xinjjj commited on
Commit
30e0441
·
verified ·
1 Parent(s): 4bf179c

Add asset kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd

Browse files
.gitattributes CHANGED
@@ -7475,4 +7475,4 @@ dataset/kitchen_supplies/utensils/b18e664c2fec5ee38ee8ec9aaea25603/affordance/me
7475
  dataset/kitchen_supplies/utensils/b1bd522f3e8a54c3b3e6bc37378ee2e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7476
  dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7477
  dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7478
- dataset/kitchen_supplies/utensils/ba8aca22b97455768b7e83706749e6e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7475
  dataset/kitchen_supplies/utensils/b1bd522f3e8a54c3b3e6bc37378ee2e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7476
  dataset/kitchen_supplies/utensils/b3f21fd58cee5524ac4ca5764d5ed2e7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7477
  dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7478
+ dataset/kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd/affordance/affordance_annot.json ADDED
@@ -0,0 +1,933 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 lift and move the cup",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the cup while opening or closing the lid",
14
+ "confidence": 0.9
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain liquid",
19
+ "provide main structural body",
20
+ "support whole-object grasping",
21
+ "stabilize during lid operation"
22
+ ],
23
+ "semantic_description": "Large rounded light cream cup body with a smooth surface and mostly matte appearance, forming the main lower container with a small front label area.",
24
+ "id": 2,
25
+ "grasp_group": {
26
+ "grasp_22": {
27
+ "confidence": 0.914678692817688,
28
+ "position": [
29
+ 0.010690737748518586,
30
+ 0.08475929907581303,
31
+ -0.09341470431536436
32
+ ],
33
+ "orientation": {
34
+ "w": 0.8934315984332809,
35
+ "xyz": [
36
+ 0.4460210807886854,
37
+ -0.018367028423460052,
38
+ -0.05007820563816002
39
+ ]
40
+ }
41
+ },
42
+ "grasp_35": {
43
+ "confidence": 0.8950533270835876,
44
+ "position": [
45
+ 0.00467857695184648,
46
+ -0.015122945056646131,
47
+ -0.12096893321722746
48
+ ],
49
+ "orientation": {
50
+ "w": 0.9924305710264439,
51
+ "xyz": [
52
+ -0.025811297913443845,
53
+ -0.014408361555868887,
54
+ -0.1191962151640123
55
+ ]
56
+ }
57
+ }
58
+ }
59
+ },
60
+ {
61
+ "part_name": "handle",
62
+ "mask_color": "Red",
63
+ "graspable": true,
64
+ "grasp_scenarios": [
65
+ {
66
+ "scenario": "grasp the handle to lift and carry the cup",
67
+ "confidence": 0.95
68
+ },
69
+ {
70
+ "scenario": "hook fingers or a gripper around the handle to reorient the cup during drinking or pouring",
71
+ "confidence": 0.83
72
+ }
73
+ ],
74
+ "functional_labels": [
75
+ "provide side grip",
76
+ "assist lifting",
77
+ "aid reorientation",
78
+ "improve handling control"
79
+ ],
80
+ "semantic_description": "Small curved light pink handle with a smooth plastic appearance, attached high on one side and sized for a partial grip.",
81
+ "id": 0,
82
+ "grasp_group": {}
83
+ },
84
+ {
85
+ "part_name": "lid top",
86
+ "mask_color": "Pink",
87
+ "graspable": true,
88
+ "grasp_scenarios": [
89
+ {
90
+ "scenario": "grasp the lid top to twist it open or closed",
91
+ "confidence": 0.71
92
+ },
93
+ {
94
