Add asset kitchen_supplies/ware/14851e723f035738bf4188fb70e8beb7
Browse files
.gitattributes
CHANGED
|
@@ -7508,3 +7508,4 @@ dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/affordance/mesh_p
|
|
| 7508 |
dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7509 |
dataset/kitchen_supplies/ware/0d82c39258e55a0b99b652aac6da3b9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7510 |
dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7508 |
dataset/kitchen_supplies/ware/0b5c3a6c03d85ea0b1c6336ac5113eda/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7509 |
dataset/kitchen_supplies/ware/0d82c39258e55a0b99b652aac6da3b9a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7510 |
dataset/kitchen_supplies/ware/144731dfecda58caac1454803effe05d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7511 |
+
dataset/kitchen_supplies/ware/14851e723f035738bf4188fb70e8beb7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/14851e723f035738bf4188fb70e8beb7/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,745 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cup body from the sides to pick up and move the goblet",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cup body to stabilize the goblet during placement",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"provide the main vessel volume",
|
| 20 |
+
"support drinking from the rim",
|
| 21 |
+
"serve as primary body"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Tapered cup-shaped upper body with a smooth hard surface, mostly light gray or off-white, with a darker gray band around the middle and forming the main container.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_40": {
|
| 27 |
+
"confidence": 0.9779054522514343,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.01186323122237809,
|
| 30 |
+
0.0972432735725306,
|
| 31 |
+
0.004792133811861277
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.07770453028485587,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.02477172020001926,
|
| 37 |
+
0.6965699047827445,
|
| 38 |
+
-0.7128385059762841
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_41": {
|
| 43 |
+
"confidence": 0.9761390686035156,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.016574256616877392,
|
| 46 |
+
-0.10103193490067497,
|
| 47 |
+
0.002573475707322359
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.7179805775833625,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.6904434818636949,
|
| 53 |
+
0.014694964905898389,
|
| 54 |
+
-0.08703876476268042
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_42": {
|
| 59 |
+
"confidence": 0.975784420967102,
|
| 60 |
+
"position": [
|
| 61 |
+
0.0012520822638180107,
|
| 62 |
+
-0.10102612344780937,
|
| 63 |
+
0.007158839842304587
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.7166717160608662,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.6937620676483168,
|
| 69 |
+
-0.06110265224887235,
|
| 70 |
+
-0.03663755967391044
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_43": {
|
| 75 |
+
"confidence": 0.9753064513206482,
|
| 76 |
+
"position": [
|
| 77 |
+
0.0036947601183783263,
|
| 78 |
+
-0.10127244709292427,
|
| 79 |
+
0.006089199101552367
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.7128294363927834,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.6933852887076506,
