Add asset kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5
Browse files
.gitattributes
CHANGED
|
@@ -8473,3 +8473,4 @@ dataset/kitchen_supplies/tableware/f63a980a7e3a5caeb25c91bddaa1fff9/affordance/m
|
|
| 8473 |
dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8474 |
dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8475 |
dataset/kitchen_supplies/tableware/fad51194511e561b99d880af1deabc73/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8473 |
dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8474 |
dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8475 |
dataset/kitchen_supplies/tableware/fad51194511e561b99d880af1deabc73/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8476 |
+
dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,780 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "eating tips of chopsticks",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "lightly grasp both tapered tips together to reposition the bundled chopsticks",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch near the lower ends to stabilize the set during inspection or placement",
|
| 14 |
+
"confidence": 0.38
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pick up food",
|
| 19 |
+
"pinch small items",
|
| 20 |
+
"contact food",
|
| 21 |
+
"provide fine manipulation ends"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Two long tapered pale yellow wooden or bamboo shafts with a matte smooth hard surface, forming the narrow food-contact ends of the chopsticks.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_21": {
|
| 27 |
+
"confidence": 0.9670044779777527,
|
| 28 |
+
"position": [
|
| 29 |
+
0.053884861059486866,
|
| 30 |
+
0.09305683125421638,
|
| 31 |
+
0.027534299879334867
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.48477596950053314,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.5076528116867122,
|
| 37 |
+
-0.6154054818161887,
|
| 38 |
+
0.35854842787547997
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_22": {
|
| 43 |
+
"confidence": 0.9658527374267578,
|
| 44 |
+
"position": [
|
| 45 |
+
0.05321117956191301,
|
| 46 |
+
0.09451137085125083,
|
| 47 |
+
-0.0011845958651974797
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5529926920258833,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.42823629908088007,
|
| 53 |
+
-0.5573962502456269,
|
| 54 |
+
0.4473501703672325
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_23": {
|
| 59 |
+
"confidence": 0.9551634192466736,
|
| 60 |
+
"position": [
|
| 61 |
+
0.08607849199324846,
|
| 62 |
+
0.08238100607559318,
|
| 63 |
+
0.013592969044111669
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.5878862375131556,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.3696964349364894,
|
| 69 |
+
-0.6549813946130482,
|
| 70 |
+
0.2978484353637308
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_24": {
|
| 75 |
+
