xinjjj commited on
Commit
054cd9e
·
verified ·
1 Parent(s): 8c7c8d5

Add asset kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d

Browse files
.gitattributes CHANGED
@@ -7569,3 +7569,4 @@ dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/mesh_p
7569
  dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7570
  dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7571
  dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7569
  dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7570
  dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7571
  dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7572
+ dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,700 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cup lid",
5
+ "mask_color": "Blue",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the lid rim to remove the lid from the cup",
10
+ "confidence": 0.82
11
+ },
12
+ {
13
+ "scenario": "grasp the top edge of the lid to stabilize the cup during placement",
14
+ "confidence": 0.46
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cover the drinking opening",
19
+ "reduce spills",
20
+ "retain heat",
21
+ "provide a sip opening structure"
22
+ ],
23
+ "semantic_description": "Dark black plastic lid with a matte to slightly satin finish, hard smooth surface, shallow domed circular shape at the top, and a small sip opening visible near the rim.",
24
+ "id": 2,
25
+ "grasp_group": {
26
+ "grasp_20": {
27
+ "confidence": 0.9158636927604675,
28
+ "position": [
29
+ -0.08648512032232247,
30
+ -0.024341007199836895,
31
+ 0.09762648539617658
32
+ ],
33
+ "orientation": {
34
+ "w": 0.3815992066502491,
35
+ "xyz": [
36
+ -0.6987791075010124,
37
+ 0.5282674848471305,
38
+ -0.2949970658451966
39
+ ]
40
+ }
41
+ },
42
+ "grasp_21": {
43
+ "confidence": 0.8993657231330872,
44
+ "position": [
45
+ 0.025938098464393988,
46
+ 0.042510172846959904,
47
+ 0.13043338106945157
48
+ ],
49
+ "orientation": {
50
+ "w": 0.07297599270691167,
51
+ "xyz": [
52
+ -0.2580278549041342,
53
+ -0.9294770589873346,
54
+ 0.25331507534741526
55
+ ]
56
+ }
57
+ },
58
+ "grasp_22": {
59
+ "confidence": 0.8938464522361755,
60
+ "position": [
61
+ -0.10664818700752221,
62
+ -0.029591103520942852,
63
+ 0.05623228522017598
64
+ ],
65
+ "orientation": {
66
+ "w": 0.3983184451055947,
67
+ "xyz": [
68
+ 0.45807025681785085,
69
+ 0.5983290776034482,
70
+ 0.52298792624849
71
+ ]
72
+ }
73
+ },
74
+ "grasp_23": {
75
+ "confidence": 0.886804461479187,
76
+ "position": [
77
+ -0.05380450826487504,
78
+ 0.02474235979025252,
79
+ 0.13107505487278104
80
+ ],
81
+ "orientation": {
82
+ "w": 0.14763732203835372,
83
+ "xyz": [
84
+ -0.47161348564906225,
85
+ 0.8403209090219784,
86
+ -0.22281093140993197
87
+ ]
88
+ }
89
+ },
90
+ "grasp_24": {
91
+ "confidence": 0.8861690163612366,
92
+ "position": [
93
+ -0.09616772350273095,
94
+ -0.0246986034035217,
95
+ 0.09630695031955838
96
+ ],
97
+ "orientation": {
98
+ "w": 0.38505152140186283,
99
+ "xyz": [
100
+ -0.6881628569967934,
101
+ 0.5387242992824612,
102
+ -0.2965524194451018
103
+ ]
104
+ }
105
+ },
106
+ "grasp_25": {
107
+ "confidence": 0.8821905851364136,
108
+ "position": [
109
+ 0.09562892201938666,
110
+ 0.005181495129363611,
111
+ 0.08802346931770444
112
+ ],
113
+ "orientation": {
114
+ "w": 0.38092220375949165,
