Add asset kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/affordance_annot.json +583 -0
- dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/spoon_037.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8430,3 +8430,4 @@ dataset/kitchen_supplies/tableware/0fd34e4211b1542d93b457b5651b2860/affordance/m
|
|
| 8430 |
dataset/kitchen_supplies/tableware/10d76f5c458d5e80bd4d30ceedfdd28d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8431 |
dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8432 |
dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8430 |
dataset/kitchen_supplies/tableware/10d76f5c458d5e80bd4d30ceedfdd28d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8431 |
dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8432 |
dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8433 |
+
dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,583 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spoon bowl",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bowl to pick up or reposition the spoon when the handle is obstructed",
|
| 10 |
+
"confidence": 0.3
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the bowl edge to stabilize the spoon during placement or handoff",
|
| 14 |
+
"confidence": 0.28
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop food or liquid",
|
| 19 |
+
"hold a small portion",
|
| 20 |
+
"present contents",
|
| 21 |
+
"contact eating surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded shallow silver-gray spoon bowl with a smooth slightly reflective hard surface, broader at the front and showing subtle interior textured ridges in some views.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9767794013023376,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.17381087318062782,
|
| 30 |
+
0.06971922476077452,
|
| 31 |
+
0.08228357159532607
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.21904747916793962,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.8948894746055552,
|
| 37 |
+
-0.19840521459071792,
|
| 38 |
+
0.3344045468195303
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9753486514091492,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.19412509724497795,
|
| 46 |
+
0.03168886114144698,
|
| 47 |
+
0.08166100108064711
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.1407466267437592,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.9167281100255698,
|
| 53 |
+
-0.05382386548122542,
|
| 54 |
+
0.3700039876188616
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9742676615715027,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.1678674928843975,
|
| 62 |
+
0.06641730625415221,
|
| 63 |
+
0.08582526468671858
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.21842634101657363,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.9062395368184905,
|
| 69 |
+
-0.19451335059528535,
|
| 70 |
+
0.3052611863590179
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9735909104347229,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.20473941788077354,
|
| 78 |
+
-0.03237425204133615,
|
| 79 |
+
0.0717217402998358
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.10815860784389697,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.8825063698192829,
|
| 85 |
+
-0.06741643585444473,
|
| 86 |
+
-0.45270216142000536
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.9729411602020264,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.19769276306033134,
|
| 94 |
+
-0.03617308329558,
|
| 95 |
+
0.07102413498796523