"confidence": 0.9544639587402344,
|
| 76 |
+
"position": [
|
| 77 |
+
0.0878251539543271,
|
| 78 |
+
-0.08339032928779488,
|
| 79 |
+
0.0067811551271006465
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.3140343258454958,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.6451440583885604,
|
| 85 |
+
0.34931470192460656,
|
| 86 |
+
0.6026199674222767
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_26": {
|
| 91 |
+
"confidence": 0.9426266551017761,
|
| 92 |
+
"position": [
|
| 93 |
+
0.08044276107102633,
|
| 94 |
+
0.08289960373804206,
|
| 95 |
+
0.018352098180912435
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.5589916287744994,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.36133279857580125,
|
| 101 |
+
-0.6812531809053238,
|
| 102 |
+
0.304731145667439
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_27": {
|
| 107 |
+
"confidence": 0.9419816136360168,
|
| 108 |
+
"position": [
|
| 109 |
+
0.12379584927111864,
|
| 110 |
+
-0.05142103906109696,
|
| 111 |
+
-0.0069640373112633824
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.22432758647972753,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.6801669351250516,
|
| 117 |
+
0.12500672375290067,
|
| 118 |
+
0.6866027915202069
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_28": {
|
| 123 |
+
"confidence": 0.9413454532623291,
|
| 124 |
+
"position": [
|
| 125 |
+
0.09323026705533266,
|
| 126 |
+
0.08321449507639045,
|
| 127 |
+
-0.01724214165005833
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.37770121533982115,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.5752757594033406,
|
| 133 |
+
0.2968163529422232,
|
| 134 |
+
-0.6620420267625078
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_29": {
|
| 139 |
+
"confidence": 0.9386194348335266,
|
| 140 |
+
"position": [
|
| 141 |
+
0.08452210295945406,
|
| 142 |
+
0.08182529707119102,
|
| 143 |
+
0.015398136689327657
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.32950491200342125,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.6566717570966614,
|
| 149 |
+
0.3599705238275748,
|
| 150 |
+
-0.5750042942209234
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_30": {
|
| 155 |
+
"confidence": 0.9347515106201172,
|
| 156 |
+
"position": [
|
| 157 |
+
0.08441086579114199,
|
| 158 |
+
0.08022744555637473,
|
| 159 |
+
-0.016318608657456934
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.40076643989015065,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.5816441037583951,
|
| 165 |
+
0.27627228189062847,
|
| 166 |
+
-0.6517284890810074
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_31": {
|
| 171 |
+
"confidence": 0.934586763381958,
|
| 172 |
+
"position": [
|
| 173 |
+
0.09581360686570406,
|
| 174 |
+
0.07807765503093833,
|
| 175 |
+
0.004237574874423444
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.6251581714231195,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.2981014832621113,
