Add asset livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1
Browse files
.gitattributes
CHANGED
|
@@ -7790,3 +7790,4 @@ dataset/livingroom_supplies/ornaments/f821a09f0212562d9c8f918d99b903c0/affordanc
|
|
| 7790 |
dataset/livingroom_supplies/ornaments/f89b402c224f57dba99b858d58ef90b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7791 |
dataset/livingroom_supplies/ornaments/fbdea032d31d5446914ef7ddf375315d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7792 |
dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7790 |
dataset/livingroom_supplies/ornaments/f89b402c224f57dba99b858d58ef90b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7791 |
dataset/livingroom_supplies/ornaments/fbdea032d31d5446914ef7ddf375315d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7792 |
dataset/livingroom_supplies/ornaments/fdfb8a67bb915c8ebef9f87f3b9238af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7793 |
+
dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,349 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "flower pot body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the side wall to pick up and move the empty pot",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp near the upper rim area to stabilize the pot during placement",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the side while another tool fills the pot with soil",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain soil and plant roots",
|
| 23 |
+
"provide the main grasp surface",
|
| 24 |
+
"support the pot structure",
|
| 25 |
+
"protect and enclose contents"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large bright green plastic pot body with a smooth slightly glossy hard surface, flared cylindrical shape, wide open top, and vent-like cutouts around the lower side.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9686569571495056,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.12513653317000717,
|
| 34 |
+
-0.0624654795974493,
|
| 35 |
+
0.19848234811797738
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.05799074057912166,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.24530826545194673,
|
| 41 |
+
0.9676626575504886,
|
| 42 |
+
0.009482093142768057
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9686172604560852,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.14013550558593124,
|
| 50 |
+
-0.06330143101513386,
|
| 51 |
+
0.19372767070308328
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.1136826874198139,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.2726618376951073,
|
| 57 |
+
0.9552869835988852,
|
| 58 |
+
-0.012591577037016202
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9681915640830994,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.12168800958897918,
|
| 66 |
+
-0.09033403731882572,
|
| 67 |
+
0.1943522826768458
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.07084101269547571,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.3356637255039594,
|
| 73 |
+
0.9392392707534429,
|
| 74 |
+
0.011874618967467769
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9662785530090332,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.1400021401932463,
|
| 82 |
+
-0.027382031083106995,
|
| 83 |
+
0.193352444563061
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.08210936387030221,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.22365841760886943,
|
| 89 |
+
0.964956810781933,
|
| 90 |
+
-0.10996962272860665
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9661471247673035,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.1375672904541716,
|
| 98 |
+
-0.051984699442982674,
|
| 99 |
+
0.19159680465236306
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.10118786984485538,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.22349953253794225,
|
| 105 |
+
0.9659610065803824,
|
| 106 |
+
-0.0820262623663699
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_25": {
|
| 111 |
+
"confidence": 0.9653221368789673,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.14016234257724136,
|
| 114 |
+
-0.07395855523645878,
|
| 115 |
+
0.19425476947799325
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.16923218870260773,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.3503684370718669,
|
| 121 |
+
0.9172397527181999,
|
| 122 |
+
-0.08528575874199455
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_28": {
|
| 127 |
+
"confidence": 0.9608316421508789,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.12848041334655136,
|
| 130 |
+
-0.076940493658185,
|
| 131 |
+
0.1953026638366282
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.07386384688905664,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.9636321404885864,
|
| 137 |
+
-0.2485929066263392,
|
| 138 |
+
-0.06448873324235473
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_29": {
|
| 143 |
+
"confidence": 0.960092306137085,
|
| 144 |
+
"position": [
|
| 145 |
+
0.13697723171208054,
|
| 146 |
+
-0.06937623210251331,
|
| 147 |
+
0.19025041023269296
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.16585019519634206,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.910843867919637,
|
| 153 |
+
-0.3418926119445952,
|
| 154 |
+
-0.1611415617531138
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_30": {
|
| 159 |
+
"confidence": 0.9598492383956909,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.1488830236485228,
|
| 162 |
+
-0.04333523102104664,
|
| 163 |
+
0.19524206081405282
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.1247017647358999,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.22475698791617904,
|
| 169 |
+
0.9660237674466022,
|
| 170 |
+
