Add asset kitchen_supplies/ware/3857a3c5a8dd5d41bf203e4f95e4648f
Browse files
.gitattributes
CHANGED
|
@@ -7537,3 +7537,4 @@ dataset/kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae/affordance/mesh_p
|
|
| 7537 |
dataset/kitchen_supplies/ware/3425f984850d54e2966a7ff035633f70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7538 |
dataset/kitchen_supplies/ware/34c4f3a5b7a35e1ab98a5c5b660c2257/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7539 |
dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7537 |
dataset/kitchen_supplies/ware/3425f984850d54e2966a7ff035633f70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7538 |
dataset/kitchen_supplies/ware/34c4f3a5b7a35e1ab98a5c5b660c2257/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7539 |
dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7540 |
+
dataset/kitchen_supplies/ware/3857a3c5a8dd5d41bf203e4f95e4648f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/3857a3c5a8dd5d41bf203e4f95e4648f/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,224 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mug body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the mug body from the side to pick up the mug",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the mug during placement",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body while the handle is obstructed",
|
| 18 |
+
"confidence": 0.69
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide the main vessel structure",
|
| 24 |
+
"support side grasping",
|
| 25 |
+
"present exterior surface for holding"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered light-purple ceramic cup body with a glossy smooth hard surface, rounded cylindrical shape, open top, and small white Disney text printed on the side.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_9": {
|
| 31 |
+
"confidence": 0.8990629315376282,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.1011196447070688,
|
| 34 |
+
-0.006610586722672451,
|
| 35 |
+
-0.07244901196099818
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.6248073483705057,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.36669887930266565,
|
| 41 |
+
0.34246722069808944,
|
| 42 |
+
-0.5982172783259546
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_10": {
|
| 47 |
+
"confidence": 0.8976871371269226,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.11415132856927812,
|
| 50 |
+
0.0006341906191664748,
|
| 51 |
+
-0.004600231070071459
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5136566118891044,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.49621330419261733,
|
| 57 |
+
0.4981193250027449,
|
| 58 |
+
0.4917381212227303
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_11": {
|
| 63 |
+
"confidence": 0.8963974118232727,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.11690033203922212,
|
| 66 |
+
0.010960661391436588,
|
| 67 |
+
-0.004959568846970797
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5303254298890137,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.5189672350698099,
|
| 73 |
+
0.47147661169985766,
|
| 74 |
+
0.47658971029288016
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_12": {
|
| 79 |
+
"confidence": 0.8961417078971863,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.11518572247587144,
|
| 82 |
+
-0.010726033193350304,
|
| 83 |
+
-0.00041792390402406454
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.47796704041523896,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.4713985042143494,
|
| 89 |
+
0.5238477638720438,
|
| 90 |
+
0.5243228764677645
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_14": {
|
| 95 |
+
"confidence": 0.8924925327301025,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.10933636105619371,
|
| 98 |
+
-0.017021450628817547,
|
| 99 |
+
-0.037104645976796746
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5265072438241202,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.39365706562179836,
|
| 105 |
+
0.4649452901215422,
|
| 106 |
+
0.5930009393589171
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_17": {
|
| 111 |
+
"confidence": 0.8915295004844666,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0036310243885964155,
|
| 114 |
+
-0.0008543424846720882,
|
| 115 |
+
-0.1118854267988354
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6733593615866827,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.006684780098646453,
|
| 121 |
+
0.0004515021503418426,
|
| 122 |
+
0.7392849788981353
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_19": {
|
| 127 |
+
"confidence": 0.8907459378242493,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.11555291689001024,
|
| 130 |
+
-0.009477550578594673,
|
| 131 |
+
-0.0269550031516701
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5433782242358984,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.48029491687535886,
|
| 137 |
+
0.46108055578927964,
|
| 138 |
+
-0.5113331783905506
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"part_name": "mug handle",
|
| 146 |
+
"mask_color": "Yellow",
|
| 147 |
+
"graspable": true,
|
| 148 |
+
"grasp_scenarios": [
|
| 149 |
+
{
|
| 150 |
+
"scenario": "grasp the handle to lift the mug",
|
| 151 |
+
"confidence": 0.93
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"scenario": "hold the handle to stabilize and reorient the mug while pouring",
|
| 155 |
+
"confidence": 0.88
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"scenario": "hook a gripper through the handle opening for retrieval",
|
| 159 |
+
"confidence": 0.72
|
| 160 |
+
}
|
| 161 |
+
],
|
| 162 |
+
"functional_labels": [
|
| 163 |
+
"provide a side grip",
|
| 164 |
+
"lift the mug without squeezing the body",
|
| 165 |
+
"stabilize the mug while pouring",
|
| 166 |
+
"help control orientation"
|
| 167 |
+
],
|
| 168 |
+
"semantic_description": "Medium-sized curved light-purple ceramic handle with a glossy smooth hard surface, oval loop shape, attached to the mug side and sized for secure side gripping.",
|
| 169 |
+
"id": 3,
|
| 170 |
+
"grasp_group": {
|
| 171 |
+
"grasp_23": {
|
| 172 |
+
"confidence": 0.7371220588684082,
|
| 173 |
+
"position": [
|
| 174 |
+
0.13462751382030547,
|
| 175 |
+
-0.01138123818236636,
|
| 176 |
+
0.010075667640194297
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.6861668282019356,
|
| 180 |
+
"xyz": [
|
| 181 |
+
0.0032638318579219436,
|
| 182 |
+
-0.718095452904353,
|
| 183 |
+
-0.11620392332013006
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
"grasp_33": {
|
| 188 |
+
"confidence": 0.605614423751831,
|
| 189 |
+
"position": [
|
| 190 |
+
0.13761713379062712,
|
| 191 |
+
-0.00040615048055769876,
|
| 192 |
+
0.022304106270894408
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
| 195 |
+
"w": 0.6804664382184332,
|
| 196 |
+
"xyz": [
|
| 197 |
+
0.009986462035236166,
|
| 198 |
+
-0.7326556850481842,
|
| 199 |
+
-0.009019102001486472
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"part_name": "mug base",
|
| 207 |
+
"mask_color": "Red",
|
| 208 |
+
"graspable": false,
|
| 209 |
+
"grasp_scenarios": [],
|
| 210 |
+
"functional_labels": [
|
| 211 |
+
"support standing",
|
| 212 |
+
"provide a stable bottom surface",
|
| 213 |
+
"distribute contact with the table"
|
| 214 |
+
],
|
| 215 |
+
"semantic_description": "Flat circular off-white ceramic bottom with a matte-to-satin smooth hard surface, located at the underside of the mug and slightly recessed from the purple side wall.",
|
| 216 |
+
"id": 0,
|
| 217 |
+
"grasp_group": {}
|
| 218 |
+
}
|
| 219 |
+
],
|
| 220 |
+
"quality_check": {
|
| 221 |
+
"success": true,
|
| 222 |
+
"message": "YES"
|
| 223 |
+
}
|
| 224 |
+
}
|
dataset/kitchen_supplies/ware/3857a3c5a8dd5d41bf203e4f95e4648f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:94dc1ec847f8392438c8c4fd9f176de21943cd7d0eca46c5659d8febcd24c20b
|
| 3 |
+
size 3780200
|