|
| 181 |
+
-0.6497222143865604,
|
| 182 |
+
0.3133270025268414
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_33": {
|
| 187 |
+
"confidence": 0.927432119846344,
|
| 188 |
+
"position": [
|
| 189 |
+
0.12247842270880938,
|
| 190 |
+
-0.05605277072027093,
|
| 191 |
+
0.013497482403181493
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.6466985183828768,
|
| 195 |
+
"xyz": [
|
| 196 |
+
-0.2486402811365305,
|
| 197 |
+
-0.7080119357447716,
|
| 198 |
+
-0.1366679763539377
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_34": {
|
| 203 |
+
"confidence": 0.9266963005065918,
|
| 204 |
+
"position": [
|
| 205 |
+
0.11486283410340548,
|
| 206 |
+
-0.058789160357264336,
|
| 207 |
+
0.026678095920942724
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.6033278348845922,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.45892634308007957,
|
| 213 |
+
-0.652179459831974,
|
| 214 |
+
-0.006639838393343304
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_35": {
|
| 219 |
+
"confidence": 0.9266054034233093,
|
| 220 |
+
"position": [
|
| 221 |
+
0.13629182893782854,
|
| 222 |
+
-0.0294560457332409,
|
| 223 |
+
-0.0011871420429088175
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.7037402162490296,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.11139728975665798,
|
| 229 |
+
-0.6978522258758405,
|
| 230 |
+
-0.07309324667009086
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_37": {
|
| 235 |
+
"confidence": 0.9226998686790466,
|
| 236 |
+
"position": [
|
| 237 |
+
0.1365864397957921,
|
| 238 |
+
-0.027704738335160073,
|
| 239 |
+
-0.0004959115394740365
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.7036261364647782,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.08193412910614009,
|
| 245 |
+
-0.7003939251742624,
|
| 246 |
+
-0.08743802462462906
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
}
|
| 250 |
+
}
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"part_name": "handles of chopsticks",
|
| 254 |
+
"mask_color": "Green",
|
| 255 |
+
"graspable": true,
|
| 256 |
+
"grasp_scenarios": [
|
| 257 |
+
{
|
| 258 |
+
"scenario": "grasp the paired handles together to pick up and move the chopsticks set",
|
| 259 |
+
"confidence": 0.95
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"scenario": "hold the handle ends to orient the chopsticks before use",
|
| 263 |
+
"confidence": 0.87
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"scenario": "stabilize the chopsticks by clamping near the decorated handle section",
|
| 267 |
+
"confidence": 0.82
|
| 268 |
+
}
|
| 269 |
+
],
|
| 270 |
+
"functional_labels": [
|
| 271 |
+
"main grasp area",
|
| 272 |
+
"provide handhold",
|
| 273 |
+
"support control of chopsticks",
|
| 274 |
+
"indicate top end",
|
| 275 |
+
"display decoration"
|
| 276 |
+
],
|
| 277 |
+