115
+ "xyz": [
116
+ 0.6146952247259684,
117
+ -0.5909123920748766,
118
+ -0.3575899890579307
119
+ ]
120
+ }
121
+ },
122
+ "grasp_26": {
123
+ "confidence": 0.8798936605453491,
124
+ "position": [
125
+ 0.04912954676547088,
126
+ -0.09081606331164949,
127
+ 0.03880206914618611
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6899190608525141,
131
+ "xyz": [
132
+ -0.6825260542767988,
133
+ -0.1474525492369908,
134
+ 0.1908602117499671
135
+ ]
136
+ }
137
+ },
138
+ "grasp_27": {
139
+ "confidence": 0.8788233399391174,
140
+ "position": [
141
+ 0.062467818293953314,
142
+ -0.08140264215762727,
143
+ 0.04528584750369191
144
+ ],
145
+ "orientation": {
146
+ "w": 0.2118416211626223,
147
+ "xyz": [
148
+ 0.22481061130030705,
149
+ -0.6852604032027693,
150
+ -0.6595464323247855
151
+ ]
152
+ }
153
+ },
154
+ "grasp_28": {
155
+ "confidence": 0.8773806095123291,
156
+ "position": [
157
+ 0.10673294696607627,
158
+ 0.016660431894706562,
159
+ 0.044639718253165483
160
+ ],
161
+ "orientation": {
162
+ "w": 0.5434734468769414,
163
+ "xyz": [
164
+ 0.5359978082930225,
165
+ -0.47423549505882223,
166
+ -0.43868400617196673
167
+ ]
168
+ }
169
+ },
170
+ "grasp_29": {
171
+ "confidence": 0.8765051960945129,
172
+ "position": [
173
+ 0.10188219431438483,
174
+ 0.018101558584021404,
175
+ 0.04132016422227025
176
+ ],
177
+ "orientation": {
178
+ "w": 0.5482234881673961,
179
+ "xyz": [
180
+ 0.5403434350603216,
181
+ -0.45067427405494587,
182
+ -0.4520759647601632
183
+ ]
184
+ }
185
+ },
186
+ "grasp_30": {
187
+ "confidence": 0.8727312088012695,
188
+ "position": [
189
+ 0.0995539623836521,
190
+ 0.030407423648284748,
191
+ 0.046688292641192675
192
+ ],
193
+ "orientation": {
194
+ "w": 0.40440957957690815,
195
+ "xyz": [
196
+ -0.4255506082738702,
197
+ -0.5769752257509577,
198
+ 0.5678548763670167
199
+ ]
200
+ }
201
+ },
202
+ "grasp_31": {
203
+ "confidence": 0.8713850975036621,
204
+ "position": [
205
+ -0.04276218157610856,
206
+ 0.08111949500744231,
207
+ 0.09391190158203244
208
+ ],
209
+ "orientation": {
210
+ "w": 0.11473243758883593,
211
+ "xyz": [
212
+ -0.23795467756535002,
213
+ 0.8340515169071657,
214
+ -0.4843264460408393
215
+ ]
216
+ }
217
+ },
218
+ "grasp_32": {
219
+ "confidence": 0.8679830431938171,
220
+ "position": [
221
+ 0.07716682288446464,
222
+ -0.051546921458793804,
223
+ 0.10010041343048215
224
+ ],
225
+ "orientation": {
226
+ "w": 0.40895311130225137,
227
+ "xyz": [
228
+ -0.7953127759746846,
229
+ -0.37804278224132615,
230
+ 0.23941302371192388
231
+ ]
232
+ }
233
+ },
234
+ "grasp_33": {
235
+ "confidence": 0.8672325611114502,
236
+ "position": [
237
+ 0.04326340663828887,
238
+ 0.07532076773350127,
239
+ 0.09328240202739835
240
+ ],
241
+ "orientation": {
242
+ "w": 0.12504785020297507,
243
+ "xyz": [
244
+ -0.211751694115284,
245
+ -0.8414135832498124,
246
+ 0.48119376255478635
247
+ ]
248
+ }
249
+ },
250
+ "grasp_34": {
251
+ "confidence": 0.8642654418945312,
252
+ "position": [
253
+ 0.03511751550831832,
254
+ 0.09806723383371718,
255
+ 0.05334709258750081
256
+ ],
257
+ "orientation": {
258
+ "w": 0.11284980678245005,
259
+ "xyz": [
260
+ -0.12221664236399143,
261
+ -0.7191349862068169,
262
+ 0.6746650169171043
263
+ ]
264
+ }
265
+ },
266
+ "grasp_35": {
267
+ "confidence": 0.8622364401817322,
268
