xinjjj commited on
Commit
9f3163c
·
verified ·
1 Parent(s): 4afd825

Add asset kitchen_supplies/ware/6691f420da4a59ad910a57488483b9bd

Browse files
.gitattributes CHANGED
@@ -7573,4 +7573,4 @@ dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/affordance/mesh_p
7573
  dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7574
  dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7575
  dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7576
- dataset/kitchen_supplies/ware/667741eedded545ea0c4dba47834e76d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7573
  dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7574
  dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7575
  dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7576
+ dataset/kitchen_supplies/ware/6691f420da4a59ad910a57488483b9bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/6691f420da4a59ad910a57488483b9bd/affordance/affordance_annot.json ADDED
@@ -0,0 +1,772 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "thermos body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cylindrical body to pick up and carry the thermos",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize the thermos while unscrewing the lid",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "grasp the body to reorient or place the thermos upright",
18
+ "confidence": 0.94
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grasp surface",
23
+ "contain liquid",
24
+ "support insulated storage",
25
+ "stabilize during lid removal"
26
+ ],
27
+ "semantic_description": "Tall silver metal body with a satin to semi-gloss finish, hard smooth texture, tapered cylindrical shape, and a small printed logo near the lower side on one face.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9848787188529968,
32
+ "position": [
33
+ -0.09976411340176128,
34
+ -0.02085738674213644,
35
+ -0.02336534028290771
36
+ ],
37
+ "orientation": {
38
+ "w": 0.4451720539722263,
39
+ "xyz": [
40
+ 0.45952546681728856,
41
+ 0.5416823276952727,
42
+ 0.5451957846234085
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9847726821899414,
48
+ "position": [
49
+ -0.10015568611561321,
50
+ -0.014879429232678376,
51
+ -0.01945194331347011
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5238047224311947,
55
+ "xyz": [
56
+ -0.5382132020762441,
57
+ 0.46999973636216386,
58
+ -0.4637406707300013
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9845970273017883,
64
+ "position": [
65
+ -0.09253923324286006,
66
+ -0.04013902552833315,
67
+ -0.02324235168634914
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5866422159111703,
71
+ "xyz": [
72
+ -0.5928773287216567,
73
+ 0.3923292284444375,
74
+ -0.3878468255727985
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9844744205474854,
80
+ "position": [
81
+ -0.10162420300184749,
82
+ -0.012185016166768037,
83
+ -0.023033411329379305
84
+ ],
85
+ "orientation": {
86
+ "w": 0.5116251387605264,
87
+ "xyz": [
88
+ -0.5405629792254656,
89
+ 0.474810551456055,
90
+ -0.46966618262885157
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.984198808670044,
96
+ "position": [
97
+ -0.102018241857877,