+ "scenario": "press and hold the lid area to stabilize the cup from above",
95
+ "confidence": 0.43
96
+ }
97
+ ],
98
+ "functional_labels": [
99
+ "cover the opening",
100
+ "support twisting to open",
101
+ "help seal contents",
102
+ "provide top surface"
103
+ ],
104
+ "semantic_description": "Broad circular pale pink lid top with a smooth plastic surface, slightly domed and positioned at the top, with faint printed markings visible in some views.",
105
+ "id": 8,
106
+ "grasp_group": {
107
+ "grasp_84": {
108
+ "confidence": 0.6147205233573914,
109
+ "position": [
110
+ -0.004170245258137584,
111
+ 0.09035536310693715,
112
+ 0.08150765765458345
113
+ ],
114
+ "orientation": {
115
+ "w": 0.5326577736013077,
116
+ "xyz": [
117
+ 0.8404768073238383,
118
+ 0.09879823540072397,
119
+ 0.010646184975318823
120
+ ]
121
+ }
122
+ },
123
+ "grasp_86": {
124
+ "confidence": 0.4308820366859436,
125
+ "position": [
126
+ -0.035334681859239936,
127
+ 0.07597367129346821,
128
+ 0.0828031050041318
129
+ ],
130
+ "orientation": {
131
+ "w": 0.5130446668061052,
132
+ "xyz": [
133
+ 0.8294082606340621,
134
+ 0.1849764179119665,
135
+ 0.12104062074465013
136
+ ]
137
+ }
138
+ },
139
+ "grasp_89": {
140
+ "confidence": 0.6868853569030762,
141
+ "position": [
142
+ 0.03915176005102694,
143
+ 0.08661530575773213,
144
+ 0.0960799204185605
145
+ ],
146
+ "orientation": {
147
+ "w": 0.1336182649198752,
148
+ "xyz": [
149
+ -0.11001737685273842,
150
+ -0.8826456620619111,
151
+ 0.43701140867663324
152
+ ]
153
+ }
154
+ },
155
+ "grasp_90": {
156
+ "confidence": 0.6746233701705933,
157
+ "position": [
158
+ 0.03988569066859782,
159
+ 0.09372295848152135,
160
+ 0.09037151653319597
161
+ ],
162
+ "orientation": {
163
+ "w": 0.09958632172142158,
164
+ "xyz": [
165
+ -0.19382312661144194,
166
+ -0.8469367514315203,
167
+ 0.4849879371604886
168
+ ]
169
+ }
170
+ },
171
+ "grasp_91": {
172
+ "confidence": 0.48433563113212585,
173
+ "position": [
174
+ -0.04519063397310674,
175
+ -0.07264501937606838,
176
+ 0.09537581820040941
177
+ ],
178
+ "orientation": {
179
+ "w": 0.15091104995289775,
180
+ "xyz": [
181
+ 0.24468238852399551,
182
+ 0.8460117067372263,
183
+ 0.4490217988159055
184
+ ]
185
+ }
186
+ },
187
+ "grasp_92": {
188
+ "confidence": 0.3461998403072357,
189
+ "position": [
190
+ -0.09841375960968435,
191
+ -0.016214971998124383,
192
+ 0.0874628247693181
193
+ ],
194
+ "orientation": {
195
+ "w": 0.33822036357802227,
196
+ "xyz": [
197
+ 0.5867484195686103,
198
+ 0.6368454156223234,
199
+ 0.3684578597285156
200
+ ]
201
+ }
202
+ },
203
+ "grasp_93": {
204
+ "confidence": 0.3397804796695709,
205
+ "position": [
206
+ 0.09945116029120982,
207
+ 0.007458709544152953,
208
+ 0.08830439765006304
209
+ ],
210
+ "orientation": {
211
+ "w": 0.34051580965338313,
212
+ "xyz": [
213
+ -0.6060718206528889,
214
+ -0.6196529624604283,
215
+ 0.3643571567852187
216
+ ]
217
+ }
218
+ },
219
+ "grasp_94": {
220
+ "confidence": 0.33407214283943176,
221
+ "position": [
222
+ -0.05943643092177808,
223
+ 0.06298930606862996,
224
+ 0.08653162885457277
225
+ ],
226
+ "orientation": {
227
+ "w": 0.18835762384104981,
228
+ "xyz": [
229
+ -0.2914764229072738,
230
+ 0.8103794533965142,
231
+ -0.4720678361664781
232
+ ]
233
+ }
234
+ },
235
+ "grasp_95": {
236
+ "confidence": 0.27077120542526245,
237
+ "position": [
238