|
| 85 |
+
-0.09348326661926276,
|
| 86 |
+
-0.0484965450104122
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_44": {
|
| 91 |
+
"confidence": 0.9733739495277405,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.012291461724089459,
|
| 94 |
+
-0.09948375640669838,
|
| 95 |
+
-0.0016785534098744392
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.7328756161180684,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.6759207506626895,
|
| 101 |
+
-0.0005450408490388359,
|
| 102 |
+
-0.07761554646860679
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_46": {
|
| 107 |
+
"confidence": 0.9710913896560669,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.022205634537385777,
|
| 110 |
+
0.10101054044207558,
|
| 111 |
+
0.012811454245820642
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.07018639973191207,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.10260945250315806,
|
| 117 |
+
0.6858014328296158,
|
| 118 |
+
-0.7170924377501967
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_47": {
|
| 123 |
+
"confidence": 0.9704610705375671,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.006146718777017668,
|
| 126 |
+
0.097886057512369,
|
| 127 |
+
0.003193046897649765
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.7178070633388179,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.694779946947502,
|
| 133 |
+
0.042960943831908405,
|
| 134 |
+
0.013718689645881871
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_48": {
|
| 139 |
+
"confidence": 0.9697697162628174,
|
| 140 |
+
"position": [
|
| 141 |
+
0.032128657650901005,
|
| 142 |
+
-0.09502070216694847,
|
| 143 |
+
0.012321922229602933
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.7047469311189153,
|
| 147 |
+
"xyz": [
|
| 148 |
+
-0.6877684851790085,
|
| 149 |
+
-0.13127268189987795,
|
| 150 |
+
0.11434053025876613
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_49": {
|
| 155 |
+
"confidence": 0.9695429801940918,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.026641738164471462,
|
| 158 |
+
-0.09818123845616356,
|
| 159 |
+
0.00321100652217865
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.08714107433662371,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.12582905800272406,
|
| 165 |
+
0.67786014305715,
|
| 166 |
+
0.7190821286752618
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_50": {
|
| 171 |
+
"confidence": 0.9679874181747437,
|
| 172 |
+
"position": [
|
| 173 |
+
0.04907156105036847,
|
| 174 |
+
-0.08849893329897895,
|
| 175 |
+
0.01160819735378027
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.21964889562668155,
|
| 179 |
+
"xyz": [
|
| 180 |
+
0.1397829259518866,
|
| 181 |
+
-0.6716268878648053,
|
| 182 |
+
-0.693637095143667
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_51": {
|
| 187 |
+
"confidence": 0.9679267406463623,
|
| 188 |
+
"position": [
|
| 189 |
+
0.06132652561063878,
|
| 190 |
+
-0.08185390202561393,
|
| 191 |
+
0.005510019138455391
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.2409594124113666,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.20154936090779738,
|
| 197 |
+
-0.6642751286235894,
|
| 198 |
+
-0.6782735216563746
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
"grasp_52": {
|
