Add asset kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7
Browse files
.gitattributes
CHANGED
|
@@ -8399,3 +8399,4 @@ dataset/kitchen_supplies/storage/ffb796f163e05566a4c6ad1c21eaaf04/affordance/mes
|
|
| 8399 |
dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8400 |
dataset/kitchen_supplies/tableware/0060b9d890805442ba613743195c1123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8401 |
dataset/kitchen_supplies/tableware/0102b3824fb353b8b17882423eb26501/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8399 |
dataset/kitchen_supplies/tableware/004a002a9daf56a4878eed146a6439ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8400 |
dataset/kitchen_supplies/tableware/0060b9d890805442ba613743195c1123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8401 |
dataset/kitchen_supplies/tableware/0102b3824fb353b8b17882423eb26501/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8402 |
+
dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,302 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bowl body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the outer side walls to lift and move the fruit bowl",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch opposite rim edges to pick up the empty bowl",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the bowl body to stabilize it while placing fruit inside",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain fruit",
|
| 23 |
+
"provide main structure",
|
| 24 |
+
"support contents",
|
| 25 |
+
"offer side grip surface",
|
| 26 |
+
"form open top for access"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large white ceramic or porcelain bowl body with a glossy smooth hard surface, rounded-square shape, open concave interior, and gently flared walls forming the main upper container.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_21": {
|
| 32 |
+
"confidence": 0.9688820838928223,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.16881930269300938,
|
| 35 |
+
-0.08807890652678907,
|
| 36 |
+
0.10839290998410434
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.1494726049682263,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.9249994624889497,
|
| 42 |
+
-0.11990991983137078,
|
| 43 |
+
-0.32810904572291355
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_22": {
|
| 48 |
+
"confidence": 0.9673384428024292,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.1684605572372675,
|
| 51 |
+
-0.029485804727301,
|
| 52 |
+
0.11758116714190692
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.3141785329927048,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.02334867407786266,
|
| 58 |
+
0.9490072052194003,
|
| 59 |
+
0.011489702651550032
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_23": {
|
| 64 |
+
"confidence": 0.9673252701759338,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.16509839333593845,
|
| 67 |
+
-0.007131553953513503,
|
| 68 |
+
0.12158206931781024
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.294075155548853,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.005631582063956267,
|
| 74 |
+
0.9541181343709485,
|
| 75 |
+
-0.05609522115897953
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_24": {
|
| 80 |
+
"confidence": 0.9667289853096008,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.1764689777046442,
|
| 83 |
+
0.00809330097399652,
|
| 84 |
+
0.10758409730624408
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.1831329709702993,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.9213013884527816,
|
| 90 |
+
-0.015916937827710975,
|
| 91 |
+
0.3426553920030404
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_25": {
|
| 96 |
+
"confidence": 0.9659748673439026,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.16150500811636448,
|
| 99 |
+
-0.021969362860545516,
|
| 100 |
+
0.12462751648854464
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.2639553141732808,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.023381953966746707,
|
| 106 |
+
0.9642068101002724,
|
| 107 |
+
0.009279208190264917
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_26": {
|
| 112 |
+
"confidence": 0.964405357837677,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.17033777572214603,
|
| 115 |
+
-0.06619439809583127,
|
| 116 |
+
0.11870831332635134
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.078672156867921,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.9485160109040883,
|
| 122 |
+
-0.08018619953155331,
|
| 123 |
+
-0.2961388900449091
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_27": {
|
| 128 |
+
"confidence": 0.9640883803367615,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.15936032868921757,
|
| 131 |
+
0.0072833511512726545,
|
| 132 |
+
0.12419993511866778
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.2664853949645718,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.00358172278014356,
|
| 138 |
+
0.9609014124714356,
|
| 139 |
+
-0.07510779615261037
