Add asset kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26
Browse files
.gitattributes
CHANGED
|
@@ -7531,3 +7531,4 @@ dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/affordance/mesh_p
|
|
| 7531 |
dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7532 |
dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7533 |
dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7531 |
dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7532 |
dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7533 |
dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7534 |
+
dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,416 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mug body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the mug body from the sides to pick up the mug",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the mug body to stabilize it during placement",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body while the handle is inaccessible",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide the main structure",
|
| 24 |
+
"support placement on a surface",
|
| 25 |
+
"serve as the main grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white ceramic mug body with a glossy finish and smooth hard surface, cylindrical with slightly rounded sides, forming the main central container and showing a pale green interior.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9791679382324219,
|
| 32 |
+
"position": [
|
| 33 |
+
0.003079257090575993,
|
| 34 |
+
-0.08729008317459375,
|
| 35 |
+
0.16234153939876705
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.15328174240353074,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.7240800506809933,
|
| 41 |
+
-0.6719531182378748,
|
| 42 |
+
0.026301987414344346
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_21": {
|
| 47 |
+
"confidence": 0.9751589894294739,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.005259012337774038,
|
| 50 |
+
-0.08036277920473367,
|
| 51 |
+
0.16192196740303189
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.09749072864360477,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.7664131501294964,
|
| 57 |
+
-0.6333832693506585,
|
| 58 |
+
0.04395537787111781
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_22": {
|
| 63 |
+
"confidence": 0.9725794792175293,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.005384649615734816,
|
| 66 |
+
-0.07761474431026727,
|
| 67 |
+
0.1620018525281921
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.09582997408709351,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.7718672873603827,
|
| 73 |
+
-0.6266466002465253,
|
| 74 |
+
0.048492733155211826
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_23": {
|
| 79 |
+
"confidence": 0.9717017412185669,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.05973870446905494,
|
| 82 |
+
0.038331306423060596,
|
| 83 |
+
0.16369083954486996
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.011352370374228673,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.37732359419725175,
|
| 89 |
+
0.9259829409614457,
|
| 90 |
+
0.007322704237205549
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_24": {
|
| 95 |
+
"confidence": 0.9710638523101807,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.053622966166585684,
|
| 98 |
+
0.04935805394779891,
|
| 99 |
+
0.16458604170475155
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.02336853782560762,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.37764371296564436,
|
| 105 |
+
-0.9256552231677866,
|
| 106 |
+
0.001243108848875774
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_25": {
|
| 111 |
+
"confidence": 0.9706435203552246,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.046386541333049536,
|
| 114 |
+
-0.06904494494665414,
|
| 115 |
+
0.1635054840007797
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.09143470171097107,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.5994674299916318,
|
| 121 |
+
0.7949804292043019,
|
| 122 |
+
-0.01687047374550777
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_26": {
|
| 127 |
+
"confidence": 0.969283938407898,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.025983355473726988,
|
| 130 |
+
-0.07112246484030038,
|
| 131 |
