Add asset kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930
Browse files
.gitattributes
CHANGED
|
@@ -7402,3 +7402,4 @@ dataset/kitchen_supplies/tableware/cf0617173f195c0ab6b7d41f205db1de/affordance/m
|
|
| 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
|
| 7404 |
dataset/kitchen_supplies/tableware/d4b87f71e6e05bbebbedda602d062baa/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
|
| 7404 |
dataset/kitchen_supplies/tableware/d4b87f71e6e05bbebbedda602d062baa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7405 |
+
dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,254 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tray rim",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer rim from the sides to lift the tray",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the rim to pull or reposition the tray on a surface",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the rim to stabilize the tray while loading or unloading items",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide grasping edge",
|
| 23 |
+
"retain items on tray",
|
| 24 |
+
"define tray boundary",
|
| 25 |
+
"support carrying",
|
| 26 |
+
"stabilize contents"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Raised off-white plastic rim with a glossy hard smooth surface, scalloped rectangular outline, medium width around the perimeter, and subtle embossed ornamental detailing.",
|
| 29 |
+
"id": 2,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9583138823509216,
|
| 33 |
+
"position": [
|
| 34 |
+
0.21200761254294775,
|
| 35 |
+
-0.09385978104546666,
|
| 36 |
+
0.038611819269135594
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.1353352493853495,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.8201122721329269,
|
| 42 |
+
0.06528649674478104,
|
| 43 |
+
0.5521212771788157
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9533689022064209,
|
| 49 |
+
"position": [
|
| 50 |
+
0.2082368588016834,
|
| 51 |
+
-0.08343677641823888,
|
| 52 |
+
0.046816469402983785
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.5274172470554361,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.04327658112906705,
|
| 58 |
+
-0.8481246140387915,
|
| 59 |
+
0.025353975936630902
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9526084661483765,
|
| 65 |
+
"position": [
|
| 66 |
+
0.20799255426391028,
|
| 67 |
+
-0.07257739128544927,
|
| 68 |
+
0.04782952484674752
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5167356526977588,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.06168324059699028,
|
| 74 |
+
-0.851884148318285,
|
| 75 |
+
-0.05893081455829949
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.951913058757782,
|
| 81 |
+
"position": [
|
| 82 |
+
0.2157684123085346,
|
| 83 |
+
-0.06405227305367589,
|
| 84 |
+
0.04042520863004029
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.08875675406776946,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.8212427235545908,
|
| 90 |
+
-0.021189466087704223,
|
| 91 |
+
-0.5632349724075285
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.9506986141204834,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.20481672827736475,
|
| 99 |
+
-0.08122320892289281,
|
| 100 |
+
0.043336835922673345
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.1513878412338288,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.8082481172085386,
|
| 106 |
+
-0.1194686275027681,
|
| 107 |
+
-0.5563667401975232
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.949506938457489,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.19674965683952905,
|
| 115 |
+
-0.09523513587191701,
|
| 116 |
+
0.05593649414367974
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.5043350276953829,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.08922164227687061,
|
| 122 |
+
0.8414897920480476,
|
| 123 |
+
0.1719901400309021
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.9491849541664124,
|
| 129 |
+
"position": [
|
| 130 |
+
0.020609366329154,
|
| 131 |
+
0.20623571006581187,
|
| 132 |
+
0.07984352228231728
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.3109644286399537,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.607976729476145,
|
| 138 |
+
-0.6895474198210232,
|
| 139 |
+
0.24122557151821075
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_9": {
|
| 144 |
+
"confidence": 0.9479936361312866,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.19351658169762231,
|
| 147 |
+
-0.0796031248755753,
|
| 148 |
+
0.06060267356224358
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.18502832185043294,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.8665965552066767,
|
| 154 |
+
-0.11496085287624214,
|
| 155 |
+
-0.4489531522587865
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_12": {
|
| 160 |
+
"confidence": 0.9461050033569336,
|
| 161 |
+
"position": [
|
| 162 |
+
0.21591512914164923,
|
| 163 |
+
-0.08980396063998342,
|
| 164 |
+
0.0349710148293525
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.5865608676859979,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.03492560774836148,
|
| 170 |
+
-0.808350863104066,
|
| 171 |
+
-0.035992117772762754
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_13": {
|
| 176 |
+
"confidence": 0.9458688497543335,
|
| 177 |
+
"position": [
|
| 178 |
+
0.027031969832023606,
|
| 179 |
+
-0.23523845942690969,
|
| 180 |
+
0.04236276191659272
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.38446258868343314,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.5885424954083412,
|
| 186 |
+
-0.5773348707695852,
|
| 187 |
+
-0.41531999228886474
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_14": {
|
| 192 |
+
"confidence": 0.9455385208129883,
|
| 193 |
+
"position": [
|
| 194 |
+
0.013703738892218098,
|
| 195 |
+
0.21780610410496593,
|
| 196 |
+
0.06376488250680268
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.37095184624815164,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.6372679288063671,
|
| 202 |
+
0.5928123250638176,
|
| 203 |
+
-0.3238176368457435
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_16": {
|
| 208 |
+
"confidence": 0.9447755217552185,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.1992895448638592,
|
| 211 |
+
-0.1048024189658463,
|
| 212 |
+
0.04459771257825196
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.18305021620048198,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.8046234611857906,
|
| 218 |
+
-0.15217276858032147,
|
| 219 |
+
-0.5439826767103482
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
}
|
| 223 |
+
}
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"part_name": "tray base",
|
| 227 |
+
"mask_color": "Yellow",
|
| 228 |
+
"graspable": true,
|
| 229 |
+
"grasp_scenarios": [
|
| 230 |
+
{
|
| 231 |
+
"scenario": "support the tray by pressing a gripper against the flat base from below",
|
| 232 |
+
"confidence": 0.56
|
| 233 |
+
},
|
| 234 |
+
{
|
| 235 |
+
"scenario": "grasp the tray across the base and opposite rim when a wide gripper handles the whole object",
|
| 236 |
+
"confidence": 0.41
|
| 237 |
+
}
|
| 238 |
+
],
|
| 239 |
+
"functional_labels": [
|
| 240 |
+
"support placed items",
|
| 241 |
+
"provide flat holding surface",
|
| 242 |
+
"distribute load",
|
| 243 |
+
"form tray bottom"
|
| 244 |
+
],
|
| 245 |
+
"semantic_description": "Flat off-white plastic center panel with a glossy smooth hard surface, rectangular shape inset within the rim, and visible floral embossed decoration across the middle.",
|
| 246 |
+
"id": 3,
|
| 247 |
+
"grasp_group": {}
|
| 248 |
+
}
|
| 249 |
+
],
|
| 250 |
+
"quality_check": {
|
| 251 |
+
"success": true,
|
| 252 |
+
"message": "YES"
|
| 253 |
+
}
|
| 254 |
+
}
|
dataset/kitchen_supplies/tableware/d52d2c34136d5ab1ac336b70635aa930/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9fd45d39c5c5748d1fab483e45dc9cb652c9cee3f453acd6b0a229d3622a2314
|
| 3 |
+
size 3779400
|