xinjjj commited on
Commit
902f412
·
verified ·
1 Parent(s): 1d668cd

Add asset kitchen_supplies/tableware/5991641d6a43525ebb1ad9bc2ad73db5

Browse files
.gitattributes CHANGED
@@ -7251,4 +7251,4 @@ dataset/kitchen_supplies/tableware/53efc4c260d95a0c8dbae75fd25a7dcc/affordance/m
7251
  dataset/kitchen_supplies/tableware/57692ee37dd15809998ed350a2cfd3a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7252
  dataset/kitchen_supplies/tableware/57bf72d87cce5c8684c8e217df6cb481/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7253
  dataset/kitchen_supplies/tableware/584919261f1d5bab920e378e1d5636f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7254
- dataset/kitchen_supplies/tableware/591e29d568985511b9877e4848168c6d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7251
  dataset/kitchen_supplies/tableware/57692ee37dd15809998ed350a2cfd3a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7252
  dataset/kitchen_supplies/tableware/57bf72d87cce5c8684c8e217df6cb481/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7253
  dataset/kitchen_supplies/tableware/584919261f1d5bab920e378e1d5636f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7254
+ dataset/kitchen_supplies/tableware/5991641d6a43525ebb1ad9bc2ad73db5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/5991641d6a43525ebb1ad9bc2ad73db5/affordance/affordance_annot.json ADDED
@@ -0,0 +1,318 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "chopstick handle case",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the outer case to pick up and reposition the chopsticks set",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the case while pulling the chopsticks out",
14
+ "confidence": 0.91
15
+ },
16
+ {
17
+ "scenario": "stabilize the case during insertion or storage of the chopsticks",
18
+ "confidence": 0.89
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main gripping surface",
23
+ "store and protect the chopsticks",
24
+ "serve as carrying handle",
25
+ "stabilize the utensil set",
26
+ "guide insertion of the sticks"
27
+ ],
28
+ "semantic_description": "Large cylindrical blue-gray body, likely plastic or coated metal, with a smooth semi-gloss hard surface, rounded end, and small printed markings near the upper side, forming the main outer case around one end.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_20": {
32
+ "confidence": 0.9619179964065552,
33
+ "position": [
34
+ 0.08301955554634333,
35
+ -0.00019816446001641452,
36
+ 0.07391981121327262
37
+ ],
38
+ "orientation": {
39
+ "w": 0.2453916630532548,
40
+ "xyz": [
41
+ -0.6600816858838353,
42
+ -0.6645323054871956,
43
+ 0.24994382294544584
44
+ ]
45
+ }
46
+ },
47
+ "grasp_22": {
48
+ "confidence": 0.9512951374053955,
49
+ "position": [
50
+ 0.09599358681589365,
51
+ -0.0016747717163525522,
52
+ 0.07651905056263786
53
+ ],
54
+ "orientation": {
55
+ "w": 0.22896039335880575,
56
+ "xyz": [
57
+ -0.6730385636665401,
58
+ -0.6609417005494517,
59
+ 0.24031707922130593
60
+ ]
61
+ }
62
+ },
63
+ "grasp_23": {
64
+ "confidence": 0.9343326091766357,
65
+ "position": [
66
+ 0.11300971452146769,
67
+ 0.00933918118244037,
68
+ 0.04902476158167701
69
+ ],
70
+ "orientation": {
71
+ "w": 0.40839633259451097,
72
+ "xyz": [
73
+ 0.5722077322483712,
74
+ -0.6446202022071279,
75
+ -0.30042560074829033
76
+ ]
77
+ }
78
+ },
79
+ "grasp_24": {
80
+ "confidence": 0.9341242909431458,
81
+ "position": [
82
+ 0.1126921409741044,
83
+ -0.002118166594300419,
84
+ 0.04831327956344467
85
+ ],
86
+ "orientation": {
87
+ "w": 0.36047562501644886,
88
+ "xyz": [
89
+ -0.6169139868117145,
90
+ -0.5959580123149949,
91
+ 0.3664812467270823
92
+ ]
93
+ }
94
+ },
95
+ "grasp_25": {
96
+ "confidence": 0.9339078664779663,
97
+ "position": [
98
+ 0.1178346062079072,
99
+ -0.016081081295851618,
100
+ 0.04685322653676849
101
+ ],
102
+ "orientation": {
103
+ "w": 0.4234920809597673,
104
+ "xyz": [
105
+ -0.5778165446049167,
106
+ -0.6369248060544057,
107
+ 0.2847969269106627
108
+ ]
109
+ }
110
+ },
111
+ "grasp_26": {
112
+ "confidence": 0.9320622682571411,
113
+ "position": [
114
+ 0.11671706382185221,
115
+ -0.014060043322388083,
116
+ 0.04215746086265426
117
+ ],
118
+ "orientation": {
119
+ "w": 0.43698463655291786,
120
+ "xyz": [
121
+ -0.5648225065738434,
122
+ -0.6366861613693056,
123
+ 0.29094792559008475
124
+ ]
125
+ }
126
+ },
127
+ "grasp_27": {
128
+ "confidence": 0.9317514896392822,
129
+ "position": [
130
+ 0.11957184318453074,
131