+
0.16179196967277676
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.055730607626268455,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.8376022223596284,
|
| 137 |
+
-0.5430694722281081,
|
| 138 |
+
0.01980315140836405
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_27": {
|
| 143 |
+
"confidence": 0.9685838222503662,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.0840489431284368,
|
| 146 |
+
0.021277700434438884,
|
| 147 |
+
0.15349458588752896
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.10145434635134762,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.257213874530397,
|
| 153 |
+
0.9480082777267212,
|
| 154 |
+
0.15757012317408947
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_28": {
|
| 159 |
+
"confidence": 0.9683694839477539,
|
| 160 |
+
"position": [
|
| 161 |
+
-0.04553016787394881,
|
| 162 |
+
-0.07181767851579934,
|
| 163 |
+
0.15806699229869992
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.16265210369581795,
|
| 167 |
+
"xyz": [
|
| 168 |
+
-0.6416970979011148,
|
| 169 |
+
0.7461351632322777,
|
| 170 |
+
-0.0710735245851422
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_29": {
|
| 175 |
+
"confidence": 0.9683024287223816,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.05842346837744117,
|
| 178 |
+
0.04281509935390204,
|
| 179 |
+
0.16207169427070767
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.004503158905686446,
|
| 183 |
+
"xyz": [
|
| 184 |
+
-0.3626880012992112,
|
| 185 |
+
-0.9317362919758833,
|
| 186 |
+
-0.01745329448800521
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_30": {
|
| 191 |
+
"confidence": 0.9680988192558289,
|
| 192 |
+
"position": [
|
| 193 |
+
0.0159580553881824,
|
| 194 |
+
-0.08706024021375924,
|
| 195 |
+
0.15547530783805996
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.1094699562141311,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.612082324947659,
|
| 201 |
+
-0.7444804561812304,
|
| 202 |
+
-0.24314688263955048
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_31": {
|
| 207 |
+
"confidence": 0.9678863286972046,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.08275997033342719,
|
| 210 |
+
0.013546894188039005,
|
| 211 |
+
0.15711594058666378
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.07907692162238725,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.24722026065269817,
|
| 217 |
+
0.9509521302138163,
|
| 218 |
+
0.16828258742765037
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_32": {
|
| 223 |
+
"confidence": 0.9678329825401306,
|
| 224 |
+
"position": [
|
| 225 |
+
-0.0502064093016088,
|
| 226 |
+
0.05117658793460578,
|
| 227 |
+
0.16608651413116604
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.02242933080383276,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.9378821259435164,
|
| 233 |
+
-0.3450364428245233,
|
| 234 |
+
-0.028703589990835523
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_33": {
|
| 239 |
+
"confidence": 0.9660309553146362,
|
| 240 |
+
"position": [
|
| 241 |
+
-0.06147314002737403,
|
| 242 |
+
-0.05482019216287881,
|
| 243 |
+
0.16052289737854153
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.13332658253158527,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.5773915832877862,
|
| 249 |
+
0.7952815585867329,
|
| 250 |
+
-0.1279461781794527
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_34": {
|
| 255 |
+
"confidence": 0.9660269618034363,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.0312176956795156,
|
| 258 |
+
-0.06171212822664529,
|
| 259 |
+
0.16393986775074154
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.008862898824692938,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.7945696831552077,
|
| 265 |
+
-0.6070800948422024,
|
| 266 |
+
0.00585030609783479
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
},
|
| 270 |
+
"grasp_35": {
|
| 271 |
+
"confidence": 0.9658979177474976,
|
| 272 |
+
"position": [
|
| 273 |
+
-0.08312308927997947,
|
| 274 |
+
0.016066420706920326,
|
| 275 |
+
0.15672599209938198
|
| 276 |
+
],
|
| 277 |
+
"orientation": {
|
| 278 |
+
"w": 0.08483199272176607,
|
| 279 |
+
"xyz": [
|
| 280 |
+
0.3585013099675952,
|
| 281 |
+
0.9057323294122173,
|
| 282 |
+
0.2095931564242762
|
| 283 |
+
]
|
| 284 |
+
}
|
| 285 |