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.1301165978092364,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.888586883759847,
|
| 101 |
+
-0.07028595356361261,
|
| 102 |
+
-0.4342152757747786
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_7": {
|
| 107 |
+
"confidence": 0.9725545644760132,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.15988385304808617,
|
| 110 |
+
0.07283429760718718,
|
| 111 |
+
0.08441799902357161
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.23875778587226693,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.8929758526380772,
|
| 117 |
+
-0.24737743052294764,
|
| 118 |
+
0.2905051689015812
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_8": {
|
| 123 |
+
"confidence": 0.9724940061569214,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.1907985918223858,
|
| 126 |
+
-0.030620441248174757,
|
| 127 |
+
0.08184392773546278
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.08375271288767674,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.9179466411354864,
|
| 133 |
+
-0.08398859746607151,
|
| 134 |
+
-0.37855694764158704
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_9": {
|
| 139 |
+
"confidence": 0.9724871516227722,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.1742292456328869,
|
| 142 |
+
0.06526498455787078,
|
| 143 |
+
0.08843912207521498
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.2073442137735166,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.9131353935526599,
|
| 149 |
+
-0.16561338490130673,
|
| 150 |
+
0.3094581341596996
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_10": {
|
| 155 |
+
"confidence": 0.972423255443573,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.20049696788191795,
|
| 158 |
+
-0.04087433259701356,
|
| 159 |
+
0.07328683161176741
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.13380160268335783,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.8928803016866633,
|
| 165 |
+
-0.0735759158109518,
|
| 166 |
+
-0.4236136005747192
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_11": {
|
| 171 |
+
"confidence": 0.9722663164138794,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.21140437945723534,
|
| 174 |
+
0.018417115847114474,
|
| 175 |
+
0.06398920738138258
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.10910676606138207,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.872141807669271,
|
| 181 |
+
-0.012241794803560024,
|
| 182 |
+
0.47677512453460785
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_12": {
|
| 187 |
+
"confidence": 0.9718903303146362,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.17999481782317162,
|
| 190 |
+
0.07085579592967406,
|
| 191 |
+
0.06992251449264586
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.25449848933903974,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.8706050519724399,
|
| 197 |
+
-0.1756135238144444,
|
| 198 |
+
0.38267120698804274
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_14": {
|
| 203 |
+
"confidence": 0.9717920422554016,
|
| 204 |
+
"position": [
|
| 205 |
+
-0.18546144291758537,
|
| 206 |
+
0.03210365731501952,
|
| 207 |
+
0.08589514368213713
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.12759884178763012,
|
| 211 |
+
"xyz": [
|
| 212 |
+
0.930478914909873,
|
| 213 |
+
-0.07746761276589226,
|
| 214 |
+
0.3345538722761316
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_16": {
|
| 219 |
+
"confidence": 0.9713308215141296,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.1906239353120327,
|
| 222 |
+
0.029188917542342097,
|
| 223 |
