xinjjj commited on
Commit
54023e5
·
verified ·
1 Parent(s): d8832b8

Add asset kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12

Browse files
.gitattributes CHANGED
@@ -7322,4 +7322,4 @@ dataset/kitchen_supplies/tableware/8f6315af06ed5676ac78b39a900f66ec/affordance/m
7322
  dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7323
  dataset/kitchen_supplies/tableware/936c12140a6754c1a2625ceb3fb0c42f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7324
  dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7325
- dataset/kitchen_supplies/tableware/97f381be8c885ebb97c89a1d08a7c855/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7322
  dataset/kitchen_supplies/tableware/92a6e5da3c115ec385c4088541aec189/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7323
  dataset/kitchen_supplies/tableware/936c12140a6754c1a2625ceb3fb0c42f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7324
  dataset/kitchen_supplies/tableware/9594f5ee3bd7510e9fd6d73f27b61d54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7325
+ dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/affordance/affordance_annot.json ADDED
@@ -0,0 +1,258 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "left chopstick",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the chopstick near its thick upper half to pick up and reposition the utensil",
10
+ "confidence": 0.9
11
+ },
12
+ {
13
+ "scenario": "hold the chopstick along the middle while separating the pair for use",
14
+ "confidence": 0.8
15
+ },
16
+ {
17
+ "scenario": "pinch the rear end to stabilize the pair during packing or placement",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "pick up food as one half of the pair",
23
+ "provide a slender gripping shaft",
24
+ "enable pinching when used with the other chopstick",
25
+ "support orientation and manipulation"
26
+ ],
27
+ "semantic_description": "Long slender light beige wooden stick with a matte smooth hard surface, subtle printed decorative pattern near the thicker end, rounded handle end, and a tapered tip forming one member of the pair.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_23": {
31
+ "confidence": 0.8658788800239563,
32
+ "position": [
33
+ -0.2013004431501031,
34
+ -0.007107426474249223,
35
+ 0.001540960329293739
36
+ ],
37
+ "orientation": {
38
+ "w": 0.7086226096311238,
39
+ "xyz": [
40
+ -0.031061069612517287,
41
+ 0.7049036820189287,
42
+ 7.842359022531588e-05
43
+ ]
44
+ }
45
+ },
46
+ "grasp_25": {
47
+ "confidence": 0.86030513048172,
48
+ "position": [
49
+ -0.20692347083240747,
50
+ -0.002767473521089414,
51
+ -0.004568784912407864
52
+ ],
53
+ "orientation": {
54
+ "w": 0.7175165299749762,
55
+ "xyz": [
56
+ 0.004298245161105726,
57
+ 0.6964814330922222,
58
+ 0.00807264882232338
59
+ ]
60
+ }
61
+ },
62
+ "grasp_32": {
63
+ "confidence": 0.8375751376152039,
64
+ "position": [
65
+ -0.2001679101958871,
66
+ -0.003779307302465895,
67
+ -0.00240830746042775
68
+ ],
69
+ "orientation": {
70
+ "w": 0.7137096693622369,
71
+ "xyz": [
72
+ 0.009135626284856736,
73
+ 0.7001606367316829,
74
+ 0.01761053556012356
75
+ ]
76
+ }
77
+ },
78
+ "grasp_33": {
79
+ "confidence": 0.835244357585907,
80
+ "position": [
81
+ -0.19701594207435846,
82
+ -0.017973652637010673,
83
+ -0.003953930405259598
84
+ ],
85
+ "orientation": {
86
+ "w": 0.7159334028319763,
87
+ "xyz": [
88
+ -0.0439883510403167,
89
+ 0.6942349788101234,
90
+ 0.05951623206057675
91
+ ]
92
+ }
93
+ },
94
+ "grasp_36": {
95
+ "confidence": 0.786072850227356,
96
+ "position": [
97
+ -0.19854141864925623,
98
+ -0.004074087893968681,
99
+ -0.0027191312474315055
100
+ ],
101
+ "orientation": {
102
+ "w": 0.7165003523084884,
103
+ "xyz": [
104
+ 0.019890084863812163,
105
+ 0.696712611059747,
106
+ 0.02869089152034138
107
+ ]
108
+ }
109
+ },
110
+ "grasp_37": {
