Add asset kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0
Browse files
.gitattributes
CHANGED
|
@@ -8662,3 +8662,4 @@ dataset/kitchen_supplies/utensils/3fa814c7d32d51a1ad02d4ae3f9044f0/affordance/me
|
|
| 8662 |
dataset/kitchen_supplies/utensils/40c7e8fbaf235782aeb44ddd72713882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8663 |
dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8664 |
dataset/kitchen_supplies/utensils/479f8139ddd6500c8c36ce7a4607ca33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8662 |
dataset/kitchen_supplies/utensils/40c7e8fbaf235782aeb44ddd72713882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8663 |
dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8664 |
dataset/kitchen_supplies/utensils/479f8139ddd6500c8c36ce7a4607ca33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8665 |
+
dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,221 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid from above to unscrew or lift it off the jar",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize it while the jar body is rotated",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the jar opening",
|
| 19 |
+
"seal stored spices",
|
| 20 |
+
"enable opening and closing",
|
| 21 |
+
"provide a top grip for manipulation"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Flat round light-brown wooden lid with a matte smooth finish, fine wood grain, and a broad disk shape seated on the jar top.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.3414612412452698,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.021302855893736705,
|
| 30 |
+
-0.0017151948704849929,
|
| 31 |
+
0.12755572237074375
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.0924823752620308,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.26302649486719193,
|
| 37 |
+
0.9600021836205175,
|
| 38 |
+
0.025688143327419047
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_10": {
|
| 43 |
+
"confidence": 0.15230423212051392,
|
| 44 |
+
"position": [
|
| 45 |
+
0.08260290758335032,
|
| 46 |
+
-0.014615328836953267,
|
| 47 |
+
0.08730071969330311
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.37613386314301145,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.6248663793912543,
|
| 53 |
+
-0.6297108076501166,
|
| 54 |
+
0.2674502264575909
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "jar body",
|
| 62 |
+
"mask_color": "Green",
|
| 63 |
+
"graspable": true,
|
| 64 |
+
"grasp_scenarios": [
|
| 65 |
+
{
|
| 66 |
+
"scenario": "grasp the jar body around the sides to pick up and move the spice jar",
|
| 67 |
+
"confidence": 0.95
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"scenario": "hold the jar body while twisting the lid open",
|
| 71 |
+
"confidence": 0.93
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"scenario": "grasp the body to tilt and pour contents",
|
| 75 |
+
"confidence": 0.87
|
| 76 |
+
}
|
| 77 |
+
],
|
| 78 |
+
"functional_labels": [
|
| 79 |
+
"contain spices",
|
| 80 |
+
"support storage",
|
| 81 |
+
"provide main grasp surface",
|
| 82 |
+
"stabilize the jar during opening",
|
| 83 |
+
"support pouring orientation"
|
| 84 |
+
],
|
| 85 |
+
"semantic_description": "Bulbous white jar body, likely ceramic or painted glass, with a smooth matte-to-satin hard surface, rounded sides, and small printed brown markings on one side.",
|
| 86 |
+
"id": 1,
|
| 87 |
+
"grasp_group": {
|
| 88 |
+
"grasp_22": {
|
| 89 |
+
"confidence": 0.28818586468696594,
|
| 90 |
+
"position": [
|
| 91 |
+
0.017841434717411175,
|
| 92 |
+
-0.006802809744840488,
|
| 93 |
+
-0.10708755813539028
|
| 94 |
+
],
|
| 95 |
+
"orientation": {
|
| 96 |
+
"w": 0.9876169908860639,
|
| 97 |
+
"xyz": [
|
