Add asset kitchen_supplies/tableware/28b78caba0455c25b0e3ac3df432c637
Browse files
.gitattributes
CHANGED
|
@@ -8464,3 +8464,4 @@ dataset/kitchen_supplies/tableware/238cd705ea7b5c0b9f3c9ab16c94cf45/affordance/m
|
|
| 8464 |
dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8465 |
dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8466 |
dataset/kitchen_supplies/tableware/2656f6c2dd8e58af9a31ae47abf5c14e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8464 |
dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8465 |
dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8466 |
dataset/kitchen_supplies/tableware/2656f6c2dd8e58af9a31ae47abf5c14e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8467 |
+
dataset/kitchen_supplies/tableware/28b78caba0455c25b0e3ac3df432c637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/28b78caba0455c25b0e3ac3df432c637/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,574 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spoon bowl",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the bowl to pick up the spoon when the handle is blocked or inaccessible",
|
| 10 |
+
"confidence": 0.41
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the bowl lightly to reorient the spoon during sorting or placement",
|
| 14 |
+
"confidence": 0.36
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop small amounts",
|
| 19 |
+
"hold contents briefly",
|
| 20 |
+
"serve as the working end",
|
| 21 |
+
"contact food or ingredients"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Broad shallow spoon bowl in light tan wood with a smooth matte finish, subtle wood grain, and a rounded concave working surface at one end.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_21": {
|
| 27 |
+
"confidence": 0.9546359777450562,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.17944448068737984,
|
| 30 |
+
0.06316695408895612,
|
| 31 |
+
0.014115842583123595
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6781017464473824,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.3770350322636871,
|
| 37 |
+
0.6200276312333785,
|
| 38 |
+
0.11656904571135664
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_23": {
|
| 43 |
+
"confidence": 0.9493935704231262,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.15986235812306404,
|
| 46 |
+
0.09269630210474133,
|
| 47 |
+
0.021502542833331972
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.6706751382561899,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.5264675004754312,
|
| 53 |
+
0.5188400792887007,
|
| 54 |
+
0.06190155080356884
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_24": {
|
| 59 |
+
"confidence": 0.9489742517471313,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.18910056725144386,
|
| 62 |
+
0.04168802173808217,
|
| 63 |
+
0.008592794241849333
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.1333395610559901,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.681032309714573,
|
| 69 |
+
0.22389345401063132,
|
| 70 |
+
-0.684315187492883
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_26": {
|
| 75 |
+
"confidence": 0.9479807615280151,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.18908332660794258,
|
| 78 |
+
0.035899818409234285,
|
| 79 |
+
0.0025364466127939522
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.1982723169874429,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.6455264952419566,
|
| 85 |
+
0.25843945948800373,
|
| 86 |
+
-0.6907913418946529
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_27": {
|
| 91 |
+
"confidence": 0.9468323588371277,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.09833252057433128,
|
| 94 |
+
-0.11420995695516467,
|
| 95 |
+
0.0564945149817504
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.41577057982109517,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.6430413938704419,
|
| 101 |
+
0.5811965078372421,
|
| 102 |
+
0.27539645967619847
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_29": {
|
| 107 |
+
"confidence": 0.9461432099342346,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.09846307709813118,
|
| 110 |
+
-0.11663510603830218,
|
| 111 |
+
0.05760448385262862
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.4140618299433103,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.648568533937888,
|
| 117 |