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_28": {
|
| 144 |
+
"confidence": 0.9636134505271912,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.1580463293939829,
|
| 147 |
+
-0.08482211618684232,
|
| 148 |
+
0.12130181572865695
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.09736806086108857,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.9577666870855569,
|
| 154 |
+
-0.10348091523936592,
|
| 155 |
+
-0.2499882677537723
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_29": {
|
| 160 |
+
"confidence": 0.9633176922798157,
|
| 161 |
+
"position": [
|
| 162 |
+
-0.16359242238104343,
|
| 163 |
+
-0.0010131828021258116,
|
| 164 |
+
0.1211355336708948
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.14636388020490548,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.9523370378044905,
|
| 170 |
+
-0.017054464594810193,
|
| 171 |
+
0.26709722243879086
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_31": {
|
| 176 |
+
"confidence": 0.9623249769210815,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.15472632087767124,
|
| 179 |
+
-0.025821970542892814,
|
| 180 |
+
0.12623690150212497
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.23005729419352042,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.03126469220848704,
|
| 186 |
+
0.9699272012171778,
|
| 187 |
+
0.07305740721156313
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_34": {
|
| 192 |
+
"confidence": 0.9608636498451233,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.16341430880129337,
|
| 195 |
+
-0.04159143730066717,
|
| 196 |
+
0.12150312296580523
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.11253011390710879,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.9594335376270161,
|
| 202 |
+
-0.07282366721568206,
|
| 203 |
+
-0.2480342190783799
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_36": {
|
| 208 |
+
"confidence": 0.9602688550949097,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.16454211808741093,
|
| 211 |
+
-0.023564859991893172,
|
| 212 |
+
0.12530537031125277
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.28509370526252403,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.046024671618420145,
|
| 218 |
+
0.9572173548343341,
|
| 219 |
+
0.018391422622025748
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_37": {
|
| 224 |
+
"confidence": 0.9601457118988037,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.15466556884348392,
|
| 227 |
+
-0.038390701403841376,
|
| 228 |
+
0.12522846541833133
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.2423808476787329,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.02863220889499532,
|
| 234 |
+
0.9695925453632601,
|
| 235 |
+
-0.017944839601593248
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_38": {
|
| 240 |
+
"confidence": 0.9598467946052551,
|
| 241 |
+
"position": [
|
| 242 |
+
-0.1681176070123911,
|
| 243 |
+
0.0474410152528435,
|
| 244 |
+
0.11919903091620654
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.3216924194191588,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.04606424628270355,
|
| 250 |
+
0.9366575706886441,
|
| 251 |
+
-0.1306318023082496
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_39": {
|
| 256 |
+
"confidence": 0.9597049355506897,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.15212115086615086,
|
| 259 |
+
-0.05364051251672208,
|
| 260 |
+
0.12598751566838473
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.2134009950956921,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.04060901003910864,
|
| 266 |
+
0.9636838202579695,
|
| 267 |
+
0.15532037267795035
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
}
|
| 272 |
+
},
|
| 273 |
+
{
|
| 274 |
+
"part_name": "foot ring",
|
| 275 |
+
"mask_color": "Red",
|
| 276 |
+
"graspable": true,
|
| 277 |
+
"grasp_scenarios": [
|
| 278 |
+
{
|
| 279 |
+
"scenario": "grasp the bottom foot ring to reorient the bowl when it is upside down or tilted",
|
| 280 |
+
"confidence": 0.46
|
| 281 |
+
},
|
| 282 |
+
{
|
| 283 |
+
"scenario": "hold the foot ring to stabilize the bowl during placement on a surface",
|
| 284 |
+
"confidence": 0.41
|
| 285 |
+
}
|
| 286 |
+
],
|
| 287 |
+
"functional_labels": [
|
| 288 |
+
"support on tabletop",
|
| 289 |
+
"stabilize base contact",
|
| 290 |
+
"elevate bowl slightly",
|
| 291 |
+
"define resting surface"
|
| 292 |
+
],
|
| 293 |
+
"semantic_description": "Small circular white ceramic foot ring on the underside with a glossy smooth hard finish, slightly raised from the bottom center and sized much smaller than the bowl body.",
|
| 294 |
+
"id": 0,
|
| 295 |
+
"grasp_group": {}
|
| 296 |
+
}
|
| 297 |
+
],
|
| 298 |
+
"quality_check": {
|
| 299 |
+
"success": true,
|
| 300 |
+
"message": "YES"
|
| 301 |
+
}
|
| 302 |
+
}
|
dataset/kitchen_supplies/tableware/01247f5259de5dda8b8c9d3242c838b7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:51c88869d391bcb39c3b8ebc61bf5d1fe959c56648cdd065b4080db57996929a
|
| 3 |
+
size 1995632
|