"semantic_description": "Two short rounded turquoise handle sections with a smooth slightly glossy hard finish, slightly thicker than the tips and printed with small cute cartoon graphics near the top ends.",
|
| 278 |
+
"id": 1,
|
| 279 |
+
"grasp_group": {
|
| 280 |
+
"grasp_2": {
|
| 281 |
+
"confidence": 0.9318801164627075,
|
| 282 |
+
"position": [
|
| 283 |
+
-0.16647228877991438,
|
| 284 |
+
-0.025998825462011155,
|
| 285 |
+
-0.0007809599919710308
|
| 286 |
+
],
|
| 287 |
+
"orientation": {
|
| 288 |
+
"w": 0.7185929341155644,
|
| 289 |
+
"xyz": [
|
| 290 |
+
-0.15087318365914104,
|
| 291 |
+
0.6787796056244957,
|
| 292 |
+
0.010941868213128562
|
| 293 |
+
]
|
| 294 |
+
}
|
| 295 |
+
},
|
| 296 |
+
"grasp_3": {
|
| 297 |
+
"confidence": 0.930866003036499,
|
| 298 |
+
"position": [
|
| 299 |
+
-0.1668367562815547,
|
| 300 |
+
0.00011380777868907899,
|
| 301 |
+
0.0027144354535266757
|
| 302 |
+
],
|
| 303 |
+
"orientation": {
|
| 304 |
+
"w": 0.7014863809230064,
|
| 305 |
+
"xyz": [
|
| 306 |
+
0.011642484351876215,
|
| 307 |
+
0.7125492978099466,
|
| 308 |
+
-0.007403251191910966
|
| 309 |
+
]
|
| 310 |
+
}
|
| 311 |
+
},
|
| 312 |
+
"grasp_4": {
|
| 313 |
+
"confidence": 0.929684579372406,
|
| 314 |
+
"position": [
|
| 315 |
+
-0.16745925229042768,
|
| 316 |
+
-0.00889334480598336,
|
| 317 |
+
-0.0015025741886347532
|
| 318 |
+
],
|
| 319 |
+
"orientation": {
|
| 320 |
+
"w": 0.7096395877253758,
|
| 321 |
+
"xyz": [
|
| 322 |
+
-0.013256857666852936,
|
| 323 |
+
0.7042096751416048,
|
| 324 |
+
0.018017899286952535
|
| 325 |
+
]
|
| 326 |
+
}
|
| 327 |
+
},
|
| 328 |
+
"grasp_6": {
|
| 329 |
+
"confidence": 0.9260284304618835,
|
| 330 |
+
"position": [
|
| 331 |
+
-0.16616894584149122,
|
| 332 |
+
-0.015537821942416485,
|
| 333 |
+
-0.0017236170824617147
|
| 334 |
+
],
|
| 335 |
+
"orientation": {
|
| 336 |
+
"w": 0.7131339131481976,
|
| 337 |
+
"xyz": [
|
| 338 |
+
-0.018860197381270875,
|
| 339 |
+
0.6978299759135311,
|
| 340 |
+
0.06416883658910393
|
| 341 |
+
]
|
| 342 |
+
}
|
| 343 |
+
},
|
| 344 |
+
"grasp_7": {
|
| 345 |
+
"confidence": 0.9248159527778625,
|
| 346 |
+
"position": [
|
| 347 |
+
-0.16284665744751692,
|
| 348 |
+
-0.012885303491202649,
|
| 349 |
+
-0.002319154446013272
|
| 350 |
+
],
|
| 351 |
+
"orientation": {
|
| 352 |
+
"w": 0.712841394223393,
|
| 353 |
+
"xyz": [
|
| 354 |
+
-0.06428486341322485,
|
| 355 |
+
0.6983715198022676,
|
| 356 |
+
-0.0013503135427552805
|
| 357 |
+
]
|
| 358 |
+
}
|
| 359 |
+
},
|
| 360 |
+
"grasp_8": {
|
| 361 |
+
"confidence": 0.923852264881134,
|
| 362 |
+
"position": [
|
| 363 |
+
-0.16750997584313154,
|
| 364 |
+
-0.014322746799734887,
|
| 365 |
+
0.005167934927158058
|
| 366 |
+
],
|
| 367 |
+
"orientation": {
|
| 368 |
+
"w": 0.6946189584272388,
|
| 369 |
+
"xyz": [
|
| 370 |
+
-0.032407802802016765,
|
| 371 |
+
0.7175099489665326,
|
| 372 |
+
0.040419179173346746
|
| 373 |
+
]
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"grasp_10": {