+
0.573333282627765,
|
| 118 |
+
0.2814260201206129
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_30": {
|
| 123 |
+
"confidence": 0.9453598260879517,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.16609472408890724,
|
| 126 |
+
0.07706257747486234,
|
| 127 |
+
0.025071452895645052
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.08896608527587324,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.5965302426565176,
|
| 133 |
+
0.4663076547909607,
|
| 134 |
+
-0.6471428562150682
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_31": {
|
| 139 |
+
"confidence": 0.9449169635772705,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.16833682730793953,
|
| 142 |
+
-0.07991263968870044,
|
| 143 |
+
0.019579104671720415
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.6445311867269438,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.3873745292861186,
|
| 149 |
+
0.6580202325874721,
|
| 150 |
+
0.03911389653620536
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_32": {
|
| 155 |
+
"confidence": 0.9445457458496094,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.17620619013905525,
|
| 158 |
+
0.058146913070231676,
|
| 159 |
+
0.024239554593805224
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.12328489672784763,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.6584330282166386,
|
| 165 |
+
0.36122761203114506,
|
| 166 |
+
-0.648676648183475
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_33": {
|
| 171 |
+
"confidence": 0.944246768951416,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.09579215571284294,
|
| 174 |
+
-0.10570379300042987,
|
| 175 |
+
0.07053688872838393
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.3664876499049959,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.6828296373640261,
|
| 181 |
+
0.588993442514322,
|
| 182 |
+
0.22916634456122484
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_34": {
|
| 187 |
+
"confidence": 0.9439073204994202,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.08866836503148079,
|
| 190 |
+
-0.11538694007322192,
|
| 191 |
+
0.05785814631963149
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.3913542488224005,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.6574570185489901,
|
| 197 |
+
0.5706055425904223,
|
| 198 |
+
0.2983310836208948
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_35": {
|
| 203 |
+
"confidence": 0.943149983882904,
|
| 204 |
+
"position": [
|
| 205 |
+
-0.14410578832030296,
|
| 206 |
+
-0.09877631766721606,
|
| 207 |
+
0.03480634052539244
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.5648692665474684,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.5123429074701008,
|
| 213 |
+
0.6302264795566979,
|
| 214 |
+
0.1457464968387908
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_36": {
|
| 219 |
+
"confidence": 0.9419541954994202,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.0976974181830883,
|
| 222 |
+
-0.11561542702838778,
|
| 223 |
+
0.0502342987456359
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.42970156156099426,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.6309268155922173,
|
| 229 |
+
0.5741559063027636,
|
| 230 |
+
0.29602857398629345
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_37": {
|
| 235 |
+
"confidence": 0.9413703083992004,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.178664643317461,
|
| 238 |
+
0.058639724273234606,
|
| 239 |
+
0.022454302350524813
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.6391259969627798,
|
| 243 |
+
"xyz": [
|
| 244 |
+
0.41713331854050356,
|
| 245 |
+
0.6286816374767794,
|
| 246 |
+
0.14925532911502568
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_39": {
|
| 251 |
+
"confidence": 0.9393670558929443,
|
| 252 |
+
"position": [
|
| 253 |
+
-0.1430281661450863,
|
| 254 |
+
-0.0997435892932117,
|
| 255 |
+
0.031217198411468416
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.5966346853165844,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.5836234605866645,
|
| 261 |
+
0.5491329986244382,
|
| 262 |
+
0.043170109471240885
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
}
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"part_name": "handle",
|
| 270 |
+
"mask_color": "Red",
|
| 271 |
+
"graspable": true,
|
| 272 |
+
"grasp_scenarios": [
|
| 273 |
+
{
