xinjjj commited on
Commit
a557349
·
verified ·
1 Parent(s): 3b9ad7c

Add asset kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a

Browse files
.gitattributes CHANGED
@@ -8516,3 +8516,4 @@ dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/affordance/mesh_p
8516
  dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8517
  dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8518
  dataset/kitchen_supplies/ware/ee5ed0047ded5d80b9d75960267d6c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8516
  dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8517
  dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8518
  dataset/kitchen_supplies/ware/ee5ed0047ded5d80b9d75960267d6c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8519
+ dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,259 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "saucer",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the saucer rim to lift or relocate the cup-and-saucer set",
10
+ "confidence": 0.72
11
+ },
12
+ {
13
+ "scenario": "hold the saucer edge to stabilize the set on a table",
14
+ "confidence": 0.66
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "support the cup",
19
+ "catch drips or spills",
20
+ "provide a serving base",
21
+ "stabilize the cup on a surface"
22
+ ],
23
+ "semantic_description": "A wide round white ceramic saucer with a glossy smooth hard surface, shallow plate-like shape, fluted rim detailing, and thin gold trim beneath and around the edge.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.8270193934440613,
28
+ "position": [
29
+ 0.004535190935712308,
30
+ 0.144563990921597,
31
+ 0.0019435830181464553
32
+ ],
33
+ "orientation": {
34
+ "w": 0.509033875785173,
35
+ "xyz": [
36
+ 0.4899332169846241,
37
+ 0.5081908700728281,
38
+ -0.4925362887877846
39
+ ]
40
+ }
41
+ },
42
+ "grasp_13": {
43
+ "confidence": 0.7956637144088745,
44
+ "position": [
45
+ 0.039483634929638356,
46
+ 0.1354884237953229,
47
+ -0.006796781555749476
48
+ ],
49
+ "orientation": {
50
+ "w": 0.43650291726439755,
51
+ "xyz": [
52
+ 0.5268349010667479,
53
+ 0.4470554459555961,
54
+ -0.5762392024837463
55
+ ]
56
+ }
57
+ },
58
+ "grasp_15": {
59
+ "confidence": 0.7944565415382385,
60
+ "position": [
61
+ -0.09786185791017488,
62
+ 0.09888701447925996,
63
+ -0.005509437643922865
64
+ ],
65
+ "orientation": {
66
+ "w": 0.6738488408047152,
67
+ "xyz": [
68
+ 0.24846854027657933,
69
+ 0.631163315977446,
70
+ -0.29295732249479944
71
+ ]
72
+ }
73
+ }
74
+ }
75
+ },
76
+ {
77
+ "part_name": "cup body",
78
+ "mask_color": "Green",
79
+ "graspable": true,
80
+ "grasp_scenarios": [
81
+ {
82
+ "scenario": "grasp the cup body from the sides to pick up the cup when empty or lightly filled",
83
+ "confidence": 0.63
84
+ },
85
+ {
86
+ "scenario": "grasp the cup body to stabilize it while placing it onto the saucer",
87
+ "confidence": 0.69
88
+ }
89
+ ],
90
+ "functional_labels": [
91
+ "contain the beverage",
92
+ "provide the main vessel structure",
93
+ "support drinking from the rim",
94
+ "hold liquid upright"
95
+ ],
96
+ "semantic_description": "A medium-sized white ceramic cup body with a glossy smooth hard surface, gently flared cylindrical shape, vertical fluted sides, and thin gold trim around the rim and foot.",
97
+ "id": 1,
98
+ "grasp_group": {
99
+ "grasp_20": {
100
+ "confidence": 0.6366826891899109,
101
+ "position": [
102
+ 0.07309394906042144,
103
+ -0.0341912700823741,
104
+ 0.09824848955031484
105
+ ],
106
+ "orientation": {
107
+ "w": 0.35351196393446194,
108
+ "xyz": [