| 203 |
+
"confidence": 0.9661970734596252,
|
| 204 |
+
"position": [
|
| 205 |
+
0.008850636397255585,
|
| 206 |
+
-0.10400813637534156,
|
| 207 |
+
0.004992090165615082
|
| 208 |
+
],
|
| 209 |
+
"orientation": {
|
| 210 |
+
"w": 0.7240524345038353,
|
| 211 |
+
"xyz": [
|
| 212 |
+
-0.6771958514493919,
|
| 213 |
+
-0.1233120810085051,
|
| 214 |
+
-0.044135943925043115
|
| 215 |
+
]
|
| 216 |
+
}
|
| 217 |
+
},
|
| 218 |
+
"grasp_53": {
|
| 219 |
+
"confidence": 0.9660266041755676,
|
| 220 |
+
"position": [
|
| 221 |
+
-0.0906486329913605,
|
| 222 |
+
-0.05404631613055244,
|
| 223 |
+
0.0073255631141364574
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.6098176363074422,
|
| 227 |
+
"xyz": [
|
| 228 |
+
-0.6144930767182124,
|
| 229 |
+
0.3274786666406898,
|
| 230 |
+
-0.3785213758944466
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_54": {
|
| 235 |
+
"confidence": 0.9644716382026672,
|
| 236 |
+
"position": [
|
| 237 |
+
0.013745042931986973,
|
| 238 |
+
-0.10308261035243049,
|
| 239 |
+
0.01479239109903574
|
| 240 |
+
],
|
| 241 |
+
"orientation": {
|
| 242 |
+
"w": 0.10640319524638157,
|
| 243 |
+
"xyz": [
|
| 244 |
+
-0.0015376127550499117,
|
| 245 |
+
-0.6934673878684644,
|
| 246 |
+
-0.7125861195331158
|
| 247 |
+
]
|
| 248 |
+
}
|
| 249 |
+
},
|
| 250 |
+
"grasp_55": {
|
| 251 |
+
"confidence": 0.9637746810913086,
|
| 252 |
+
"position": [
|
| 253 |
+
0.05482895622844808,
|
| 254 |
+
-0.0742643010453321,
|
| 255 |
+
-0.024261067621409893
|
| 256 |
+
],
|
| 257 |
+
"orientation": {
|
| 258 |
+
"w": 0.8099310390577484,
|
| 259 |
+
"xyz": [
|
| 260 |
+
-0.4998323595727005,
|
| 261 |
+
-0.20400017211422006,
|
| 262 |
+
0.2292667748981342
|
| 263 |
+
]
|
| 264 |
+
}
|
| 265 |
+
},
|
| 266 |
+
"grasp_56": {
|
| 267 |
+
"confidence": 0.963155210018158,
|
| 268 |
+
"position": [
|
| 269 |
+
-0.04999672298436053,
|
| 270 |
+
0.08538459421833977,
|
| 271 |
+
0.012765411753207445
|
| 272 |
+
],
|
| 273 |
+
"orientation": {
|
| 274 |
+
"w": 0.1306944081478846,
|
| 275 |
+
"xyz": [
|
| 276 |
+
-0.23077658894336114,
|
| 277 |
+
0.6723108153761843,
|
| 278 |
+
-0.6911290076409412
|
| 279 |
+
]
|
| 280 |
+
}
|
| 281 |
+
},
|
| 282 |
+
"grasp_57": {
|
| 283 |
+
"confidence": 0.9629018306732178,
|
| 284 |
+
"position": [
|
| 285 |
+
-0.10023148034815677,
|
| 286 |
+
-0.024762842862401158,
|
| 287 |
+
0.00485122948884964
|
| 288 |
+
],
|
| 289 |
+
"orientation": {
|
| 290 |
+
"w": 0.5540085995930895,
|
| 291 |
+
"xyz": [
|
| 292 |
+
-0.5482040218659853,
|
| 293 |
+
0.43322399485365404,
|
| 294 |
+
-0.4526188156383944
|
| 295 |
+
]
|
| 296 |
+
}
|
| 297 |
+
},
|
| 298 |
+
"grasp_58": {
|
| 299 |
+
"confidence": 0.9624087810516357,
|
| 300 |
+
"position": [
|
| 301 |
+
-0.050643954920815304,
|
| 302 |
+
0.08866309555014595,
|
| 303 |
+
0.0018366416916251183
|
| 304 |
+
],
|
| 305 |
+
"orientation": {
|
| 306 |
+
"w": 0.7050880750581551,
|
| 307 |
+
"xyz": [
|
| 308 |
+
0.6627385558783259,
|
| 309 |
+
0.16405712042187381,
|
| 310 |
+
0.19160812665954416
|
| 311 |
+
]
|
| 312 |
+
}
|
| 313 |
+
},
|
| 314 |
+
"grasp_59": {
|
| 315 |
+
"confidence": 0.9622219800949097,
|
| 316 |
+
"position": [
|
| 317 |
+
0.010452857677591965,
|
| 318 |
+
0.09655286552151665,
|
| 319 |
+
0.005609199404716492
|
| 320 |
+
],
|
| 321 |
+
"orientation": {
