Add asset kitchen_supplies/tableware/ecfce2b1d75454c98fc339725247897d
Browse files
.gitattributes
CHANGED
|
@@ -7425,3 +7425,4 @@ dataset/kitchen_supplies/tableware/e67a8e0b4b0250f0a99d2e4d43cb55e8/affordance/m
|
|
| 7425 |
dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7426 |
dataset/kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7427 |
dataset/kitchen_supplies/tableware/ecd1b91f53835453a5ce08b258bacc57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7425 |
dataset/kitchen_supplies/tableware/ec590d3a99495ecc95371a30ad4bf1d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7426 |
dataset/kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7427 |
dataset/kitchen_supplies/tableware/ecd1b91f53835453a5ce08b258bacc57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7428 |
+
dataset/kitchen_supplies/tableware/ecfce2b1d75454c98fc339725247897d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/ecfce2b1d75454c98fc339725247897d/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,482 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "chopstick",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp one stick near the thicker end to pick up and reposition it",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold one stick while aligning the pair for use or packaging",
|
| 14 |
+
"confidence": 0.81
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the single stick at mid-length to separate it from the other stick",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"grip food as part of the pair",
|
| 23 |
+
"provide one half of the pinching tool",
|
| 24 |
+
"support manipulation and alignment",
|
| 25 |
+
"serve as a slender pickup stick"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A long slim white stick, likely plastic or lacquered wood, with a smooth matte-to-satin hard surface, tapered shape, blunt thicker end, and narrow tip forming one of the two parallel chopsticks.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9155468344688416,
|
| 32 |
+
"position": [
|
| 33 |
+
0.13850495032966137,
|
| 34 |
+
-0.05231829787953757,
|
| 35 |
+
0.010623746711644344
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6651458942142358,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.25853756440972103,
|
| 41 |
+
-0.6934070632041949,
|
| 42 |
+
-0.09962887080343315
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.910999596118927,
|
| 48 |
+
"position": [
|
| 49 |
+
0.13505497388541698,
|
| 50 |
+
-0.053620335267623886,
|
| 51 |
+
0.0035387202369747683
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6705907606184748,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.20114529016886182,
|
| 57 |
+
-0.695175589716496,
|
| 58 |
+
-0.16303221607505078
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9016972184181213,
|
| 64 |
+
"position": [
|
| 65 |
+
0.13710459880530834,
|
| 66 |
+
-0.0545832967327442,
|
| 67 |
+
0.00252729763451498
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.17067420305581882,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6869194779831989,
|
| 73 |
+
0.19941916538499294,
|
| 74 |
+
0.677675396967976
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.8985157012939453,
|
| 80 |
+
"position": [
|
| 81 |
+
0.14039446227252483,
|
| 82 |
+
-0.05203787292703055,
|
| 83 |
+
-0.0015270135627361014
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.17518122372199935,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6863730009226483,
|
| 89 |
+
0.1783645982810309,
|
| 90 |
+
0.6829273113148627
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.8966421484947205,
|
| 96 |
+
"position": [
|
| 97 |
+
0.1411095093935728,
|
| 98 |
+
-0.05111314411624335,
|
| 99 |
+