+ 0.09787942306138575,
239
+ 0.02963237500807736,
240
+ 0.08489422220736742
241
+ ],
242
+ "orientation": {
243
+ "w": 0.41455853820195926,
244
+ "xyz": [
245
+ 0.7231002663223317,
246
+ -0.4442788054712087,
247
+ -0.3284563384340512
248
+ ]
249
+ }
250
+ }
251
+ }
252
+ },
253
+ {
254
+ "part_name": "lid rim",
255
+ "mask_color": "Lime Green",
256
+ "graspable": true,
257
+ "grasp_scenarios": [
258
+ {
259
+ "scenario": "grasp the lid rim to improve torque while unscrewing the lid",
260
+ "confidence": 0.84
261
+ },
262
+ {
263
+ "scenario": "pinch the rim to stabilize the top during manipulation",
264
+ "confidence": 0.58
265
+ }
266
+ ],
267
+ "functional_labels": [
268
+ "provide twistable edge",
269
+ "help seal lid assembly",
270
+ "improve grip for opening",
271
+ "define lid boundary"
272
+ ],
273
+ "semantic_description": "Thin pale yellowish-cream ring around the lid perimeter with a smooth plastic texture and slight lip, encircling the top for added purchase.",
274
+ "id": 9,
275
+ "grasp_group": {
276
+ "grasp_100": {
277
+ "confidence": 0.4034745991230011,
278
+ "position": [
279
+ 0.11781827942468226,
280
+ -0.006223535732715391,
281
+ 0.03851796966046095
282
+ ],
283
+ "orientation": {
284
+ "w": 0.48051946269457424,
285
+ "xyz": [
286
+ 0.48436529381792853,
287
+ -0.5286710562693158,
288
+ -0.504973486808441
289
+ ]
290
+ }
291
+ },
292
+ "grasp_102": {
293
+ "confidence": 0.41450777649879456,
294
+ "position": [
295
+ -0.10065904422663152,
296
+ -0.03996792771795299,
297
+ 0.04349890071898699
298
+ ],
299
+ "orientation": {
300
+ "w": 0.3984110745625206,
301
+ "xyz": [
302
+ 0.40398746326265783,
303
+ 0.6160784597350917,
304
+ 0.5463607568658073
305
+ ]
306
+ }
307
+ },
308
+ "grasp_105": {
309
+ "confidence": 0.3255053460597992,
310
+ "position": [
311
+ -0.07497097714804113,
312
+ 0.06527332625410054,
313
+ 0.08253838587552309
314
+ ],
315
+ "orientation": {
316
+ "w": 0.22227601753851772,
317
+ "xyz": [
318
+ -0.3667515284325432,
319
+ 0.7744763256994207,
320
+ -0.46505172760751573
321
+ ]
322
+ }
323
+ },
324
+ "grasp_107": {
325
+ "confidence": 0.7578042149543762,
326
+ "position": [
327
+ -0.03445328935049474,
328
+ -0.09547826983907726,
329
+ 0.08293818403035402
330
+ ],
331
+ "orientation": {
332
+ "w": 0.09410105984840142,
333
+ "xyz": [
334
+ 0.16481347788649406,
335
+ 0.8468587519016492,
336
+ 0.49680153217350903
337
+ ]
338
+ }
339
+ },
340
+ "grasp_110": {
341
+ "confidence": 0.36261263489723206,
342
+ "position": [
343
+ -0.06361769302748144,
344
+ 0.06456611714384053,
345
+ 0.07779913116246462
346
+ ],
347
+ "orientation": {
348
+ "w": 0.20349654780099785,
349
+ "xyz": [
350
+ -0.31473403308825726,
351
+ 0.7900717798732686,
352
+ -0.48509609985750324
353
+ ]
354
+ }
355
+ },
356
+ "grasp_111": {
357
+ "confidence": 0.22146226465702057,
358
+ "position": [
359
+ 0.08704016939736903,
360
+ 0.04779123551270459,
361
+ 0.07355956453830004
362
+ ],
363
+ "orientation": {
364
+ "w": 0.4618115364338794,
365
+ "xyz": [
366
+ 0.7396386680900126,
367
+ -0.39372447200385907,
368
+ -0.29093948791440155
369
+ ]
370
+ }
371
+ },
372
+ "grasp_113": {
373
+ "confidence": 0.760595440864563,
374
+ "position": [
375
+ 0.01263732579536736,
376
+ 0.08955657145997975,
377
+ 0.0841831536963582
378
+ ],
379
+ "orientation": {
380
+ "w": 0.034933683546446825,
