Add asset kitchen_supplies/ware/414b3ed618f155239bc7710c0399ed4c
Browse files
.gitattributes
CHANGED
|
@@ -7546,3 +7546,4 @@ dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/affordance/mesh_p
|
|
| 7546 |
dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7547 |
dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7548 |
dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7546 |
dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7547 |
dataset/kitchen_supplies/ware/3d6e4a50c54951389fac8f92c39b45c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7548 |
dataset/kitchen_supplies/ware/3dc80be9fcf8525ca8be3f11675e7619/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7549 |
+
dataset/kitchen_supplies/ware/414b3ed618f155239bc7710c0399ed4c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/414b3ed618f155239bc7710c0399ed4c/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,319 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base and stem",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the stem area to lift and carry the wine glass",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the foot from below or around its edge to reposition the glass",
|
| 14 |
+
"confidence": 0.56
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the lower stem/base to stabilize the glass during placement",
|
| 18 |
+
"confidence": 0.69
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support the glass upright",
|
| 23 |
+
"provide a grasp point for handling",
|
| 24 |
+
"elevate the bowl above the surface",
|
| 25 |
+
"stabilize during placement"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Slender clear glass stem attached to a broad round transparent foot, with a glossy reflective smooth hard surface at the bottom of the wine glass.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "rim",
|
| 33 |
+
"mask_color": "Green",
|
| 34 |
+
"graspable": false,
|
| 35 |
+
"grasp_scenarios": [],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"define the drinking edge",
|
| 38 |
+
"bound the opening",
|
| 39 |
+
"provide contact edge for sipping"
|
| 40 |
+
],
|
| 41 |
+
"semantic_description": "Thin circular top lip of clear translucent glass with a glossy smooth hard finish, forming the wide opening at the top of the bowl.",
|
| 42 |
+
"id": 1,
|
| 43 |
+
"grasp_group": {}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"part_name": "bowl",
|
| 47 |
+
"mask_color": "Blue",
|
| 48 |
+
"graspable": true,
|
| 49 |
+
"grasp_scenarios": [
|
| 50 |
+
{
|
| 51 |
+
"scenario": "grasp the bowl from the sides to pick up the wine glass",
|
| 52 |
+
"confidence": 0.88
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"scenario": "hold the bowl to stabilize and reorient the glass",
|
| 56 |
+
"confidence": 0.81
|
| 57 |
+
},
|
| 58 |
+
{
|
| 59 |
+
"scenario": "grasp the upper body for short-distance relocation on a table",
|
| 60 |
+
"confidence": 0.84
|
| 61 |
+
}
|
| 62 |
+
],
|
| 63 |
+
"functional_labels": [
|
| 64 |
+
"contain liquid",
|
| 65 |
+
"provide the main vessel volume",
|
| 66 |
+
"support swirling and pouring",
|
| 67 |
+
"present the drink"
|
| 68 |
+
],
|
| 69 |
+
"semantic_description": "Large rounded clear glass bowl with a glossy reflective smooth hard surface, occupying the upper main body and visibly containing dark red wine.",
|
| 70 |
+
"id": 2,
|
| 71 |
+
"grasp_group": {
|
| 72 |
+
"grasp_20": {
|
| 73 |
+
"confidence": 0.9705367088317871,
|
| 74 |
+
"position": [
|
| 75 |
