xinjjj commited on
Commit
830fc8b
·
verified ·
1 Parent(s): dd061ef

Add asset kitchen_supplies/ware/fff86a3d84a15fa4bbf47c26fdb49463

Browse files
.gitattributes CHANGED
@@ -8524,3 +8524,4 @@ dataset/kitchen_supplies/ware/f482ca945b0b5a4585de01d6a234ccd9/affordance/mesh_p
8524
  dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8525
  dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8526
  dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8524
  dataset/kitchen_supplies/ware/f899fa42214a5975803ccdaf05e23e38/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8525
  dataset/kitchen_supplies/ware/fbaeac7589ea58af9bac3abad0301c3c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8526
  dataset/kitchen_supplies/ware/ffaac0c1f96a5db1b12a83cb7de35f4e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8527
+ dataset/kitchen_supplies/ware/fff86a3d84a15fa4bbf47c26fdb49463/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/fff86a3d84a15fa4bbf47c26fdb49463/affordance/affordance_annot.json ADDED
@@ -0,0 +1,486 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "left handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the side handle to pick up and carry the baby bottle",
10
+ "confidence": 0.88
11
+ },
12
+ {
13
+ "scenario": "hold the handle to stabilize the bottle during repositioning",
14
+ "confidence": 0.83
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "provide side grip",
19
+ "help a child hold the bottle",
20
+ "stabilize the bottle",
21
+ "assist lifting"
22
+ ],
23
+ "semantic_description": "A small curved coral-pink plastic handle with a smooth matte finish projects from one side near the neck, rounded and sized for easy side gripping.",
24
+ "id": 0,
25
+ "grasp_group": {}
26
+ },
27
+ {
28
+ "part_name": "right handle",
29
+ "mask_color": "Green",
30
+ "graspable": true,
31
+ "grasp_scenarios": [
32
+ {
33
+ "scenario": "grasp the side handle to pick up and carry the baby bottle",
34
+ "confidence": 0.88
35
+ },
36
+ {
37
+ "scenario": "hold the handle to stabilize the bottle during repositioning",
38
+ "confidence": 0.83
39
+ }
40
+ ],
41
+ "functional_labels": [
42
+ "provide side grip",
43
+ "help a child hold the bottle",
44
+ "stabilize the bottle",
45
+ "assist lifting"
46
+ ],
47
+ "semantic_description": "A matching curved coral-pink plastic handle extends from the opposite side near the neck, with a smooth matte finish and rounded shape for gripping.",
48
+ "id": 1,
49
+ "grasp_group": {}
50
+ },
51
+ {
52
+ "part_name": "collar ring",
53
+ "mask_color": "Blue",
54
+ "graspable": true,
55
+ "grasp_scenarios": [
56
+ {
57
+ "scenario": "grasp the collar ring to steady the bottle while twisting or orienting it",
58
+ "confidence": 0.54
59
+ },
60
+ {
61
+ "scenario": "pinch the ring area to manipulate the upper assembly during handling",
62
+ "confidence": 0.47
63
+ }
64
+ ],
65
+ "functional_labels": [
66
+ "secure the nipple assembly",
67
+ "connect nipple to bottle body",
68
+ "provide neck support",
69
+ "indicate transition between top and body"
70
+ ],
71
+ "semantic_description": "A light blue plastic ring with a smooth finish wraps around the neck below the upper cap ring, forming a narrow circular band above the handles.",
72
+ "id": 2,
73
+ "grasp_group": {
