Add asset kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c
Browse files
.gitattributes
CHANGED
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@@ -7482,3 +7482,4 @@ dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/affordance/me
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| 7482 |
dataset/kitchen_supplies/utensils/c6a23384fdc95f26b710faa933d26d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7483 |
dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7484 |
dataset/kitchen_supplies/utensils/c9f7cf49490e5f16ac60f9b9eb7760e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7482 |
dataset/kitchen_supplies/utensils/c6a23384fdc95f26b710faa933d26d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7483 |
dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7484 |
dataset/kitchen_supplies/utensils/c9f7cf49490e5f16ac60f9b9eb7760e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7485 |
+
dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,465 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pedestal stand / foot",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the flared bottom foot from the side to lift or reposition the container",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the foot to stabilize the object while another gripper manipulates the top",
|
| 14 |
+
"confidence": 0.64
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support upright standing",
|
| 19 |
+
"provide a wider stable contact area with the surface",
|
| 20 |
+
"stabilize the container during manipulation"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Wide circular white pedestal-like foot at the bottom, likely plastic, with a smooth matte surface and a disk-shaped flange larger than the cylindrical body.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {}
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"part_name": "jar body",
|
| 28 |
+
"mask_color": "Green",
|
| 29 |
+
"graspable": true,
|
| 30 |
+
"grasp_scenarios": [
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the cylindrical body to lift and move the container",
|
| 33 |
+
"confidence": 0.94
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"scenario": "hold the body while another gripper manipulates the top",
|
| 37 |
+
"confidence": 0.9
|
| 38 |
+
}
|
| 39 |
+
],
|
| 40 |
+
"functional_labels": [
|
| 41 |
+
"contain spices or seasonings",
|
| 42 |
+
"main grasp surface",
|
| 43 |
+
"support printed branding or labeling",
|
| 44 |
+
"connect the top cap to the lower stand"
|
| 45 |
+
],
|
| 46 |
+
"semantic_description": "Tall white cylindrical body, likely plastic, with a smooth matte surface, slight taper, medium size, central sidewall position, and black printed text/logo near the lower side.",
|
| 47 |
+
"id": 1,
|
| 48 |
+
"grasp_group": {
|
| 49 |
+
"grasp_20": {
|
| 50 |
+
"confidence": 0.8973662853240967,
|
| 51 |
+
"position": [
|
| 52 |
+
0.014760169287910685,
|
| 53 |
+
0.11120505622238852,
|
| 54 |
+
-0.009148115292191505
|
| 55 |
+
],
|
| 56 |
+
"orientation": {
|
| 57 |
+
"w": 0.09987858085737442,
|
| 58 |
+
"xyz": [
|
| 59 |
+
-0.01715963905706034,
|
| 60 |
+
-0.7201702744055999,
|
| 61 |
+
0.6863560240399373
|
| 62 |
+
]
|
| 63 |
+
}
|
| 64 |
+
},
|
| 65 |
+
"grasp_21": {
|
| 66 |
+
"confidence": 0.8952611684799194,
|
| 67 |
+
"position": [
|
| 68 |
+
0.013576773082604632,
|
| 69 |
+
-0.11440245070843957,
|
| 70 |
+
-0.003609943203628063
|
| 71 |
+
],
|
| 72 |
+
"orientation": {
|
| 73 |
+
"w": 0.08354838819894751,
|
| 74 |
+
"xyz": [
|
| 75 |
+
0.014602900839025464,
|
| 76 |
+
-0.7083373318138811,
|
| 77 |
+
-0.7007600491432394
|
| 78 |
+
]
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
"grasp_22": {
|
| 82 |
+
"confidence": 0.8937193751335144,
|
| 83 |
+
"position": [
|
| 84 |
+
0.06123009239672683,
|
| 85 |
+
-0.0903882161655929,
|
| 86 |
+
-0.0029277950525283813
|
| 87 |
+
],
|
| 88 |
+
"orientation": {
|
| 89 |
+
"w": 0.2415718584059457,
|
| 90 |
+
"xyz": [
|
| 91 |
+
0.18354043020820676,
|
| 92 |
+
-0.6842330445238084,
|
| 93 |
+
-0.6631599267800823
|
| 94 |
+
]
|
| 95 |
+
}
|
| 96 |
+
},
|
| 97 |
+
"grasp_23": {
|
| 98 |
+
"confidence": 0.8881754279136658,
|
| 99 |
+
"position": [
|
| 100 |
+
0.009953115222742781,
|
| 101 |
+
-0.11895503857522272,
|
| 102 |
+
-0.005468912422657013
|
| 103 |
+
],
|
| 104 |
+
"orientation": {
|
| 105 |
+
"w": 0.06883676062597775,
|
| 106 |
+
"xyz": [
|
| 107 |
+
0.01144924828851491,
|
| 108 |
+
-0.7039035709361912,
|
| 109 |
+
-0.706859376342585
|
| 110 |
+
]
|
| 111 |
+
}
|
| 112 |
+
},
|
| 113 |
+
"grasp_24": {
|
| 114 |
+
"confidence": 0.8817989230155945,
|
| 115 |
+
"position": [
|
| 116 |
+
0.03898893584846519,
|
| 117 |
+
-0.10666774967103265,
|
| 118 |
+
-0.01715078391134739
|
| 119 |
+
],
|
| 120 |
+
"orientation": {
|
| 121 |
+
"w": 0.18191984565420602,
|
| 122 |
+
"xyz": [
|
| 123 |
+
0.08076702260119548,
|
| 124 |
+
-0.6489015881934418,
|
| 125 |
+
-0.734376324956978
|
| 126 |
+
]
|
| 127 |
+
}
|
| 128 |
+
},
|
| 129 |
+
"grasp_25": {
|
| 130 |
+
"confidence": 0.8806384801864624,
|
| 131 |
+
"position": [
|
| 132 |
+
0.00527341672568582,
|
| 133 |
+
-0.11671773353009485,
|
| 134 |
+
-0.000794384628534317
|
| 135 |
+
],
|
| 136 |
+
"orientation": {
|
| 137 |
+
"w": 0.06057754917470853,
|
| 138 |
+
"xyz": [
|
| 139 |
+
-9.052547693265081e-05,
|
| 140 |
+
-0.6856306204043886,
|
| 141 |
+
-0.7254247064341113
|
| 142 |
+
]
|
| 143 |
+
}
|
| 144 |
+
},
|
| 145 |
+
"grasp_26": {
|
| 146 |
+
"confidence": 0.8799830079078674,
|
| 147 |
+
"position": [
|
| 148 |
+
0.00027216310263611376,
|
| 149 |
+
-0.11292006084113382,
|
| 150 |
+
-0.003884107805788517
|
| 151 |
+
],
|
| 152 |
+
"orientation": {
|
| 153 |
+
"w": 0.043066482649419105,
|
| 154 |
+
"xyz": [
|
| 155 |
+
-0.010870744171018056,
|
| 156 |
+
-0.6937145419630788,
|
| 157 |
+
-0.7188791548392065
|
| 158 |
+
]
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
"grasp_27": {
|
| 162 |
+
"confidence": 0.8794509172439575,
|
| 163 |
+
"position": [
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|
dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:5ff474e3a2019d9e7083a8a796b3ec81ca6685c9239a458999e53387c281aa33
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| 3 |
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size 3780728
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