Add asset kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c
Browse files
.gitattributes
CHANGED
|
@@ -7441,3 +7441,4 @@ dataset/kitchen_supplies/tableware/f501153b7be45030b28a064ad47df542/affordance/m
|
|
| 7441 |
dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7442 |
dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7443 |
dataset/kitchen_supplies/utensils/62532811104d5fadad69ca298ef4db5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7441 |
dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7442 |
dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7443 |
dataset/kitchen_supplies/utensils/62532811104d5fadad69ca298ef4db5e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7444 |
+
dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,666 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "turning handle and central screw shaft",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top loop handle to rotate the worm screw into the cork",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pick up and reposition the opener by the top handle",
|
| 14 |
+
"confidence": 0.72
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the top handle while aligning the opener over a bottle neck",
|
| 18 |
+
"confidence": 0.64
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"rotate the central worm screw",
|
| 23 |
+
"provide a primary handhold",
|
| 24 |
+
"assist tool positioning",
|
| 25 |
+
"support manual manipulation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Dark gray loop-shaped top handle connected to a vertical dark gray screw shaft, with a smooth hard finish and a triangular opening in the handle.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9430490732192993,
|
| 32 |
+
"position": [
|
| 33 |
+
0.0056264062150148675,
|
| 34 |
+
0.00324179969902616,
|
| 35 |
+
0.1859771627932787
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.026793327740284388,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7221110109125475,
|
| 41 |
+
0.6903481613541788,
|
| 42 |
+
-0.03545732113915538
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9353022575378418,
|
| 48 |
+
"position": [
|
| 49 |
+
0.09860350486997049,
|
| 50 |
+
0.014974611040088348,
|
| 51 |
+
0.05329604633152485
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4975553614050275,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.41412324561111125,
|
| 57 |
+
-0.46974977782253524,
|
| 58 |
+
0.6002297443623649
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.932426929473877,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.001481526138377376,
|
| 66 |
+
-0.0049497702420922,
|
| 67 |
+
0.18590527959167957
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.08922931859777487,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.6601051550056605,
|
| 73 |
+
0.7445345920083337,
|
| 74 |
+
-0.04435712277091255
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9300315380096436,
|
| 80 |
+
"position": [
|
| 81 |
+
0.013796365979942493,
|
| 82 |
+
0.00022179911320563406,
|
| 83 |
+
0.18843725509941578
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.01984902529634536,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.6734423090908559,
|
| 89 |
+
0.7385632496284802,
|
| 90 |
+
0.024612980708972877