|
| 274 |
+
"scenario": "grasp the handle to pick up and move the wooden spoon",
|
| 275 |
+
"confidence": 0.96
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"scenario": "hold the handle to manipulate the spoon while scooping or stirring",
|
| 279 |
+
"confidence": 0.93
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"scenario": "grasp the handle to stabilize the spoon during placement",
|
| 283 |
+
"confidence": 0.88
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"provide the main grip",
|
| 288 |
+
"enable lifting and carrying",
|
| 289 |
+
"control spoon orientation",
|
| 290 |
+
"support scooping motion"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "Short tapered handle in light tan wood with a smooth matte finish, subtle wood grain, and a rounded grip shape extending from the bowl.",
|
| 293 |
+
"id": 0,
|
| 294 |
+
"grasp_group": {
|
| 295 |
+
"grasp_0": {
|
| 296 |
+
"confidence": 0.9793666005134583,
|
| 297 |
+
"position": [
|
| 298 |
+
0.007497066631913185,
|
| 299 |
+
-0.09315636707469821,
|
| 300 |
+
-0.030534584482666105
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.614115639282433,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.36073599189876915,
|
| 306 |
+
0.4739274020651765,
|
| 307 |
+
0.5178072453232877
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_2": {
|
| 312 |
+
"confidence": 0.9770069718360901,
|
| 313 |
+
"position": [
|
| 314 |
+
0.012780722230672836,
|
| 315 |
+
-0.09535811794921756,
|
| 316 |
+
-0.024831580405589193
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.6014910307597552,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.3798497584035273,
|
| 322 |
+
0.4891673852506748,
|
| 323 |
+
0.504616656644791
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_3": {
|
| 328 |
+
"confidence": 0.9734953045845032,
|
| 329 |
+
"position": [
|
| 330 |
+
0.08257785812020302,
|
| 331 |
+
-0.10118213994428515,
|
| 332 |
+
-0.031827321683522314
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.5833121963323925,
|
| 336 |
+
"xyz": [
|
| 337 |
+
-0.4318309512464302,
|
| 338 |
+
0.40889982195775965,
|
| 339 |
+
0.5532357967073317
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_4": {
|
| 344 |
+
"confidence": 0.9727060198783875,
|
| 345 |
+
"position": [
|
| 346 |
+
0.11181717738509178,
|
| 347 |
+
-0.10019608540460467,
|
| 348 |
+
-0.0011088023311458528
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.519953889055516,
|
| 352 |
+
"xyz": [
|
| 353 |
+
-0.41697457271835053,
|
| 354 |
+
-0.5818909453209766,
|
| 355 |
+
-0.4660290620936132
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_5": {
|
| 360 |
+
"confidence": 0.9717720150947571,
|
| 361 |
+
"position": [
|
| 362 |
+
0.008196016773581505,
|
| 363 |
+
-0.095993563067168,
|
| 364 |
+
-0.008360909705515951
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.4522137730922329,
|
| 368 |
+
"xyz": [
|
| 369 |
+
-0.5459772795498294,
|
| 370 |
+
-0.41716772561728666,
|
| 371 |
+
-0.5686673916661256
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_6": {
|
| 376 |
+
"confidence": 0.9715816974639893,
|
| 377 |
+
"position": [
|
| 378 |
+
3.02046537399292e-05,
|
| 379 |
+
0.050014272797852755,
|
| 380 |
+
0.08349631685996428
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.23029209057861436,
|
| 384 |
+
"xyz": [
|
| 385 |
+
0.7009704181338661,
|
| 386 |
+
0.6630301547790977,
|
| 387 |
+
-0.12647940453595888
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_8": {
|
| 392 |
+
"confidence": 0.9713931083679199,
|
| 393 |
+
"position": [
|
| 394 |
+
0.015837043523788452,
|
| 395 |
+
-0.09006912959739566,
|
| 396 |
+
-0.035711452772375196
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.561163301859865,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.45857034953012515,
|
| 402 |
+
0.3501017745185575,
|
| 403 |
+
0.593496192621747
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_9": {
|
| 408 |
+
"confidence": 0.9700396656990051,
|
| 409 |
+
"position": [
|
| 410 |
+
-0.0005829669535160065,
|
| 411 |
+
-0.09665279788896441,
|
| 412 |
+
0.011890680121723562
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.48965414356199605,
|
| 416 |
+
"xyz": [
|
| 417 |
+
-0.5309223787290176,
|
| 418 |
+
0.5291647059243567,
|
| 419 |
+
0.4453593621574364
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_10": {