+
0.08453590446151793
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.1470852974330954,
|
| 227 |
+
"xyz": [
|
| 228 |
+
0.9229873437217635,
|
| 229 |
+
-0.04284526465877264,
|
| 230 |
+
0.35302204166989426
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_17": {
|
| 235 |
+
"confidence": 0.9713180661201477,
|
| 236 |
+
"position": [
|
| 237 |
+
-0.1865578107535839,
|
| 238 |
+
-0.04736943211173639,
|
| 239 |
+
0.07957536005415022
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.1806582784414309,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.9105111052636202,
|
| 245 |
+
-0.10105779005545473,
|
| 246 |
+
-0.35793775533087696
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_18": {
|
| 251 |
+
"confidence": 0.9712719917297363,
|
| 252 |
+
"position": [
|
| 253 |
+
-0.17964648827910423,
|
| 254 |
+
0.07050678093219176,
|
| 255 |
+
0.07063592993654311
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.26189150361004243,
|
| 259 |
+
"xyz": [
|
| 260 |
+
0.8722341821976676,
|
| 261 |
+
-0.16899584126864126,
|
| 262 |
+
0.3769095082068657
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_19": {
|
| 267 |
+
"confidence": 0.9709327220916748,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.16860199347138405,
|
| 270 |
+
0.05764795799041167,
|
| 271 |
+
0.08870151662267745
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.21093420241149294,
|
| 275 |
+
"xyz": [
|
| 276 |
+
0.9264727049305015,
|
| 277 |
+
-0.13121336886600554,
|
| 278 |
+
0.28273333921315474
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
}
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
{
|
| 285 |
+
"part_name": "handle",
|
| 286 |
+
"mask_color": "Green",
|
| 287 |
+
"graspable": true,
|
| 288 |
+
"grasp_scenarios": [
|
| 289 |
+
{
|
| 290 |
+
"scenario": "grasp the handle to pick up and manipulate the spoon",
|
| 291 |
+
"confidence": 0.96
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"scenario": "hold the handle to orient the bowl for scooping or serving",
|
| 295 |
+
"confidence": 0.94
|
| 296 |
+
},
|
| 297 |
+
{
|
| 298 |
+
"scenario": "grasp near the end of the handle to hang, retrieve, or place the spoon",
|
| 299 |
+
"confidence": 0.79
|
| 300 |
+
}
|
| 301 |
+
],
|
| 302 |
+
"functional_labels": [
|
| 303 |
+
"provide main grip",
|
| 304 |
+
"enable manipulation",
|
| 305 |
+
"extend reach from the bowl",
|
| 306 |
+
"allow hanging storage"
|
| 307 |
+
],
|
| 308 |
+
"semantic_description": "Elongated silver-gray handle with a smooth slightly reflective finish, rounded edges, a wider terminal section, and a hanging hole at the tip.",
|
| 309 |
+
"id": 1,
|
| 310 |
+
"grasp_group": {
|
| 311 |
+
"grasp_20": {
|
| 312 |
+
"confidence": 0.9864287972450256,
|
| 313 |
+
"position": [
|
| 314 |
+
0.016761858016252518,
|
| 315 |
+
0.018787435779813677,
|
| 316 |
+
0.09378881775774062
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.13262642323579715,
|
| 320 |
+
"xyz": [
|
| 321 |
+
0.6824848103252459,
|
| 322 |
+
0.7186876655741165,
|
| 323 |
+
-0.010618610390213536
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_21": {
|
| 328 |
+
"confidence": 0.9843757748603821,
|
| 329 |
+
"position": [
|
| 330 |
+
0.030609440058469772,
|
| 331 |
+
0.04237342957640067,
|
| 332 |
+
0.08575917803682387
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.23509293751730143,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.648639668710718,
|
| 338 |
+
0.7180611961359097,
|
| 339 |
+
-0.09157515770230967
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_25": {
