Add asset kitchen_supplies/ware/5bc351e34fa55137aae7a68207b2b8e3
Browse files
.gitattributes
CHANGED
|
@@ -7561,4 +7561,4 @@ dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_p
|
|
| 7561 |
dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7562 |
dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7563 |
dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7564 |
-
dataset/kitchen_supplies/ware/
|
|
|
|
| 7561 |
dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7562 |
dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7563 |
dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7564 |
+
dataset/kitchen_supplies/ware/5bc351e34fa55137aae7a68207b2b8e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/5bc351e34fa55137aae7a68207b2b8e3/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,611 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body around the middle to pick up and carry the water bottle",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to stabilize it while unscrewing the cap",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body to reposition the bottle on a surface",
|
| 18 |
+
"confidence": 0.89
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain water",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"stabilize during cap removal",
|
| 26 |
+
"provide structure"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large translucent light-blue plastic body with a smooth slightly frosted finish, hard surface, rounded cylindrical shape with tapered shoulders, forming most of the bottle below the cap.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.8321914672851562,
|
| 33 |
+
"position": [
|
| 34 |
+
0.05130801170889754,
|
| 35 |
+
0.10105061205103993,
|
| 36 |
+
0.09832534985616803
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.18478777826204212,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.17292495195147858,
|
| 42 |
+
-0.7310768141520498,
|
| 43 |
+
0.633622229571254
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.828269362449646,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.019729880543309264,
|
| 51 |
+
-0.09292914299294353,
|
| 52 |
+
0.12216215627267957
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.07684202715149129,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.06145911799666611,
|
| 58 |
+
0.8296360877928163,
|
| 59 |
+
0.5495653205126313
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.8214490413665771,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.01729606457229238,
|
| 67 |
+
-0.09213870344683528,
|
| 68 |
+
0.13017299072816968
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.04669286373890316,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.0710771436030316,
|
| 74 |
+
0.8580382513006255,
|
| 75 |
+
0.5064959777116291
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_4": {
|
| 80 |
+
"confidence": 0.8096655607223511,
|
| 81 |
+
"position": [
|
| 82 |
+
0.010745151041192003,
|
| 83 |
+
-0.09939222363755107,
|
| 84 |
+
0.11523135052993894
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.04182055928263713,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.04406086061255051,
|
| 90 |
+
-0.7935372567534495,
|
| 91 |
+
-0.6054818771256317
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_5": {
|
| 96 |
+
"confidence": 0.806603729724884,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.0001395417275489308,
|
| 99 |
+
-0.09218602953478694,
|
| 100 |
+
0.13241075770929456
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.5079346491867242,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.8612868458077295,