98
+ -0.012048098709783517,
99
+ -0.02464301240979694
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5112438219426522,
103
+ "xyz": [
104
+ -0.5389282269697676,
105
+ 0.4691248883540097,
106
+ -0.47760649056260807
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9841129183769226,
112
+ "position": [
113
+ 0.047650891268858686,
114
+ 0.09183085850963835,
115
+ -0.021120495250215754
116
+ ],
117
+ "orientation": {
118
+ "w": 0.17102187938217464,
119
+ "xyz": [
120
+ -0.14873703265391125,
121
+ -0.6845907945662248,
122
+ 0.6927945264543328
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9839226603507996,
128
+ "position": [
129
+ 0.09751067581237294,
130
+ 0.030197906788089313,
131
+ -0.015729856764664873
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5651685997775094,
135
+ "xyz": [
136
+ 0.5724384723812642,
137
+ -0.43335315126156737,
138
+ -0.40632954046562114
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.983726978302002,
144
+ "position": [
145
+ -0.028841030871262774,
146
+ 0.09805744282493833,
147
+ -0.016706629743566737
148
+ ],
149
+ "orientation": {
150
+ "w": 0.08409125396375547,
151
+ "xyz": [
152
+ -0.11836651708986376,
153
+ 0.7044613684850614,
154
+ -0.6947317532335575
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.983607292175293,
160
+ "position": [
161
+ -0.1036843555921223,
162
+ -0.00630820773949381,
163
+ -0.013579056685557589
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4956500330581304,
167
+ "xyz": [
168
+ -0.5212985181071654,
169
+ 0.48933142765183724,
170
+ -0.4930858481653691
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9835935235023499,
176
+ "position": [
177
+ -0.085248601710191,
178
+ -0.058486691195867024,
179
+ -0.004960601305356249
180
+ ],
181
+ "orientation": {
182
+ "w": 0.6078319884325738,
183
+ "xyz": [
184
+ -0.6341636545756915,
185
+ 0.3360613599545851,
186
+ -0.3397638818338129
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.983339786529541,
192
+ "position": [
193
+ -0.09973457930027507,
194
+ 0.01849383815715555,
195
+ -0.032059687277069315
196
+ ],
197
+ "orientation": {
198
+ "w": 0.442930171550031,
199
+ "xyz": [
200
+ -0.45340864459094204,
201
+ 0.5491438511023468,
202
+ -0.5446783408006497
203
+ ]
204
+ }
205
+ },
206
+ "grasp_11": {
207
+ "confidence": 0.9831720590591431,
208
+ "position": [
209
+ 0.10349223288358189,
210
+ -0.0005884201236767694,
211
+ -0.0159300985687878
212
+ ],
213
+ "orientation": {
214
+ "w": 0.48678087176089757,
215
+ "xyz": [
216
+ -0.5061356388530301,
217
+ -0.5110306240535798,
218
+ 0.49570031193246655
219
+ ]
220
+ }
221
+ },
222
+ "grasp_12": {
223
+ "confidence": 0.983123242855072,
224
+ "position": [
225
+ -0.10146882859407924,
226
+ -0.016855359528562985,
227
+ -0.007450908509781584
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5218501640366155,
231
+ "xyz": [
232
+ -0.5500506959621263,
233
+ 0.45514820667071887,
234
+ -0.46685838123671564
235
+ ]
236
+ }
237
+ },
238
+ "grasp_13": {
239
+ "confidence": 0.9827909469604492,
240
+ "position": [
241
+ 0.10017624023021199,
242
+ 0.026237254511215724,
243
+ -0.018214131792774424