74
+ "grasp_40": {
75
+ "confidence": 0.9221630096435547,
76
+ "position": [
77
+ 0.03848296089563519,
78
+ -0.09517984534613788,
79
+ 0.0495349318953231
80
+ ],
81
+ "orientation": {
82
+ "w": 0.12623758930304757,
83
+ "xyz": [
84
+ 0.15132398968760247,
85
+ -0.7655505147350632,
86
+ -0.6124520639044838
87
+ ]
88
+ }
89
+ },
90
+ "grasp_41": {
91
+ "confidence": 0.8984614014625549,
92
+ "position": [
93
+ -0.01254885585512966,
94
+ -0.11354990000836551,
95
+ 0.026842698571272194
96
+ ],
97
+ "orientation": {
98
+ "w": 0.704497189673283,
99
+ "xyz": [
100
+ -0.7074190878427467,
101
+ 0.03805565432304214,
102
+ -0.04235222629599932
103
+ ]
104
+ }
105
+ },
106
+ "grasp_42": {
107
+ "confidence": 0.8863853216171265,
108
+ "position": [
109
+ -0.0512171977898106,
110
+ -0.08634830708615482,
111
+ 0.06831495102960616
112
+ ],
113
+ "orientation": {
114
+ "w": 0.530432010887778,
115
+ "xyz": [
116
+ -0.8054092582745727,
117
+ 0.21650016106047199,
118
+ -0.1519390956006409
119
+ ]
120
+ }
121
+ },
122
+ "grasp_43": {
123
+ "confidence": 0.8361296653747559,
124
+ "position": [
125
+ -0.03676864446606487,
126
+ -0.10788863594643772,
127
+ 0.03095281880814582
128
+ ],
129
+ "orientation": {
130
+ "w": 0.6962899521632256,
131
+ "xyz": [
132
+ -0.6912533113397884,
133
+ 0.17127324321734327,
134
+ -0.08952451192898651
135
+ ]
136
+ }
137
+ },
138
+ "grasp_44": {
139
+ "confidence": 0.8029831647872925,
140
+ "position": [
141
+ 0.07469839660916477,
142
+ -0.07400235231034458,
143
+ 0.044222310301847756
144
+ ],
145
+ "orientation": {
146
+ "w": 0.5886549933066159,
147
+ "xyz": [
148
+ -0.7072857582155279,
149
+ -0.2639688258662275,
150
+ 0.2890546904159812
151
+ ]
152
+ }
153
+ },
154
+ "grasp_45": {
155
+ "confidence": 0.7288410067558289,
156
+ "position": [
157
+ -0.0573773825308308,
158
+ -0.08555449242703617,
159
+ 0.039013132569380105
160
+ ],
161
+ "orientation": {
162
+ "w": 0.6467245115442154,
163
+ "xyz": [
164
+ -0.6981401749406729,
165
+ 0.24979141499897928,
166
+ -0.1787510875337839
167
+ ]
168
+ }
169
+ },
170
+ "grasp_46": {
171
+ "confidence": 0.6734363436698914,
172
+ "position": [
173
+ -0.07294569106306881,
174
+ 0.0664364502299577,
175
+ 0.03778599959332496
176
+ ],
177
+ "orientation": {
178
+ "w": 0.6245034192978691,
179
+ "xyz": [
180
+ 0.6666839028958335,
181
+ 0.28937485330886825,
182
+ 0.2859899424408493
183
+ ]
184
+ }
185
+ },
186
+ "grasp_47": {
187
+ "confidence": 0.6309955716133118,
188
+ "position": [
189
+ -0.06076646537985653,
190
+ -0.08119420404545963,
191
+ 0.02972843509633094
192
+ ],
193
+ "orientation": {
194
+ "w": 0.6729580656101977,
195
+ "xyz": [
196
+ -0.6698981739700567,
197
+ 0.2455332154167592,
198
+ -0.19513410406403112
199
+ ]
200
+ }
201
+ },
202
+ "grasp_48": {
203
+ "confidence": 0.5717576146125793,
204
+ "position": [
205
+ -0.07368624152150005,
206
+ 0.06752799008972943,
207
+ 0.027884867158718407
208
+ ],
209
+ "orientation": {
210
+ "w": 0.6445054577478304,
211
+ "xyz": [
212
+ 0.6535811073264113,
213
+ 0.28034200466579084,
214
+ 0.28080742778496304
215
+ ]
216
+ }
217
+ },
218
+ "grasp_49": {
219
+ "confidence": 0.44927212595939636,
220
+ "position": [
221
+ -0.08980806858744472,
222
+ -0.040955838514491916,
223
+ 0.03512658190447837
224
+ ],
225
+ "orientation": {
