Add asset kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e
Browse files
.gitattributes
CHANGED
|
@@ -7526,3 +7526,4 @@ dataset/kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6/affordance/mesh_p
|
|
| 7526 |
dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7527 |
dataset/kitchen_supplies/ware/29de8181d06c5e79a9ba5733b814f300/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7528 |
dataset/kitchen_supplies/ware/29f5c30ddb105b468cc97db4665ee58b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7526 |
dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7527 |
dataset/kitchen_supplies/ware/29de8181d06c5e79a9ba5733b814f300/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7528 |
dataset/kitchen_supplies/ware/29f5c30ddb105b468cc97db4665ee58b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7529 |
+
dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,210 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mug handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to lift and carry the mug",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to stabilize the mug while tilting or pouring",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hook or pinch the handle to reorient the mug on a surface",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a side grip",
|
| 23 |
+
"lift the mug",
|
| 24 |
+
"stabilize while pouring",
|
| 25 |
+
"help reorient the mug"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Angular loop handle made of silver-gray metal with a smooth slightly reflective finish and hard surface, medium-sized and attached to the mug side.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.8552671074867249,
|
| 32 |
+
"position": [
|
| 33 |
+
0.13827351829968393,
|
| 34 |
+
-0.02002578545943834,
|
| 35 |
+
0.028164310147985816
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4425203164208852,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.46640230240502556,
|
| 41 |
+
-0.5061912295740219,
|
| 42 |
+
-0.5748174501251598
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_8": {
|
| 47 |
+
"confidence": 0.9100527763366699,
|
| 48 |
+
"position": [
|
| 49 |
+
0.1253733595367521,
|
| 50 |
+
-0.007709157100180164,
|
| 51 |
+
0.08401361643336713
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.3130298870787785,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.6618280131298669,
|
| 57 |
+
-0.5584641801310344,
|
| 58 |
+
-0.3900176026060775
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_13": {
|
| 63 |
+
"confidence": 0.8231083154678345,
|
| 64 |
+
"position": [
|
| 65 |
+
0.10177375725470483,
|
| 66 |
+
-0.06040008497075178,
|
| 67 |
+
0.08372660516761243
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.453915433621607,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.7178953260735776,
|
| 73 |
+
-0.4939266227204906,
|
| 74 |
+
0.18607410160941332
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
},
|
| 80 |
+
{
|
| 81 |
+
"part_name": "mug body",
|
| 82 |
+
"mask_color": "Green",
|
| 83 |
+
"graspable": true,
|
| 84 |
+
"grasp_scenarios": [
|
| 85 |
+
{
|
| 86 |
+
"scenario": "grasp the mug body from the sides to pick up the mug",
|
| 87 |
+
"confidence": 0.79
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"scenario": "hold the body to stabilize the mug during placement",
|
| 91 |
+
"confidence": 0.73
|
| 92 |
+
},
|
| 93 |
+
{
|
| 94 |
+
"scenario": "grasp the body when the handle is inaccessible",
|
| 95 |
+
"confidence": 0.68
|
| 96 |
+
}
|
| 97 |
+
],
|
| 98 |
+
"functional_labels": [
|
| 99 |
+
"contain liquids",
|
| 100 |
+
"support the mug structure",
|
| 101 |
+
"provide a drinking vessel",
|
| 102 |
+
"offer a secondary grasp surface"
|
| 103 |
+
],
|
| 104 |
+
"semantic_description": "Tapered cylindrical silver-gray metal mug body with a smooth slightly reflective finish, hard cool surface, medium size, open top, rounded bottom, and small printed branding near one lower side.",
|
| 105 |
+
"id": 1,
|
| 106 |
+
"grasp_group": {
|
| 107 |
+
"grasp_23": {
|
| 108 |
+
"confidence": 0.9435027241706848,
|
| 109 |
+
"position": [
|
| 110 |
+
-0.09906261810101569,
|
| 111 |
+
0.009543265769025311,
|
| 112 |
+
-0.07360167265869677
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.5682673417986378,
|
| 116 |
+
"xyz": [
|
| 117 |
+
-0.3353482806712359,
|
| 118 |
+
0.3866769855317157,
|
| 119 |
+
-0.6442784085750985
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_27": {
|
| 124 |
+
"confidence": 0.942216694355011,
|
| 125 |
+
"position": [
|
| 126 |
+
-0.10146352299489081,
|
| 127 |
+
-0.004598895466187969,
|
| 128 |
+
-0.06704333634115756
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.5904885912972702,
|
| 132 |
+
"xyz": [
|
| 133 |
+
0.36057028324036816,
|
| 134 |
+
0.3715028387934821,
|
| 135 |
+
0.6191106001031719
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_30": {
|
| 140 |
+
"confidence": 0.9415661692619324,
|
| 141 |
+
"position": [
|
| 142 |
+
-0.008515090914443135,
|
| 143 |
+
-0.0008076996600721031,
|
| 144 |
+
-0.1216711348388344
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
+
"w": 0.6948364755690958,
|
| 148 |
+
"xyz": [
|
| 149 |
+
0.013671821479441034,
|
| 150 |
+
0.003786092303169175,
|
| 151 |
+
0.7190278291006705
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_31": {
|
| 156 |
+
"confidence": 0.9414516091346741,
|
| 157 |
+
"position": [
|
| 158 |
+
-0.008639144944027066,
|
| 159 |
+
-0.00024790239694993943,
|
| 160 |
+
-0.12100152880884707
|
| 161 |
+
],
|
| 162 |
+
"orientation": {
|
| 163 |
+
"w": 0.7076760651521158,
|
| 164 |
+
"xyz": [
|
| 165 |
+
0.008795876749219757,
|
| 166 |
+
-0.0033054538363797015,
|
| 167 |
+
0.706474552505585
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_37": {
|
| 172 |
+
"confidence": 0.9397038817405701,
|
| 173 |
+
"position": [
|
| 174 |
+
0.005696200532838702,
|
| 175 |
+
0.000660397665342316,
|
| 176 |
+
-0.11963975639082491
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.7036714897694196,
|
| 180 |
+
"xyz": [
|
| 181 |
+
0.01255985151927589,
|
| 182 |
+
-0.002917054642820771,
|
| 183 |
+
-0.7104084567400013
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
"grasp_38": {
|
| 188 |
+
"confidence": 0.9396608471870422,
|
| 189 |
+
"position": [
|
| 190 |
+
0.0002184746554121375,
|
| 191 |
+
-0.0009983455238398165,
|
| 192 |
+
-0.11972756893374026
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
| 195 |
+
"w": 0.7263880782698192,
|
| 196 |
+
"xyz": [
|
| 197 |
+
0.01722662946307099,
|
| 198 |
+
0.008423123959120149,
|
| 199 |
+
0.6870172151901219
|
| 200 |
+
]
|
| 201 |
+
}
|
| 202 |
+
}
|
| 203 |
+
}
|
| 204 |
+
}
|
| 205 |
+
],
|
| 206 |
+
"quality_check": {
|
| 207 |
+
"success": true,
|
| 208 |
+
"message": "YES"
|
| 209 |
+
}
|
| 210 |
+
}
|
dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d77a16101a1eaffd541c45afec2895f63381407afe443c5381ef7557286ec515
|
| 3 |
+
size 3778492
|