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5510554761809103,
247
+ "xyz": [
248
+ 0.5637517828108306,
249
+ -0.42167467851978235,
250
+ -0.44800921312388137
251
+ ]
252
+ }
253
+ },
254
+ "grasp_14": {
255
+ "confidence": 0.9827145934104919,
256
+ "position": [
257
+ -0.10379370031296276,
258
+ -0.01487358238955494,
259
+ -0.017876640980830416
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4578220648491505,
263
+ "xyz": [
264
+ 0.473459388811539,
265
+ 0.5347972861885494,
266
+ 0.5293647388793735
267
+ ]
268
+ }
269
+ },
270
+ "grasp_15": {
271
+ "confidence": 0.9823582768440247,
272
+ "position": [
273
+ -0.10513793406425975,
274
+ -0.003103996379650198,
275
+ -0.015871244570007548
276
+ ],
277
+ "orientation": {
278
+ "w": 0.4878410996198214,
279
+ "xyz": [
280
+ -0.5151288122894483,
281
+ 0.5009563101476859,
282
+ -0.4956774592355414
283
+ ]
284
+ }
285
+ },
286
+ "grasp_16": {
287
+ "confidence": 0.9820167422294617,
288
+ "position": [
289
+ -0.10417788205086254,
290
+ -0.0019804381154244766,
291
+ -0.028959159826627
292
+ ],
293
+ "orientation": {
294
+ "w": 0.5030516318212527,
295
+ "xyz": [
296
+ 0.5017400979057004,
297
+ 0.4973750036352186,
298
+ 0.4978092361883408
299
+ ]
300
+ }
301
+ },
302
+ "grasp_17": {
303
+ "confidence": 0.9819561839103699,
304
+ "position": [
305
+ 0.1044915271049831,
306
+ -0.0007805545319570228,
307
+ -0.01252124281018041
308
+ ],
309
+ "orientation": {
310
+ "w": 0.4856020626563295,
311
+ "xyz": [
312
+ -0.5121138454944302,
313
+ -0.5068901413637209,
314
+ 0.49496710050779386
315
+ ]
316
+ }
317
+ },
318
+ "grasp_18": {
319
+ "confidence": 0.9816063046455383,
320
+ "position": [
321
+ 0.021374539384851232,
322
+ 0.09599764786253218,
323
+ -0.022921946918359026
324
+ ],
325
+ "orientation": {
326
+ "w": 0.09220533715151062,
327
+ "xyz": [
328
+ -0.06806294856886552,
329
+ -0.6890169565398481,
330
+ 0.7156264699083267
331
+ ]
332
+ }
333
+ },
334
+ "grasp_19": {
335
+ "confidence": 0.9815689325332642,
336
+ "position": [
337
+ -0.023396185686578974,
338
+ 0.10149956635723356,
339
+ -0.021078220655908808
340
+ ],
341
+ "orientation": {
342
+ "w": 0.06686910560695353,
343
+ "xyz": [
344
+ -0.09504775746079427,
345
+ 0.708787642153494,
346
+ -0.6957833893155906
347
+ ]
348
+ }
349
+ }
350
+ }
351
+ },
352
+ {
353
+ "part_name": "lid sidewall",
354
+ "mask_color": "Green",
355
+ "graspable": true,
356
+ "grasp_scenarios": [
357
+ {
358
+ "scenario": "grasp the lid sidewall to unscrew and remove the cap",
359
+ "confidence": 0.87
360
+ },
361
+ {
362
+ "scenario": "hold the lid while aligning it for reattachment",
363
+ "confidence": 0.79
364
+ }
365
+ ],
366
+ "functional_labels": [
367
+ "cover the opening",
368
+ "enable lid removal",
369
+ "seal the container",
370
+ "provide grip for twisting"
371
+ ],
372
+ "semantic_description": "Short silver metallic cap ring with a smooth slightly reflective finish, hard texture, and cylindrical band shape at the top of the thermos.",
373
+ "id": 1,
374
+ "grasp_group": {
375
+ "grasp_20": {
376
+ "confidence": 0.9552099704742432,
377
+ "position": [
378
+ -0.09588888016878627,
379
+ -0.021300470907590352,