|
| 424 |
+
"confidence": 0.970014750957489,
|
| 425 |
+
"position": [
|
| 426 |
+
0.07122800126671791,
|
| 427 |
+
-0.10234603239223361,
|
| 428 |
+
-0.027831713145133108
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.5648007526188953,
|
| 432 |
+
"xyz": [
|
| 433 |
+
-0.4395400260478544,
|
| 434 |
+
-0.4302219131263688,
|
| 435 |
+
-0.5501943118652425
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_11": {
|
| 440 |
+
"confidence": 0.969755232334137,
|
| 441 |
+
"position": [
|
| 442 |
+
0.10616153106093407,
|
| 443 |
+
-0.10298273665830493,
|
| 444 |
+
-0.007771538977976888
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.5558894618538083,
|
| 448 |
+
"xyz": [
|
| 449 |
+
-0.4661997898760039,
|
| 450 |
+
-0.5216494457098442,
|
| 451 |
+
-0.44891705014408373
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_12": {
|
| 456 |
+
"confidence": 0.969613254070282,
|
| 457 |
+
"position": [
|
| 458 |
+
0.014568381011486053,
|
| 459 |
+
0.0982983042486012,
|
| 460 |
+
0.021386054868344218
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.4521047564029333,
|
| 464 |
+
"xyz": [
|
| 465 |
+
0.5224554916836581,
|
| 466 |
+
0.5836808374559583,
|
| 467 |
+
-0.42656562031432227
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_13": {
|
| 472 |
+
"confidence": 0.9695751667022705,
|
| 473 |
+
"position": [
|
| 474 |
+
0.07008129730820656,
|
| 475 |
+
-0.10433825803920627,
|
| 476 |
+
-0.026745723967906088
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.5742703263675107,
|
| 480 |
+
"xyz": [
|
| 481 |
+
-0.4393869006110494,
|
| 482 |
+
0.4315270696124218,
|
| 483 |
+
0.5393858841468547
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_14": {
|
| 488 |
+
"confidence": 0.9693107604980469,
|
| 489 |
+
"position": [
|
| 490 |
+
0.01257387176156044,
|
| 491 |
+
0.06090072588995099,
|
| 492 |
+
0.07672181684756652
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.24610576552242758,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.6993207940333519,
|
| 498 |
+
0.6365403833568789,
|
| 499 |
+
-0.2125999049036932
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_15": {
|
| 504 |
+
"confidence": 0.969284176826477,
|
| 505 |
+
"position": [
|
| 506 |
+
0.11297167465090752,
|
| 507 |
+
-0.09861675603315234,
|
| 508 |
+
0.005749397038016468
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.5295774842263511,
|
| 512 |
+
"xyz": [
|
| 513 |
+
-0.4746500848563949,
|
| 514 |
+
-0.5768391792853985,
|
| 515 |
+
-0.40188499149340456
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_17": {
|
| 520 |
+
"confidence": 0.9690164923667908,
|
| 521 |
+
"position": [
|
| 522 |
+
0.11896301433444023,
|
| 523 |
+
-0.10120462579652667,
|
| 524 |
+
-0.02129825617885217
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.4849420667385744,
|
| 528 |
+
"xyz": [
|
| 529 |
+
-0.5223459546574467,
|
| 530 |
+
0.3684914449938286,
|
| 531 |
+
0.5968248910079745
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
},
|
| 535 |
+
"grasp_18": {
|
| 536 |
+
"confidence": 0.9690059423446655,
|
| 537 |
+
"position": [
|
| 538 |
+
0.11295926198363304,
|
| 539 |
+
-0.09937404049560428,
|
| 540 |
+
-0.007721988426055759
|
| 541 |
+
],
|
| 542 |
+
"orientation": {
|
| 543 |
+
"w": 0.43381757778330365,
|
| 544 |
+
"xyz": [
|
| 545 |
+
-0.5556839980098225,
|
| 546 |
+
0.4091073979342199,
|
| 547 |
+
0.5793520005295043
|
| 548 |
+
]
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"grasp_19": {
|
| 552 |
+
"confidence": 0.9680987000465393,
|
| 553 |
+
"position": [
|
| 554 |
+
0.10613152012228966,
|
| 555 |
+
-0.0973438392393291,
|
| 556 |
+
-0.04236641194438562
|
| 557 |
+
],
|
| 558 |
+
"orientation": {
|
| 559 |
+
"w": 0.5999547696051614,
|
| 560 |
+
"xyz": [
|
| 561 |
+
-0.3469951156178106,
|
| 562 |
+
-0.42917820464249135,
|
| 563 |
+
-0.5791845412519641
|
| 564 |
+
]
|
| 565 |
+
}
|
| 566 |
+
}
|
| 567 |
+
}
|
| 568 |
+
}
|
| 569 |
+
],
|
| 570 |
+
"quality_check": {
|
| 571 |
+
"success": false,
|
| 572 |
+
"message": "Mask colors are swapped: bowl is red and handle is green in key views."
|
| 573 |
+
}
|
| 574 |
+
}
|
dataset/kitchen_supplies/tableware/28b78caba0455c25b0e3ac3df432c637/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:67553501fbd0acfa19fa4411166a9bdef8d5a053cc16c659fa2b2f9f243815b5
|
| 3 |
+
size 642544
|