0.010312693353625946
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.1388209394907864,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.7104425863095685,
|
| 105 |
+
0.20968405719584804,
|
| 106 |
+
0.6572919248511694
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_6": {
|
| 111 |
+
"confidence": 0.8857653737068176,
|
| 112 |
+
"position": [
|
| 113 |
+
0.15160818211734295,
|
| 114 |
+
-0.0016891247068997473,
|
| 115 |
+
0.00163445393263828
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6972375746757532,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.04553487971560485,
|
| 121 |
+
-0.7143339301260159,
|
| 122 |
+
0.03890212668066837
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_9": {
|
| 127 |
+
"confidence": 0.8778219819068909,
|
| 128 |
+
"position": [
|
| 129 |
+
0.14866322092711926,
|
| 130 |
+
-0.007812066556653008,
|
| 131 |
+
0.005005201019230299
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.693357875678838,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.05886099428604063,
|
| 137 |
+
-0.7173953818604328,
|
| 138 |
+
0.03367648543288438
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_10": {
|
| 143 |
+
"confidence": 0.8714404106140137,
|
| 144 |
+
"position": [
|
| 145 |
+
0.15106545202434063,
|
| 146 |
+
-0.0035421679203864187,
|
| 147 |
+
0.00804331169638317
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.6833288479777508,
|
| 151 |
+
"xyz": [
|
| 152 |
+
-0.06016873543264657,
|
| 153 |
+
-0.7268355450531838,
|
| 154 |
+
0.033933747878434374
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_13": {
|
| 159 |
+
"confidence": 0.8679038882255554,
|
| 160 |
+
"position": [
|
| 161 |
+
0.15406097285449505,
|
| 162 |
+
-0.010677991987904534,
|
| 163 |
+
0.0082092715165345
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.6895908880544576,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.06620196020733347,
|
| 169 |
+
-0.7207220373855786,
|
| 170 |
+
0.02532691066340427
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_14": {
|
| 175 |
+
"confidence": 0.8632239103317261,
|
| 176 |
+
"position": [
|
| 177 |
+
0.15139703266322613,
|
| 178 |
+
-0.006650101480772719,
|
| 179 |
+
0.0046456415875582024
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.698896659826744,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.027941067305672626,
|
| 185 |
+
-0.7145713292207434,
|
| 186 |
+
-0.012270741482869923
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_15": {
|
| 191 |
+
"confidence": 0.8554035425186157,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.2009525615721941,
|
| 194 |
+
-0.0035690426302608103,
|
| 195 |
+
-0.002987809551996179
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.7221128066142897,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.042145289984854346,
|
| 201 |
+
0.6896597097311786,
|
| 202 |
+
-0.033857847380369566
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_16": {
|
| 207 |
+
"confidence": 0.8538615107536316,
|
| 208 |
+
"position": [
|
| 209 |
+
0.14896206371486187,
|
| 210 |
+
-0.006370583636453375,
|
| 211 |
+
0.0062177206127671525
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.6965711965280338,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.030029173730161677,
|
| 217 |
+
-0.7168040676542199,
|
| 218 |
+
-0.008873865389555926
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_17": {
|
| 223 |
+
"confidence": 0.846578061580658,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.2018143404275179,
|
| 226 |
+
-0.0070487755292560905,
|
| 227 |
+
0.004357002369943075
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.7019945662284194,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.04001425559668208,