|
| 106 |
+
0.01364593417996629,
|
| 107 |
+
0.0010723220073260153
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_6": {
|
| 112 |
+
"confidence": 0.8034440279006958,
|
| 113 |
+
"position": [
|
| 114 |
+
0.005922409778577276,
|
| 115 |
+
0.1054389146156609,
|
| 116 |
+
0.11219988064840436
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.6010864614278774,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.7989722362514886,
|
| 122 |
+
-0.01512032273571673,
|
| 123 |
+
-0.01047890393963974
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.803084671497345,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.019868012444931082,
|
| 131 |
+
-0.08750102249905467,
|
| 132 |
+
0.131716959644109
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.5154537360152255,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.8517128401807053,
|
| 138 |
+
0.07191087028897902,
|
| 139 |
+
-0.06100418537726978
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.802400529384613,
|
| 145 |
+
"position": [
|
| 146 |
+
0.019141372365993448,
|
| 147 |
+
0.11790766986086965,
|
| 148 |
+
-0.05698502017185092
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.08596200525541872,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.054232294977459704,
|
| 154 |
+
-0.7030814932839147,
|
| 155 |
+
0.7038080744319477
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_9": {
|
| 160 |
+
"confidence": 0.8009874224662781,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.005408947748946957,
|
| 163 |
+
-0.09267747728154063,
|
| 164 |
+
0.13084881799295545
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.5236944251196544,
|
| 168 |
+
"xyz": [
|
| 169 |
+
-0.8517633894778925,
|
| 170 |
+
-0.004211580088446798,
|
| 171 |
+
-0.015017990440980322
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_11": {
|
| 176 |
+
"confidence": 0.7961097359657288,
|
| 177 |
+
"position": [
|
| 178 |
+
0.05279658928338904,
|
| 179 |
+
-0.08137796400114894,
|
| 180 |
+
0.12583465175703168
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.13857174155600263,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.2361967831057636,
|
| 186 |
+
-0.8026995080624719,
|
| 187 |
+
-0.5297947261429571
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_13": {
|
| 192 |
+
"confidence": 0.7927860021591187,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.027841262446600012,
|
| 195 |
+
-0.09986798791214824,
|
| 196 |
+
0.09783475892618299
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.6275786062524975,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.7674511172729499,
|
| 202 |
+
0.07435501918771992,
|
| 203 |
+
-0.10786661528140765
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_16": {
|
| 208 |
+
"confidence": 0.7862210869789124,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.00946655024017673,
|
| 211 |
+
0.10370915802195668,
|
| 212 |
+
0.11342255072668195
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.5847167197086282,
|
| 216 |
+
"xyz": [
|
| 217 |
+
0.8087537649962533,
|
| 218 |
+
0.04374570414429135,
|
| 219 |
+
0.045934939495839704
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_17": {
|
| 224 |
+
"confidence": 0.7858282923698425,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.026699555965024047,
|
| 227 |
+
-0.09702258883044124,
|
| 228 |
+
0.1185888429172337
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.5393480892967244,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.8352339275637456,
|
| 234 |
+
0.08054883772493115,
|
| 235 |
+
-0.07070933148867407