109
+ -0.7577923513291204,
110
+ -0.5039849467936247,
111
+ 0.21628503653214148
112
+ ]
113
+ }
114
+ },
115
+ "grasp_21": {
116
+ "confidence": 0.6327323913574219,
117
+ "position": [
118
+ 0.0869557989644818,
119
+ -0.03495379975356627,
120
+ 0.09113828127738088
121
+ ],
122
+ "orientation": {
123
+ "w": 0.3996698345084142,
124
+ "xyz": [
125
+ -0.6889297612443022,
126
+ -0.5565494770666594,
127
+ 0.23641591958392572
128
+ ]
129
+ }
130
+ },
131
+ "grasp_23": {
132
+ "confidence": 0.6139745712280273,
133
+ "position": [
134
+ 0.08277951757190749,
135
+ -0.044683207481284626,
136
+ 0.09388092195149511
137
+ ],
138
+ "orientation": {
139
+ "w": 0.40514569882206747,
140
+ "xyz": [
141
+ -0.694505378270496,
142
+ -0.5573758503348133,
143
+ 0.2070058060607915
144
+ ]
145
+ }
146
+ },
147
+ "grasp_27": {
148
+ "confidence": 0.602321207523346,
149
+ "position": [
150
+ 0.0827058611321263,
151
+ -0.06407901337661315,
152
+ 0.09918848460074514
153
+ ],
154
+ "orientation": {
155
+ "w": 0.11671282247979244,
156
+ "xyz": [
157
+ -0.8722104735043462,
158
+ 0.29181376362372996,
159
+ 0.3747955900726129
160
+ ]
161
+ }
162
+ },
163
+ "grasp_29": {
164
+ "confidence": 0.6021820306777954,
165
+ "position": [
166
+ 0.07115696946857497,
167
+ -0.058753845005412586,
168
+ 0.08932932501193136
169
+ ],
170
+ "orientation": {
171
+ "w": 0.41436207903548616,
172
+ "xyz": [
173
+ -0.8383000556241161,
174
+ -0.29474082809049273,
175
+ 0.1966848455131305
176
+ ]
177
+ }
178
+ },
179
+ "grasp_33": {
180
+ "confidence": 0.5854902267456055,
181
+ "position": [
182
+ 0.10401234606979415,
183
+ -0.03840334033884574,
184
+ 0.05764857342001051
185
+ ],
186
+ "orientation": {
187
+ "w": 0.5123923616188746,
188
+ "xyz": [
189
+ -0.6080881201985351,
190
+ -0.5063017106346919,
191
+ 0.33367871319044184
192
+ ]
193
+ }
194
+ },
195
+ "grasp_35": {
196
+ "confidence": 0.5763958692550659,
197
+ "position": [
198
+ 0.07874011824605986,
199
+ -0.05535311689891387,
200
+ 0.09099278633948416
201
+ ],
202
+ "orientation": {
203
+ "w": 0.20670416106561793,
204
+ "xyz": [
205
+ 0.4247833489585949,
206
+ -0.7736918755222726,
207
+ -0.4221769510483819
208
+ ]
209
+ }
210
+ }
211
+ }
212
+ },
213
+ {
214
+ "part_name": "mug handle",
215
+ "mask_color": "Blue",
216
+ "graspable": true,
217
+ "grasp_scenarios": [
218
+ {
219
+ "scenario": "grasp the handle to lift the cup safely",
220
+ "confidence": 0.93
221
+ },
222
+ {
223
+ "scenario": "hold the handle to tilt or reposition the cup while pouring or serving",
224
+ "confidence": 0.86
225
+ }
226
+ ],
227
+ "functional_labels": [
228
+ "provide a side grip",
229
+ "lift the cup without squeezing the body",
230
+ "help orient the cup",
231
+ "stabilize the cup during serving"
232
+ ],
233
+ "semantic_description": "A small curved white ceramic handle with a glossy smooth hard surface, looped shape, and thin gold edging, attached to the cup side near the upper half.",
234
+ "id": 2,
235
+ "grasp_group": {
236
+ "grasp_40": {
237
+ "confidence": 0.6379114389419556,
238
+ "position": [
239
+ -0.034562641580123454,
240
+ 0.10869124093733262,
241
+ 0.0948502424871549
242
+ ],
243
+ "orientation": {
244
+ "w": 0.4117107191172213,
245
+ "xyz": [
246
+ 0.6686863042756076,
247
+ 0.6072026818619848,
248
+ -0.12106945683294254
249
+ ]
250
+ }
251
+ }
252
+ }
253
+ }
254
+ ],
255
+ "quality_check": {
256
+ "success": true,
257
+ "message": "YES"
258
+ }
259
+ }
dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2f53b630623e2acc04e798f4714a9a9978ae88d58d9c28a4d491053fbbe09656
3
+ size 3778772