|
| 322 |
+
"w": 0.7266945776628146,
|
| 323 |
+
"xyz": [
|
| 324 |
+
0.6852571073525042,
|
| 325 |
+
-0.013977308879934869,
|
| 326 |
+
-0.04628522933741263
|
| 327 |
+
]
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
{
|
| 333 |
+
"part_name": "rim",
|
| 334 |
+
"mask_color": "Orange",
|
| 335 |
+
"graspable": false,
|
| 336 |
+
"grasp_scenarios": [],
|
| 337 |
+
"functional_labels": [
|
| 338 |
+
"define the drinking edge",
|
| 339 |
+
"finish the top opening",
|
| 340 |
+
"provide a pouring boundary"
|
| 341 |
+
],
|
| 342 |
+
"semantic_description": "Thin circular top lip around the cup opening, light gray or off-white with a smooth hard finish, located at the highest edge of the vessel.",
|
| 343 |
+
"id": 4,
|
| 344 |
+
"grasp_group": {}
|
| 345 |
+
},
|
| 346 |
+
{
|
| 347 |
+
"part_name": "upper collar",
|
| 348 |
+
"mask_color": "Yellow",
|
| 349 |
+
"graspable": false,
|
| 350 |
+
"grasp_scenarios": [],
|
| 351 |
+
"functional_labels": [
|
| 352 |
+
"connect cup to stem",
|
| 353 |
+
"transfer load downward",
|
| 354 |
+
"form the upper transition to the stem"
|
| 355 |
+
],
|
| 356 |
+
"semantic_description": "Small narrow connector section directly beneath the cup, light gray or off-white with a smooth hard surface, positioned above the main stem.",
|
| 357 |
+
"id": 3,
|
| 358 |
+
"grasp_group": {}
|
| 359 |
+
},
|
| 360 |
+
{
|
| 361 |
+
"part_name": "stem",
|
| 362 |
+
"mask_color": "Green",
|
| 363 |
+
"graspable": true,
|
| 364 |
+
"grasp_scenarios": [
|
| 365 |
+
{
|
| 366 |
+
"scenario": "grasp the stem to lift the goblet upright",
|
| 367 |
+
"confidence": 0.68
|
| 368 |
+
},
|
| 369 |
+
{
|
| 370 |
+
"scenario": "hold the stem to rotate or place the goblet precisely",
|
| 371 |
+
"confidence": 0.72
|
| 372 |
+
}
|
| 373 |
+
],
|
| 374 |
+
"functional_labels": [
|
| 375 |
+
"provide a handling area",
|
| 376 |
+
"separate hand from cup",
|
| 377 |
+
"connect cup to base",
|
| 378 |
+
"support upright structure"
|
| 379 |
+
],
|
| 380 |
+
"semantic_description": "Slender central shaft between the cup and base, appearing light gray or metallic gray with a dark threaded or ridged band around much of its length and a hard surface.",
|
| 381 |
+
"id": 1,
|
| 382 |
+
"grasp_group": {
|
| 383 |
+
"grasp_20": {
|
| 384 |
+
"confidence": 0.9726243615150452,
|
| 385 |
+
"position": [
|
| 386 |
+
0.007643310789717361,
|
| 387 |
+
-0.09593684790888801,
|
| 388 |
+
-0.021599973551928997
|
| 389 |
+
],
|
| 390 |
+
"orientation": {
|
| 391 |
+
"w": 0.7171377683597361,
|
| 392 |
+
"xyz": [
|
| 393 |
+
-0.6948620063058921,
|
| 394 |
+
-0.050758747285745476,
|
| 395 |
+
0.01742879681876538
|
| 396 |
+
]
|
| 397 |
+
}
|
| 398 |
+
},
|
| 399 |
+
"grasp_21": {
|
| 400 |
+
"confidence": 0.9652649760246277,
|
| 401 |
+
"position": [
|
| 402 |
+
-0.030457636836217716,
|
| 403 |
+
-0.09314797638216987,
|
| 404 |
+
-0.009114175103604794
|
| 405 |
+
],
|
| 406 |
+
"orientation": {
|
| 407 |
+
"w": 0.17907052073829607,
|
| 408 |
+
"xyz": [
|
| 409 |
+
0.09109358863439776,
|
| 410 |
+
0.7357379365635723,
|
| 411 |
+
0.6467807939428935
|
| 412 |
+
]
|
| 413 |
+
}
|
| 414 |
+
},
|
| 415 |
+
"grasp_22": {
|
| 416 |
+
"confidence": 0.9630992412567139,
|
| 417 |
+
"position": [
|
| 418 |
+
-0.013848657283233479,
|
| 419 |
+