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_18": {
|
| 240 |
+
"confidence": 0.7854468822479248,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.006026659553754143,
|
| 243 |
+
-0.09254346368834376,
|
| 244 |
+
0.1254887362010777
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.526160222815805,
|
| 248 |
+
"xyz": [
|
| 249 |
+
-0.84986298180997,
|
| 250 |
+
0.02735670916050892,
|
| 251 |
+
-0.011829731163332448
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
}
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"part_name": "bottle cap",
|
| 259 |
+
"mask_color": "Green",
|
| 260 |
+
"graspable": true,
|
| 261 |
+
"grasp_scenarios": [
|
| 262 |
+
{
|
| 263 |
+
"scenario": "grasp the cap to unscrew and open the bottle",
|
| 264 |
+
"confidence": 0.9
|
| 265 |
+
},
|
| 266 |
+
{
|
| 267 |
+
"scenario": "grasp the cap to screw it closed",
|
| 268 |
+
"confidence": 0.88
|
| 269 |
+
},
|
| 270 |
+
{
|
| 271 |
+
"scenario": "pinch the cap to orient the bottle by the top",
|
| 272 |
+
"confidence": 0.48
|
| 273 |
+
}
|
| 274 |
+
],
|
| 275 |
+
"functional_labels": [
|
| 276 |
+
"seal the bottle opening",
|
| 277 |
+
"enable opening and closing",
|
| 278 |
+
"prevent spills",
|
| 279 |
+
"provide top grip for twisting"
|
| 280 |
+
],
|
| 281 |
+
"semantic_description": "Small blue plastic screw cap with a matte to semi-gloss finish, hard ribbed texture for traction, short cylindrical shape, and top-centered position on the bottle neck.",
|
| 282 |
+
"id": 1,
|
| 283 |
+
"grasp_group": {
|
| 284 |
+
"grasp_20": {
|
| 285 |
+
"confidence": 0.8071836829185486,
|
| 286 |
+
"position": [
|
| 287 |
+
0.003952321669203229,
|
| 288 |
+
-0.08221408305689692,
|
| 289 |
+
0.14933753805235028
|
| 290 |
+
],
|
| 291 |
+
"orientation": {
|
| 292 |
+
"w": 0.48150660443471194,
|
| 293 |
+
"xyz": [
|
| 294 |
+
-0.8762705958443611,
|
| 295 |
+
0.007223265281804392,
|
| 296 |
+
0.015781545646443195
|
| 297 |
+
]
|
| 298 |
+
}
|
| 299 |
+
},
|
| 300 |
+
"grasp_21": {
|
| 301 |
+
"confidence": 0.7912963032722473,
|
| 302 |
+
"position": [
|
| 303 |
+
0.008843808507663198,
|
| 304 |
+
-0.08462945697829127,
|
| 305 |
+
0.15635015862062573
|
| 306 |
+
],
|
| 307 |
+
"orientation": {
|
| 308 |
+
"w": 0.4710917984914381,
|
| 309 |
+
"xyz": [
|
| 310 |
+
-0.8811655852556753,
|
| 311 |
+
-0.024242784249457694,
|
| 312 |
+
0.0321250084351667
|
| 313 |
+
]
|
| 314 |
+
}
|
| 315 |
+
},
|
| 316 |
+
"grasp_22": {
|
| 317 |
+
"confidence": 0.7905107736587524,
|
| 318 |
+
"position": [
|
| 319 |
+
-0.0008672225958434865,
|
| 320 |
+
-0.08051105914637446,
|
| 321 |
+
0.15552740590646863
|
| 322 |
+
],
|
| 323 |
+
"orientation": {
|
| 324 |
+
"w": 0.47065529310159493,
|
| 325 |
+
"xyz": [
|
| 326 |
+
-0.8821526031883281,
|
| 327 |
+
0.01702142336063711,
|
| 328 |
+
0.0008067901127765271
|
| 329 |
+
]
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"grasp_23": {
|
| 333 |
+
"confidence": 0.7847210764884949,
|
| 334 |
+
"position": [
|
| 335 |
+
0.021689646018785425,
|
| 336 |
+
-0.0781056466512382,
|
| 337 |
+
0.16279957490041852
|
| 338 |
+
],
|
| 339 |
+
"orientation": {
|
| 340 |
+
"w": 0.45977105613473634,
|
| 341 |
+
"xyz": [
|
| 342 |
+
-0.8812853881445611,
|
| 343 |
+
-0.07567951079555718,
|
| 344 |
+
0.07886223576202306
|
| 345 |
+
]
|
| 346 |
+
}
|
| 347 |
+
},
|
| 348 |
+
"grasp_24": {
|
| 349 |
+
"confidence": 0.782437264919281,
|
| 350 |
+
"position": [
|
| 351 |
+
-0.08476456433709245,
|
| 352 |
+
0.035535760689526796,
|
| 353 |
+
0.15315926866605878
|
| 354 |
+
],
|
| 355 |
+
"orientation": {
|
| 356 |
+