+
},
|
| 286 |
+
"grasp_36": {
|
| 287 |
+
"confidence": 0.9656261801719666,
|
| 288 |
+
"position": [
|
| 289 |
+
-0.05000734841451049,
|
| 290 |
+
0.04967278882395476,
|
| 291 |
+
0.16479134990368038
|
| 292 |
+
],
|
| 293 |
+
"orientation": {
|
| 294 |
+
"w": 0.009657276309481176,
|
| 295 |
+
"xyz": [
|
| 296 |
+
-0.4683918217600648,
|
| 297 |
+
-0.8830776728719723,
|
| 298 |
+
-0.026261416519147002
|
| 299 |
+
]
|
| 300 |
+
}
|
| 301 |
+
},
|
| 302 |
+
"grasp_37": {
|
| 303 |
+
"confidence": 0.9652960300445557,
|
| 304 |
+
"position": [
|
| 305 |
+
-0.058241435792297125,
|
| 306 |
+
0.059045622940175235,
|
| 307 |
+
0.16318394674453884
|
| 308 |
+
],
|
| 309 |
+
"orientation": {
|
| 310 |
+
"w": 0.08106369919610493,
|
| 311 |
+
"xyz": [
|
| 312 |
+
0.4959148978831397,
|
| 313 |
+
0.8631346656409186,
|
| 314 |
+
0.0499563779625634
|
| 315 |
+
]
|
| 316 |
+
}
|
| 317 |
+
},
|
| 318 |
+
"grasp_38": {
|
| 319 |
+
"confidence": 0.9647606015205383,
|
| 320 |
+
"position": [
|
| 321 |
+
-0.08009531488642097,
|
| 322 |
+
0.02493688731919974,
|
| 323 |
+
0.15802981390152127
|
| 324 |
+
],
|
| 325 |
+
"orientation": {
|
| 326 |
+
"w": 0.04302575509303772,
|
| 327 |
+
"xyz": [
|
| 328 |
+
0.2812112181797548,
|
| 329 |
+
0.9572370414063388,
|
| 330 |
+
0.05259545349334237
|
| 331 |
+
]
|
| 332 |
+
}
|
| 333 |
+
},
|
| 334 |
+
"grasp_39": {
|
| 335 |
+
"confidence": 0.9647469520568848,
|
| 336 |
+
"position": [
|
| 337 |
+
-0.07140100887045264,
|
| 338 |
+
0.04243147640954703,
|
| 339 |
+
0.15994595421943814
|
| 340 |
+
],
|
| 341 |
+
"orientation": {
|
| 342 |
+
"w": 0.045308646276720446,
|
| 343 |
+
"xyz": [
|
| 344 |
+
0.2687577899318691,
|
| 345 |
+
0.9608018830573497,
|
| 346 |
+
-0.05075547691587861
|
| 347 |
+
]
|
| 348 |
+
}
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "mug handle",
|
| 354 |
+
"mask_color": "Red",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "grasp the handle to lift the mug",
|
| 359 |
+
"confidence": 0.93
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"scenario": "hold the handle to stabilize and reorient the mug",
|
| 363 |
+
"confidence": 0.88
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"scenario": "pull the mug slightly across a surface by the handle",
|
| 367 |
+
"confidence": 0.7
|
| 368 |
+
}
|
| 369 |
+
],
|
| 370 |
+
"functional_labels": [
|
| 371 |
+
"provide a side grip",
|
| 372 |
+
"lift the mug without enclosing the body",
|
| 373 |
+
"stabilize the mug during drinking or pouring",
|
| 374 |
+
"help reorient the mug"
|
| 375 |
+
],
|
| 376 |
+
"semantic_description": "Curved white ceramic handle with a glossy finish and smooth hard texture, medium-sized and loop-shaped, attached to the mug side for side gripping.",
|
| 377 |
+
"id": 0,
|
| 378 |
+
"grasp_group": {
|
| 379 |
+
"grasp_18": {
|
| 380 |
+
"confidence": 0.9405162930488586,
|
| 381 |
+
"position": [
|
| 382 |
+
0.17551676789298654,
|
| 383 |
+
-0.003144543501548469,
|
| 384 |
+
-0.06677495257463306
|
| 385 |
+
],
|
| 386 |
+
"orientation": {
|
| 387 |
+
"w": 0.6384244161290342,
|
| 388 |
+
"xyz": [
|
| 389 |
+
0.21095477824995212,
|
| 390 |
+
-0.24220705400004294,
|
| 391 |
+
-0.699462714815047
|
| 392 |
+
]
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
}
|
| 396 |
+
},
|
| 397 |
+
{
|
| 398 |
+
"part_name": "mug base underside",
|
| 399 |
+
"mask_color": "Yellow",
|
| 400 |
+
"graspable": false,
|
| 401 |
+
"grasp_scenarios": [],
|
| 402 |
+
"functional_labels": [
|
| 403 |
+
"support the mug on a surface",
|
| 404 |
+
"form the bottom contact area",
|
| 405 |
+
"provide stability when placed down"
|
| 406 |
+
],
|
| 407 |
+
"semantic_description": "Small bottom underside area at the base of the mug, only minimally visible in some views, matching the mug's glossy white ceramic appearance.",
|
| 408 |
+
"id": 3,
|
| 409 |
+
"grasp_group": {}
|
| 410 |
+
}
|
| 411 |
+
],
|
| 412 |
+
"quality_check": {
|
| 413 |
+
"success": false,
|
| 414 |
+
"message": "Yellow base underside mask is not a distinct part; it appears only as thin rim artifacts, not a meaningful segmented underside area."
|
| 415 |
+
}
|
| 416 |
+
}
|
dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d84005bdcaea9a310e313efbea3ff32063f01cff213efaa93da0757cf726deb8
|
| 3 |
+
size 3779964
|