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9257029294967651,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.00223015651863534,
|
| 98 |
+
-0.01525218396272976,
|
| 99 |
+
0.1878833044320345
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.11633406382673811,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.6634961984685375,
|
| 105 |
+
0.7390602225576121,
|
| 106 |
+
0.005400707772946488
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9243850111961365,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.105489102032152,
|
| 114 |
+
0.0016406296490458772,
|
| 115 |
+
0.06809789128601551
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5163964499004016,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.5001953927775906,
|
| 121 |
+
0.47772397094647334,
|
| 122 |
+
0.5048951209483675
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9198060035705566,
|
| 128 |
+
"position": [
|
| 129 |
+
0.0958816140628187,
|
| 130 |
+
0.007276900738361292,
|
| 131 |
+
0.061831241473555565
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5543946352096325,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.5031416579316358,
|
| 137 |
+
-0.4594150428515237,
|
| 138 |
+
-0.477946523061227
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
|
| 143 |
+
"confidence": 0.9184621572494507,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.1002892524265917,
|
| 146 |
+
0.013155040491255932,
|
| 147 |
+
0.09889627434313297
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.4627250672217869,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.5834229363399291,
|
| 153 |
+
0.5450226310782391,
|
| 154 |
+
0.3852966663879167
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_8": {
|
| 159 |
+
"confidence": 0.91758131980896,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.10635655822989065,
|
| 162 |
+
-0.005262766804662533,
|
| 163 |
+
0.06128092668950558
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.5275716142704268,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.47550861799673594,
|
| 169 |
+
0.4466598207354212,
|
| 170 |
+
-0.5441091347951543
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_9": {
|
| 175 |
+
"confidence": 0.9159986972808838,
|
| 176 |
+
"position": [
|
| 177 |
+
0.013046388674410991,
|
| 178 |
+
0.005446578070404939,
|
| 179 |
+
0.1865569818764925
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.035387471464467864,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.6777726611177952,
|
| 185 |
+
0.7344106523496196,
|
| 186 |
+
-0.0035972795360083064
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_10": {
|
| 191 |
+
"confidence": 0.9048241972923279,
|
| 192 |
+
"position": [
|
| 193 |
+
-0.10245632084843237,
|
| 194 |
+
-5.5788346799090505e-05,
|
| 195 |
+
0.0701440516859293
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.4938529766576671,
|
| 199 |
+
"xyz": [
|
| 200 |
+
-0.49531926806832777,
|
| 201 |
+
0.4784692725963928,
|
| 202 |
+
-0.5308815454578323
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_11": {
|
| 207 |
+
"confidence": 0.9041748642921448,
|
| 208 |
+
"position": [
|
| 209 |
+
0.10269552764657419,
|
| 210 |
+
0.025648070659372024,
|
| 211 |
+
0.09113613702356815
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.5061017224461589,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.6175405947631611,
|
| 217 |
+
-0.4546814762015642,
|