+ "position": [
269
+ -0.036256569292163476,
270
+ 0.09904176977579482,
271
+ 0.04140202747657895
272
+ ],
273
+ "orientation": {
274
+ "w": 0.12909447471952096,
275
+ "xyz": [
276
+ -0.1455902404033667,
277
+ 0.696166600630688,
278
+ -0.6910066299699974
279
+ ]
280
+ }
281
+ },
282
+ "grasp_36": {
283
+ "confidence": 0.8571258187294006,
284
+ "position": [
285
+ 0.10400516274967231,
286
+ 0.030505056056426838,
287
+ 0.03923326777294278
288
+ ],
289
+ "orientation": {
290
+ "w": 0.41634864345082273,
291
+ "xyz": [
292
+ -0.4164920839712609,
293
+ -0.560007986403372,
294
+ 0.5827342501092381
295
+ ]
296
+ }
297
+ },
298
+ "grasp_37": {
299
+ "confidence": 0.8543840050697327,
300
+ "position": [
301
+ -0.05905150141916238,
302
+ 0.08728763696854003,
303
+ 0.04653966473415494
304
+ ],
305
+ "orientation": {
306
+ "w": 0.190469217505308,
307
+ "xyz": [
308
+ -0.2386656805801536,
309
+ 0.6785607531531914,
310
+ -0.6680684653359278
311
+ ]
312
+ }
313
+ },
314
+ "grasp_38": {
315
+ "confidence": 0.8536259531974792,
316
+ "position": [
317
+ 0.08182564112939872,
318
+ -0.07379540565307252,
319
+ 0.0397866596467793
320
+ ],
321
+ "orientation": {
322
+ "w": 0.29292849292274503,
323
+ "xyz": [
324
+ 0.27584844956514926,
325
+ -0.6432444880588293,
326
+ -0.6514115899248708
327
+ ]
328
+ }
329
+ },
330
+ "grasp_39": {
331
+ "confidence": 0.8507810831069946,
332
+ "position": [
333
+ 0.05999694499769248,
334
+ -0.08860984953935258,
335
+ 0.04212144436314702
336
+ ],
337
+ "orientation": {
338
+ "w": 0.19697707444905962,
339
+ "xyz": [
340
+ 0.20077180836212127,
341
+ -0.6785878132676245,
342
+ -0.6785346658743061
343
+ ]
344
+ }
345
+ }
346
+ }
347
+ },
348
+ {
349
+ "part_name": "cup body",
350
+ "mask_color": "Red",
351
+ "graspable": true,
352
+ "grasp_scenarios": [
353
+ {
354
+ "scenario": "side grasp the cup body to pick up the cup",
355
+ "confidence": 0.9
356
+ },
357
+ {
358
+ "scenario": "hold the cup body to carry it across a surface",
359
+ "confidence": 0.88
360
+ },
361
+ {
362
+ "scenario": "grasp the body to stabilize the cup while removing the lid",
363
+ "confidence": 0.79
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "contain the beverage",
368
+ "provide the main structural shell",
369
+ "support handheld carrying",
370
+ "provide the main grasp surface"
371
+ ],
372
+ "semantic_description": "Tall tapered white cup body, likely paper or plastic, with a matte smooth hard surface, cylindrical-conical shape, and the largest central section of the cup.",
373
+ "id": 0,
374
+ "grasp_group": {
375
+ "grasp_0": {
376
+ "confidence": 0.9808922410011292,
377
+ "position": [
378
+ 0.10115375104942359,
379
+ 0.024736777442740276,
380
+ -0.05017749918624759
381
+ ],
382
+ "orientation": {
383
+ "w": 0.5527142053273195,
384
+ "xyz": [
385
+ 0.5630194525377066,
386
+ -0.42976531036620635,
387
+ -0.4391103293016109
388
+ ]
389
+ }
390
+ },
391
+ "grasp_1": {
392
+ "confidence": 0.9780164957046509,
393
+ "position": [
394
+ 0.10079621258773841,
395
+ 0.03471654889290221,
396
+ -0.05025146109983325
397
+ ],
398
+ "orientation": {
399
+ "w": 0.5809853498342245,
400
+ "xyz": [
401
+ 0.5738041131726856,
402
+ -0.4045507152017491,
403
+ -0.41175670220879884
404
+ ]
405
+ }
406
+ },
407
+ "grasp_2": {
408
+ "confidence": 0.9760671257972717,
409