111
+ "confidence": 0.742412269115448,
112
+ "position": [
113
+ -0.19788964185863733,
114
+ -0.007856420768803218,
115
+ -0.008033486963540781
116
+ ],
117
+ "orientation": {
118
+ "w": 0.7236257463619051,
119
+ "xyz": [
120
+ 0.05890190794759451,
121
+ 0.6798739986226376,
122
+ 0.10328451209728386
123
+ ]
124
+ }
125
+ }
126
+ }
127
+ },
128
+ {
129
+ "part_name": "right chopstick",
130
+ "mask_color": "Red",
131
+ "graspable": true,
132
+ "grasp_scenarios": [
133
+ {
134
+ "scenario": "grasp the chopstick near its thick upper half to pick up and reposition the utensil",
135
+ "confidence": 0.9
136
+ },
137
+ {
138
+ "scenario": "hold the chopstick along the middle while separating the pair for use",
139
+ "confidence": 0.8
140
+ },
141
+ {
142
+ "scenario": "pinch the rear end to stabilize the pair during packing or placement",
143
+ "confidence": 0.74
144
+ }
145
+ ],
146
+ "functional_labels": [
147
+ "pick up food as one half of the pair",
148
+ "provide a slender gripping shaft",
149
+ "enable pinching when used with the other chopstick",
150
+ "support orientation and manipulation"
151
+ ],
152
+ "semantic_description": "Long slender light beige wooden stick with a matte smooth hard surface, subtle printed decorative pattern near the thicker end, rounded handle end, and a tapered tip forming the matching second member of the pair.",
153
+ "id": 0,
154
+ "grasp_group": {
155
+ "grasp_4": {
156
+ "confidence": 0.8828186392784119,
157
+ "position": [
158
+ -0.20497524831444025,
159
+ 0.007784208686643979,
160
+ -0.0029855472457711585
161
+ ],
162
+ "orientation": {
163
+ "w": 0.7116938502510809,
164
+ "xyz": [
165
+ 0.030688171562982716,
166
+ 0.7018159087549182,
167
+ 0.0021283466401966007
168
+ ]
169
+ }
170
+ },
171
+ "grasp_5": {
172
+ "confidence": 0.8811578750610352,
173
+ "position": [
174
+ -0.20572190079838037,
175
+ 0.004793944241100689,
176
+ 0.001902875657833647
177
+ ],
178
+ "orientation": {
179
+ "w": 0.7068421302146028,
180
+ "xyz": [
181
+ 0.02912976202594827,
182
+ 0.706441345058592,
183
+ 0.021593654387394044
184
+ ]
185
+ }
186
+ },
187
+ "grasp_7": {
188
+ "confidence": 0.8775624632835388,
189
+ "position": [
190
+ -0.2081007668748498,
191
+ 0.007265617543453118,
192
+ -0.001040323120832909
193
+ ],
194
+ "orientation": {
195
+ "w": 0.7090226267396069,
196
+ "xyz": [
197
+ 0.03248279948013249,
198
+ 0.7043781779149283,
199
+ 0.009119483891500246
200
+ ]
201
+ }
202
+ },
203
+ "grasp_15": {
204
+ "confidence": 0.6962299942970276,
205
+ "position": [
206
+ -0.19717702362686396,
207
+ 0.011257175759965321,
208
+ -0.006955400524020661
209
+ ],
210
+ "orientation": {
211
+ "w": 0.7253896534038554,
212
+ "xyz": [
213
+ 0.03212946395496963,
214
+ 0.6875876181541782,
215
+ -0.0009031288190637638
216
+ ]
217
+ }
218
+ },
219
+ "grasp_17": {
220
+ "confidence": 0.6847741603851318,
221
+ "position": [
222
+ -0.19831462297588587,
223
+ 0.0017332186071143951,
224
+ -0.0094101232898538
225
+ ],
226
+ "orientation": {
227
+ "w": 0.06964163173080859,
228
+ "xyz": [
229
+ -0.6818751634826031,
230
+ 0.04083077040683114,
231
+ -0.727000105050493
232
+ ]
233
+ }
234
+ },
235
+ "grasp_18": {
236
+ "confidence": 0.6260551810264587,
237
+ "position": [
238
+ -0.19607234094291925,
239
+ 0.00685478181912913,
240
+ -0.0032532165714656003
241
+ ],
242
+ "orientation": {
243
+ "w": 0.716680785268413,
244
+ "xyz": [
245
+ 0.0238372131953626,
246
+ 0.6969489266724691,
247
+ 0.007914095287747626
248
+ ]
249
+ }
250
+ }
251
+ }
252
+ }
253
+ ],
254
+ "quality_check": {
255
+ "success": true,
256
+ "message": "YES"
257
+ }
258
+ }
dataset/kitchen_supplies/tableware/924a0a37a55a51e8b5af466ff87c1b12/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:962fe9781b82253e19e80c02bfd192d4fabbf9d96217574ea744d2389a07cb08
3
+ size 106181672