+
0.019430389133049175,
|
| 76 |
+
-0.0985597827238962,
|
| 77 |
+
-0.002787930890917778
|
| 78 |
+
],
|
| 79 |
+
"orientation": {
|
| 80 |
+
"w": 0.7315043848097551,
|
| 81 |
+
"xyz": [
|
| 82 |
+
-0.6738231229977898,
|
| 83 |
+
-0.09606602069832915,
|
| 84 |
+
0.04043579583482237
|
| 85 |
+
]
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"grasp_21": {
|
| 89 |
+
"confidence": 0.9702319502830505,
|
| 90 |
+
"position": [
|
| 91 |
+
0.012292819534195587,
|
| 92 |
+
-0.10285691998433322,
|
| 93 |
+
0.006406369851902127
|
| 94 |
+
],
|
| 95 |
+
"orientation": {
|
| 96 |
+
"w": 0.7241550916609193,
|
| 97 |
+
"xyz": [
|
| 98 |
+
-0.6863252654556978,
|
| 99 |
+
-0.04516269235313297,
|
| 100 |
+
0.05017334390039913
|
| 101 |
+
]
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
"grasp_24": {
|
| 105 |
+
"confidence": 0.9685730934143066,
|
| 106 |
+
"position": [
|
| 107 |
+
0.02370325053925626,
|
| 108 |
+
-0.10256321809720248,
|
| 109 |
+
0.010117465164512396
|
| 110 |
+
],
|
| 111 |
+
"orientation": {
|
| 112 |
+
"w": 0.7223110058702892,
|
| 113 |
+
"xyz": [
|
| 114 |
+
-0.6819367468536122,
|
| 115 |
+
-0.09682618830195,
|
| 116 |
+
0.06207876729026715
|
| 117 |
+
]
|
| 118 |
+
}
|
| 119 |
+
},
|
| 120 |
+
"grasp_25": {
|
| 121 |
+
"confidence": 0.9675754308700562,
|
| 122 |
+
"position": [
|
| 123 |
+
0.030413500469876453,
|
| 124 |
+
-0.09402611188124865,
|
| 125 |
+
-0.0017678728327155113
|
| 126 |
+
],
|
| 127 |
+
"orientation": {
|
| 128 |
+
"w": 0.13695377891387442,
|
| 129 |
+
"xyz": [
|
| 130 |
+
0.10362787935958788,
|
| 131 |
+
-0.6704460032094871,
|
| 132 |
+
-0.7218082029466473
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"grasp_26": {
|
| 137 |
+
"confidence": 0.9675515294075012,
|
| 138 |
+
"position": [
|
| 139 |
+
0.0033569438091944903,
|
| 140 |
+
0.10307169624138623,
|
| 141 |
+
0.0020519078243523836
|
| 142 |
+
],
|
| 143 |
+
"orientation": {
|
| 144 |
+
"w": 0.7395981453557434,
|
| 145 |
+
"xyz": [
|
| 146 |
+
0.6727831304124758,
|
| 147 |
+
-0.018394213249264046,
|
| 148 |
+
0.0043698670088283985
|
| 149 |
+
]
|
| 150 |
+
}
|
| 151 |
+
},
|
| 152 |
+
"grasp_27": {
|
| 153 |
+
"confidence": 0.9640265107154846,
|
| 154 |
+
"position": [
|
| 155 |
+
0.017262115579796955,
|
| 156 |
+
-0.10278844169806689,
|
| 157 |
+
0.011009957641363144
|
| 158 |
+
],
|
| 159 |
+
"orientation": {
|
| 160 |
+
"w": 0.07942012396211694,
|
| 161 |
+
"xyz": [
|
| 162 |
+
0.061325138666416076,
|
| 163 |
+
-0.6866760839113073,
|
| 164 |
+
-0.7200052965510866
|
| 165 |
+
]
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"grasp_28": {
|
| 169 |
+
"confidence": 0.9637799859046936,
|
| 170 |
+
"position": [
|
| 171 |
+
-0.03846081209485419,
|
| 172 |
+
0.0946525699691847,
|
| 173 |
+
0.013196178711950779
|
| 174 |
+
],
|
| 175 |
+
"orientation": {
|
| 176 |
+
"w": 0.15273242813642304,
|
| 177 |
+
"xyz": [
|
| 178 |
+
-0.11588797717763213,
|
| 179 |
+
0.6870690691352562,
|
| 180 |
+
-0.7008415486961663
|
| 181 |
+
]
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"grasp_29": {
|
| 185 |
+
"confidence": 0.9636604189872742,
|
| 186 |
+
"position": [
|
| 187 |
+
0.011272724223090336,
|
| 188 |
+
-0.10106670192908496,
|
| 189 |
+
0.005972883198410273
|
| 190 |
+
],
|
| 191 |
+
"orientation": {
|
| 192 |
+
"w": 0.7263647813712695,
|
| 193 |
+
"xyz": [
|
| 194 |
+
-0.6848267214230385,
|
| 195 |
+
-0.049367113721711875,
|
| 196 |
+
0.031136057734200386
|
| 197 |
+
]
|
| 198 |
+
}
|
| 199 |
+
},
|
| 200 |