380
+ 0.08492381582618691
381
+ ],
382
+ "orientation": {
383
+ "w": 0.4960290537346469,
384
+ "xyz": [
385
+ -0.6045213066717766,
386
+ 0.4965452530244445,
387
+ -0.37676515142705147
388
+ ]
389
+ }
390
+ },
391
+ "grasp_21": {
392
+ "confidence": 0.9448553323745728,
393
+ "position": [
394
+ -0.015843501401832327,
395
+ -0.10231930621375795,
396
+ 0.06004218841553666
397
+ ],
398
+ "orientation": {
399
+ "w": 0.04729217662716865,
400
+ "xyz": [
401
+ 0.07587307557200527,
402
+ 0.7068674859463924,
403
+ 0.7016730604383618
404
+ ]
405
+ }
406
+ },
407
+ "grasp_22": {
408
+ "confidence": 0.9446253776550293,
409
+ "position": [
410
+ -0.0035818743926938623,
411
+ -0.0989334569167113,
412
+ 0.06796153346658684
413
+ ],
414
+ "orientation": {
415
+ "w": 0.6863527538833363,
416
+ "xyz": [
417
+ -0.7269335633309892,
418
+ 0.019292430091719104,
419
+ -0.010737498816176819
420
+ ]
421
+ }
422
+ },
423
+ "grasp_23": {
424
+ "confidence": 0.9434982538223267,
425
+ "position": [
426
+ 0.0035513021575752646,
427
+ -0.10269464411248919,
428
+ 0.06613142500282265
429
+ ],
430
+ "orientation": {
431
+ "w": 0.705257831129772,
432
+ "xyz": [
433
+ -0.7087628194944473,
434
+ -0.009326234704714498,
435
+ 0.01340442757614388
436
+ ]
437
+ }
438
+ },
439
+ "grasp_24": {
440
+ "confidence": 0.9434000849723816,
441
+ "position": [
442
+ -0.09982792017399333,
443
+ -0.015295894336304627,
444
+ 0.06595881740213372
445
+ ],
446
+ "orientation": {
447
+ "w": 0.5272867051590597,
448
+ "xyz": [
449
+ -0.5403826712182125,
450
+ 0.47051654631549966,
451
+ -0.45669407578039184
452
+ ]
453
+ }
454
+ },
455
+ "grasp_25": {
456
+ "confidence": 0.9411386847496033,
457
+ "position": [
458
+ 0.0016177348152268678,
459
+ -0.10649982698669191,
460
+ 0.0674687446153257
461
+ ],
462
+ "orientation": {
463
+ "w": 0.7009694099832287,
464
+ "xyz": [
465
+ -0.7131814113441267,
466
+ 0.0003438131604697192,
467
+ -0.003747342188024627
468
+ ]
469
+ }
470
+ },
471
+ "grasp_26": {
472
+ "confidence": 0.9360287189483643,
473
+ "position": [
474
+ -0.0904603275412228,
475
+ -0.04481358685006853,
476
+ 0.06557535837055184
477
+ ],
478
+ "orientation": {
479
+ "w": 0.5901261749338158,
480
+ "xyz": [
481
+ -0.6047972454658198,
482
+ 0.3827051441864263,
483
+ -0.3735079144384856
484
+ ]
485
+ }
486
+ },
487
+ "grasp_27": {
488
+ "confidence": 0.9349764585494995,
489
+ "position": [
490
+ -0.08216709372936748,
491
+ -0.026558163095614873,
492
+ 0.11598739484907128
493
+ ],
494
+ "orientation": {
495
+ "w": 0.39573882350800543,
496
+ "xyz": [
497
+ -0.696539198487912,
498
+ 0.5257418367488058,
499
+ -0.2860409929193871
500
+ ]
501
+ }
502
+ },
503
+ "grasp_28": {
504
+ "confidence": 0.9328733682632446,
505
+ "position": [
506
+ -0.01738753085373901,
507
+ -0.10538764156808611,
508
+ 0.06072094748378731
509
+ ],
510
+ "orientation": {
511
+ "w": 0.7073719008470505,
512
+ "xyz": [
513
+ -0.7019712335018882,
514
+ 0.05985652663925112,
515
+ -0.057258863475909305
516
+ ]
517
+ }
518
+ },
519
+ "grasp_29": {
520
+ "confidence": 0.932584285736084,
521
+ "position": [
522
+ -0.09831822392879985,
523
+ -0.0101337064843392,
524