| 218 |
+
-0.3946763427870471
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_12": {
|
| 223 |
+
"confidence": 0.9014889597892761,
|
| 224 |
+
"position": [
|
| 225 |
+
0.0890081330871908,
|
| 226 |
+
0.03968204760167282,
|
| 227 |
+
0.06956805475056171
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.3455509615584239,
|
| 231 |
+
"xyz": [
|
| 232 |
+
-0.41421301304286856,
|
| 233 |
+
-0.5582734465099817,
|
| 234 |
+
0.630359319526462
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_13": {
|
| 239 |
+
"confidence": 0.9000478386878967,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.10285885336634237,
|
| 242 |
+
-0.0052658769564004615,
|
| 243 |
+
0.0673214290291071
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.512199972751415,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.4961734153533964,
|
| 249 |
+
0.4638714047086936,
|
| 250 |
+
-0.5256295746089438
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_14": {
|
| 255 |
+
"confidence": 0.8995298743247986,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.0995064646267565,
|
| 258 |
+
0.011452933002146892,
|
| 259 |
+
0.08098354376852512
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.5179467366389593,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.5304905768849959,
|
| 265 |
+
0.5305227701799117,
|
| 266 |
+
0.41092154502034733
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_15": {
|
| 271 |
+
"confidence": 0.8968152403831482,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.1025272205733927,
|
| 274 |
+
0.0017337537574348971,
|
| 275 |
+
0.06756759621202946
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.541816975657999,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.47822332485449187,
|
| 281 |
+
0.5063905031977807,
|
| 282 |
+
0.4704311583271591
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_16": {
|
| 287 |
+
"confidence": 0.8955886363983154,
|
| 288 |
+
"position": [
|
| 289 |
+
0.023467431936296634,
|
| 290 |
+
0.011682005759212188,
|
| 291 |
+
0.18736346252262592
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.021668601413712754,
|
| 295 |
+
"xyz": [
|
| 296 |
+
0.6962885035451202,
|
| 297 |
+
0.7146723363604521,
|
| 298 |
+
-0.06289867395075636
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_17": {
|
| 303 |
+
"confidence": 0.8938051462173462,
|
| 304 |
+
"position": [
|
| 305 |
+
-0.1041708112024935,
|
| 306 |
+
-0.007686662327614613,
|
| 307 |
+
0.09099026955664158
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.46079201539279047,
|
| 311 |
+
"xyz": [
|
| 312 |
+
-0.561445841097906,
|
| 313 |
+
0.5287366160735385,
|
| 314 |
+
-0.4391888852045541
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_18": {
|
| 319 |
+
"confidence": 0.8848845958709717,
|
| 320 |
+
"position": [
|
| 321 |
+
0.10314923820260447,
|
| 322 |
+
0.007221586231025867,
|
| 323 |
+
0.0844756830483675
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.48438643039532997,
|
| 327 |
+
"xyz": [
|
| 328 |
+
0.5555209697171137,
|
| 329 |
+
-0.5107030471323468,
|
| 330 |
+
-0.44266085878826505
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_19": {
|
| 335 |
+
"confidence": 0.8776677846908569,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.018907551493612118,
|
| 338 |
+
0.001254697606782429,
|
| 339 |
+
0.18556936271488667