381
+ "xyz": [
382
+ -0.05862465630108014,
383
+ -0.8562471167023901,
384
+ 0.5120387315099323
385
+ ]
386
+ }
387
+ },
388
+ "grasp_116": {
389
+ "confidence": 0.5647299885749817,
390
+ "position": [
391
+ 0.037435276666656137,
392
+ 0.08161401412507985,
393
+ 0.08014969993382692
394
+ ],
395
+ "orientation": {
396
+ "w": 0.10111860747267344,
397
+ "xyz": [
398
+ -0.18360414426426105,
399
+ -0.8313361128326437,
400
+ 0.514727901839492
401
+ ]
402
+ }
403
+ },
404
+ "grasp_117": {
405
+ "confidence": 0.44718989729881287,
406
+ "position": [
407
+ -0.10051989718340337,
408
+ -0.02640460208931472,
409
+ 0.07874775398522615
410
+ ],
411
+ "orientation": {
412
+ "w": 0.40775505074293555,
413
+ "xyz": [
414
+ -0.6715257964133299,
415
+ 0.5288113644285888,
416
+ -0.3211657892681647
417
+ ]
418
+ }
419
+ },
420
+ "grasp_118": {
421
+ "confidence": 0.405179500579834,
422
+ "position": [
423
+ 0.09528758213855326,
424
+ -0.012070496202795766,
425
+ 0.0819670157507062
426
+ ],
427
+ "orientation": {
428
+ "w": 0.3491134957365956,
429
+ "xyz": [
430
+ 0.5786805050168513,
431
+ -0.6338998297618753,
432
+ -0.3760580354624564
433
+ ]
434
+ }
435
+ },
436
+ "grasp_119": {
437
+ "confidence": 0.37229159474372864,
438
+ "position": [
439
+ 0.09082947508431971,
440
+ -0.02456296571472194,
441
+ 0.08256943244487047
442
+ ],
443
+ "orientation": {
444
+ "w": 0.33097959380568176,
445
+ "xyz": [
446
+ 0.5390533606004465,
447
+ -0.6617967851050592,
448
+ -0.40236674581058346
449
+ ]
450
+ }
451
+ }
452
+ }
453
+ },
454
+ {
455
+ "part_name": "neck band",
456
+ "mask_color": "Cyan",
457
+ "graspable": true,
458
+ "grasp_scenarios": [
459
+ {
460
+ "scenario": "grasp the neck band to hold the cup near the top during opening",
461
+ "confidence": 0.62
462
+ },
463
+ {
464
+ "scenario": "pinch the neck band for short-distance repositioning",
465
+ "confidence": 0.4
466
+ }
467
+ ],
468
+ "functional_labels": [
469
+ "connect lid to body",
470
+ "reinforce neck area",
471
+ "provide secondary grip zone",
472
+ "support sealing interface"
473
+ ],
474
+ "semantic_description": "Narrow light aqua band around the upper neck with a smooth plastic surface and rounded profile, sitting between the lid rim and the main body.",
475
+ "id": 6,
476
+ "grasp_group": {
477
+ "grasp_60": {
478
+ "confidence": 0.8050642609596252,
479
+ "position": [
480
+ 0.02370269619859755,
481
+ 0.10523020885011647,
482
+ 0.06943304929882288
483
+ ],
484
+ "orientation": {
485
+ "w": 0.06368408874023801,
486
+ "xyz": [
487
+ -0.09927267642998,
488
+ -0.8423928564842662,
489
+ 0.5257980105516116
490
+ ]
491
+ }
492
+ },
493
+ "grasp_62": {
494
+ "confidence": 0.7369847893714905,
495
+ "position": [
496
+ -0.014109469717368484,
497
+ 0.0960777591826627,
498
+ 0.07451105583459139
499
+ ],
500
+ "orientation": {
501
+ "w": 0.02363076060359196,
502
+ "xyz": [
503
+ -0.07108440736064091,
504
+ 0.8593254243799848,
505
+ -0.5059134404200405
506
+ ]
507
+ }
508
+ },
509
+ "grasp_63": {
510
+ "confidence": 0.7208239436149597,
511
+ "position": [
512
+ -0.011676205089315772,
513
+ 0.08516584000608418,
514
+ 0.09209159482270479
515
+ ],
516
+ "orientation": {
517
+ "w": 0.40270730320816167,
518
+ "xyz": [
519
+ 0.9085087491536553,
520
+ 0.09931073078199032,
521
+ 0.0507548953857372
522
+ ]
523
+ }
524
+ },
525
+ "grasp_64": {