| 98 |
+
-0.011803901333020717,
|
| 99 |
+
-0.07910357135672297,
|
| 100 |
+
-0.1349665596549332
|
| 101 |
+
]
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
"grasp_26": {
|
| 105 |
+
"confidence": 0.25676533579826355,
|
| 106 |
+
"position": [
|
| 107 |
+
0.00912687522941269,
|
| 108 |
+
-0.00813302383176051,
|
| 109 |
+
-0.10654624365270138
|
| 110 |
+
],
|
| 111 |
+
"orientation": {
|
| 112 |
+
"w": 0.34101210282286804,
|
| 113 |
+
"xyz": [
|
| 114 |
+
0.016190970260358237,
|
| 115 |
+
-0.027509460564555166,
|
| 116 |
+
-0.9395168054855646
|
| 117 |
+
]
|
| 118 |
+
}
|
| 119 |
+
},
|
| 120 |
+
"grasp_30": {
|
| 121 |
+
"confidence": 0.25230568647384644,
|
| 122 |
+
"position": [
|
| 123 |
+
0.00933237248682417,
|
| 124 |
+
-0.011755082610761747,
|
| 125 |
+
-0.10281774215400219
|
| 126 |
+
],
|
| 127 |
+
"orientation": {
|
| 128 |
+
"w": 0.12343158810065982,
|
| 129 |
+
"xyz": [
|
| 130 |
+
-0.04862877265128873,
|
| 131 |
+
0.026922851653954916,
|
| 132 |
+
0.9907951582381685
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"grasp_31": {
|
| 137 |
+
"confidence": 0.2499237060546875,
|
| 138 |
+
"position": [
|
| 139 |
+
-0.032594624295597896,
|
| 140 |
+
0.09621265545138158,
|
| 141 |
+
-0.04206068627536297
|
| 142 |
+
],
|
| 143 |
+
"orientation": {
|
| 144 |
+
"w": 0.8151776634912551,
|
| 145 |
+
"xyz": [
|
| 146 |
+
0.5471449353676645,
|
| 147 |
+
0.0700044289452757,
|
| 148 |
+
0.1766838322385443
|
| 149 |
+
]
|
| 150 |
+
}
|
| 151 |
+
},
|
| 152 |
+
"grasp_34": {
|
| 153 |
+
"confidence": 0.2481384426355362,
|
| 154 |
+
"position": [
|
| 155 |
+
-0.0021488974743988365,
|
| 156 |
+
0.008599317778134719,
|
| 157 |
+
-0.0991311576217413
|
| 158 |
+
],
|
| 159 |
+
"orientation": {
|
| 160 |
+
"w": 0.5248568853600688,
|
| 161 |
+
"xyz": [
|
| 162 |
+
0.022548058628236882,
|
| 163 |
+
0.02959251313535649,
|
| 164 |
+
-0.8503770446740424
|
| 165 |
+
]
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"grasp_35": {
|
| 169 |
+
"confidence": 0.2474520355463028,
|
| 170 |
+
"position": [
|
| 171 |
+
0.02423737631761469,
|
| 172 |
+
-0.0289502757077571,
|
| 173 |
+
-0.09666691534221172
|
| 174 |
+
],
|
| 175 |
+
"orientation": {
|
| 176 |
+
"w": 0.6639884079205282,
|
| 177 |
+
"xyz": [
|
| 178 |
+
0.011779799168808728,
|
| 179 |
+
-0.19911918809770635,
|
| 180 |
+
-0.7206470560614359
|
| 181 |
+
]
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"grasp_39": {
|
| 185 |
+
"confidence": 0.24326691031455994,
|
| 186 |
+
"position": [
|
| 187 |
+
0.014730610564583912,
|
| 188 |
+
-0.02392795294872485,
|
| 189 |
+
-0.10226148180663586
|
| 190 |
+
],
|
| 191 |
+
"orientation": {
|
| 192 |
+
"w": 0.8669077625350795,
|
| 193 |
+
"xyz": [
|
| 194 |
+
-0.09760485350372962,
|
| 195 |
+
0.02000075207531493,
|
| 196 |
+
0.48840986245709533
|
| 197 |
+
]
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"part_name": "base of spice jar",
|
| 204 |
+
"mask_color": "Blue",
|
| 205 |
+
"graspable": false,
|
| 206 |
+
"grasp_scenarios": [],
|
| 207 |
+
"functional_labels": [
|
| 208 |
+
"support the jar on a surface",
|
| 209 |
+
"provide standing stability",
|
| 210 |
+
"protect the bottom contact area"
|
| 211 |
+
],
|
| 212 |
+
"semantic_description": "Circular light-brown wooden bottom insert with visible wood grain, a smooth matte hard surface, and a slightly recessed position under the rounded jar body.",
|
| 213 |
+
"id": 2,
|
| 214 |
+
"grasp_group": {}
|
| 215 |
+
}
|
| 216 |
+
],
|
| 217 |
+
"quality_check": {
|
| 218 |
+
"success": true,
|
| 219 |
+
"message": "YES"
|
| 220 |
+
}
|
| 221 |
+
}
|
dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ead59b36e7a84d30d3a326c4d5b33c460bb8824c0af98efec1b86965cb23c9b6
|
| 3 |
+
size 3781060
|