|
| 377 |
+
"confidence": 0.9145612120628357,
|
| 378 |
+
"position": [
|
| 379 |
+
-0.16508327703922987,
|
| 380 |
+
-0.004093613264558371,
|
| 381 |
+
0.0005317287868820131
|
| 382 |
+
],
|
| 383 |
+
"orientation": {
|
| 384 |
+
"w": 0.08478744835797544,
|
| 385 |
+
"xyz": [
|
| 386 |
+
-0.6973970029137738,
|
| 387 |
+
0.021222650354497885,
|
| 388 |
+
-0.7113354398873717
|
| 389 |
+
]
|
| 390 |
+
}
|
| 391 |
+
},
|
| 392 |
+
"grasp_11": {
|
| 393 |
+
"confidence": 0.9142196774482727,
|
| 394 |
+
"position": [
|
| 395 |
+
-0.1670237360522151,
|
| 396 |
+
-0.008062460714427289,
|
| 397 |
+
-0.0029111114563420415
|
| 398 |
+
],
|
| 399 |
+
"orientation": {
|
| 400 |
+
"w": 0.7154334878421799,
|
| 401 |
+
"xyz": [
|
| 402 |
+
0.039638617088552715,
|
| 403 |
+
0.6943398612077426,
|
| 404 |
+
0.06690188074556187
|
| 405 |
+
]
|
| 406 |
+
}
|
| 407 |
+
},
|
| 408 |
+
"grasp_15": {
|
| 409 |
+
"confidence": 0.9124200940132141,
|
| 410 |
+
"position": [
|
| 411 |
+
-0.15928377490490675,
|
| 412 |
+
-0.018445678309944924,
|
| 413 |
+
0.01977718190755695
|
| 414 |
+
],
|
| 415 |
+
"orientation": {
|
| 416 |
+
"w": 0.6550371735586903,
|
| 417 |
+
"xyz": [
|
| 418 |
+
-0.10690077058841346,
|
| 419 |
+
0.745163658814628,
|
| 420 |
+
0.06503574467815475
|
| 421 |
+
]
|
| 422 |
+
}
|
| 423 |
+
},
|
| 424 |
+
"grasp_18": {
|
| 425 |
+
"confidence": 0.8820794224739075,
|
| 426 |
+
"position": [
|
| 427 |
+
-0.1652360139414668,
|
| 428 |
+
-0.0003839973869617097,
|
| 429 |
+
-0.013956957147456706
|
| 430 |
+
],
|
| 431 |
+
"orientation": {
|
| 432 |
+
"w": 0.7575059218695791,
|
| 433 |
+
"xyz": [
|
| 434 |
+
-0.005812692963575243,
|
| 435 |
+
0.6512301638479678,
|
| 436 |
+
-0.04527984791912215
|
| 437 |
+
]
|
| 438 |
+
}
|
| 439 |
+
}
|
| 440 |
+
}
|
| 441 |
+
},
|
| 442 |
+
{
|
| 443 |
+
"part_name": "chopstick holder ring",
|
| 444 |
+
"mask_color": "Orange",
|
| 445 |
+
"graspable": true,
|
| 446 |
+
"grasp_scenarios": [
|
| 447 |
+
{
|
| 448 |
+
"scenario": "grasp the ring to pick up the bundled chopsticks as a set",
|
| 449 |
+
"confidence": 0.74
|
| 450 |
+
},
|
| 451 |
+
{
|
| 452 |
+
"scenario": "hold the ring to reposition or slide it along the chopsticks",
|
| 453 |
+
"confidence": 0.71
|
| 454 |
+
},
|
| 455 |
+
{
|
| 456 |
+
"scenario": "stabilize the chopsticks by clamping the ring during placement",
|
| 457 |
+
"confidence": 0.63
|
| 458 |
+
}
|
| 459 |
+
],
|
| 460 |
+
"functional_labels": [
|
| 461 |
+
"bundle the pair together",
|
| 462 |
+
"maintain spacing",
|
| 463 |
+
"help organize storage",
|
| 464 |
+
"provide an alignment guide"
|
| 465 |
+
],
|
| 466 |
+
"semantic_description": "A medium-size pink circular ring, likely plastic or silicone, with a smooth slightly glossy surface that loops around both chopsticks near their upper section.",
|
| 467 |
+
"id": 4,
|
| 468 |
+
"grasp_group": {
|
| 469 |
+
"grasp_40": {