526
+ "confidence": 0.7118415832519531,
527
+ "position": [
528
+ 0.012927405769005418,
529
+ -0.1121693287132075,
530
+ 0.04374339524656534
531
+ ],
532
+ "orientation": {
533
+ "w": 0.6571513424478818,
534
+ "xyz": [
535
+ -0.7523738381384268,
536
+ -0.029313099101842544,
537
+ 0.03502089411829093
538
+ ]
539
+ }
540
+ },
541
+ "grasp_66": {
542
+ "confidence": 0.6903458833694458,
543
+ "position": [
544
+ 0.0011501431581564248,
545
+ -0.10663090982416179,
546
+ 0.07529320288449526
547
+ ],
548
+ "orientation": {
549
+ "w": 0.5033840951641879,
550
+ "xyz": [
551
+ -0.8640227399619241,
552
+ -0.0027083977545065974,
553
+ 0.007862706024301886
554
+ ]
555
+ }
556
+ },
557
+ "grasp_68": {
558
+ "confidence": 0.685887336730957,
559
+ "position": [
560
+ 0.026319472352042794,
561
+ -0.11150746383646037,
562
+ 0.051566329784691334
563
+ ],
564
+ "orientation": {
565
+ "w": 0.6008816320961525,
566
+ "xyz": [
567
+ -0.7924547197130968,
568
+ -0.06174713195412651,
569
+ 0.084522618921453
570
+ ]
571
+ }
572
+ },
573
+ "grasp_69": {
574
+ "confidence": 0.6853964328765869,
575
+ "position": [
576
+ 0.02365706884302199,
577
+ -0.11737098135927226,
578
+ 0.03486285824328661
579
+ ],
580
+ "orientation": {
581
+ "w": 0.6795372611573413,
582
+ "xyz": [
583
+ -0.7279453026362818,
584
+ -0.04973204943348564,
585
+ 0.07649490393285728
586
+ ]
587
+ }
588
+ },
589
+ "grasp_70": {
590
+ "confidence": 0.6802592277526855,
591
+ "position": [
592
+ 0.005802994826808572,
593
+ -0.11924367734172847,
594
+ 0.033602713607251644
595
+ ],
596
+ "orientation": {
597
+ "w": 0.6835189327582211,
598
+ "xyz": [
599
+ -0.729490674360183,
600
+ 0.007313945639553565,
601
+ 0.024325517091526243
602
+ ]
603
+ }
604
+ },
605
+ "grasp_71": {
606
+ "confidence": 0.6769310235977173,
607
+ "position": [
608
+ 0.002771970466710627,
609
+ -0.10931941457965877,
610
+ 0.07154125440865755
611
+ ],
612
+ "orientation": {
613
+ "w": 0.5227081652268782,
614
+ "xyz": [
615
+ -0.8518390065533252,
616
+ -0.03274385905751542,
617
+ -0.008620940402043628
618
+ ]
619
+ }
620
+ },
621
+ "grasp_72": {
622
+ "confidence": 0.6580108404159546,
623
+ "position": [
624
+ 0.005912715801969171,
625
+ -0.10417336561658885,
626
+ 0.07769450265914202
627
+ ],
628
+ "orientation": {
629
+ "w": 0.4885271381082501,
630
+ "xyz": [
631
+ -0.8725330906386838,
632
+ -0.0029358200392893274,
633
+ 0.004315325360397351
634
+ ]
635
+ }
636
+ },
637
+ "grasp_74": {
638
+ "confidence": 0.6529937386512756,
639
+ "position": [
640
+ -0.01641592546366155,
641
+ -0.10085428842285182,
642
+ 0.07529318053275347
643
+ ],
644
+ "orientation": {
645
+ "w": 0.49484866264324456,
646
+ "xyz": [
647
+ -0.865699178182272,
648
+ 0.06075675056490937,
649
+ -0.04470292200208771
650
+ ]
651
+ }
652
+ },
653
+ "grasp_75": {
654
+ "confidence": 0.6055784225463867,
655
+ "position": [
656
+ -0.02305618836544454,
657
+ -0.10801111497858074,
658
+ 0.033895921893417835
659
+ ],
660
+ "orientation": {
661
+ "w": 0.09444059164986023,
662
+ "xyz": [
663
+ 0.09088374186803368,
664
+ 0.7334648888888529,
665
+ 0.6669710465081312
666
+ ]
667
+ }
668
+ },
669
+ "grasp_76": {
670
+ "confidence": 0.5914949178695679,
671
+ "position": [
672
+ 0.04904939443804324,
673
+ 0.1020761545660207,
674
+ 0.04031527508050203
675
+ ],
676
+ "orientation": {
677
+ "w": 0.15352297987360097,