226
+ "w": 0.5744480340399779,
227
+ "xyz": [
228
+ -0.6042290343227301,
229
+ 0.3945560034256661,
230
+ -0.3863188973242064
231
+ ]
232
+ }
233
+ },
234
+ "grasp_56": {
235
+ "confidence": 0.8879319429397583,
236
+ "position": [
237
+ 0.034802355454303324,
238
+ 0.08408975903876126,
239
+ 0.06779587652999908
240
+ ],
241
+ "orientation": {
242
+ "w": 0.1072699851601591,
243
+ "xyz": [
244
+ -0.1526052790425624,
245
+ -0.8225316530885536,
246
+ 0.5372582793773321
247
+ ]
248
+ }
249
+ },
250
+ "grasp_57": {
251
+ "confidence": 0.8595064282417297,
252
+ "position": [
253
+ -0.052707652910612524,
254
+ -0.09136692876927555,
255
+ 0.03969047230202705
256
+ ],
257
+ "orientation": {
258
+ "w": 0.21888266100413575,
259
+ "xyz": [
260
+ 0.15474987827931955,
261
+ 0.7252598448100981,
262
+ 0.6341458928277603
263
+ ]
264
+ }
265
+ },
266
+ "grasp_58": {
267
+ "confidence": 0.45566391944885254,
268
+ "position": [
269
+ -0.08788878412451595,
270
+ -0.03275085682980716,
271
+ 0.06871120270807296
272
+ ],
273
+ "orientation": {
274
+ "w": 0.4477253947408543,
275
+ "xyz": [
276
+ -0.6732952843456202,
277
+ 0.4987483993291314,
278
+ -0.31219459500242047
279
+ ]
280
+ }
281
+ }
282
+ }
283
+ },
284
+ {
285
+ "part_name": "nipple",
286
+ "mask_color": "Yellow",
287
+ "graspable": false,
288
+ "grasp_scenarios": [],
289
+ "functional_labels": [
290
+ "dispense liquid to the baby",
291
+ "provide sucking interface",
292
+ "control flow at the tip",
293
+ "seal the feeding opening interface"
294
+ ],
295
+ "semantic_description": "A translucent clear-to-gray silicone nipple with a glossy smooth soft surface rises from the top as a rounded tapered teat, small relative to the bottle and reflective.",
296
+ "id": 3,
297
+ "grasp_group": {}
298
+ },
299
+ {
300
+ "part_name": "upper cap ring",
301
+ "mask_color": "Purple",
302
+ "graspable": true,
303
+ "grasp_scenarios": [
304
+ {
305
+ "scenario": "grasp the upper ring to stabilize the top while adjusting the bottle",
306
+ "confidence": 0.58
307
+ },
308
+ {
309
+ "scenario": "hold the ring while twisting or separating the top assembly",
310
+ "confidence": 0.52
311
+ }
312
+ ],
313
+ "functional_labels": [
314
+ "retain the nipple base",
315
+ "support the top assembly",
316
+ "connect top components",
317
+ "provide a twisting interface"
318
+ ],
319
+ "semantic_description": "A pale lavender-purple plastic ring with a smooth finish encircles the upper neck beneath the nipple, thicker than the blue ring and visibly rounded.",
320
+ "id": 5,
321
+ "grasp_group": {
322
+ "grasp_80": {
323
+ "confidence": 0.9509009718894958,
324
+ "position": [
325
+ 0.05059484078083187,
326
+ -0.07602513278834522,
327
+ 0.0916097128065303
328
+ ],
329
+ "orientation": {
330
+ "w": 0.4553272131554542,
331
+ "xyz": [
332
+ -0.8412399699079052,
333
+ -0.252547799652033,
334
+ 0.14564357479940923
335
+ ]
336
+ }
337
+ },
338
+ "grasp_81": {
339
+ "confidence": 0.8433024883270264,
340
+ "position": [
341
+ 0.07741200237069279,
342
+ -0.06350411172024906,
343
+ 0.07947244879323989
344
+ ],
345
+ "orientation": {
346
+ "w": 0.2500466535393464,
347
+ "xyz": [
348
+ 0.3509295575343512,
349
+ -0.7586859116742829,
350
+ -0.4885906304151571
351
+ ]
352
+ }
353
+ },
354
+ "grasp_92": {
355