+ -0.0016546777333132923,
132
+ 0.04600412484433036
133
+ ],
134
+ "orientation": {
135
+ "w": 0.3703280510387976,
136
+ "xyz": [
137
+ -0.6139755716128533,
138
+ -0.593372075924022,
139
+ 0.36578779584629684
140
+ ]
141
+ }
142
+ },
143
+ "grasp_28": {
144
+ "confidence": 0.9301284551620483,
145
+ "position": [
146
+ 0.12294220272451639,
147
+ 0.006016351224388927,
148
+ 0.047543586159008555
149
+ ],
150
+ "orientation": {
151
+ "w": 0.3956180736648946,
152
+ "xyz": [
153
+ 0.5774405582835026,
154
+ -0.6352519179774684,
155
+ -0.326349110838168
156
+ ]
157
+ }
158
+ },
159
+ "grasp_30": {
160
+ "confidence": 0.9266178011894226,
161
+ "position": [
162
+ 0.11128977034240961,
163
+ 0.00893049914157018,
164
+ 0.048041847461718135
165
+ ],
166
+ "orientation": {
167
+ "w": 0.3974889835538541,
168
+ "xyz": [
169
+ 0.5769505908882494,
170
+ -0.6433684649327857,
171
+ -0.30855719398039505
172
+ ]
173
+ }
174
+ },
175
+ "grasp_32": {
176
+ "confidence": 0.923599898815155,
177
+ "position": [
178
+ 0.11824192944914103,
179
+ 0.007148242497351021,
180
+ 0.047038783246534877
181
+ ],
182
+ "orientation": {
183
+ "w": 0.32427275436063735,
184
+ "xyz": [
185
+ -0.6346583945967235,
186
+ -0.5714677631384437,
187
+ 0.4067929432043031
188
+ ]
189
+ }
190
+ },
191
+ "grasp_33": {
192
+ "confidence": 0.9230440855026245,
193
+ "position": [
194
+ 0.11485717538744211,
195
+ 0.024076866393443197,
196
+ 0.04661165636207443
197
+ ],
198
+ "orientation": {
199
+ "w": 0.27442124322591915,
200
+ "xyz": [
201
+ -0.6105143706039404,
202
+ -0.6083892252074575,
203
+ 0.4264126349017875
204
+ ]
205
+ }
206
+ },
207
+ "grasp_34": {
208
+ "confidence": 0.9229927659034729,
209
+ "position": [
210
+ 0.10944988671690226,
211
+ -0.003156015241984278,
212
+ 0.0480322436633287
213
+ ],
214
+ "orientation": {
215
+ "w": 0.3798293192309436,
216
+ "xyz": [
217
+ -0.6051620196464015,
218
+ -0.6076268054144709,
219
+ 0.34684042955205097
220
+ ]
221
+ }
222
+ },
223
+ "grasp_35": {
224
+ "confidence": 0.9217807054519653,
225
+ "position": [
226
+ 0.1186115825548768,
227
+ 0.01514915790176019,
228
+ 0.04590335574175697
229
+ ],
230
+ "orientation": {
231
+ "w": 0.283296312463079,
232
+ "xyz": [
233
+ -0.6456955088040497,
234
+ -0.5577711457421971,
235
+ 0.4378491272488021
236
+ ]
237
+ }
238
+ },
239
+ "grasp_36": {
240
+ "confidence": 0.9206274151802063,
241
+ "position": [
242
+ 0.11014608386904001,
243
+ 0.009305893850978464,
244
+ 0.047314950192230754
245
+ ],
246
+ "orientation": {
247
+ "w": 0.4229903322241345,
248
+ "xyz": [
249
+ 0.5603481607617146,
250
+ -0.6446597150021569,
251
+ -0.30249457752035436
252
+ ]
253
+ }
254
+ },
255
+ "grasp_38": {
256
+ "confidence": 0.9196088910102844,
257
+ "position": [
258
+ -0.0940603157505393,
259
+ 0.0524775855592452,
260
+ 0.056264829749125056
261
+ ],
262
+ "orientation": {
263
+ "w": 0.4617407938629422,
264
+ "xyz": [
265
+ 0.5231425648553637,
266
+ 0.7151552372400074,
267
+ -0.04086909306017024
268
+ ]
269
+ }
270
+ },
271
+ "grasp_39": {
272
+ "confidence": 0.9194065928459167,
273
+ "position": [
274
+ 0.11569940391927958,
275
+ 0.001011846528854221,
276
+ 0.04045973431493621
277
+ ],
278
+ "orientation": {
279
+ "w": 0.3576183336483922,
280
+ "xyz": [
281
+ -0.6124070048397675,
282
+ -0.5859007673937078,
283
+ 0.3921569566247641
284
+ ]
285
+ }
286
+ }
287
+ }
288
+ },
289
+ {
290
+ "part_name": "chopstick tips",
291
+ "mask_color": "Red",
292
+ "graspable": true,
293
+ "grasp_scenarios": [
294
+ {
295
+ "scenario": "delicately grasp the exposed tips to pull the chopsticks out of the case",
296
+ "confidence": 0.42
297
+ },
298
+ {
299
+ "scenario": "pinch the tips to orient the utensil pair during placement",
300
+ "confidence": 0.27
301
+ }
302
+ ],
303
+ "functional_labels": [
304
+ "pick up food",
305
+ "provide precision contact ends",
306
+ "enable pinching action",
307
+ "indicate utensil working end"
308
+ ],
309
+ "semantic_description": "Two slender dark blue to black rod-like tips with a matte slightly textured hard surface and fine ridged pattern, projecting from one end as the narrow working ends of the chopsticks.",
310
+ "id": 0,
311
+ "grasp_group": {}
312
+ }
313
+ ],
314
+ "quality_check": {
315
+ "success": true,
316
+ "message": "YES"
317
+ }
318
+ }
dataset/kitchen_supplies/tableware/5991641d6a43525ebb1ad9bc2ad73db5/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:028906b1af9c3959f07ea3c0ba9a843f91483a226bb7f1431f657c5fa99de4e1
3
+ size 3779544