678
+ "xyz": [
679
+ -0.16842585989325615,
680
+ -0.7236927277957239,
681
+ 0.6514079060815362
682
+ ]
683
+ }
684
+ },
685
+ "grasp_77": {
686
+ "confidence": 0.586693286895752,
687
+ "position": [
688
+ 0.048259819159284234,
689
+ -0.09781486877182033,
690
+ 0.060498190112411976
691
+ ],
692
+ "orientation": {
693
+ "w": 0.5492753440368405,
694
+ "xyz": [
695
+ -0.8027454409149759,
696
+ -0.1998465992888132,
697
+ 0.11814266915948485
698
+ ]
699
+ }
700
+ },
701
+ "grasp_79": {
702
+ "confidence": 0.5532448887825012,
703
+ "position": [
704
+ -0.024864032631739974,
705
+ -0.10651845076063182,
706
+ 0.028989150188863277
707
+ ],
708
+ "orientation": {
709
+ "w": 0.10208003422247654,
710
+ "xyz": [
711
+ 0.09329403126123513,
712
+ 0.7252340279575565,
713
+ 0.674471270727393
714
+ ]
715
+ }
716
+ }
717
+ }
718
+ },
719
+ {
720
+ "part_name": "flip cover",
721
+ "mask_color": "Orange",
722
+ "graspable": true,
723
+ "grasp_scenarios": [
724
+ {
725
+ "scenario": "pinch and lift the flip cover to open the drinking opening",
726
+ "confidence": 0.89
727
+ },
728
+ {
729
+ "scenario": "grasp the cover tab to close the opening after use",
730
+ "confidence": 0.83
731
+ }
732
+ ],
733
+ "functional_labels": [
734
+ "open drinking port",
735
+ "close drinking opening",
736
+ "protect the sip hole",
737
+ "control access to the outlet"
738
+ ],
739
+ "semantic_description": "Small oval pale pink cover piece with a smooth plastic finish, mounted on the lid top over the drinking opening and shaped as a raised pinchable tab.",
740
+ "id": 4,
741
+ "grasp_group": {
742
+ "grasp_43": {
743
+ "confidence": 0.4381600320339203,
744
+ "position": [
745
+ -0.05242929398082197,
746
+ -0.0005078681133454666,
747
+ 0.1296843783929944
748
+ ],
749
+ "orientation": {
750
+ "w": 0.1799715183188594,
751
+ "xyz": [
752
+ 0.7224519248904153,
753
+ 0.643428354276163,
754
+ 0.17797028327674944
755
+ ]
756
+ }
757
+ },
758
+ "grasp_46": {
759
+ "confidence": 0.5478649735450745,
760
+ "position": [
761
+ -0.06945351674221456,
762
+ -0.05143097379186656,
763
+ 0.10396742541342974
764
+ ],
765
+ "orientation": {
766
+ "w": 0.39339808664553666,
767
+ "xyz": [
768
+ -0.8244550396261735,
769
+ 0.34567046969814486,
770
+ -0.2145314882186278
771
+ ]
772
+ }
773
+ },
774
+ "grasp_47": {
775
+ "confidence": 0.5165403485298157,
776
+ "position": [
777
+ -0.06169919832609594,
778
+ -0.06251678206899669,
779
+ 0.10658225137740374
780
+ ],
781
+ "orientation": {
782
+ "w": 0.3879605529734789,
783
+ "xyz": [
784
+ -0.8378566140562226,
785
+ 0.346390631072251,
786
+ -0.1658204882519709
787
+ ]
788
+ }
789
+ },
790
+ "grasp_49": {
791
+ "confidence": 0.49054259061813354,
792
+ "position": [
793
+ -0.04165734886191785,
794
+ 0.021460965639562346,
795
+ 0.12745193112641573
796
+ ],
797
+ "orientation": {
798
+ "w": 0.14246353017193356,
799
+ "xyz": [
800
+ -0.5206359893244326,
801
+ 0.8124605760517237,
802
+ -0.220340921194456
803
+ ]
804
+ }
805
+ },
806
+ "grasp_51": {
807
+ "confidence": 0.4003586769104004,
808
+ "position": [
809
+ -0.008544757729396224,
810
+ -0.0028234209021320567,
811
+ 0.14099707175046206
812
+ ],
813
+ "orientation": {
814
+ "w": 0.0169014799290849,
815
+ "xyz": [
816
+ -0.8438888609396284,
817
+ 0.5360881630958906,
818
+ -0.013244309974367865
819
+ ]
820
+ }
821
+ },
822
+ "grasp_53": {