+ "position": [
410
+ 0.10116395089426078,
411
+ -0.02984040367300622,
412
+ -0.0194574068300426
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5484041337459874,
416
+ "xyz": [
417
+ -0.5713398418168806,
418
+ -0.4297799379600451,
419
+ 0.4337198360347787
420
+ ]
421
+ }
422
+ },
423
+ "grasp_4": {
424
+ "confidence": 0.9752386808395386,
425
+ "position": [
426
+ 0.0996804210881237,
427
+ -0.02873131583328359,
428
+ -0.024363366421312094
429
+ ],
430
+ "orientation": {
431
+ "w": 0.5522665343043552,
432
+ "xyz": [
433
+ -0.5671122365371627,
434
+ -0.4306521718898948,
435
+ 0.4335021258353755
436
+ ]
437
+ }
438
+ },
439
+ "grasp_5": {
440
+ "confidence": 0.975077211856842,
441
+ "position": [
442
+ 0.10520048919715919,
443
+ 0.021201227355049923,
444
+ -0.04825924290344119
445
+ ],
446
+ "orientation": {
447
+ "w": 0.5594769493317951,
448
+ "xyz": [
449
+ 0.5397251784196313,
450
+ -0.4556871451356145,
451
+ -0.433625991730706
452
+ ]
453
+ }
454
+ },
455
+ "grasp_6": {
456
+ "confidence": 0.9750588536262512,
457
+ "position": [
458
+ 0.09740620586671866,
459
+ 0.03209843722288497,
460
+ -0.052430163603276014
461
+ ],
462
+ "orientation": {
463
+ "w": 0.5873139993043457,
464
+ "xyz": [
465
+ 0.566070134022305,
466
+ -0.39548575078991544,
467
+ -0.4221586082401278
468
+ ]
469
+ }
470
+ },
471
+ "grasp_7": {
472
+ "confidence": 0.9746667742729187,
473
+ "position": [
474
+ 0.1007352146843914,
475
+ 0.025505612167762592,
476
+ -0.03611019952222705
477
+ ],
478
+ "orientation": {
479
+ "w": 0.4407647236360121,
480
+ "xyz": [
481
+ -0.42130571371927045,
482
+ -0.5669092752866037,
483
+ 0.5539330533372999
484
+ ]
485
+ }
486
+ },
487
+ "grasp_8": {
488
+ "confidence": 0.9744793772697449,
489
+ "position": [
490
+ -0.05238693472347222,
491
+ -0.0928379422693979,
492
+ -0.04667213885113597
493
+ ],
494
+ "orientation": {
495
+ "w": 0.15442726704362608,
496
+ "xyz": [
497
+ 0.2003887829560403,
498
+ 0.6953060678797222,
499
+ 0.6727154129559336
500
+ ]
501
+ }
502
+ },
503
+ "grasp_9": {
504
+ "confidence": 0.9742686748504639,
505
+ "position": [
506
+ 0.10564268115558662,
507
+ 0.013836388039635494,
508
+ -0.036458905320614576
509
+ ],
510
+ "orientation": {
511
+ "w": 0.46184015666919237,
512
+ "xyz": [
513
+ -0.45931972537660665,
514
+ -0.5400510652009645,
515
+ 0.5329858408466754
516
+ ]
517
+ }
518
+ },
519
+ "grasp_10": {
520
+ "confidence": 0.9741159081459045,
521
+ "position": [
522
+ -0.10563282933435403,
523
+ -0.01840440506930463,
524
+ -0.039785660337656736
525
+ ],
526
+ "orientation": {
527
+ "w": 0.5257223763911295,
528
+ "xyz": [
529
+ -0.5432282924473097,
530
+ 0.4627787613966765,
531
+ -0.4629846900779789
532
+ ]
533
+ }
534
+ },
535
+ "grasp_11": {
536
+ "confidence": 0.9741138815879822,
537
+ "position": [
538
+ 0.10106094661750831,
539
+ -0.021847413358045742,
540
+ -0.030042636673897505
541
+ ],
542
+ "orientation": {
543
+ "w": 0.45690850376542197,
544
+ "xyz": [
545
+ 0.4397628052476277,
546
+ -0.5536374687882756,
547
+ -0.5397488744418947
548
+ ]
549
+ }
550
+ },
551
+ "grasp_12": {
552
+ "confidence": 0.9741026759147644,
553
+ "position": [
554
+ 0.06422588709392585,
555
+ -0.08205502244527452,
556
+ -0.03851021407172084
557
+ ],
558
+ "orientation": {
559
+ "w": 0.23676234507167457,
560
+ "xyz": [
561
+ 0.22046640598721895,