+
"grasp_30": {
|
| 201 |
+
"confidence": 0.9611155390739441,
|
| 202 |
+
"position": [
|
| 203 |
+
-0.024051590386079624,
|
| 204 |
+
-0.10011647723149508,
|
| 205 |
+
-0.007411210797727108
|
| 206 |
+
],
|
| 207 |
+
"orientation": {
|
| 208 |
+
"w": 0.7308820157487518,
|
| 209 |
+
"xyz": [
|
| 210 |
+
-0.6660966435653464,
|
| 211 |
+
0.018891005696542784,
|
| 212 |
+
-0.14754616358887138
|
| 213 |
+
]
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"grasp_31": {
|
| 217 |
+
"confidence": 0.9605172276496887,
|
| 218 |
+
"position": [
|
| 219 |
+
-0.025396781536983326,
|
| 220 |
+
-0.09802635095547885,
|
| 221 |
+
-0.010413488373160362
|
| 222 |
+
],
|
| 223 |
+
"orientation": {
|
| 224 |
+
"w": 0.7654207894362595,
|
| 225 |
+
"xyz": [
|
| 226 |
+
-0.6319923067048696,
|
| 227 |
+
0.06419594086825575,
|
| 228 |
+
-0.10293503067794962
|
| 229 |
+
]
|
| 230 |
+
}
|
| 231 |
+
},
|
| 232 |
+
"grasp_32": {
|
| 233 |
+
"confidence": 0.9605063199996948,
|
| 234 |
+
"position": [
|
| 235 |
+
0.0323123833804857,
|
| 236 |
+
-0.09619109414052218,
|
| 237 |
+
0.004871394456131384
|
| 238 |
+
],
|
| 239 |
+
"orientation": {
|
| 240 |
+
"w": 0.7186092646546709,
|
| 241 |
+
"xyz": [
|
| 242 |
+
-0.6773140626638178,
|
| 243 |
+
-0.12310190045084635,
|
| 244 |
+
0.09844951688909863
|
| 245 |
+
]
|
| 246 |
+
}
|
| 247 |
+
},
|
| 248 |
+
"grasp_34": {
|
| 249 |
+
"confidence": 0.9595051407814026,
|
| 250 |
+
"position": [
|
| 251 |
+
-0.0517315701872576,
|
| 252 |
+
0.0872501126723364,
|
| 253 |
+
0.026810966432094574
|
| 254 |
+
],
|
| 255 |
+
"orientation": {
|
| 256 |
+
"w": 0.19680826518966152,
|
| 257 |
+
"xyz": [
|
| 258 |
+
-0.17772865365558896,
|
| 259 |
+
0.6776321273843446,
|
| 260 |
+
-0.6859254568532762
|
| 261 |
+
]
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
"grasp_37": {
|
| 265 |
+
"confidence": 0.9570354223251343,
|
| 266 |
+
"position": [
|
| 267 |
+
0.02206460150773637,
|
| 268 |
+
-0.10058996907901019,
|
| 269 |
+
0.014909514226019382
|
| 270 |
+
],
|
| 271 |
+
"orientation": {
|
| 272 |
+
"w": 0.7177218179681163,
|
| 273 |
+
"xyz": [
|
| 274 |
+
-0.6805206680703784,
|
| 275 |
+
-0.14663670469943102,
|
| 276 |
+
0.016269270926511332
|
| 277 |
+
]
|
| 278 |
+
}
|
| 279 |
+
},
|
| 280 |
+
"grasp_38": {
|
| 281 |
+
"confidence": 0.9557498693466187,
|
| 282 |
+
"position": [
|
| 283 |
+
-0.03691636261646636,
|
| 284 |
+
0.09867981739807874,
|
| 285 |
+
0.001118205487728119
|
| 286 |
+
],
|
| 287 |
+
"orientation": {
|
| 288 |
+
"w": 0.7246705608732773,
|
| 289 |
+
"xyz": [
|
| 290 |
+
0.6658016175489371,
|
| 291 |
+
0.14166263754657304,
|
| 292 |
+
0.10720299154490572
|
| 293 |
+
]
|
| 294 |
+
}
|
| 295 |
+
},
|
| 296 |
+
"grasp_39": {
|
| 297 |
+
"confidence": 0.9555385708808899,
|
| 298 |
+
"position": [
|
| 299 |
+
0.017849513766122982,
|
| 300 |
+
-0.09668799571227282,
|
| 301 |
+
-0.009876451455056667
|
| 302 |
+
],
|
| 303 |
+
"orientation": {
|
| 304 |
+
"w": 0.7468989562167633,
|
| 305 |
+
"xyz": [
|
| 306 |
+
-0.6492498012958883,
|
| 307 |
+
-0.1426943117109366,
|
| 308 |
+
-0.01596803447206814
|
| 309 |
+
]
|
| 310 |
+
}
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
],
|
| 315 |
+
"quality_check": {
|
| 316 |
+
"success": true,
|
| 317 |
+
"message": "YES"
|
| 318 |
+
}
|
| 319 |
+
}
|
dataset/kitchen_supplies/ware/414b3ed618f155239bc7710c0399ed4c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b31d046ecf26263331cbc6bcb125f19ec68eac491bc65d943c7dc1e12a672006
|
| 3 |
+
size 3780524
|