"w": 0.28013960022033796,
|
| 357 |
+
"xyz": [
|
| 358 |
+
-0.4791030129943713,
|
| 359 |
+
0.7195263381315394,
|
| 360 |
+
-0.4174493455056819
|
| 361 |
+
]
|
| 362 |
+
}
|
| 363 |
+
},
|
| 364 |
+
"grasp_25": {
|
| 365 |
+
"confidence": 0.7821015119552612,
|
| 366 |
+
"position": [
|
| 367 |
+
-0.0018756610079435632,
|
| 368 |
+
-0.08432987658306956,
|
| 369 |
+
0.15463677840307355
|
| 370 |
+
],
|
| 371 |
+
"orientation": {
|
| 372 |
+
"w": 0.47797067799374937,
|
| 373 |
+
"xyz": [
|
| 374 |
+
-0.878276474229056,
|
| 375 |
+
0.013162413481842716,
|
| 376 |
+
-0.0011030255241752413
|
| 377 |
+
]
|
| 378 |
+
}
|
| 379 |
+
},
|
| 380 |
+
"grasp_26": {
|
| 381 |
+
"confidence": 0.7812697887420654,
|
| 382 |
+
"position": [
|
| 383 |
+
0.02736853815440554,
|
| 384 |
+
-0.08533189026638865,
|
| 385 |
+
0.14709628419950604
|
| 386 |
+
],
|
| 387 |
+
"orientation": {
|
| 388 |
+
"w": 0.486676956165326,
|
| 389 |
+
"xyz": [
|
| 390 |
+
-0.8626029830552606,
|
| 391 |
+
-0.0996614207762887,
|
| 392 |
+
0.09554703119757763
|
| 393 |
+
]
|
| 394 |
+
}
|
| 395 |
+
},
|
| 396 |
+
"grasp_27": {
|
| 397 |
+
"confidence": 0.7799468636512756,
|
| 398 |
+
"position": [
|
| 399 |
+
0.029592916442197748,
|
| 400 |
+
-0.08254557428881526,
|
| 401 |
+
0.15673305885866284
|
| 402 |
+
],
|
| 403 |
+
"orientation": {
|
| 404 |
+
"w": 0.4659818587245749,
|
| 405 |
+
"xyz": [
|
| 406 |
+
-0.8767426592085439,
|
| 407 |
+
-0.05037194540710571,
|
| 408 |
+
0.10791609694306534
|
| 409 |
+
]
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"grasp_28": {
|
| 413 |
+
"confidence": 0.7794734835624695,
|
| 414 |
+
"position": [
|
| 415 |
+
0.02381930135015864,
|
| 416 |
+
-0.10081161884590983,
|
| 417 |
+
0.10875991033390164
|
| 418 |
+
],
|
| 419 |
+
"orientation": {
|
| 420 |
+
"w": 0.05973090484046375,
|
| 421 |
+
"xyz": [
|
| 422 |
+
0.08302356470087535,
|
| 423 |
+
-0.7487165945686652,
|
| 424 |
+
-0.6549524927266104
|
| 425 |
+
]
|
| 426 |
+
}
|
| 427 |
+
},
|
| 428 |
+
"grasp_29": {
|
| 429 |
+
"confidence": 0.7774979472160339,
|
| 430 |
+
"position": [
|
| 431 |
+
0.030308298839372583,
|
| 432 |
+
0.08467030199244618,
|
| 433 |
+
0.15327286021783948
|
| 434 |
+
],
|
| 435 |
+
"orientation": {
|
| 436 |
+
"w": 0.09496514123475742,
|
| 437 |
+
"xyz": [
|
| 438 |
+
-0.1443607966456254,
|
| 439 |
+
-0.8683064519568363,
|
| 440 |
+
0.4649575118569791
|
| 441 |
+
]
|
| 442 |
+
}
|
| 443 |
+
},
|
| 444 |
+
"grasp_30": {
|
| 445 |
+
"confidence": 0.7756624817848206,
|
| 446 |
+
"position": [
|
| 447 |
+
-0.012263345459359698,
|
| 448 |
+
-0.08341050473973155,
|
| 449 |
+
0.1510237087495625
|
| 450 |
+
],
|
| 451 |
+
"orientation": {
|
| 452 |
+
"w": 0.4871236570383351,
|
| 453 |
+
"xyz": [
|
| 454 |
+
-0.8707637144089163,
|
| 455 |
+
0.051517626985629006,
|
| 456 |
+
-0.04274377770103297
|
| 457 |
+
]
|
| 458 |
+
}
|
| 459 |
+
},
|
| 460 |
+
"grasp_31": {
|
| 461 |
+
"confidence": 0.7753813862800598,
|
| 462 |
+
"position": [
|
| 463 |
+
0.027918085528654046,
|
| 464 |
+
0.10191739024594426,
|
| 465 |
+
0.12002227501943707
|
| 466 |
+
],
|
| 467 |
+
"orientation": {
|
| 468 |
+
"w": 0.06598235359796922,
|
| 469 |
+
"xyz": [
|
| 470 |
+
-0.09543568193543532,
|
| 471 |
+
-0.7866101240581218,
|
| 472 |
+
0.6064510469580024
|
| 473 |
+
]
|
| 474 |
+
}
|
| 475 |
+
},
|
| 476 |
+
"grasp_32": {
|
| 477 |
+
"confidence": 0.7747833728790283,
|
| 478 |
+
"position": [
|
| 479 |
+
-0.08732009858067613,
|
| 480 |
+
0.036258519161492586,
|
| 481 |
+
0.153677545953542
|
| 482 |
+
],
|
| 483 |
+
"orientation": {
|
| 484 |
+
"w": 0.2727068277708525,
|
| 485 |
+
"xyz": [
|
| 486 |
