Add asset kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5
Browse files
.gitattributes
CHANGED
|
@@ -7480,4 +7480,4 @@ dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/affordance/me
|
|
| 7480 |
dataset/kitchen_supplies/utensils/c22b15d98e495d85b4f05e1e24552405/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7481 |
dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7482 |
dataset/kitchen_supplies/utensils/c6a23384fdc95f26b710faa933d26d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7483 |
-
dataset/kitchen_supplies/utensils/
|
|
|
|
| 7480 |
dataset/kitchen_supplies/utensils/c22b15d98e495d85b4f05e1e24552405/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7481 |
dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7482 |
dataset/kitchen_supplies/utensils/c6a23384fdc95f26b710faa933d26d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7483 |
+
dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,255 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 remove it for opening the spice jar",
|
| 10 |
+
"confidence": 0.8
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to place and align it while closing the jar",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the jar opening",
|
| 19 |
+
"seal contents",
|
| 20 |
+
"enable opening and closing",
|
| 21 |
+
"provide a top grasp surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Flat round light-brown wooden lid with a matte smooth finish, fine wood grain, and a slightly overhanging disk shape seated on the jar top.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.2769838273525238,
|
| 28 |
+
"position": [
|
| 29 |
+
0.0587877442012541,
|
| 30 |
+
0.07659321108440054,
|
| 31 |
+
0.0738110700622201
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.194512034726417,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.26200675749133845,
|
| 37 |
+
-0.7988572294395276,
|
| 38 |
+
0.5053163903414034
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_4": {
|
| 43 |
+
"confidence": 0.1797383427619934,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.08373389049666002,
|
| 46 |
+
-0.039211863488162635,
|
| 47 |
+
0.07065796200186014
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4577234406770352,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.7270189051765034,
|
| 53 |
+
0.39953450672088664,
|
| 54 |
+
-0.31985143631072377
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_9": {
|
| 59 |
+
"confidence": 0.4298589527606964,
|
| 60 |
+
"position": [
|
| 61 |
+
0.032613455958198756,
|
| 62 |
+
-0.014897515833581565,
|
| 63 |
+
0.12009108159691095
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.17405968988227388,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.6252640734306791,
|
| 69 |
+
-0.7548812487613605,
|
| 70 |
+
0.09435233491254658
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_11": {
|
| 75 |
+
"confidence": 0.4052925109863281,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.04453620716230944,
|
| 78 |
+
-0.04422730004807818,
|
| 79 |
+
0.11093951109796762
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.27844852205445486,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.926839128642938,
|
| 85 |
+
0.20778255851756422,
|
| 86 |
+
-0.14234485785578505
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_13": {
|
| 91 |
+
"confidence": 0.3636387586593628,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.09167646273272112,
|
| 94 |
+
-0.04157781398316729,
|
| 95 |
+
0.07168204803019762
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.4599658765205104,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.6898063679875784,
|
| 101 |
+
0.48468016023895877,
|
| 102 |
+
-0.2787179746468486
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_19": {
|
| 107 |
+
"confidence": 0.2438574880361557,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.06716560228960589,
|
| 110 |
+
-0.06392739138027537,
|
| 111 |
+
0.07332989666610956
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.4939384093629812,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.7769268226388355,
|
| 117 |
+
0.3132097424946019,
|
| 118 |
+
-0.23304338056841878