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.02124252782660177,
|
| 343 |
+
"xyz": [
|
| 344 |
+
0.7419853983556409,
|
| 345 |
+
-0.6698978849890939,
|
| 346 |
+
0.0155963882259964
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "lever arm",
|
| 354 |
+
"mask_color": "Green",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "grasp one lever arm to actuate the opener mechanism",
|
| 359 |
+
"confidence": 0.88
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "hold a lever arm to stabilize the tool while placing it on a bottle",
|
| 363 |
+
"confidence": 0.57
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"scenario": "pick up the opener by a lever arm when the top handle is not accessible",
|
| 367 |
+
"confidence": 0.4
|
| 368 |
+
}
|
| 369 |
+
],
|
| 370 |
+
"functional_labels": [
|
| 371 |
+
"provide leverage",
|
| 372 |
+
"pull the cork upward",
|
| 373 |
+
"assist two-arm actuation",
|
| 374 |
+
"support side handling"
|
| 375 |
+
],
|
| 376 |
+
"semantic_description": "Long curved silver-gray metal arm with a smooth slightly reflective hard surface, extending from the side of the body and ending in a broader paddle-like tip.",
|
| 377 |
+
"id": 1,
|
| 378 |
+
"grasp_group": {}
|
| 379 |
+
},
|
| 380 |
+
{
|
| 381 |
+
"part_name": "lever arm",
|
| 382 |
+
"mask_color": "Blue",
|
| 383 |
+
"graspable": true,
|
| 384 |
+
"grasp_scenarios": [
|
| 385 |
+
{
|
| 386 |
+
"scenario": "grasp the opposite lever arm to actuate the opener mechanism",
|
| 387 |
+
"confidence": 0.84
|
| 388 |
+
},
|
| 389 |
+
{
|
| 390 |
+
"scenario": "hold this arm to stabilize the opener during placement on a bottle",
|
| 391 |
+
"confidence": 0.54
|
| 392 |
+
},
|
| 393 |
+
{
|
| 394 |
+
"scenario": "use the arm as an alternate pickup point for repositioning",
|
| 395 |
+
"confidence": 0.38
|
| 396 |
+
}
|
| 397 |
+
],
|
| 398 |
+
"functional_labels": [
|
| 399 |
+
"provide leverage",
|
| 400 |
+
"pull the cork upward",
|
| 401 |
+
"assist two-arm actuation",
|
| 402 |
+
"support side handling"
|
| 403 |
+
],
|
| 404 |
+
"semantic_description": "Long curved silver-gray metal arm on the opposite side, with a smooth slightly reflective hard surface and a hooked profile that folds beside the body.",
|
| 405 |
+
"id": 2,
|
| 406 |
+
"grasp_group": {}
|
| 407 |
+
},
|
| 408 |
+
{
|
| 409 |
+
"part_name": "central body and bottle collar",
|
| 410 |
+
"mask_color": "Magenta",
|
| 411 |
+
"graspable": true,
|
| 412 |
+
"grasp_scenarios": [
|
| 413 |
+
{
|
| 414 |
+
"scenario": "grasp the central body to place the opener onto a bottle neck",
|
| 415 |
+
"confidence": 0.82
|
| 416 |
+
},
|
| 417 |
+
{
|
| 418 |
+
"scenario": "hold the body to stabilize the tool while the lever arms move",
|
| 419 |
+
"confidence": 0.78
|
| 420 |
+
},
|
| 421 |
+
{
|
| 422 |
+
"scenario": "pick up the opener by the lower bell-shaped collar area when loading or storing",
|
| 423 |
+
"confidence": 0.48
|
| 424 |
+
}
|
| 425 |
+
],
|
| 426 |
+
"functional_labels": [
|
| 427 |
+
"align on bottle neck",
|
| 428 |
+
"support moving joints",
|
| 429 |
+
"house the screw mechanism",
|
| 430 |
+
"provide central structure"
|
| 431 |
+
],
|
| 432 |
+
"semantic_description": "Dark gray central frame and lower bell-shaped bottle collar with a hard smooth finish, including the vertical side supports and rounded base section that sits over the bottle top.",