|
| 233 |
+
0.7107933304006382,
|
| 234 |
+
-0.019373430072814234
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
},
|
| 240 |
+
{
|
| 241 |
+
"part_name": "chopstick",
|
| 242 |
+
"mask_color": "Green",
|
| 243 |
+
"graspable": true,
|
| 244 |
+
"grasp_scenarios": [
|
| 245 |
+
{
|
| 246 |
+
"scenario": "grasp one stick near the thicker end to pick up and reposition it",
|
| 247 |
+
"confidence": 0.9
|
| 248 |
+
},
|
| 249 |
+
{
|
| 250 |
+
"scenario": "hold one stick while aligning the pair for use or packaging",
|
| 251 |
+
"confidence": 0.81
|
| 252 |
+
},
|
| 253 |
+
{
|
| 254 |
+
"scenario": "pinch the single stick at mid-length to separate it from the other stick",
|
| 255 |
+
"confidence": 0.72
|
| 256 |
+
}
|
| 257 |
+
],
|
| 258 |
+
"functional_labels": [
|
| 259 |
+
"grip food as part of the pair",
|
| 260 |
+
"provide one half of the pinching tool",
|
| 261 |
+
"support manipulation and alignment",
|
| 262 |
+
"serve as a slender pickup stick"
|
| 263 |
+
],
|
| 264 |
+
"semantic_description": "A long slim white stick, likely plastic or lacquered wood, with a smooth matte-to-satin hard surface, tapered shape, blunt thicker end, and narrow tip forming one of the two parallel chopsticks.",
|
| 265 |
+
"id": 1,
|
| 266 |
+
"grasp_group": {
|
| 267 |
+
"grasp_20": {
|
| 268 |
+
"confidence": 0.908888578414917,
|
| 269 |
+
"position": [
|
| 270 |
+
0.12241153232753277,
|
| 271 |
+
0.06182202268973924,
|
| 272 |
+
-0.007069288127240725
|
| 273 |
+
],
|
| 274 |
+
"orientation": {
|
| 275 |
+
"w": 0.25483659143385246,
|
| 276 |
+
"xyz": [
|
| 277 |
+
0.6620765009372512,
|
| 278 |
+
0.18337162314776256,
|
| 279 |
+
-0.6805055961542248
|
| 280 |
+
]
|
| 281 |
+
}
|
| 282 |
+
},
|
| 283 |
+
"grasp_21": {
|
| 284 |
+
"confidence": 0.8846662640571594,
|
| 285 |
+
"position": [
|
| 286 |
+
0.1544077079743147,
|
| 287 |
+
0.004973436618456617,
|
| 288 |
+
-0.0020969397883163765
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.04232317968693474,
|
| 292 |
+
"xyz": [
|
| 293 |
+
0.7093158424092861,
|
| 294 |
+
-0.034467664242995966,
|
| 295 |
+
-0.7027743338298748
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
},
|
| 299 |
+
"grasp_22": {
|
| 300 |
+
"confidence": 0.8841190934181213,
|
| 301 |
+
"position": [
|
| 302 |
+
0.14995316974818707,
|
| 303 |
+
0.0028257252706680447,
|
| 304 |
+
-0.003262888014432974
|
| 305 |
+
],
|
| 306 |
+
"orientation": {
|
| 307 |
+
"w": 0.7096649349140757,
|
| 308 |
+
"xyz": [
|
| 309 |
+
-0.04520340266425053,
|
| 310 |
+
-0.7005985640565987,
|
| 311 |
+
0.05910993641348342
|
| 312 |
+
]
|
| 313 |
+
}
|
| 314 |
+
},
|
| 315 |
+
"grasp_23": {
|
| 316 |
+
"confidence": 0.8823971152305603,
|
| 317 |
+
"position": [
|
| 318 |
+
0.1386715304106474,
|
| 319 |
+
-0.041124478535493836,
|
| 320 |
+
0.0058552880509523675
|
| 321 |
+
],
|
| 322 |
+
"orientation": {
|
| 323 |
+
"w": 0.6668388574949708,
|
| 324 |
+
"xyz": [
|
| 325 |
+
-0.2049573351002496,
|
| 326 |
+
-0.7027001616766744,
|
| 327 |
+
-0.13975303826028837
|
| 328 |
+
]
|
| 329 |
+
}
|
| 330 |
+
},
|
| 331 |
+
"grasp_25": {
|
| 332 |
+
"confidence": 0.8815516829490662,
|
| 333 |
+
"position": [
|
| 334 |
+
0.13505294732749462,
|
| 335 |
+
0.053846343798795715,
|
| 336 |
+
-0.00462236006569583
|
| 337 |
+
],
|
| 338 |
+
"orientation": {
|
| 339 |
+
"w": 0.6887279450056305,
|
| 340 |
+
"xyz": [
|
| 341 |
+
0.14108407125725175,
|
| 342 |
+
-0.6719961199622788,
|
| 343 |
+
0.23274517688116098
|
| 344 |
+
]
|
| 345 |
+
}
|
| 346 |
+
},
|
| 347 |
+
"grasp_26": {
|
| 348 |
+
"confidence": 0.8811537027359009,
|
| 349 |
+
"position": [
|
| 350 |
+
0.15228400938212872,
|
| 351 |
+
0.009805731853703037,
|
| 352 |
+
-0.004372216135379858
|
| 353 |