-0.027052670531250468
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_31": {
|
| 175 |
+
"confidence": 0.9597609043121338,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.13451678433921188,
|
| 178 |
+
-0.03268445283174515,
|
| 179 |
+
0.1931199417449534
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.0441897928358465,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.10299768181664605,
|
| 185 |
+
0.9926737528875746,
|
| 186 |
+
-0.045139340686597175
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_32": {
|
| 191 |
+
"confidence": 0.9597254395484924,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.12931557872798294,
|
| 194 |
+
-0.08682983554899693,
|
| 195 |
+
0.19580793241038918
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.09108389834824958,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.24232333622357224,
|
| 201 |
+
0.9634677173055181,
|
| 202 |
+
0.06865188921841121
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_34": {
|
| 207 |
+
"confidence": 0.9596037268638611,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.1382950929692015,
|
| 210 |
+
-0.05888186953961849,
|
| 211 |
+
0.19066306808963418
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.12043916811702393,
|
| 215 |
+
"xyz": [
|
| 216 |
+
-0.27222371428716213,
|
| 217 |
+
0.952013286167643,
|
| 218 |
+
-0.07112917209743881
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_35": {
|
| 223 |
+
"confidence": 0.9595019817352295,
|
| 224 |
+
"position": [
|
| 225 |
+
0.0716590421507135,
|
| 226 |
+
0.13383360020816326,
|
| 227 |
+
0.19053400913253427
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.08709298637461453,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.4886707279022016,
|
| 233 |
+
-0.8656919274986963,
|
| 234 |
+
0.06475506219189248
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_36": {
|
| 239 |
+
"confidence": 0.9590912461280823,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.14969927945639938,
|
| 242 |
+
-0.03863019309937954,
|
| 243 |
+
0.1914644972421229
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.1305779974591464,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.1606624402785899,
|
| 249 |
+
0.9782899588075488,
|
| 250 |
+
-0.009258691031222016
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_37": {
|
| 255 |
+
"confidence": 0.9589256644248962,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.12323021271731704,
|
| 258 |
+
-0.07873000390827656,
|
| 259 |
+
0.1905891732312739
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.1324475144431513,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.3874733830730126,
|
| 265 |
+
0.9014933956137245,
|
| 266 |
+
-0.14011313640277517
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_38": {
|
| 271 |
+
"confidence": 0.9582298994064331,
|
| 272 |
+
"position": [
|
| 273 |
+
0.12183444073889405,
|
| 274 |
+
-0.08270916528999805,
|
| 275 |
+
0.1980337635613978
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.07805394344507394,
|
| 279 |
+
"xyz": [
|
| 280 |
+
-0.30754329361223287,
|
| 281 |
+
-0.9482755804090048,
|
| 282 |
+
0.009905961173861931
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_39": {
|
| 287 |
+
"confidence": 0.9580923318862915,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.1040730414679274,
|
| 290 |
+
-0.11117234267294407,
|
| 291 |
+
0.19537037471309304
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.049392334231205544,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.9176512141406512,
|
| 297 |
+
-0.38948715229901937,
|
| 298 |
+
-0.06145245885546114
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
},
|
| 304 |
+
{
|
| 305 |
+
"part_name": "pot base and drainage floor",
|
| 306 |
+
"mask_color": "Red",
|
| 307 |
+
"graspable": true,
|
| 308 |
+
"grasp_scenarios": [
|
| 309 |
+
{
|
| 310 |
+
"scenario": "support the underside while another gripper holds the side to reorient the empty pot",
|
| 311 |
+
"confidence": 0.52
|
| 312 |
+
},
|
| 313 |
+
{
|
| 314 |
+
"scenario": "contact the bottom surface to steady or push the pot during handling",
|
| 315 |
+
"confidence": 0.42
|
| 316 |
+
}
|
| 317 |
+
],
|
| 318 |
+
"functional_labels": [
|
| 319 |
+
"support the pot on a surface",
|
| 320 |
+
"form the bottom floor of the container",
|
| 321 |
+
"provide drainage openings and lower ventilation/drainage features"
|
| 322 |
+
],
|
| 323 |
+
"semantic_description": "Bottom/base region of the same bright green plastic pot, including the circular underside, the inner bottom floor visible through the opening, and the lower row of drainage or ventilation cutouts; surfaces appear smooth, hard, and slightly glossy.",
|
| 324 |
+
"id": 0,
|
| 325 |
+
"grasp_group": {
|
| 326 |
+
"grasp_4": {
|
| 327 |
+
"confidence": 0.09881599992513657,
|
| 328 |
+
"position": [
|
| 329 |
+
0.03572615853045136,
|
| 330 |
+
-0.025501683354377747,
|
| 331 |
+
-0.1958236857317388
|
| 332 |
+
],
|
| 333 |
+
"orientation": {
|
| 334 |
+
"w": 0.7512646193391249,
|
| 335 |
+
"xyz": [
|
| 336 |
+
0.09190012619321196,
|
| 337 |
+
-0.2464183145662685,
|
| 338 |
+
0.6053378005553851
|
| 339 |
+
]
|
| 340 |
+
}
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
}
|
| 344 |
+
],
|
| 345 |
+
"quality_check": {
|
| 346 |
+
"success": false,
|
| 347 |
+
"message": "Red mask includes inner bottom and lower cutout band, not just base/drainage floor; part naming and description are inaccurate."
|
| 348 |
+
}
|
| 349 |
+
}
|
dataset/livingroom_supplies/ornaments/fed45942bdf454279432a7ebd5ccb0d1/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:11a212d0d2b4729674a61507d517fd42d49d0cd472b585fa797c03899031cebd
|
| 3 |
+
size 1386240
|