-0.09561355976620689,
|
| 420 |
+
-0.020513213239610195
|
| 421 |
+
],
|
| 422 |
+
"orientation": {
|
| 423 |
+
"w": 0.7037836641548181,
|
| 424 |
+
"xyz": [
|
| 425 |
+
-0.7024748923088717,
|
| 426 |
+
-0.015961041171296486,
|
| 427 |
+
-0.10470350953614414
|
| 428 |
+
]
|
| 429 |
+
}
|
| 430 |
+
},
|
| 431 |
+
"grasp_23": {
|
| 432 |
+
"confidence": 0.9568305611610413,
|
| 433 |
+
"position": [
|
| 434 |
+
0.0014091843913774937,
|
| 435 |
+
-0.09341294883051887,
|
| 436 |
+
0.0028289533220231533
|
| 437 |
+
],
|
| 438 |
+
"orientation": {
|
| 439 |
+
"w": 0.6081953072308213,
|
| 440 |
+
"xyz": [
|
| 441 |
+
-0.788837431525737,
|
| 442 |
+
-0.061030465387995836,
|
| 443 |
+
-0.06410348805494136
|
| 444 |
+
]
|
| 445 |
+
}
|
| 446 |
+
},
|
| 447 |
+
"grasp_24": {
|
| 448 |
+
"confidence": 0.9556239247322083,
|
| 449 |
+
"position": [
|
| 450 |
+
0.09563208694453351,
|
| 451 |
+
-0.026825228764209896,
|
| 452 |
+
-0.02139261830598116
|
| 453 |
+
],
|
| 454 |
+
"orientation": {
|
| 455 |
+
"w": 0.5616890712351762,
|
| 456 |
+
"xyz": [
|
| 457 |
+
-0.5621534721372718,
|
| 458 |
+
-0.4233832000754859,
|
| 459 |
+
0.4350120997315079
|
| 460 |
+
]
|
| 461 |
+
}
|
| 462 |
+
},
|
| 463 |
+
"grasp_25": {
|
| 464 |
+
"confidence": 0.952492892742157,
|
| 465 |
+
"position": [
|
| 466 |
+
0.04720518316025846,
|
| 467 |
+
-0.0836949777440168,
|
| 468 |
+
-0.0402614688500762
|
| 469 |
+
],
|
| 470 |
+
"orientation": {
|
| 471 |
+
"w": 0.23643132612493478,
|
| 472 |
+
"xyz": [
|
| 473 |
+
0.14701323421075413,
|
| 474 |
+
-0.6166827573279988,
|
| 475 |
+
-0.7363353270134708
|
| 476 |
+
]
|
| 477 |
+
}
|
| 478 |
+
},
|
| 479 |
+
"grasp_26": {
|
| 480 |
+
"confidence": 0.951556921005249,
|
| 481 |
+
"position": [
|
| 482 |
+
-0.08348036979441531,
|
| 483 |
+
0.051619281934108585,
|
| 484 |
+
-0.01567638199776411
|
| 485 |
+
],
|
| 486 |
+
"orientation": {
|
| 487 |
+
"w": 0.272221532239255,
|
| 488 |
+
"xyz": [
|
| 489 |
+
-0.3924888279974126,
|
| 490 |
+
0.5942489202017086,
|
| 491 |
+
-0.6470828216863997
|
| 492 |
+
]
|
| 493 |
+
}
|
| 494 |
+
},
|
| 495 |
+
"grasp_27": {
|
| 496 |
+
"confidence": 0.9477620720863342,
|
| 497 |
+
"position": [
|
| 498 |
+
0.04086479122634046,
|
| 499 |
+
0.08785554947098717,
|
| 500 |
+
-0.025062150321900845
|
| 501 |
+
],
|
| 502 |
+
"orientation": {
|
| 503 |
+
"w": 0.19105161639897467,
|
| 504 |
+
"xyz": [
|
| 505 |
+
-0.13590009416029492,
|
| 506 |
+
-0.6727255147642619,
|
| 507 |
+
0.7017626565041212
|
| 508 |
+
]
|
| 509 |
+
}
|
| 510 |
+
},
|
| 511 |
+
"grasp_28": {
|
| 512 |
+
"confidence": 0.9462409615516663,
|
| 513 |
+
"position": [
|
| 514 |
+
0.012556088593555614,
|
| 515 |
+
-0.09811506239930168,
|
| 516 |
+
-0.021502976305782795
|
| 517 |
+
],
|
| 518 |
+
"orientation": {
|
| 519 |
+
"w": 0.7040195335408952,
|
| 520 |
+
"xyz": [
|
| 521 |
+
-0.7002356873445413,
|
| 522 |
+
-0.11839145753847902,
|
| 523 |
+
-0.003152989675321793
|
| 524 |
+
]
|
| 525 |
+
}
|
| 526 |
+
},
|
| 527 |
+
"grasp_29": {
|
| 528 |
+
"confidence": 0.9459715485572815,
|
| 529 |
+
"position": [
|
| 530 |
+
0.07521582717890851,
|
| 531 |
+
-0.06223735777894035,
|
| 532 |
+
-0.02355459611862898
|
| 533 |
+
],
|
| 534 |
+
"orientation": {
|
| 535 |
+
"w": 0.6306384927200234,
|
| 536 |
+
"xyz": [
|
| 537 |
+
-0.6313328778035007,
|
| 538 |