+
-0.4916836347730375,
|
| 487 |
+
0.7127116756076579,
|
| 488 |
+
-0.4194284883458179
|
| 489 |
+
]
|
| 490 |
+
}
|
| 491 |
+
},
|
| 492 |
+
"grasp_33": {
|
| 493 |
+
"confidence": 0.7745230197906494,
|
| 494 |
+
"position": [
|
| 495 |
+
-0.08310677290137392,
|
| 496 |
+
0.033038121182471514,
|
| 497 |
+
0.15539480047300458
|
| 498 |
+
],
|
| 499 |
+
"orientation": {
|
| 500 |
+
"w": 0.28444680491785396,
|
| 501 |
+
"xyz": [
|
| 502 |
+
-0.48478076073077503,
|
| 503 |
+
0.7199758151782407,
|
| 504 |
+
-0.4070779467813791
|
| 505 |
+
]
|
| 506 |
+
}
|
| 507 |
+
},
|
| 508 |
+
"grasp_34": {
|
| 509 |
+
"confidence": 0.7743428349494934,
|
| 510 |
+
"position": [
|
| 511 |
+
0.03187279596750159,
|
| 512 |
+
-0.07946484116837382,
|
| 513 |
+
0.1617848207242787
|
| 514 |
+
],
|
| 515 |
+
"orientation": {
|
| 516 |
+
"w": 0.4684486068646349,
|
| 517 |
+
"xyz": [
|
| 518 |
+
-0.8630701919285725,
|
| 519 |
+
-0.17141727293848386,
|
| 520 |
+
0.07925821767673595
|
| 521 |
+
]
|
| 522 |
+
}
|
| 523 |
+
},
|
| 524 |
+
"grasp_35": {
|
| 525 |
+
"confidence": 0.7736940383911133,
|
| 526 |
+
"position": [
|
| 527 |
+
-0.03437150076206308,
|
| 528 |
+
-0.10285600600764155,
|
| 529 |
+
0.09723081486299634
|
| 530 |
+
],
|
| 531 |
+
"orientation": {
|
| 532 |
+
"w": 0.12937085235999587,
|
| 533 |
+
"xyz": [
|
| 534 |
+
0.11064535985046617,
|
| 535 |
+
0.7033767989643662,
|
| 536 |
+
0.6901317740706123
|
| 537 |
+
]
|
| 538 |
+
}
|
| 539 |
+
},
|
| 540 |
+
"grasp_36": {
|
| 541 |
+
"confidence": 0.7727136611938477,
|
| 542 |
+
"position": [
|
| 543 |
+
0.010861466711503454,
|
| 544 |
+
0.11022346885874867,
|
| 545 |
+
0.10605184780433774
|
| 546 |
+
],
|
| 547 |
+
"orientation": {
|
| 548 |
+
"w": 0.017221987571298263,
|
| 549 |
+
"xyz": [
|
| 550 |
+
-0.03929857184095927,
|
| 551 |
+
-0.7394873340704446,
|
| 552 |
+
0.6718016881079875
|
| 553 |
+
]
|
| 554 |
+
}
|
| 555 |
+
},
|
| 556 |
+
"grasp_37": {
|
| 557 |
+
"confidence": 0.7722577452659607,
|
| 558 |
+
"position": [
|
| 559 |
+
-0.025662491025286727,
|
| 560 |
+
-0.09456751076504588,
|
| 561 |
+
0.12519199447706342
|
| 562 |
+
],
|
| 563 |
+
"orientation": {
|
| 564 |
+
"w": 0.585613818300071,
|
| 565 |
+
"xyz": [
|
| 566 |
+
-0.7998416404005466,
|
| 567 |
+
0.10671103719557906,
|
| 568 |
+
-0.07695817460164733
|
| 569 |
+
]
|
| 570 |
+
}
|
| 571 |
+
},
|
| 572 |
+
"grasp_38": {
|
| 573 |
+
"confidence": 0.7718777060508728,
|
| 574 |
+
"position": [
|
| 575 |
+
-0.0010810749809024855,
|
| 576 |
+
-0.09094051597639918,
|
| 577 |
+
0.1480867792852223
|
| 578 |
+
],
|
| 579 |
+
"orientation": {
|
| 580 |
+
"w": 0.0073736981954534335,
|
| 581 |
+
"xyz": [
|
| 582 |
+
0.014102339418861447,
|
| 583 |
+
-0.8672734461517049,
|
| 584 |
+
-0.4975776544399716
|
| 585 |
+
]
|
| 586 |
+
}
|
| 587 |
+
},
|
| 588 |
+
"grasp_39": {
|
| 589 |
+
"confidence": 0.770934522151947,
|
| 590 |
+
"position": [
|
| 591 |
+
-0.0775029528158484,
|
| 592 |
+
0.043735813815146685,
|
| 593 |
+
0.14778149919584394
|
| 594 |
+
],
|
| 595 |
+
"orientation": {
|
| 596 |
+
"w": 0.25434030131622454,
|
| 597 |
+
"xyz": [
|
| 598 |
+
-0.4486162511540023,
|
| 599 |
+
0.7383581389746056,
|
| 600 |
+
-0.4346052564533231
|
| 601 |
+
]
|
| 602 |
+
}
|
| 603 |
+
}
|
| 604 |
+
}
|
| 605 |
+
}
|
| 606 |
+
],
|
| 607 |
+
"quality_check": {
|
| 608 |
+
"success": true,
|
| 609 |
+
"message": "YES"
|
| 610 |
+
}
|
| 611 |
+
}
|
dataset/kitchen_supplies/ware/5bc351e34fa55137aae7a68207b2b8e3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a2a9253f2436a9c8c0c63c07cc55ef75d839dc351a7b13cd0fed001e4296fce7
|
| 3 |
+
size 1671996
|