|
| 433 |
+
"id": 7,
|
| 434 |
+
"grasp_group": {
|
| 435 |
+
"grasp_60": {
|
| 436 |
+
"confidence": 0.9135079383850098,
|
| 437 |
+
"position": [
|
| 438 |
+
0.0996892779803602,
|
| 439 |
+
-0.0011789657437475398,
|
| 440 |
+
0.05537647567689419
|
| 441 |
+
],
|
| 442 |
+
"orientation": {
|
| 443 |
+
"w": 0.3799672835508528,
|
| 444 |
+
"xyz": [
|
| 445 |
+
0.6113601242977083,
|
| 446 |
+
-0.5808949094258159,
|
| 447 |
+
-0.3800325855145181
|
| 448 |
+
]
|
| 449 |
+
}
|
| 450 |
+
},
|
| 451 |
+
"grasp_61": {
|
| 452 |
+
"confidence": 0.8895286321640015,
|
| 453 |
+
"position": [
|
| 454 |
+
0.08820655492309015,
|
| 455 |
+
0.01896364071581047,
|
| 456 |
+
0.06377395056188107
|
| 457 |
+
],
|
| 458 |
+
"orientation": {
|
| 459 |
+
"w": 0.35027800699056594,
|
| 460 |
+
"xyz": [
|
| 461 |
+
-0.5352082606727315,
|
| 462 |
+
-0.6108524456835425,
|
| 463 |
+
0.4666012485289998
|
| 464 |
+
]
|
| 465 |
+
}
|
| 466 |
+
},
|
| 467 |
+
"grasp_62": {
|
| 468 |
+
"confidence": 0.8840551972389221,
|
| 469 |
+
"position": [
|
| 470 |
+
0.09807900634768885,
|
| 471 |
+
-0.00656979794439394,
|
| 472 |
+
0.05579737387597561
|
| 473 |
+
],
|
| 474 |
+
"orientation": {
|
| 475 |
+
"w": 0.4161568453072366,
|
| 476 |
+
"xyz": [
|
| 477 |
+
0.5625963864154953,
|
| 478 |
+
-0.5962977402827292,
|
| 479 |
+
-0.3933545360484178
|
| 480 |
+
]
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"grasp_63": {
|
| 484 |
+
"confidence": 0.8822007775306702,
|
| 485 |
+
"position": [
|
| 486 |
+
0.09748469588521402,
|
| 487 |
+
-0.00021620111874653958,
|
| 488 |
+
0.03895530663430691
|
| 489 |
+
],
|
| 490 |
+
"orientation": {
|
| 491 |
+
"w": 0.44895536413134757,
|
| 492 |
+
"xyz": [
|
| 493 |
+
-0.5390104243815438,
|
| 494 |
+
-0.5153852730575678,
|
| 495 |
+
0.49222440384553595
|
| 496 |
+
]
|
| 497 |
+
}
|
| 498 |
+
},
|
| 499 |
+
"grasp_64": {
|
| 500 |
+
"confidence": 0.8562448620796204,
|
| 501 |
+
"position": [
|
| 502 |
+
-0.08509746643539984,
|
| 503 |
+
-0.029324086222914048,
|
| 504 |
+
0.0653128158301115
|
| 505 |
+
],
|
| 506 |
+
"orientation": {
|
| 507 |
+
"w": 0.4446808974278541,
|
| 508 |
+
"xyz": [
|
| 509 |
+
-0.6986262036093034,
|
| 510 |
+
0.44178112535153646,
|
| 511 |
+
-0.34497791867935607
|
| 512 |
+
]
|
| 513 |
+
}
|
| 514 |
+
},
|
| 515 |
+
"grasp_65": {
|
| 516 |
+
"confidence": 0.8289434909820557,
|
| 517 |
+
"position": [
|
| 518 |
+
-0.09926704021927435,
|
| 519 |
+
-0.003197652127710171,
|
| 520 |
+
0.042747361585497856
|
| 521 |
+
],
|
| 522 |
+
"orientation": {
|
| 523 |
+
"w": 0.4295559747674231,
|
| 524 |
+
"xyz": [
|
| 525 |
+
-0.5607064042311342,
|
| 526 |
+
0.5658153682313273,
|
| 527 |
+
-0.4253739083077946
|
| 528 |
+
]
|
| 529 |
+
}
|
| 530 |
+
},
|
| 531 |
+
"grasp_68": {
|
| 532 |
+
"confidence": 0.8134015202522278,
|
| 533 |
+
"position": [
|
| 534 |
+
0.08853958842519205,
|
| 535 |
+
0.0006532714323839173,
|
| 536 |
+
0.07606850750744343
|
| 537 |
+
],
|
| 538 |
+
"orientation": {
|
| 539 |
+
"w": 0.29395442054544796,
|
| 540 |
+
"xyz": [
|
| 541 |
+
-0.6266309486264562,
|
| 542 |
+
-0.6502728152530564,
|
| 543 |
+
0.31316085101455665
|
| 544 |
+
]
|
| 545 |
+
}
|
| 546 |
+
},
|
| 547 |
+
"grasp_69": {
|
| 548 |
+
"confidence": 0.8079370260238647,
|
| 549 |
+
"position": [
|
| 550 |
+
0.018383641887339763,
|
| 551 |
+
-0.0027124724147142842,
|
| 552 |