+ 0.06669890592456795
525
+ ],
526
+ "orientation": {
527
+ "w": 0.5169560232399033,
528
+ "xyz": [
529
+ -0.5309531476319921,
530
+ 0.4837549278745674,
531
+ -0.4656462120674204
532
+ ]
533
+ }
534
+ },
535
+ "grasp_30": {
536
+ "confidence": 0.9282814860343933,
537
+ "position": [
538
+ -0.0876568305247929,
539
+ -0.017546575967571698,
540
+ 0.11272562007070519
541
+ ],
542
+ "orientation": {
543
+ "w": 0.3914772373906674,
544
+ "xyz": [
545
+ -0.663785226272443,
546
+ 0.5576210598878749,
547
+ -0.30853443820250587
548
+ ]
549
+ }
550
+ },
551
+ "grasp_31": {
552
+ "confidence": 0.9267025589942932,
553
+ "position": [
554
+ -0.03974057090817951,
555
+ -0.09261905260791536,
556
+ 0.07335875640274025
557
+ ],
558
+ "orientation": {
559
+ "w": 0.14872208651964705,
560
+ "xyz": [
561
+ 0.16411859622911668,
562
+ 0.726737693800754,
563
+ 0.6502300760209331
564
+ ]
565
+ }
566
+ },
567
+ "grasp_32": {
568
+ "confidence": 0.926601767539978,
569
+ "position": [
570
+ -0.08529790220200084,
571
+ -0.025978837613365613,
572
+ 0.11880420605302788
573
+ ],
574
+ "orientation": {
575
+ "w": 0.40147753911299205,
576
+ "xyz": [
577
+ -0.6943373330202575,
578
+ 0.5264888551316357,
579
+ -0.2819945726149201
580
+ ]
581
+ }
582
+ },
583
+ "grasp_33": {
584
+ "confidence": 0.926035463809967,
585
+ "position": [
586
+ 0.01726949485600926,
587
+ -0.10231491782178637,
588
+ 0.07544483701349236
589
+ ],
590
+ "orientation": {
591
+ "w": 0.6849500400324828,
592
+ "xyz": [
593
+ -0.7256304996856128,
594
+ -0.0446803478928397,
595
+ 0.04803631020054408
596
+ ]
597
+ }
598
+ },
599
+ "grasp_34": {
600
+ "confidence": 0.9224017858505249,
601
+ "position": [
602
+ -0.10282209244905971,
603
+ 0.007616197704919614,
604
+ 0.07673901031375863
605
+ ],
606
+ "orientation": {
607
+ "w": 0.469138777773275,
608
+ "xyz": [
609
+ -0.4919641856916086,
610
+ 0.5374568045865297,
611
+ -0.49901926855566126
612
+ ]
613
+ }
614
+ },
615
+ "grasp_35": {
616
+ "confidence": 0.9206496477127075,
617
+ "position": [
618
+ -0.10131190446554683,
619
+ 0.007275408148416318,
620
+ 0.0583289870119188
621
+ ],
622
+ "orientation": {
623
+ "w": 0.5244623816725015,
624
+ "xyz": [
625
+ 0.5142355523329022,
626
+ 0.48291910215195655,
627
+ 0.476749564975187
628
+ ]
629
+ }
630
+ },
631
+ "grasp_36": {
632
+ "confidence": 0.9199270606040955,
633
+ "position": [
634
+ 0.03342210399569012,
635
+ 0.09299568228016142,
636
+ 0.06748202154994942
637
+ ],
638
+ "orientation": {
639
+ "w": 0.11153693505973872,
640
+ "xyz": [
641
+ -0.1343270221438684,
642
+ -0.6966908405589357,
643
+ 0.6957999970686432
644
+ ]
645
+ }
646
+ },
647
+ "grasp_37": {
648
+ "confidence": 0.9170116782188416,
649
+ "position": [
650
+ -0.09860964593826793,
651
+ 0.02115446284005884,
652
+ 0.063556444743881
653
+ ],
654
+ "orientation": {
655
+ "w": 0.4408358715387525,
656
+ "xyz": [
657
+ -0.44839006401365356,
658
+ 0.5480600634938328,
659
+ -0.551579778147854
660
+ ]
661
+ }
662
+ },
663
+ "grasp_38": {
664
+ "confidence": 0.9165662527084351,
665
+ "position": [
666
+ -0.10077442703186534,
667
+ -0.002426914856187068,
668
+ 0.07324352572322823
669
+ ],
670
+ "orientation": {
