xinjjj commited on
Commit
65dcf60
·
verified ·
1 Parent(s): 1015828

Add asset kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74

Browse files
.gitattributes CHANGED
@@ -7279,4 +7279,4 @@ dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/affordance/m
7279
  dataset/kitchen_supplies/tableware/6bd05d9276515f619d4d77f2faa7ca35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7280
  dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7281
  dataset/kitchen_supplies/tableware/6d759d8af86d56548fcb3b4a529e03d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7282
- dataset/kitchen_supplies/tableware/6dd5651b3d3c578992053d847c5fcc44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7279
  dataset/kitchen_supplies/tableware/6bd05d9276515f619d4d77f2faa7ca35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7280
  dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7281
  dataset/kitchen_supplies/tableware/6d759d8af86d56548fcb3b4a529e03d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7282
+ dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/affordance/affordance_annot.json ADDED
@@ -0,0 +1,314 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "tray basin",
5
+ "mask_color": "Green",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "hold items",
10
+ "provide a flat support surface",
11
+ "contain small spills",
12
+ "organize contents"
13
+ ],
14
+ "semantic_description": "Large square interior basin in light gray metal with a smooth matte finish and hard surface, forming the main recessed area at the top center of the tray.",
15
+ "id": 1,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "tray side wall",
20
+ "mask_color": "Red",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp opposing side walls to lift the tray",
25
+ "confidence": 0.84
26
+ },
27
+ {
28
+ "scenario": "hold one side wall to pull or reposition the tray on a surface",
29
+ "confidence": 0.7
30
+ },
31
+ {
32
+ "scenario": "pinch a side wall to stabilize the tray while loading or unloading items",
33
+ "confidence": 0.66
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "retain contents",
38
+ "provide lifting surface",
39
+ "protect items from sliding out",
40
+ "define tray depth"
41
+ ],
42
+ "semantic_description": "Medium-sized dark gray metal outer wall with a smooth slightly matte hard surface, wrapping around the tray perimeter with gently rounded corners and sloped vertical faces.",
43
+ "id": 0,
44
+ "grasp_group": {
45
+ "grasp_10": {
46
+ "confidence": 0.048538938164711,
47
+ "position": [
48
+ -0.08281466766493395,
49
+ 0.0009230911964550614,
50
+ -0.10482432413846254
51
+ ],
52
+ "orientation": {
53
+ "w": 0.9776061677069343,
54
+ "xyz": [
55
+ 0.2084355196202384,
56
+ -0.002731543651888324,
57
+ 0.028867866067309303
58
+ ]
59
+ }
60
+ },
61
+ "grasp_12": {
62
+ "confidence": 0.9810549020767212,
63
+ "position": [
64
+ 0.0274328661034815,
65
+ 0.1627791642677039,
66
+ 0.09202415030449629
67
+ ],
68
+ "orientation": {
69
+ "w": 0.1672788054490374,
70
+ "xyz": [
71
+ 0.6976094667240335,
72
+ 0.661647293310666,
73
+ -0.2181322819740861
74
+ ]
75
+ }
76
+ },
77
+ "grasp_13": {
78
+ "confidence": 0.9794653058052063,
79
+ "position": [
80
+ 0.011733564257156104,
81
+ 0.14505147631280124,
82
+ 0.09814417641609907
83
+ ],
84
+ "orientation": {
85
+ "w": 0.18302416500371063,
86
+ "xyz": [
87
+ 0.6568820759168462,
88
+ -0.727552575285267,
89
+ 0.07533487611753749
90
+ ]
91
+ }
92
+ },
93
+ "grasp_14": {
94
+ "confidence": 0.9774714112281799,
95
+ "position": [
96
+ -4.7597335651516914e-05,
97
+ 0.16830534930340946,
98
+ 0.08785275649279356
99
+ ],
100
+ "orientation": {
101
+ "w": 0.22998270134784235,
102
+ "xyz": [
103
+ 0.6601479275403093,
104
+ -0.6889046552147692,
105
+ 0.19163258300300504
106
+ ]
107
+ }
108
+ },
109
+ "grasp_15": {
110
+ "confidence": 0.9770441651344299,
111
+ "position": [
112
+ -0.020881597243715078,
113
+ 0.14952400024048984,
114
+ 0.09959350805729628
115
+ ],
116
+ "orientation": {
117
+ "w": 0.21452914983039084,
118
+ "xyz": [
119
+ 0.707195413654842,
120
+ -0.6708726316894728,
121
+ 0.06149636435308675
122
+ ]
123
+ }
124
+ },
125
+ "grasp_16": {
126
+ "confidence": 0.976715624332428,
127
+ "position": [
128
+ -0.005178067658562213,
129
+ 0.1409883468877524,
130
+ 0.10021366458386183
131
+ ],
132
+ "orientation": {
133
+ "w": 0.11146266233630217,
134
+ "xyz": [
135
+ 0.6987838574158446,