|
| 470 |
+
"confidence": 0.9731698036193848,
|
| 471 |
+
"position": [
|
| 472 |
+
0.010034513659775257,
|
| 473 |
+
0.007311485918762628,
|
| 474 |
+
0.10090955474879593
|
| 475 |
+
],
|
| 476 |
+
"orientation": {
|
| 477 |
+
"w": 0.0527058375370699,
|
| 478 |
+
"xyz": [
|
| 479 |
+
0.6893262332790709,
|
| 480 |
+
-0.7225303209853046,
|
| 481 |
+
-0.001172202916357143
|
| 482 |
+
]
|
| 483 |
+
}
|
| 484 |
+
},
|
| 485 |
+
"grasp_41": {
|
| 486 |
+
"confidence": 0.9729872941970825,
|
| 487 |
+
"position": [
|
| 488 |
+
-0.0003579850308597088,
|
| 489 |
+
0.005165819755347911,
|
| 490 |
+
0.09843322017695755
|
| 491 |
+
],
|
| 492 |
+
"orientation": {
|
| 493 |
+
"w": 0.040506910661720616,
|
| 494 |
+
"xyz": [
|
| 495 |
+
0.7030000935710125,
|
| 496 |
+
0.7099358067289752,
|
| 497 |
+
-0.011883137290742729
|
| 498 |
+
]
|
| 499 |
+
}
|
| 500 |
+
},
|
| 501 |
+
"grasp_42": {
|
| 502 |
+
"confidence": 0.9707472920417786,
|
| 503 |
+
"position": [
|
| 504 |
+
0.007619003765285015,
|
| 505 |
+
0.008311941965075675,
|
| 506 |
+
0.10078186669852585
|
| 507 |
+
],
|
| 508 |
+
"orientation": {
|
| 509 |
+
"w": 0.058279212575576424,
|
| 510 |
+
"xyz": [
|
| 511 |
+
0.7143164018720581,
|
| 512 |
+
-0.6973899966386551,
|
| 513 |
+
0.0016745108132189652
|
| 514 |
+
]
|
| 515 |
+
}
|
| 516 |
+
},
|
| 517 |
+
"grasp_43": {
|
| 518 |
+
"confidence": 0.9697208404541016,
|
| 519 |
+
"position": [
|
| 520 |
+
0.011685912497341633,
|
| 521 |
+
0.015157198278757278,
|
| 522 |
+
0.09770343580748886
|
| 523 |
+
],
|
| 524 |
+
"orientation": {
|
| 525 |
+
"w": 0.09264439315605859,
|
| 526 |
+
"xyz": [
|
| 527 |
+
0.6630425996143617,
|
| 528 |
+
-0.7423875927643071,
|
| 529 |
+
0.025538003504420467
|
| 530 |
+
]
|
| 531 |
+
}
|
| 532 |
+
},
|
| 533 |
+
"grasp_44": {
|
| 534 |
+
"confidence": 0.9684047102928162,
|
| 535 |
+
"position": [
|
| 536 |
+
-0.0033136308193206787,
|
| 537 |
+
-0.00879863395675784,
|
| 538 |
+
0.09837143996264786
|
| 539 |
+
],
|
| 540 |
+
"orientation": {
|
| 541 |
+
"w": 0.062293056096239106,
|
| 542 |
+
"xyz": [
|
| 543 |
+
-0.7271386938153531,
|
| 544 |
+
0.6836260913954032,
|
| 545 |
+
0.006652990465718668
|
| 546 |
+
]
|
| 547 |
+
}
|
| 548 |
+
},
|
| 549 |
+
"grasp_45": {
|
| 550 |
+
"confidence": 0.9683845639228821,
|
| 551 |
+
"position": [
|
| 552 |
+
0.03554079029709101,
|
| 553 |
+
0.009125979362579528,
|
| 554 |
+
0.09467539319302887
|
| 555 |
+
],
|
| 556 |
+
"orientation": {
|
| 557 |
+
"w": 0.1485215587856903,
|
| 558 |
+
"xyz": [
|
| 559 |
+
0.7036290806946922,
|
| 560 |
+
-0.6907561964407369,
|
| 561 |
+
-0.07552046381833348
|
| 562 |
+
]
|
| 563 |
+
}
|
| 564 |
+
},
|
| 565 |
+
"grasp_46": {
|
| 566 |
+
"confidence": 0.9677324891090393,
|
| 567 |
+
"position": [
|
| 568 |
+
-0.014691818505525589,
|
| 569 |
+
0.020814535884710494,
|
| 570 |
+
0.09647750982549042
|
| 571 |
+
],
|
| 572 |
+
"orientation": {
|
| 573 |
+