+ "confidence": 0.8913988471031189,
356
+ "position": [
357
+ -0.05799568386282772,
358
+ -0.07156052137725055,
359
+ 0.08057990309316665
360
+ ],
361
+ "orientation": {
362
+ "w": 0.4999939705341448,
363
+ "xyz": [
364
+ -0.7839168224028121,
365
+ 0.32654895696671093,
366
+ -0.16984176072842563
367
+ ]
368
+ }
369
+ },
370
+ "grasp_93": {
371
+ "confidence": 0.8873761296272278,
372
+ "position": [
373
+ -0.04669814126100391,
374
+ -0.0904316573869437,
375
+ 0.07753445592243224
376
+ ],
377
+ "orientation": {
378
+ "w": 0.5263495789929343,
379
+ "xyz": [
380
+ -0.8116333674632884,
381
+ 0.22114778377301547,
382
+ -0.12369743427592468
383
+ ]
384
+ }
385
+ },
386
+ "grasp_98": {
387
+ "confidence": 0.9715064167976379,
388
+ "position": [
389
+ -0.010377736180089414,
390
+ -0.08155688340775669,
391
+ 0.09934382524807006
392
+ ],
393
+ "orientation": {
394
+ "w": 0.44390444774746285,
395
+ "xyz": [
396
+ -0.8947054977682628,
397
+ 0.03345434226810062,
398
+ -0.03649274608293619
399
+ ]
400
+ }
401
+ }
402
+ }
403
+ },
404
+ {
405
+ "part_name": "bottle body",
406
+ "mask_color": "Orange",
407
+ "graspable": true,
408
+ "grasp_scenarios": [
409
+ {
410
+ "scenario": "grasp the bottle body to pick up the baby bottle",
411
+ "confidence": 0.93
412
+ },
413
+ {
414
+ "scenario": "hold the body to pour or tilt the bottle",
415
+ "confidence": 0.9
416
+ },
417
+ {
418
+ "scenario": "grasp the body to stabilize it during transport",
419
+ "confidence": 0.87
420
+ }
421
+ ],
422
+ "functional_labels": [
423
+ "contain liquid",
424
+ "main grasp surface",
425
+ "support pouring and tilting",
426
+ "support printed decoration"
427
+ ],
428
+ "semantic_description": "A bulbous metallic silver bottle body with a glossy reflective surface occupies most of the object and shows colorful printed cartoon graphics and blue text on the sides, with a pale circular base.",
429
+ "id": 4,
430
+ "grasp_group": {
431
+ "grasp_63": {
432
+ "confidence": 0.963331401348114,
433
+ "position": [
434
+ 0.011220455751754344,
435
+ -0.0835058658849448,
436
+ -0.09635695430915803
437
+ ],
438
+ "orientation": {
439
+ "w": 0.9050102162499659,
440
+ "xyz": [
441
+ -0.4237965521023403,
442
+ -0.010605292325655435,
443
+ 0.0352209977718751
444
+ ]
445
+ }
446
+ },
447
+ "grasp_70": {
448
+ "confidence": 0.9609174728393555,
449
+ "position": [
450
+ -0.004110942943952978,
451
+ -0.08421578700654209,
452
+ -0.09619728091638535
453
+ ],
454
+ "orientation": {
455
+ "w": 0.9012775833729043,
456
+ "xyz": [
457
+ -0.4288214167121523,
458
+ 0.018864399369027507,
459
+ -0.05877962840070672
460
+ ]
461
+ }
462
+ },
463
+ "grasp_75": {
464
+ "confidence": 0.9588994979858398,
465
+ "position": [
466
+ -0.001839941251091659,
467
+ 0.04080025036819279,
468
+ -0.11835515114944428
469
+ ],
470
+ "orientation": {
471
+ "w": 0.1601781194778237,
472
+ "xyz": [
473
+ 0.039062833492573834,
474
+ -0.21068340573533728,
475
+ 0.9635505008186329
476
+ ]
477
+ }
478
+ }
479
+ }
480
+ }
481
+ ],
482
+ "quality_check": {
483
+ "success": true,
484
+ "message": "YES"
485
+ }
486
+ }
dataset/kitchen_supplies/ware/fff86a3d84a15fa4bbf47c26fdb49463/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:02f372a349974fc2238ed58b6804b81f3e33c816ae249eca3ab2ba61b1cb4f5d
3
+ size 3782892