|
| 344 |
+
"confidence": 0.9786058068275452,
|
| 345 |
+
"position": [
|
| 346 |
+
0.03305979445576668,
|
| 347 |
+
0.03741726611042395,
|
| 348 |
+
0.08866718434728682
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.07293449289589288,
|
| 352 |
+
"xyz": [
|
| 353 |
+
0.6965547219746401,
|
| 354 |
+
-0.6845089237480332,
|
| 355 |
+
0.202335395692797
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
},
|
| 359 |
+
"grasp_26": {
|
| 360 |
+
"confidence": 0.9781739115715027,
|
| 361 |
+
"position": [
|
| 362 |
+
0.03216538205742836,
|
| 363 |
+
0.03679366741562262,
|
| 364 |
+
0.08878606581129134
|
| 365 |
+
],
|
| 366 |
+
"orientation": {
|
| 367 |
+
"w": 0.17391213492539392,
|
| 368 |
+
"xyz": [
|
| 369 |
+
0.6921792755296681,
|
| 370 |
+
0.6958923489539541,
|
| 371 |
+
-0.07985147788402935
|
| 372 |
+
]
|
| 373 |
+
}
|
| 374 |
+
},
|
| 375 |
+
"grasp_29": {
|
| 376 |
+
"confidence": 0.9762766361236572,
|
| 377 |
+
"position": [
|
| 378 |
+
0.0389779768884182,
|
| 379 |
+
-0.08743637095903978,
|
| 380 |
+
-0.037515721982344985
|
| 381 |
+
],
|
| 382 |
+
"orientation": {
|
| 383 |
+
"w": 0.6697956374583315,
|
| 384 |
+
"xyz": [
|
| 385 |
+
-0.3287787816529768,
|
| 386 |
+
0.44429460126981046,
|
| 387 |
+
0.49586351353882746
|
| 388 |
+
]
|
| 389 |
+
}
|
| 390 |
+
},
|
| 391 |
+
"grasp_30": {
|
| 392 |
+
"confidence": 0.9762532114982605,
|
| 393 |
+
"position": [
|
| 394 |
+
0.07634051516652107,
|
| 395 |
+
-0.0949041474959813,
|
| 396 |
+
0.017021234380081296
|
| 397 |
+
],
|
| 398 |
+
"orientation": {
|
| 399 |
+
"w": 0.38249816701406997,
|
| 400 |
+
"xyz": [
|
| 401 |
+
-0.5853901119120777,
|
| 402 |
+
-0.5045195656928796,
|
| 403 |
+
-0.5064322036951341
|
| 404 |
+
]
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"grasp_32": {
|
| 408 |
+
"confidence": 0.975796103477478,
|
| 409 |
+
"position": [
|
| 410 |
+
0.06721416488289833,
|
| 411 |
+
0.06383347470546141,
|
| 412 |
+
0.07481449865736067
|
| 413 |
+
],
|
| 414 |
+
"orientation": {
|
| 415 |
+
"w": 0.2634854920372566,
|
| 416 |
+
"xyz": [
|
| 417 |
+
0.6789490114953161,
|
| 418 |
+
-0.6504600995699038,
|
| 419 |
+
0.21565086167907815
|
| 420 |
+
]
|
| 421 |
+
}
|
| 422 |
+
},
|
| 423 |
+
"grasp_33": {
|
| 424 |
+
"confidence": 0.9753679037094116,
|
| 425 |
+
"position": [
|
| 426 |
+
0.011036884039640427,
|
| 427 |
+
0.09215854812646285,
|
| 428 |
+
-0.011220111278817058
|
| 429 |
+
],
|
| 430 |
+
"orientation": {
|
| 431 |
+
"w": 0.5924865985028119,
|
| 432 |
+
"xyz": [
|
| 433 |
+
0.41192587379178086,
|
| 434 |
+
0.5326588319093167,
|
| 435 |
+
-0.44221179754100715
|
| 436 |
+
]
|
| 437 |
+
}
|
| 438 |
+
},
|
| 439 |
+
"grasp_34": {
|
| 440 |
+
"confidence": 0.9752060174942017,
|
| 441 |
+
"position": [
|
| 442 |
+
0.10225718095898628,
|
| 443 |
+
0.09756114293122664,
|
| 444 |
+
-0.021800398593768477
|
| 445 |
+
],
|
| 446 |
+
"orientation": {
|
| 447 |
+
"w": 0.5624806522633553,
|
| 448 |
+
"xyz": [
|
| 449 |
+
0.4235403835772886,
|
| 450 |
+
-0.4685989899569585,
|
| 451 |
+
0.5335204269003309
|
| 452 |
+
]
|
| 453 |
+
}
|
| 454 |
+
},
|
| 455 |
+
"grasp_35": {
|
| 456 |
+
"confidence": 0.9749587178230286,
|
| 457 |
+
"position": [
|
| 458 |
+
0.05448294058442116,
|
| 459 |
+
0.07139542658114806,
|
| 460 |
+
-0.0657880527433008
|
| 461 |
+
],
|
| 462 |
+
"orientation": {
|
| 463 |
+
"w": 0.6642728017868871,
|
| 464 |
+
"xyz": [
|
| 465 |
+
0.30092878817241325,
|
| 466 |
+
0.258821964358122,
|
| 467 |
+
-0.6333993211403728
|
| 468 |
+
]
|
| 469 |
+
}
|
| 470 |
+
},
|
| 471 |