+
-0.28592016881484505,
|
| 539 |
+
0.3492327962392105
|
| 540 |
+
]
|
| 541 |
+
}
|
| 542 |
+
},
|
| 543 |
+
"grasp_30": {
|
| 544 |
+
"confidence": 0.9420350193977356,
|
| 545 |
+
"position": [
|
| 546 |
+
0.013802850124193355,
|
| 547 |
+
0.0971529129310511,
|
| 548 |
+
-0.031872197054326534
|
| 549 |
+
],
|
| 550 |
+
"orientation": {
|
| 551 |
+
"w": 0.7280494365127764,
|
| 552 |
+
"xyz": [
|
| 553 |
+
0.6825852589132276,
|
| 554 |
+
-0.06194768224387415,
|
| 555 |
+
-0.01355975561735892
|
| 556 |
+
]
|
| 557 |
+
}
|
| 558 |
+
},
|
| 559 |
+
"grasp_31": {
|
| 560 |
+
"confidence": 0.9415329694747925,
|
| 561 |
+
"position": [
|
| 562 |
+
0.06463940764660947,
|
| 563 |
+
-0.07532165764132515,
|
| 564 |
+
-0.020931716077029705
|
| 565 |
+
],
|
| 566 |
+
"orientation": {
|
| 567 |
+
"w": 0.6666664939976465,
|
| 568 |
+
"xyz": [
|
| 569 |
+
-0.6489873702254617,
|
| 570 |
+
-0.2577142190386412,
|
| 571 |
+
0.26068095514254275
|
| 572 |
+
]
|
| 573 |
+
}
|
| 574 |
+
},
|
| 575 |
+
"grasp_32": {
|
| 576 |
+
"confidence": 0.9381932020187378,
|
| 577 |
+
"position": [
|
| 578 |
+
0.0646664458035957,
|
| 579 |
+
-0.0747031774953939,
|
| 580 |
+
-0.032072446309030056
|
| 581 |
+
],
|
| 582 |
+
"orientation": {
|
| 583 |
+
"w": 0.24535685729390508,
|
| 584 |
+
"xyz": [
|
| 585 |
+
0.263664178414245,
|
| 586 |
+
-0.628866332280391,
|
| 587 |
+
-0.6890633858537313
|
| 588 |
+
]
|
| 589 |
+
}
|
| 590 |
+
},
|
| 591 |
+
"grasp_34": {
|
| 592 |
+
"confidence": 0.9236744046211243,
|
| 593 |
+
"position": [
|
| 594 |
+
0.09700209225411527,
|
| 595 |
+
0.011487473675515503,
|
| 596 |
+
-0.02075993735343218
|
| 597 |
+
],
|
| 598 |
+
"orientation": {
|
| 599 |
+
"w": 0.4609562372893326,
|
| 600 |
+
"xyz": [
|
| 601 |
+
-0.46770730724212095,
|
| 602 |
+
-0.5116961661589129,
|
| 603 |
+
0.5540182809209954
|
| 604 |
+
]
|
| 605 |
+
}
|
| 606 |
+
},
|
| 607 |
+
"grasp_35": {
|
| 608 |
+
"confidence": 0.9226062297821045,
|
| 609 |
+
"position": [
|
| 610 |
+
0.07189543868298642,
|
| 611 |
+
0.06774212600430474,
|
| 612 |
+
-0.027894831262528896
|
| 613 |
+
],
|
| 614 |
+
"orientation": {
|
| 615 |
+
"w": 0.6562208910836729,
|
| 616 |
+
"xyz": [
|
| 617 |
+
0.6457883235269178,
|
| 618 |
+
-0.22900912295074904,
|
| 619 |
+
-0.31604810536842687
|
| 620 |
+
]
|
| 621 |
+
}
|
| 622 |
+
},
|
| 623 |
+
"grasp_36": {
|
| 624 |
+
"confidence": 0.9195581674575806,
|
| 625 |
+
"position": [
|
| 626 |
+
0.09773262168164365,
|
| 627 |
+
0.015560932399239391,
|
| 628 |
+
-0.026123727671802044
|
| 629 |
+
],
|
| 630 |
+
"orientation": {
|
| 631 |
+
"w": 0.5689186943287992,
|
| 632 |
+
"xyz": [
|
| 633 |
+
0.515756195152835,
|
| 634 |
+
-0.45717429578499746,
|
| 635 |
+
-0.448685557688429
|
| 636 |
+
]
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"grasp_37": {
|
| 640 |
+
"confidence": 0.9133025407791138,
|
| 641 |
+
"position": [
|
| 642 |
+
-0.08446892772917636,
|
| 643 |
+
0.04814090387662873,
|
| 644 |
+
-0.029119829647243023
|
| 645 |
+
],
|
| 646 |
+
"orientation": {
|
| 647 |
+
"w": 0.6455981239483991,
|
| 648 |
+
"xyz": [
|
| 649 |
+
0.5814287208210362,
|
| 650 |
+
0.3213429593838453,
|
| 651 |
+
0.3766728121502174
|
| 652 |
+
]
|
| 653 |
+
}
|
| 654 |
+
},
|
| 655 |
+
"grasp_38": {
|
| 656 |
+
"confidence": 0.9124488830566406,
|
| 657 |
+
"position": [
