Add asset kitchen_supplies/tableware/bd56abf5254e53298e2e57e5771e7eae
Browse files
.gitattributes
CHANGED
|
@@ -7374,3 +7374,4 @@ dataset/kitchen_supplies/tableware/bb6d092dcf075bc3b830f0300d6ad807/affordance/m
|
|
| 7374 |
dataset/kitchen_supplies/tableware/bbeb303b4d135dd9b8e1975a466d42ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7375 |
dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7376 |
dataset/kitchen_supplies/tableware/bd37e899fdf7557994dac6c0c3d65a2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7374 |
dataset/kitchen_supplies/tableware/bbeb303b4d135dd9b8e1975a466d42ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7375 |
dataset/kitchen_supplies/tableware/bc46a94ca4ab5aeeb183df3b8a4445d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7376 |
dataset/kitchen_supplies/tableware/bd37e899fdf7557994dac6c0c3d65a2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7377 |
+
dataset/kitchen_supplies/tableware/bd56abf5254e53298e2e57e5771e7eae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/bd56abf5254e53298e2e57e5771e7eae/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,204 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spoon handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and move the spoon",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to position the spoon for scooping or stirring",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle end to place or retrieve the spoon from a surface",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main grip",
|
| 23 |
+
"enable manipulation",
|
| 24 |
+
"position the spoon head",
|
| 25 |
+
"support stirring motion",
|
| 26 |
+
"support lifting and carrying"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long light brown wooden handle with a matte to satin finish, hard smooth texture, gently tapered flat shape, and a small round hole near the rounded end opposite the bowl.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_5": {
|
| 32 |
+
"confidence": 0.9782123565673828,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.09167032755794935,
|
| 35 |
+
0.02077270098379813,
|
| 36 |
+
0.00012128701200708747
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.6815962854425389,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.11611946441102922,
|
| 42 |
+
0.7094483336753328,
|
| 43 |
+
0.13647650164450462
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_6": {
|
| 48 |
+
"confidence": 0.9774192571640015,
|
| 49 |
+
"position": [
|
| 50 |
+
0.0982036136847455,
|
| 51 |
+
-0.00023985893494682387,
|
| 52 |
+
0.001270378299523145
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.6965249893270263,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.03794315400150453,
|
| 58 |
+
-0.7165250341797298,
|
| 59 |
+
-0.0022653258354919147
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_10": {
|
| 64 |
+
"confidence": 0.9726492762565613,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.09600147671881132,
|
| 67 |
+
0.09091999926022254,
|
| 68 |
+
0.002100254932884127
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7004403815721748,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.05769285082906205,
|
| 74 |
+
0.7095969338119221,
|
| 75 |
+
-0.050269258508163994
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_11": {
|
| 80 |
+
"confidence": 0.9720403552055359,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.09661540455999784,
|
| 83 |
+
-0.0013808986695948988,
|
| 84 |
+
-0.0022777667618356645
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7082269408508448,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.047147613650799516,
|
| 90 |
+
0.7042864042432228,
|
| 91 |
+
0.013128731021730303
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_12": {
|
| 96 |
+
"confidence": 0.9714756608009338,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.08063163675251417,
|
| 99 |
+
0.01380124394199811,
|
| 100 |
+
-0.024392515828367323
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.1548381850511057,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.5621611976453648,
|
| 106 |
+
-0.20738492541941833,
|
| 107 |
+
-0.785488012015964
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_13": {
|
| 112 |
+
"confidence": 0.9712783694267273,
|
| 113 |
+
"position": [
|
| 114 |
+
0.08116234026965685,
|
| 115 |
+
0.12051207371405326,
|
| 116 |
+
0.005466071947012097
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.192181850129797,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.6849361162362314,
|
| 122 |
+
0.20435289800058376,
|
| 123 |
+
-0.6724347895779034
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_18": {
|
| 128 |
+
"confidence": 0.9697211980819702,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.08260443128529005,
|
| 131 |
+
0.11193544961861335,
|
| 132 |
+
0.0034403796889819205
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.19363872985775316,
|
| 136 |
+
"xyz": [
|
| 137 |
+
0.6748238147024626,
|
| 138 |
+
-0.200945542208805,
|
| 139 |
+
0.6831820771038287
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_19": {
|
| 144 |
+
"confidence": 0.9695712327957153,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.09647730059805326,
|
| 147 |
+
-0.004345427412772551,
|
| 148 |
+
-0.002545869385357946
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.7103596308080509,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.023392358833752663,
|
| 154 |
+
0.7034483046359831,
|
| 155 |
+
0.001573267683630059
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
}
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"part_name": "spoon bowl",
|
| 163 |
+
"mask_color": "Green",
|
| 164 |
+
"graspable": true,
|
| 165 |
+
"grasp_scenarios": [
|
| 166 |
+
{
|
| 167 |
+
"scenario": "grasp the bowl to stabilize or reorient the spoon when the handle is obstructed",
|
| 168 |
+
"confidence": 0.41
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"scenario": "pinch the bowl edge to pick up the spoon from a flat surface",
|
| 172 |
+
"confidence": 0.35
|
| 173 |
+
}
|
| 174 |
+
],
|
| 175 |
+
"functional_labels": [
|
| 176 |
+
"scoop food",
|
| 177 |
+
"hold small portions",
|
| 178 |
+
"transfer material",
|
| 179 |
+
"contact eating contents"
|
| 180 |
+
],
|
| 181 |
+
"semantic_description": "Oval concave spoon bowl in light brown wood with visible wood grain, a smooth hard satin surface, and a rounded cupped shape at the functional end of the spoon.",
|
| 182 |
+
"id": 1,
|
| 183 |
+
"grasp_group": {}
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"part_name": "hanging hole",
|
| 187 |
+
"mask_color": "Blue",
|
| 188 |
+
"graspable": false,
|
| 189 |
+
"grasp_scenarios": [],
|
| 190 |
+
"functional_labels": [
|
| 191 |
+
"enable hanging storage",
|
| 192 |
+
"indicate handle end",
|
| 193 |
+
"reduce material slightly"
|
| 194 |
+
],
|
| 195 |
+
"semantic_description": "Small circular through-hole near the tip of the wooden handle, appearing as a tiny opening in the smooth light brown wood for hanging or tethering.",
|
| 196 |
+
"id": 2,
|
| 197 |
+
"grasp_group": {}
|
| 198 |
+
}
|
| 199 |
+
],
|
| 200 |
+
"quality_check": {
|
| 201 |
+
"success": true,
|
| 202 |
+
"message": "YES"
|
| 203 |
+
}
|
| 204 |
+
}
|
dataset/kitchen_supplies/tableware/bd56abf5254e53298e2e57e5771e7eae/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9462f15140d5f3c395c50d5a0290e607ac0b0331130a9f127fe19da0ce3f2b0e
|
| 3 |
+
size 3781368
|