+
"grasp_36": {
|
| 472 |
+
"confidence": 0.9746736884117126,
|
| 473 |
+
"position": [
|
| 474 |
+
0.07860498502850533,
|
| 475 |
+
-0.09698820154881105,
|
| 476 |
+
0.009435300016775727
|
| 477 |
+
],
|
| 478 |
+
"orientation": {
|
| 479 |
+
"w": 0.4950089966973682,
|
| 480 |
+
"xyz": [
|
| 481 |
+
-0.48688896862055236,
|
| 482 |
+
0.5636804674304677,
|
| 483 |
+
0.44740312477859256
|
| 484 |
+
]
|
| 485 |
+
}
|
| 486 |
+
},
|
| 487 |
+
"grasp_37": {
|
| 488 |
+
"confidence": 0.9741541743278503,
|
| 489 |
+
"position": [
|
| 490 |
+
0.04645687714219093,
|
| 491 |
+
0.095297604391817,
|
| 492 |
+
0.010051439749076962
|
| 493 |
+
],
|
| 494 |
+
"orientation": {
|
| 495 |
+
"w": 0.3721384251666224,
|
| 496 |
+
"xyz": [
|
| 497 |
+
0.5924148932859344,
|
| 498 |
+
-0.44971647558878647,
|
| 499 |
+
0.5552591091657315
|
| 500 |
+
]
|
| 501 |
+
}
|
| 502 |
+
},
|
| 503 |
+
"grasp_38": {
|
| 504 |
+
"confidence": 0.9738043546676636,
|
| 505 |
+
"position": [
|
| 506 |
+
0.1139751709997654,
|
| 507 |
+
0.0958786602714099,
|
| 508 |
+
-0.013861166080459952
|
| 509 |
+
],
|
| 510 |
+
"orientation": {
|
| 511 |
+
"w": 0.5797578183912143,
|
| 512 |
+
"xyz": [
|
| 513 |
+
0.42388802201120707,
|
| 514 |
+
-0.5039991456852466,
|
| 515 |
+
0.4797756537781257
|
| 516 |
+
]
|
| 517 |
+
}
|
| 518 |
+
},
|
| 519 |
+
"grasp_39": {
|
| 520 |
+
"confidence": 0.9731781482696533,
|
| 521 |
+
"position": [
|
| 522 |
+
0.10211126878857613,
|
| 523 |
+
0.09776888747001067,
|
| 524 |
+
-0.01274640648625791
|
| 525 |
+
],
|
| 526 |
+
"orientation": {
|
| 527 |
+
"w": 0.5606049202761308,
|
| 528 |
+
"xyz": [
|
| 529 |
+
0.44100675509137,
|
| 530 |
+
-0.4877780749700995,
|
| 531 |
+
0.5032968457127833
|
| 532 |
+
]
|
| 533 |
+
}
|
| 534 |
+
}
|
| 535 |
+
}
|
| 536 |
+
},
|
| 537 |
+
{
|
| 538 |
+
"part_name": "neck",
|
| 539 |
+
"mask_color": "Yellow",
|
| 540 |
+
"graspable": true,
|
| 541 |
+
"grasp_scenarios": [
|
| 542 |
+
{
|
| 543 |
+
"scenario": "pinch the narrow neck to lift or reposition the spoon in a tight space",
|
| 544 |
+
"confidence": 0.58
|
| 545 |
+
},
|
| 546 |
+
{
|
| 547 |
+
"scenario": "grasp the neck to stabilize the spoon during precise orientation",
|
| 548 |
+
"confidence": 0.54
|
| 549 |
+
}
|
| 550 |
+
],
|
| 551 |
+
"functional_labels": [
|
| 552 |
+
"connect bowl to handle",
|
| 553 |
+
"transfer force between parts",
|
| 554 |
+
"support bowl alignment",
|
| 555 |
+
"provide a narrow control point"
|
| 556 |
+
],
|
| 557 |
+
"semantic_description": "Slim silver-gray connecting neck between the bowl and handle, smooth and slightly reflective, narrow and gently tapered.",
|
| 558 |
+
"id": 3,
|
| 559 |
+
"grasp_group": {
|
| 560 |
+
"grasp_45": {
|
| 561 |
+
"confidence": 0.8665885329246521,
|
| 562 |
+
"position": [
|
| 563 |
+
-0.03310510143637657,
|
| 564 |
+
-0.0119888712069951,
|
| 565 |
+
-0.09645357704721391
|
| 566 |
+
],
|
| 567 |
+
"orientation": {
|
| 568 |
+
"w": 0.6945991858889871,
|
| 569 |
+
"xyz": [
|
| 570 |
+
-0.029751907274445225,
|
| 571 |
+
0.05300297906822182,
|
| 572 |
+
0.7168245804838048
|
| 573 |
+
]
|
| 574 |
+
}
|
| 575 |
+
}
|
| 576 |
+
}
|
| 577 |
+
}
|
| 578 |
+
],
|
| 579 |
+
"quality_check": {
|
| 580 |
+
"success": true,
|
| 581 |
+
"message": "YES"
|
| 582 |
+
}
|
| 583 |
+
}
|
dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:90999326ed74339567f486c1ef083dc50a0afc93759300f76fcfd7db03476176
|
| 3 |
+
size 3781060
|
dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/spoon_037.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|