823
+ "confidence": 0.36888736486434937,
824
+ "position": [
825
+ 0.010917508276179433,
826
+ -0.0030707110272487625,
827
+ 0.14003415871411562
828
+ ],
829
+ "orientation": {
830
+ "w": 0.001533106605873156,
831
+ "xyz": [
832
+ -0.7760835902100252,
833
+ -0.6305749525114674,
834
+ 0.008193891384051062
835
+ ]
836
+ }
837
+ },
838
+ "grasp_54": {
839
+ "confidence": 0.3521977961063385,
840
+ "position": [
841
+ 0.0624498447868973,
842
+ -0.0040134821174433455,
843
+ 0.12392828334122896
844
+ ],
845
+ "orientation": {
846
+ "w": 0.21623818016686655,
847
+ "xyz": [
848
+ -0.6068652352461535,
849
+ -0.7364664486805492,
850
+ 0.2063317853739768
851
+ ]
852
+ }
853
+ },
854
+ "grasp_58": {
855
+ "confidence": 0.5165697932243347,
856
+ "position": [
857
+ -0.028137590503320098,
858
+ 0.01672019287070725,
859
+ 0.1303109945729375
860
+ ],
861
+ "orientation": {
862
+ "w": 0.18943141259028687,
863
+ "xyz": [
864
+ 0.8204568374823229,
865
+ 0.5323550456687732,
866
+ 0.08697369201977985
867
+ ]
868
+ }
869
+ }
870
+ }
871
+ },
872
+ {
873
+ "part_name": "drinking port area",
874
+ "mask_color": "Magenta",
875
+ "graspable": false,
876
+ "grasp_scenarios": [],
877
+ "functional_labels": [
878
+ "form drinking opening area",
879
+ "support the flip cover interface",
880
+ "guide liquid flow",
881
+ "define outlet zone"
882
+ ],
883
+ "semantic_description": "Small recessed medium-brown oval area on the lid top beneath the flip cover, with a smooth surface marking the drinking outlet region.",
884
+ "id": 7,
885
+ "grasp_group": {}
886
+ },
887
+ {
888
+ "part_name": "top marking",
889
+ "mask_color": "Yellow",
890
+ "graspable": false,
891
+ "grasp_scenarios": [],
892
+ "functional_labels": [
893
+ "provide visual marking",
894
+ "identify lid area"
895
+ ],
896
+ "semantic_description": "Tiny narrow rectangular marking on the lid top, appearing as a small printed or embossed feature with no obvious manipulation surface.",
897
+ "id": 3,
898
+ "grasp_group": {}
899
+ },
900
+ {
901
+ "part_name": "front label",
902
+ "mask_color": "Green",
903
+ "graspable": false,
904
+ "grasp_scenarios": [],
905
+ "functional_labels": [
906
+ "display product information",
907
+ "identify the product",
908
+ "provide branding"
909
+ ],
910
+ "semantic_description": "Small front label patch on the lower body, light beige with printed text or graphics, flat and smooth against the curved container wall.",
911
+ "id": 1,
912
+ "grasp_group": {}
913
+ },
914
+ {
915
+ "part_name": "label text",
916
+ "mask_color": "Purple",
917
+ "graspable": false,
918
+ "grasp_scenarios": [],
919
+ "functional_labels": [
920
+ "show branding",
921
+ "show product details",
922
+ "visually identify the product"
923
+ ],
924
+ "semantic_description": "Very small printed text or logo elements within the front label area, appearing as fine darker markings on the label and not a manipulable part.",
925
+ "id": 5,
926
+ "grasp_group": {}
927
+ }
928
+ ],
929
+ "quality_check": {
930
+ "success": false,
931
+ "message": "Several visual descriptions mismatch colors/materials; handle color wrong; front label text/color wrong; lid top not pale pink."
932
+ }
933
+ }
dataset/kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b03ee6b357adc7787d3e66a7947fca5ec598b4216fb480bad83279c74785175d
3
+ size 3789248