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
}
|
| 123 |
+
},
|
| 124 |
+
{
|
| 125 |
+
"part_name": "jar body",
|
| 126 |
+
"mask_color": "Green",
|
| 127 |
+
"graspable": true,
|
| 128 |
+
"grasp_scenarios": [
|
| 129 |
+
{
|
| 130 |
+
"scenario": "grasp the jar body around the sides to pick up and move the spice jar",
|
| 131 |
+
"confidence": 0.93
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
+
"scenario": "hold the jar body steady while the other gripper removes the lid",
|
| 135 |
+
"confidence": 0.9
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"scenario": "grasp the lower body to reposition the jar on a shelf or table",
|
| 139 |
+
"confidence": 0.88
|
| 140 |
+
}
|
| 141 |
+
],
|
| 142 |
+
"functional_labels": [
|
| 143 |
+
"contain spices",
|
| 144 |
+
"support the lid",
|
| 145 |
+
"provide main grasp surface",
|
| 146 |
+
"stabilize contents",
|
| 147 |
+
"rest on a surface"
|
| 148 |
+
],
|
| 149 |
+
"semantic_description": "Rounded white jar body, likely ceramic, with a smooth matte hard surface, bulbous shape, broad stable base, and small printed markings on one side near the lower area.",
|
| 150 |
+
"id": 1,
|
| 151 |
+
"grasp_group": {
|
| 152 |
+
"grasp_22": {
|
| 153 |
+
"confidence": 0.6044910550117493,
|
| 154 |
+
"position": [
|
| 155 |
+
-0.002678692399058491,
|
| 156 |
+
-0.01072941983511555,
|
| 157 |
+
-0.11026571597903967
|
| 158 |
+
],
|
| 159 |
+
"orientation": {
|
| 160 |
+
"w": 0.27184688939856194,
|
| 161 |
+
"xyz": [
|
| 162 |
+
-0.0015471596731572057,
|
| 163 |
+
0.016794264333322317,
|
| 164 |
+
0.9621927185895631
|
| 165 |
+
]
|
| 166 |
+
}
|
| 167 |
+
},
|
| 168 |
+
"grasp_23": {
|
| 169 |
+
"confidence": 0.6031791567802429,
|
| 170 |
+
"position": [
|
| 171 |
+
-0.0014354112790897489,
|
| 172 |
+
-0.019666321411932586,
|
| 173 |
+
-0.11014877166599035
|
| 174 |
+
],
|
| 175 |
+
"orientation": {
|
| 176 |
+
"w": 0.19960798460351956,
|
| 177 |
+
"xyz": [
|
| 178 |
+
-0.01916441460733034,
|
| 179 |
+
0.060415813032382304,
|
| 180 |
+
0.9778237608234502
|
| 181 |
+
]
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"grasp_25": {
|
| 185 |
+
"confidence": 0.5848615765571594,
|
| 186 |
+
"position": [
|
| 187 |
+
-0.013142440759111196,
|
| 188 |
+
-0.005084954969788669,
|
| 189 |
+
-0.11534421797841787
|
| 190 |
+
],
|
| 191 |
+
"orientation": {
|
| 192 |
+
"w": 0.23134332226341606,
|
| 193 |
+
"xyz": [
|
| 194 |
+
0.03675218541009533,
|
| 195 |
+
0.004043446008718976,
|
| 196 |
+
0.9721693240665855
|
| 197 |
+
]
|
| 198 |
+
}
|
| 199 |
+
},
|
| 200 |
+
"grasp_28": {
|
| 201 |
+
"confidence": 0.5588721036911011,
|
| 202 |
+
"position": [
|
| 203 |
+
-0.004854890808928758,
|
| 204 |
+
-0.004460515756363748,
|
| 205 |
+
-0.11086337175220251
|
| 206 |
+
],
|
| 207 |
+
"orientation": {
|
| 208 |
+
"w": 0.9791490443442071,
|
| 209 |
+
"xyz": [
|
| 210 |
+
-0.01019333945777896,
|
| 211 |
+
0.005397541250874105,
|
| 212 |
+
-0.20281546129171005
|
| 213 |
+
]
|
| 214 |
+
}
|
| 215 |
+
},
|
| 216 |
+
"grasp_29": {
|
| 217 |
+
"confidence": 0.55633145570755,
|
| 218 |
+
"position": [
|
| 219 |
+
-0.008483528916258365,
|
| 220 |
+
0.0001684804337855894,
|
| 221 |
+
-0.10953549202531576
|
| 222 |
+
],
|
| 223 |
+
"orientation": {
|
| 224 |
+
"w": 0.2491826194493111,
|
| 225 |
+
"xyz": [
|
| 226 |
+
0.022567352985059012,
|
| 227 |
+
-0.001272568771694349,
|
| 228 |
+
0.9681927067027252
|
| 229 |
+
]
|
| 230 |
+
}
|
| 231 |
+
},
|
| 232 |
+
"grasp_32": {
|
| 233 |
+
"confidence": 0.5502959489822388,
|
| 234 |
+
"position": [
|
| 235 |
+
-0.0033984939218498766,
|
| 236 |
+
-0.0060915535541425925,
|
| 237 |
+
-0.10396993812173605
|
| 238 |
+
],
|
| 239 |
+
"orientation": {
|
| 240 |
+
"w": 0.22769937099297197,
|
| 241 |
+
"xyz": [
|
| 242 |
+
0.0031151652942717524,
|
| 243 |
+
0.005633608616935848,
|
| 244 |
+
0.9737102005466234
|
| 245 |
+
]
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
}
|
| 249 |
+
}
|
| 250 |
+
],
|
| 251 |
+
"quality_check": {
|
| 252 |
+
"success": true,
|
| 253 |
+
"message": "YES"
|
| 254 |
+
}
|
| 255 |
+
}
|
dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c90316fc386984d64053ca285e827f3401ab9eaa5b334cc5621bc9fd532aee9
|
| 3 |
+
size 3777024
|