136
+ -0.6939787027703286,
137
+ 0.1329313944151206
138
+ ]
139
+ }
140
+ },
141
+ "grasp_17": {
142
+ "confidence": 0.975247859954834,
143
+ "position": [
144
+ 0.009075924463104457,
145
+ 0.1497006684076041,
146
+ 0.09822488855570555
147
+ ],
148
+ "orientation": {
149
+ "w": 0.1555517241656649,
150
+ "xyz": [
151
+ 0.6698309178524371,
152
+ 0.7080053935934384,
153
+ -0.16080598633337828
154
+ ]
155
+ }
156
+ },
157
+ "grasp_18": {
158
+ "confidence": 0.9748534560203552,
159
+ "position": [
160
+ 0.05604190722806379,
161
+ 0.16227677161805332,
162
+ 0.09182320814579725
163
+ ],
164
+ "orientation": {
165
+ "w": 0.2512883876762441,
166
+ "xyz": [
167
+ 0.6308652463456027,
168
+ -0.7225461446807444,
169
+ 0.12957722014060963
170
+ ]
171
+ }
172
+ },
173
+ "grasp_19": {
174
+ "confidence": 0.9742688536643982,
175
+ "position": [
176
+ 0.009683289274107665,
177
+ 0.14423830504529178,
178
+ 0.09716651123017073
179
+ ],
180
+ "orientation": {
181
+ "w": 0.23903153702417218,
182
+ "xyz": [
183
+ 0.7082704085281867,
184
+ 0.6641830167669547,
185
+ 0.008824565118190823
186
+ ]
187
+ }
188
+ }
189
+ }
190
+ },
191
+ {
192
+ "part_name": "tray rim",
193
+ "mask_color": "Yellow",
194
+ "graspable": true,
195
+ "grasp_scenarios": [
196
+ {
197
+ "scenario": "grasp the rim edge to lift the tray",
198
+ "confidence": 0.88
199
+ },
200
+ {
201
+ "scenario": "pinch the rim to pull the tray from a shelf or oven rack",
202
+ "confidence": 0.82
203
+ },
204
+ {
205
+ "scenario": "hold the rim to stabilize the tray during placement",
206
+ "confidence": 0.76
207
+ }
208
+ ],
209
+ "functional_labels": [
210
+ "provide an edge grip",
211
+ "stiffen the tray opening",
212
+ "outline the top boundary",
213
+ "help guide placement"
214
+ ],
215
+ "semantic_description": "Thin silver-gray rolled metal lip with a slightly reflective smooth hard finish, running around the top edge as a narrow raised border larger in span than thickness.",
216
+ "id": 3,
217
+ "grasp_group": {
218
+ "grasp_55": {
219
+ "confidence": 0.7269630432128906,
220
+ "position": [
221
+ 0.14554833219153807,
222
+ 0.1769715219270438,
223
+ -0.008635767226223834
224
+ ],
225
+ "orientation": {
226
+ "w": 0.3716318128565766,
227
+ "xyz": [
228
+ 0.6099166209808979,
229
+ 0.30439393542547444,
230
+ -0.6302664858616321
231
+ ]
232
+ }
233
+ }
234
+ }
235
+ },
236
+ {
237
+ "part_name": "tray bottom",
238
+ "mask_color": "Blue",
239
+ "graspable": true,
240
+ "grasp_scenarios": [
241
+ {
242
+ "scenario": "support-grasp the underside to lift the empty tray from below",
243
+ "confidence": 0.57
244
+ },
245
+ {
246
+ "scenario": "hold the bottom while inverting or stacking the tray",
247
+ "confidence": 0.46
248
+ }
249
+ ],
250
+ "functional_labels": [
251
+ "support contents from below",
252
+ "provide a stable resting base",
253
+ "transfer load to the surface",
254
+ "enable stacking contact"
255
+ ],
256
+ "semantic_description": "Broad flat dark gray metal base with a smooth matte hard surface, occupying the underside of the tray and shaped as a rounded-corner square panel.",
257
+ "id": 2,
258
+ "grasp_group": {
259
+ "grasp_21": {
260
+ "confidence": 0.06298346817493439,
261
+ "position": [
262
+ -0.07103374256985262,
263
+ 0.08035418088547885,
264
+ -0.11539409030228853
265
+ ],
266
+ "orientation": {
267
+ "w": 0.7024673441765072,
268
+ "xyz": [
269
+ -0.2042550451841068,
270
+ 0.11875981567233307,
271
+ -0.6713535678492494
272
+ ]
273
+ }
274
+ },
275
+ "grasp_22": {
276
+ "confidence": 0.059497952461242676,
277
+ "position": [
278
+ -0.05691320850746706,
279
+ 0.05874696443788707,
280
+ -0.1285779746249318
281
+ ],
282
+ "orientation": {
283
+ "w": 0.5751036882854526,
284
+ "xyz": [
285
+ -0.06262350268486568,
286
+ 0.04580110595323461,
287
+ 0.8143932117382907
288
+ ]
289
+ }
290
+ },
291
+ "grasp_23": {
292
+ "confidence": 0.05091293528676033,
293
+ "position": [
294
+ 0.05737896979553625,
295
+ 0.0645847290288657,
296
+ -0.12683012057095766
297
+ ],
298
+ "orientation": {
299
+ "w": 0.9979554297965896,
300
+ "xyz": [
301
+ 0.020344196765546295,
302
+ 0.05223177341821028,
303
+ 0.03070693151485289
304
+ ]
305
+ }
306
+ }
307
+ }
308
+ }
309
+ ],
310
+ "quality_check": {
311
+ "success": true,
312
+ "message": "YES"
313
+ }
314
+ }
dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:59eb894ce39a0ab144e8eaba8c66270a256c499820868864786c19c560193039
3
+ size 1181584