+
-0.1364347618073225
|
| 553 |
+
],
|
| 554 |
+
"orientation": {
|
| 555 |
+
"w": 0.688309568489364,
|
| 556 |
+
"xyz": [
|
| 557 |
+
-0.0424126496107879,
|
| 558 |
+
-0.027729305132287885,
|
| 559 |
+
0.7236450723357812
|
| 560 |
+
]
|
| 561 |
+
}
|
| 562 |
+
},
|
| 563 |
+
"grasp_73": {
|
| 564 |
+
"confidence": 0.803442120552063,
|
| 565 |
+
"position": [
|
| 566 |
+
0.00904321220878046,
|
| 567 |
+
0.0018113205878762528,
|
| 568 |
+
-0.13778790645301342
|
| 569 |
+
],
|
| 570 |
+
"orientation": {
|
| 571 |
+
"w": 0.7153211621116247,
|
| 572 |
+
"xyz": [
|
| 573 |
+
0.0629323392676224,
|
| 574 |
+
-0.03666010227993921,
|
| 575 |
+
-0.6949900665552018
|
| 576 |
+
]
|
| 577 |
+
}
|
| 578 |
+
},
|
| 579 |
+
"grasp_75": {
|
| 580 |
+
"confidence": 0.7975388169288635,
|
| 581 |
+
"position": [
|
| 582 |
+
-8.693800964465481e-05,
|
| 583 |
+
-0.00023298538872040808,
|
| 584 |
+
-0.13688142411410809
|
| 585 |
+
],
|
| 586 |
+
"orientation": {
|
| 587 |
+
"w": 0.6873848871313328,
|
| 588 |
+
"xyz": [
|
| 589 |
+
-0.010361743799224419,
|
| 590 |
+
-0.009371031795573193,
|
| 591 |
+
0.7261589598510583
|
| 592 |
+
]
|
| 593 |
+
}
|
| 594 |
+
},
|
| 595 |
+
"grasp_76": {
|
| 596 |
+
"confidence": 0.7956475019454956,
|
| 597 |
+
"position": [
|
| 598 |
+
-0.01213902777817566,
|
| 599 |
+
0.004441718265297823,
|
| 600 |
+
-0.13713629357516766
|
| 601 |
+
],
|
| 602 |
+
"orientation": {
|
| 603 |
+
"w": 0.6808977951035436,
|
| 604 |
+
"xyz": [
|
| 605 |
+
0.02968069791703291,
|
| 606 |
+
0.00022163618802628626,
|
| 607 |
+
0.7317767416853934
|
| 608 |
+
]
|
| 609 |
+
}
|
| 610 |
+
},
|
| 611 |
+
"grasp_77": {
|
| 612 |
+
"confidence": 0.7947866916656494,
|
| 613 |
+
"position": [
|
| 614 |
+
-0.026575398471322842,
|
| 615 |
+
0.00867981200281065,
|
| 616 |
+
-0.1377436351031065
|
| 617 |
+
],
|
| 618 |
+
"orientation": {
|
| 619 |
+
"w": 0.702944347351576,
|
| 620 |
+
"xyz": [
|
| 621 |
+
-0.03664275892263695,
|
| 622 |
+
0.09482106474732543,
|
| 623 |
+
-0.7039428374699094
|
| 624 |
+
]
|
| 625 |
+
}
|
| 626 |
+
},
|
| 627 |
+
"grasp_78": {
|
| 628 |
+
"confidence": 0.794317901134491,
|
| 629 |
+
"position": [
|
| 630 |
+
-0.09496567102905829,
|
| 631 |
+
-6.946444773348048e-05,
|
| 632 |
+
0.048045435920357704
|
| 633 |
+
],
|
| 634 |
+
"orientation": {
|
| 635 |
+
"w": 0.3924227770954526,
|
| 636 |
+
"xyz": [
|
| 637 |
+
-0.5798956638219182,
|
| 638 |
+
0.5904494492020197,
|
| 639 |
+
-0.4013662056454951
|
| 640 |
+
]
|
| 641 |
+
}
|
| 642 |
+
},
|
| 643 |
+
"grasp_79": {
|
| 644 |
+
"confidence": 0.7934433817863464,
|
| 645 |
+
"position": [
|
| 646 |
+
-0.10377584102388937,
|
| 647 |
+
-0.004765075471368618,
|
| 648 |
+
0.03821505047380924
|
| 649 |
+
],
|
| 650 |
+
"orientation": {
|
| 651 |
+
"w": 0.4718840102712077,
|
| 652 |
+
"xyz": [
|
| 653 |
+
0.5235982920382952,
|
| 654 |
+
0.5779255588918497,
|
| 655 |
+
0.4113056744131852
|
| 656 |
+
]
|
| 657 |
+
}
|
| 658 |
+
}
|
| 659 |
+
}
|
| 660 |
+
}
|
| 661 |
+
],
|
| 662 |
+
"quality_check": {
|
| 663 |
+
"success": false,
|
| 664 |
+
"message": "Red part description mismatches mask; screw shaft excluded from red segment and green mask also covers collar ring."
|
| 665 |
+
}
|
| 666 |
+
}
|
dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d0d87dcbcd4722193ca0d9401d513efb5f99efeca19269f9210d2cff5a568876
|
| 3 |
+
size 74312524
|