562
+ -0.6664549690450681,
563
+ -0.6716963078820495
564
+ ]
565
+ }
566
+ },
567
+ "grasp_13": {
568
+ "confidence": 0.9740028381347656,
569
+ "position": [
570
+ -0.10601658638915978,
571
+ -0.030581993487430736,
572
+ -0.023608993273228407
573
+ ],
574
+ "orientation": {
575
+ "w": 0.4147433804823546,
576
+ "xyz": [
577
+ 0.44377924575962097,
578
+ 0.5621890220950899,
579
+ 0.5612409578914009
580
+ ]
581
+ }
582
+ },
583
+ "grasp_14": {
584
+ "confidence": 0.973803699016571,
585
+ "position": [
586
+ 0.07284861538209952,
587
+ -0.07947629454429261,
588
+ -0.04108441201969981
589
+ ],
590
+ "orientation": {
591
+ "w": 0.2745169576212032,
592
+ "xyz": [
593
+ 0.2406793289880792,
594
+ -0.6590547431815815,
595
+ -0.6575414405694183
596
+ ]
597
+ }
598
+ },
599
+ "grasp_15": {
600
+ "confidence": 0.97371906042099,
601
+ "position": [
602
+ -0.10143143948516808,
603
+ -0.035620254901004955,
604
+ -0.05277294619008899
605
+ ],
606
+ "orientation": {
607
+ "w": 0.5624061963441728,
608
+ "xyz": [
609
+ -0.5847789147288783,
610
+ 0.41764828181143554,
611
+ -0.40902665426858326
612
+ ]
613
+ }
614
+ },
615
+ "grasp_16": {
616
+ "confidence": 0.9726182818412781,
617
+ "position": [
618
+ 0.0998673859576229,
619
+ -0.024562257778597996,
620
+ -0.03321003122255206
621
+ ],
622
+ "orientation": {
623
+ "w": 0.5482437334855262,
624
+ "xyz": [
625
+ -0.5585335366141494,
626
+ -0.4366448519580154,
627
+ 0.4436331484793543
628
+ ]
629
+ }
630
+ },
631
+ "grasp_17": {
632
+ "confidence": 0.9725674390792847,
633
+ "position": [
634
+ 0.10554468366899528,
635
+ -0.014775451709283516,
636
+ -0.01193499332293868
637
+ ],
638
+ "orientation": {
639
+ "w": 0.521161811249819,
640
+ "xyz": [
641
+ -0.5309630664662895,
642
+ -0.4714352613425905,
643
+ 0.4735159795681303
644
+ ]
645
+ }
646
+ },
647
+ "grasp_18": {
648
+ "confidence": 0.9721724987030029,
649
+ "position": [
650
+ 0.1048729989270214,
651
+ 0.010707786801503971,
652
+ -0.05188123835250735
653
+ ],
654
+ "orientation": {
655
+ "w": 0.5401237244956913,
656
+ "xyz": [
657
+ 0.5158168790313988,
658
+ -0.48421061049271763,
659
+ -0.4557843725156438
660
+ ]
661
+ }
662
+ },
663
+ "grasp_19": {
664
+ "confidence": 0.9716958999633789,
665
+ "position": [
666
+ -0.08631313857040368,
667
+ -0.049918228265596554,
668
+ -0.092469512950629
669
+ ],
670
+ "orientation": {
671
+ "w": 0.7300332981753506,
672
+ "xyz": [
673
+ -0.4498800988521946,
674
+ 0.2769883881427968,
675
+ -0.43351668139301675
676
+ ]
677
+ }
678
+ }
679
+ }
680
+ },
681
+ {
682
+ "part_name": "bottom rim",
683
+ "mask_color": "Green",
684
+ "graspable": false,
685
+ "grasp_scenarios": [],
686
+ "functional_labels": [
687
+ "support upright standing",
688
+ "stabilize the base",
689
+ "protect the lower edge"
690
+ ],
691
+ "semantic_description": "Narrow dark black base ring at the bottom, likely plastic, with a smooth hard surface and shallow circular band shape forming the cup's contact area with the table.",
692
+ "id": 1,
693
+ "grasp_group": {}
694
+ }
695
+ ],
696
+ "quality_check": {
697
+ "success": true,
698
+ "message": "YES"
699
+ }
700
+ }
dataset/kitchen_supplies/ware/60529001375e588ea2f5e994fc332f7d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8a3baffe2fbe0935f56bf946ffd298e8307148a970348ed20c7530432a1c6451
3
+ size 111331700