"w": 0.14038088390440004,
|
| 574 |
+
"xyz": [
|
| 575 |
+
0.7283106948242989,
|
| 576 |
+
0.6704756655305519,
|
| 577 |
+
-0.017863962889858278
|
| 578 |
+
]
|
| 579 |
+
}
|
| 580 |
+
},
|
| 581 |
+
"grasp_47": {
|
| 582 |
+
"confidence": 0.9652885794639587,
|
| 583 |
+
"position": [
|
| 584 |
+
0.037209988571703434,
|
| 585 |
+
0.0038734250483685173,
|
| 586 |
+
0.09266953298356384
|
| 587 |
+
],
|
| 588 |
+
"orientation": {
|
| 589 |
+
"w": 0.10684934399162853,
|
| 590 |
+
"xyz": [
|
| 591 |
+
-0.7196531720207315,
|
| 592 |
+
-0.6654499481128947,
|
| 593 |
+
0.16690984466352998
|
| 594 |
+
]
|
| 595 |
+
}
|
| 596 |
+
},
|
| 597 |
+
"grasp_48": {
|
| 598 |
+
"confidence": 0.9648301005363464,
|
| 599 |
+
"position": [
|
| 600 |
+
-0.018256106413900852,
|
| 601 |
+
-0.012012341314402875,
|
| 602 |
+
0.09825926402118057
|
| 603 |
+
],
|
| 604 |
+
"orientation": {
|
| 605 |
+
"w": 0.12463494495618306,
|
| 606 |
+
"xyz": [
|
| 607 |
+
-0.7046714166217848,
|
| 608 |
+
0.6977349277803178,
|
| 609 |
+
-0.03271537325801864
|
| 610 |
+
]
|
| 611 |
+
}
|
| 612 |
+
},
|
| 613 |
+
"grasp_49": {
|
| 614 |
+
"confidence": 0.963508129119873,
|
| 615 |
+
"position": [
|
| 616 |
+
-0.004206402052659541,
|
| 617 |
+
0.10038917858764762,
|
| 618 |
+
-0.0038503912510350347
|
| 619 |
+
],
|
| 620 |
+
"orientation": {
|
| 621 |
+
"w": 0.5138991739888095,
|
| 622 |
+
"xyz": [
|
| 623 |
+
0.46008443376739105,
|
| 624 |
+
0.5146543712052706,
|
| 625 |
+
-0.5092748088977754
|
| 626 |
+
]
|
| 627 |
+
}
|
| 628 |
+
},
|
| 629 |
+
"grasp_50": {
|
| 630 |
+
"confidence": 0.9629467725753784,
|
| 631 |
+
"position": [
|
| 632 |
+
0.0014819148927927017,
|
| 633 |
+
0.09934648473426932,
|
| 634 |
+
-0.0031792650697752833
|
| 635 |
+
],
|
| 636 |
+
"orientation": {
|
| 637 |
+
"w": 0.4980049605666987,
|
| 638 |
+
"xyz": [
|
| 639 |
+
0.4915851929086446,
|
| 640 |
+
0.4925656557210658,
|
| 641 |
+
-0.517410989608849
|
| 642 |
+
]
|
| 643 |
+
}
|
| 644 |
+
},
|
| 645 |
+
"grasp_51": {
|
| 646 |
+
"confidence": 0.9624942541122437,
|
| 647 |
+
"position": [
|
| 648 |
+
-0.015677761286497116,
|
| 649 |
+
0.09742461491987342,
|
| 650 |
+
0.008043844602070749
|
| 651 |
+
],
|
| 652 |
+
"orientation": {
|
| 653 |
+
"w": 0.5158713988237249,
|
| 654 |
+
"xyz": [
|
| 655 |
+
0.46264939282030443,
|
| 656 |
+
0.5660722915374247,
|
| 657 |
+
-0.4465360007347956
|
| 658 |
+
]
|
| 659 |
+
}
|
| 660 |
+
},
|
| 661 |
+
"grasp_52": {
|
| 662 |
+
"confidence": 0.9622063040733337,
|
| 663 |
+
"position": [
|
| 664 |
+
0.043826484121382236,
|
| 665 |
+
0.023363696156593505,
|
| 666 |
+
0.09009752550628036
|
| 667 |
+
],
|
| 668 |
+
"orientation": {
|
| 669 |
+
"w": 0.06491569863445021,
|
| 670 |
+
"xyz": [
|
| 671 |
+
-0.6850817003306839,
|
| 672 |
+
-0.6842256590519805,
|
| 673 |
+
0.24142134006276936
|
| 674 |
+
]
|
| 675 |
+
}
|
| 676 |
+
},
|
| 677 |
+
"grasp_53": {
|
| 678 |
+
"confidence": 0.9621701240539551,
