowl and a slim tapered handle with a small hanging hole at the end.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9877947568893433,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.054815322160720825,
|
| 35 |
+
-0.08898333279648796,
|
| 36 |
+
-0.02780882245860994
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.43409113752945344,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.4499943448094083,
|
| 42 |
+
0.35584085788281006,
|
| 43 |
+
0.6945842337824573
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.9823119640350342,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.04120664298534393,
|
| 51 |
+
-0.0951773357228376,
|
| 52 |
+
0.005267932778224349
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.599076776450992,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.4313032906126625,
|
| 58 |
+
-0.5662494727362917,
|
| 59 |
+
-0.36666881794018086
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_4": {
|
| 64 |
+
"confidence": 0.9815673232078552,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.050305746495723724,
|
| 67 |
+
-0.09285761980572715,
|
| 68 |
+
0.01852262788452208
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.30047357825686394,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.605552977636778,
|
| 74 |
+
0.4328604303128346,
|
| 75 |
+
0.5963665549929302
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9808149337768555,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.03641543537378311,
|
| 83 |
+
-0.09457557467976585,
|
| 84 |
+
0.01624495559372008
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.32718436157341235,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.5487978557434011,
|
| 90 |
+
0.488862416155737,
|
| 91 |
+
0.5939569387957506
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_6": {
|
| 96 |
+
"confidence": 0.9792323708534241,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.06529128551483154,
|
| 99 |
+
-0.09950350789586082,
|
| 100 |
+
0.007939786883071065
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.4261976525981519,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5409416519924048,
|
| 106 |
+
0.4694224730203531,
|
| 107 |
+
0.5526121894086384
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_8": {
|
| 112 |
+
"confidence": 0.9790740013122559,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.04145754873752594,
|
| 115 |
+
-0.095635591133032,
|
| 116 |
+
0.002496053697541356
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.597162048922053,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.4492058323580764,
|
| 122 |
+
-0.5360228080900351,
|
| 123 |
+
-0.39279913023067825
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_9": {
|
| 128 |
+
"confidence": 0.9788797497749329,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.03392752259969711,
|
| 131 |
+
-0.0944160875515081,
|
| 132 |
+
0.01215676055289805
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.3636480943024967,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.5755780078578192,
|
| 138 |
+
0.4457368480468743,
|
| 139 |
+
0.5811959073099399
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_10": {
|
| 144 |
+
"confidence": 0.9769600629806519,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.10744434595108032,
|
| 147 |
+
0.09691830159863457,
|
| 148 |
+
0.017552787670865655
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.4730964516834791,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.5607490134526707,
|
| 154 |
+
-0.509077840510407,
|
| 155 |
+
0.45008892856592075
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_11": {
|
| 160 |
+
"confidence": 0.9763599038124084,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.06794902682304382,
|
| 163 |
+
-0.097029214783106,
|
| 164 |
+
0.005670421523973346
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.42738215079976455,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.49535508810561524,
|
| 170 |
+
0.498134765112604,
|
| 171 |
+
0.5690602689099417
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_12": {
|
| 176 |
+
"confidence": 0.9760033488273621,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.11320361495018005,
|
| 179 |
+
0.0920673924847506,
|
| 180 |
+
0.01154055935330689
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.47816143748442924,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.48140675340437317,
|
| 186 |
+
0.5501091691442314,
|
| 187 |
+
-0.4868152416501859
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_13": {
|
| 192 |
+
"confidence": 0.9757673144340515,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.12033441662788391,
|
| 195 |
+
0.09132854075869545,
|
| 196 |
+
0.02071393677033484
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.48370958401301073,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.46767676464430635,
|
| 202 |
+
0.5994167782216059,
|
| 203 |
+
-0.43359313662951776
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_14": {
|
| 208 |
+
"confidence": 0.9751741290092468,
|
| 209 |
+
"position": [
|
| 210 |
+
0.09651465713977814,
|
| 211 |
+
0.11894083203515038,
|
| 212 |
+
0.03858410404063761
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.4537035145852151,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.6725843932672803,
|
| 218 |
+
0.4901490293196096,
|
| 219 |
+
-0.31864915478210926
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_15": {
|
| 224 |
+
"confidence": 0.9748045206069946,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.12088653445243835,
|
| 227 |
+
0.09502634586533532,
|
| 228 |
+
0.02495636628009379
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.45566163259135595,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.4887089433227107,
|
| 234 |
+
0.5990815464025061,
|
| 235 |
+
-0.4411772274954381
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_16": {
|
| 240 |
+
"confidence": 0.9747663140296936,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.059781089425086975,
|
| 243 |
+
-0.09810548095265403,
|
| 244 |
+
0.00027738965582102537
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.45306575908394936,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.4880783835404642,
|
| 250 |
+
0.4897437193342635,
|
| 251 |
+
0.5627272863820045
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_17": {
|
| 256 |
+
"confidence": 0.9746957421302795,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.1200326681137085,
|
| 259 |
+
0.09447942854603752,
|
| 260 |
+
0.02458729431964457
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.45979149583866563,
|
| 264 |
+
"xyz": [
|
| 265 |
+
0.4965777556932698,
|
| 266 |
+
0.5982582649350019,
|
| 267 |
+
-0.42905636149815846
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_18": {
|
| 272 |
+
"confidence": 0.974410355091095,
|
| 273 |
+
"position": [
|
| 274 |
+
-0.04754205793142319,
|
| 275 |
+
-0.08929490117589012,
|
| 276 |
+
0.011443997034803033
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.6286766270171692,
|
| 280 |
+
"xyz": [
|
| 281 |
+
-0.4588437651636703,
|
| 282 |
+
-0.5455838976669496,
|
| 283 |
+
-0.31075120018960684
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_19": {
|
| 288 |
+
"confidence": 0.9740685224533081,
|
| 289 |
+
"position": [
|
| 290 |
+
0.07613198086619377,
|
| 291 |
+
0.1304027828737162,
|
| 292 |
+
0.017759463051334023
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.5303127352150591,
|
| 296 |
+
"xyz": [
|
| 297 |
+
0.5894708168352464,
|
| 298 |
+
0.5072185669602683,
|
| 299 |
+
-0.3376712666175218
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
}
|
| 305 |
+
],
|
| 306 |
+
"quality_check": {
|
| 307 |
+
"success": true,
|
| 308 |
+
"message": "YES"
|
| 309 |
+
}
|
| 310 |
+
}
|
dataset/kitchen_supplies/tableware/d3714e52326958f390103963996496a7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b93c412267bd8cde377a6d54f4af848f7ee1bad0cba3733b0b4857968a721f8c
|
| 3 |
+
size 894920
|