+
],
|
| 354 |
+
"orientation": {
|
| 355 |
+
"w": 0.04418014762941622,
|
| 356 |
+
"xyz": [
|
| 357 |
+
0.7063045411743384,
|
| 358 |
+
-0.006683850625156751,
|
| 359 |
+
-0.7064965221519288
|
| 360 |
+
]
|
| 361 |
+
}
|
| 362 |
+
},
|
| 363 |
+
"grasp_27": {
|
| 364 |
+
"confidence": 0.8781594038009644,
|
| 365 |
+
"position": [
|
| 366 |
+
0.13438175432384014,
|
| 367 |
+
0.05632967074052431,
|
| 368 |
+
-0.001451593081583269
|
| 369 |
+
],
|
| 370 |
+
"orientation": {
|
| 371 |
+
"w": 0.2135268799852917,
|
| 372 |
+
"xyz": [
|
| 373 |
+
0.6810861784072185,
|
| 374 |
+
0.17109679421294766,
|
| 375 |
+
-0.679156665369964
|
| 376 |
+
]
|
| 377 |
+
}
|
| 378 |
+
},
|
| 379 |
+
"grasp_28": {
|
| 380 |
+
"confidence": 0.8776403069496155,
|
| 381 |
+
"position": [
|
| 382 |
+
0.13933618180453777,
|
| 383 |
+
0.049908171786228195,
|
| 384 |
+
-0.004044908870127983
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.6934421958090806,
|
| 388 |
+
"xyz": [
|
| 389 |
+
0.13321086040246924,
|
| 390 |
+
-0.6774463308731805,
|
| 391 |
+
0.20605644015361446
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
},
|
| 395 |
+
"grasp_31": {
|
| 396 |
+
"confidence": 0.8712860345840454,
|
| 397 |
+
"position": [
|
| 398 |
+
0.13423402421176434,
|
| 399 |
+
0.05244770963327028,
|
| 400 |
+
-0.005818198740598746
|
| 401 |
+
],
|
| 402 |
+
"orientation": {
|
| 403 |
+
"w": 0.7012223220546833,
|
| 404 |
+
"xyz": [
|
| 405 |
+
0.13373256408826048,
|
| 406 |
+
-0.6660597225125716,
|
| 407 |
+
0.21625749097105051
|
| 408 |
+
]
|
| 409 |
+
}
|
| 410 |
+
},
|
| 411 |
+
"grasp_32": {
|
| 412 |
+
"confidence": 0.8705458045005798,
|
| 413 |
+
"position": [
|
| 414 |
+
0.14996099285781384,
|
| 415 |
+
0.007437901484081522,
|
| 416 |
+
0.00416095151740592
|
| 417 |
+
],
|
| 418 |
+
"orientation": {
|
| 419 |
+
"w": 0.6935116511685149,
|
| 420 |
+
"xyz": [
|
| 421 |
+
-0.04495089179268686,
|
| 422 |
+
-0.7164422210974182,
|
| 423 |
+
0.061086421155278646
|
| 424 |
+
]
|
| 425 |
+
}
|
| 426 |
+
},
|
| 427 |
+
"grasp_35": {
|
| 428 |
+
"confidence": 0.8692490458488464,
|
| 429 |
+
"position": [
|
| 430 |
+
0.13781730644404888,
|
| 431 |
+
0.05510501508251764,
|
| 432 |
+
-0.0019244417344452813
|
| 433 |
+
],
|
| 434 |
+
"orientation": {
|
| 435 |
+
"w": 0.21212589098730814,
|
| 436 |
+
"xyz": [
|
| 437 |
+
0.680353456993851,
|
| 438 |
+
0.1668729807436109,
|
| 439 |
+
-0.6813774198101218
|
| 440 |
+
]
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"grasp_36": {
|
| 444 |
+
"confidence": 0.8691150546073914,
|
| 445 |
+
"position": [
|
| 446 |
+
0.13661289028823376,
|
| 447 |
+
0.05242777933017351,
|
| 448 |
+
0.0019263901485828683
|
| 449 |
+
],
|
| 450 |
+
"orientation": {
|
| 451 |
+
"w": 0.6818093493069263,
|
| 452 |
+
"xyz": [
|
| 453 |
+
0.16519741360129186,
|
| 454 |
+
-0.6886417511876778,
|
| 455 |
+
0.183353113576721
|
| 456 |
+
]
|
| 457 |
+
}
|
| 458 |
+
},
|
| 459 |
+
"grasp_37": {
|
| 460 |
+
"confidence": 0.8685005307197571,
|
| 461 |
+
"position": [
|
| 462 |
+
0.1532225739210844,
|
| 463 |
+
0.0044604385329876095,
|
| 464 |
+
0.0010521274962229654
|
| 465 |
+
],
|
| 466 |
+
"orientation": {
|
| 467 |
+
"w": 0.7017171647683532,
|
| 468 |
+
"xyz": [
|
| 469 |
+
-0.026833084933162502,
|
| 470 |
+
-0.7117297725547962,
|
| 471 |
+
0.017712624919287007
|
| 472 |
+
]
|
| 473 |
+
}
|
| 474 |
+
}
|
| 475 |
+
}
|
| 476 |
+
}
|
| 477 |
+
],
|
| 478 |
+
"quality_check": {
|
| 479 |
+
"success": true,
|
| 480 |
+
"message": "YES"
|
| 481 |
+
}
|
| 482 |
+
}
|
dataset/kitchen_supplies/tableware/ecfce2b1d75454c98fc339725247897d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8f9764a95f606c80790bb06ddb89ac26414899e59b2956644b47961626906420
|
| 3 |
+
size 1646172
|