|
| 679 |
+
"position": [
|
| 680 |
+
0.00607356708496809,
|
| 681 |
+
-0.02144805926218396,
|
| 682 |
+
0.09526069590356201
|
| 683 |
+
],
|
| 684 |
+
"orientation": {
|
| 685 |
+
"w": 0.0724992218530886,
|
| 686 |
+
"xyz": [
|
| 687 |
+
-0.7008789174276523,
|
| 688 |
+
-0.7072973397662334,
|
| 689 |
+
-0.05694803855926839
|
| 690 |
+
]
|
| 691 |
+
}
|
| 692 |
+
},
|
| 693 |
+
"grasp_54": {
|
| 694 |
+
"confidence": 0.9619486927986145,
|
| 695 |
+
"position": [
|
| 696 |
+
0.026770026423037052,
|
| 697 |
+
-0.009300851517764386,
|
| 698 |
+
0.09325300285127014
|
| 699 |
+
],
|
| 700 |
+
"orientation": {
|
| 701 |
+
"w": 0.12422179908415949,
|
| 702 |
+
"xyz": [
|
| 703 |
+
-0.7060554143807604,
|
| 704 |
+
-0.6929295760717598,
|
| 705 |
+
0.07683292953492353
|
| 706 |
+
]
|
| 707 |
+
}
|
| 708 |
+
},
|
| 709 |
+
"grasp_55": {
|
| 710 |
+
"confidence": 0.9600783586502075,
|
| 711 |
+
"position": [
|
| 712 |
+
0.006726008839905262,
|
| 713 |
+
-0.03035270075633889,
|
| 714 |
+
0.09693709888961166
|
| 715 |
+
],
|
| 716 |
+
"orientation": {
|
| 717 |
+
"w": 0.10727935773904422,
|
| 718 |
+
"xyz": [
|
| 719 |
+
-0.6909692136314466,
|
| 720 |
+
-0.7110578856082851,
|
| 721 |
+
-0.07381983832895878
|
| 722 |
+
]
|
| 723 |
+
}
|
| 724 |
+
},
|
| 725 |
+
"grasp_56": {
|
| 726 |
+
"confidence": 0.9590033888816833,
|
| 727 |
+
"position": [
|
| 728 |
+
-0.02630730625241995,
|
| 729 |
+
0.017962708814593498,
|
| 730 |
+
0.09062321612145752
|
| 731 |
+
],
|
| 732 |
+
"orientation": {
|
| 733 |
+
"w": 0.17772913247562014,
|
| 734 |
+
"xyz": [
|
| 735 |
+
0.7065864676536233,
|
| 736 |
+
0.6839884559866488,
|
| 737 |
+
0.03616229079080305
|
| 738 |
+
]
|
| 739 |
+
}
|
| 740 |
+
},
|
| 741 |
+
"grasp_57": {
|
| 742 |
+
"confidence": 0.9588235020637512,
|
| 743 |
+
"position": [
|
| 744 |
+
-0.033071340061724186,
|
| 745 |
+
-0.024530371905711945,
|
| 746 |
+
0.08815647044684738
|
| 747 |
+
],
|
| 748 |
+
"orientation": {
|
| 749 |
+
"w": 0.22425462513929761,
|
| 750 |
+
"xyz": [
|
| 751 |
+
-0.703096315259066,
|
| 752 |
+
0.6732858341540993,
|
| 753 |
+
-0.0452948131707801
|
| 754 |
+
]
|
| 755 |
+
}
|
| 756 |
+
},
|
| 757 |
+
"grasp_58": {
|
| 758 |
+
"confidence": 0.9588218927383423,
|
| 759 |
+
"position": [
|
| 760 |
+
-0.011834888253360987,
|
| 761 |
+
-0.02089334677293664,
|
| 762 |
+
0.09202385076787323
|
| 763 |
+
],
|
| 764 |
+
"orientation": {
|
| 765 |
+
"w": 0.1344991602288714,
|
| 766 |
+
"xyz": [
|
| 767 |
+
-0.7354799117145754,
|
| 768 |
+
0.6638417161676797,
|
| 769 |
+
0.017130418488734134
|
| 770 |
+
]
|
| 771 |
+
}
|
| 772 |
+
}
|
| 773 |
+
}
|
| 774 |
+
}
|
| 775 |
+
],
|
| 776 |
+
"quality_check": {
|
| 777 |
+
"success": true,
|
| 778 |
+
"message": "YES"
|
| 779 |
+
}
|
| 780 |
+
}
|
dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fcfeb83a2a0d343d9fe9c4c739109fb35133d951594abf0e4218325c5b787765
|
| 3 |
+
size 3779600
|