|
| 658 |
+
-0.07296508972649463,
|
| 659 |
+
0.05845460476120934,
|
| 660 |
+
0.000376138836145401
|
| 661 |
+
],
|
| 662 |
+
"orientation": {
|
| 663 |
+
"w": 0.18794054354822415,
|
| 664 |
+
"xyz": [
|
| 665 |
+
-0.3925273991008224,
|
| 666 |
+
0.6773058330421485,
|
| 667 |
+
-0.5931756919943896
|
| 668 |
+
]
|
| 669 |
+
}
|
| 670 |
+
},
|
| 671 |
+
"grasp_39": {
|
| 672 |
+
"confidence": 0.9111769795417786,
|
| 673 |
+
"position": [
|
| 674 |
+
-0.0035079573572147638,
|
| 675 |
+
0.09752379538258538,
|
| 676 |
+
-0.026160317473113537
|
| 677 |
+
],
|
| 678 |
+
"orientation": {
|
| 679 |
+
"w": 0.7139556447302046,
|
| 680 |
+
"xyz": [
|
| 681 |
+
0.6850285757760263,
|
| 682 |
+
-0.07132665593709309,
|
| 683 |
+
0.12615742499345184
|
| 684 |
+
]
|
| 685 |
+
}
|
| 686 |
+
}
|
| 687 |
+
}
|
| 688 |
+
},
|
| 689 |
+
{
|
| 690 |
+
"part_name": "foot",
|
| 691 |
+
"mask_color": "Red",
|
| 692 |
+
"graspable": true,
|
| 693 |
+
"grasp_scenarios": [
|
| 694 |
+
{
|
| 695 |
+
"scenario": "grasp the foot from the sides to pick up the goblet from a table",
|
| 696 |
+
"confidence": 0.58
|
| 697 |
+
},
|
| 698 |
+
{
|
| 699 |
+
"scenario": "hold the foot to stabilize the goblet during repositioning",
|
| 700 |
+
"confidence": 0.61
|
| 701 |
+
}
|
| 702 |
+
],
|
| 703 |
+
"functional_labels": [
|
| 704 |
+
"support standing stability",
|
| 705 |
+
"distribute load on a surface",
|
| 706 |
+
"provide a resting base"
|
| 707 |
+
],
|
| 708 |
+
"semantic_description": "Wide circular base plate at the bottom, light gray with a smooth hard finish and shallow dish-like shape, supporting the object on flat surfaces.",
|
| 709 |
+
"id": 0,
|
| 710 |
+
"grasp_group": {}
|
| 711 |
+
},
|
| 712 |
+
{
|
| 713 |
+
"part_name": "base connector",
|
| 714 |
+
"mask_color": "Cyan",
|
| 715 |
+
"graspable": false,
|
| 716 |
+
"grasp_scenarios": [],
|
| 717 |
+
"functional_labels": [
|
| 718 |
+
"join stem to foot",
|
| 719 |
+
"reinforce the base connection",
|
| 720 |
+
"provide structural thickness"
|
| 721 |
+
],
|
| 722 |
+
"semantic_description": "Short central connector above the foot, light gray with a smooth hard surface, linking the stem to the circular base.",
|
| 723 |
+
"id": 6,
|
| 724 |
+
"grasp_group": {}
|
| 725 |
+
},
|
| 726 |
+
{
|
| 727 |
+
"part_name": "lower cup joint",
|
| 728 |
+
"mask_color": "Purple",
|
| 729 |
+
"graspable": false,
|
| 730 |
+
"grasp_scenarios": [],
|
| 731 |
+
"functional_labels": [
|
| 732 |
+
"transition cup into upper collar",
|
| 733 |
+
"reinforce the cup-stem junction",
|
| 734 |
+
"maintain structural continuity"
|
| 735 |
+
],
|
| 736 |
+
"semantic_description": "Small rounded transition ring at the underside of the cup where it meets the upper collar, visible as a compact light gray band beneath the cup.",
|
| 737 |
+
"id": 5,
|
| 738 |
+
"grasp_group": {}
|
| 739 |
+
}
|
| 740 |
+
],
|
| 741 |
+
"quality_check": {
|
| 742 |
+
"success": false,
|
| 743 |
+
"message": "Several part descriptions mismatch visible colors/materials; stem and cup body colors are incorrect."
|
| 744 |
+
}
|
| 745 |
+
}
|
dataset/kitchen_supplies/ware/14851e723f035738bf4188fb70e8beb7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ba44c4690fdc6bdabf165554c8f2773c6b9ee4516c6e1a93b7af5bfef14f0829
|
| 3 |
+
size 3782508
|