671
+ "w": 0.5049372984052634,
672
+ "xyz": [
673
+ 0.4893406434051956,
674
+ 0.513873727401924,
675
+ 0.49144465779682306
676
+ ]
677
+ }
678
+ },
679
+ "grasp_39": {
680
+ "confidence": 0.9140369296073914,
681
+ "position": [
682
+ 0.029664152214536443,
683
+ -0.0996644035767531,
684
+ 0.05835650200606324
685
+ ],
686
+ "orientation": {
687
+ "w": 0.7019672138585165,
688
+ "xyz": [
689
+ -0.6998904057098151,
690
+ -0.08779308648381678,
691
+ 0.0984267475268176
692
+ ]
693
+ }
694
+ }
695
+ }
696
+ },
697
+ {
698
+ "part_name": "top insert of lid",
699
+ "mask_color": "Purple",
700
+ "graspable": false,
701
+ "grasp_scenarios": [],
702
+ "functional_labels": [
703
+ "close the top surface",
704
+ "provide a finished top face",
705
+ "assist sealing structure"
706
+ ],
707
+ "semantic_description": "Flat circular black top insert, likely plastic or coated metal, with a matte smooth surface centered on the lid.",
708
+ "id": 5,
709
+ "grasp_group": {}
710
+ },
711
+ {
712
+ "part_name": "neck ring",
713
+ "mask_color": "Blue",
714
+ "graspable": false,
715
+ "grasp_scenarios": [],
716
+ "functional_labels": [
717
+ "join lid to body",
718
+ "define lid-body boundary",
719
+ "support threaded closure interface"
720
+ ],
721
+ "semantic_description": "Thin narrow blue-coded segmented ring corresponding to a slim silver seam below the cap, appearing as a hard smooth band around the upper body.",
722
+ "id": 2,
723
+ "grasp_group": {}
724
+ },
725
+ {
726
+ "part_name": "base rim",
727
+ "mask_color": "Yellow",
728
+ "graspable": false,
729
+ "grasp_scenarios": [],
730
+ "functional_labels": [
731
+ "support standing",
732
+ "protect the bottom edge",
733
+ "stabilize contact with surfaces"
734
+ ],
735
+ "semantic_description": "Thin silver metallic rim around the bottom edge with a smooth hard finish, forming the standing perimeter of the thermos.",
736
+ "id": 3,
737
+ "grasp_group": {}
738
+ },
739
+ {
740
+ "part_name": "bottom base",
741
+ "mask_color": "Cyan",
742
+ "graspable": false,
743
+ "grasp_scenarios": [],
744
+ "functional_labels": [
745
+ "support standing",
746
+ "contact tabletop",
747
+ "close the bottom"
748
+ ],
749
+ "semantic_description": "Flat circular gray bottom panel with a matte smooth hard surface, located on the underside and slightly recessed within the base rim.",
750
+ "id": 6,
751
+ "grasp_group": {}
752
+ },
753
+ {
754
+ "part_name": "logo badge",
755
+ "mask_color": "Orange",
756
+ "graspable": false,
757
+ "grasp_scenarios": [],
758
+ "functional_labels": [
759
+ "brand identification",
760
+ "visual marking",
761
+ "indicate front orientation"
762
+ ],
763
+ "semantic_description": "Small dark printed logo mark on the lower side of the silver body, appearing as a flat smooth graphic with no mechanical role.",
764
+ "id": 4,
765
+ "grasp_group": {}
766
+ }
767
+ ],
768
+ "quality_check": {
769
+ "success": true,
770
+ "message": "YES"
771
+ }
772
+ }
dataset/kitchen_supplies/ware/6691f420da4a59ad910a57488483b9bd/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:9bf10075693715d6c9399c29ff1310cb3cc8ba25c725a30fa0a903266ce99a6a
3
+ size 3785872