xinjjj commited on
Commit
bcb1f22
·
verified ·
1 Parent(s): ed83749

Add asset kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143

Browse files
.gitattributes CHANGED
@@ -7302,3 +7302,4 @@ dataset/kitchen_supplies/tableware/7f8c4ec8014857958a6bfc6d7fe269a9/affordance/m
7302
  dataset/kitchen_supplies/tableware/85aa0ecaa5e75c9c80f4b6226505ae04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7303
  dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7304
  dataset/kitchen_supplies/tableware/87887bb82956507982d5be205fd2091c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7302
  dataset/kitchen_supplies/tableware/85aa0ecaa5e75c9c80f4b6226505ae04/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7303
  dataset/kitchen_supplies/tableware/85bf8af8344e586bb8722069592eca4a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7304
  dataset/kitchen_supplies/tableware/87887bb82956507982d5be205fd2091c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7305
+ dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/affordance/affordance_annot.json ADDED
@@ -0,0 +1,278 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "soup spoon",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and reposition the spoon",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the spoon by the handle for scooping or serving",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp near the neck to stabilize the spoon during placement",
18
+ "confidence": 0.71
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "scoop liquid food",
23
+ "hold a spoonful of soup",
24
+ "serve or transfer food",
25
+ "provide a grasp handle",
26
+ "support stirring"
27
+ ],
28
+ "semantic_description": "One-piece dark gray to black spoon, likely metal or plastic, with a smooth slightly reflective finish, hard texture, a shallow oval bowl, and a short tapered handle forming the full utensil body.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9892387390136719,
33
+ "position": [
34
+ -0.03384457528591156,
35
+ 0.09643847044208087,
36
+ -0.001608983671758324
37
+ ],
38
+ "orientation": {
39
+ "w": 0.40796654791061315,
40
+ "xyz": [
41
+ 0.594363425599696,
42
+ 0.3778738931785002,
43
+ -0.5809532984237334
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9887835383415222,
49
+ "position": [
50
+ -0.06790659204125404,
51
+ 0.09895623769261874,
52
+ -0.0053530296427197754
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5155107155230564,
56
+ "xyz": [
57
+ 0.5019156864281199,
58
+ 0.4724672231407733,
59
+ -0.5090226605524969
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9887802600860596,
65
+ "position": [
66
+ -0.08134081587195396,
67
+ 0.09859071965911426,
68
+ -0.011880330566782504
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5319597367762234,
72
+ "xyz": [
73
+ 0.4880007042369114,
74
+ 0.4647934301730168,
75
+ -0.5126804251980476
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9886960983276367,
81
+ "position": [
82
+ -0.07989322766661644,
83
+ 0.09988345499732532,
84
+ -0.002674432995263487
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5212412975762566,
88
+ "xyz": [
89
+ 0.4936018284085698,
90
+ 0.4938695654144747,
91
+ -0.49067055857271
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9879871010780334,
97
+ "position": [
98
+ -0.07544225081801414,
99
+ 0.09523341353633441,
100
+ -0.0007426613592542708
101
+ ],
102
+ "orientation": {
103
+ "w": 0.49825341572587156,
104
+ "xyz": [
105
+ 0.48903319607170176,
106
+ -0.5166993694028246,
107
+ 0.4955924015923989
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9878537654876709,
113
+ "position": [
114
+ -0.049850743263959885,
115
+ 0.10024096365668811,
116
+ -0.005588984407950193
117
+ ],
118
+ "orientation": {
119
+ "w": 0.5416344174976006,
120
+ "xyz": [
121
+ 0.46285813937619014,
122
+ -0.5155667046920398,
123
+ 0.4760099511651385
124
+ ]
125
+ }
126
+ },
127
+ "grasp_9": {
128
+ "confidence": 0.987365186214447,
129
+ "position": [
130
+ -0.08769365027546883,
131
+ 0.09678920652368106,
132
+ -0.009017770003993064
133
+ ],
134
+ "orientation": {
135
+ "w": 0.5532963240354943,
136
+ "xyz": [
137
+ 0.46622907910350414,
138
+ 0.4933582217031355,
139
+ -0.4827952865190673
140
+ ]
141
+ }
142
+ },
143
+ "grasp_10": {
144
+ "confidence": 0.9871252179145813,
145
+ "position": [
146
+ -0.07629600539803505,
147
+ 0.10012001838185824,
148
+ -0.007188576098997146
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5338807859915333,
152
+ "xyz": [
153
+ 0.48831134082959415,
154
+ 0.48010999179210323,
155
+ -0.4960017505489807
156
+ ]
157
+ }
158
+ },
159
+ "grasp_11": {
160
+ "confidence": 0.9869513511657715,
161
+ "position": [
162
+ -0.06771603599190712,
163
+ 0.09896483566262759,
164
+ -0.002949035551864654
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5187794930738904,
168
+ "xyz": [
169
+ 0.4946753552746317,
170
+ 0.48753954635154995,
171
+ -0.4984669710153715
172
+ ]
173
+ }
174
+ },
175
+ "grasp_13": {
176
+ "confidence": 0.9866851568222046,
177
+ "position": [
178
+ -0.051890771836042404,
179
+ 0.09958058144547977,
180
+ 0.0005925313744228333
181
+ ],
182
+ "orientation": {
183
+ "w": 0.6047577915355477,
184
+ "xyz": [
185
+ 0.486968359504744,
186
+ -0.47855101624944785,
187
+ 0.4100228716363591
188
+ ]
189
+ }
190
+ },
191
+ "grasp_14": {
192
+ "confidence": 0.9865584969520569,
193
+ "position": [
194
+ -0.09135949239134789,
195
+ 0.09899423565366305,
196
+ -0.01108894107164815
197
+ ],
198
+ "orientation": {
199
+ "w": 0.56057583479845,
200
+ "xyz": [
201
+ 0.4586456868234114,
202
+ 0.49480862309768703,
203
+ -0.48017006769109755
204
+ ]
205
+ }
206
+ },
207
+ "grasp_15": {
208
+ "confidence": 0.986555814743042,
209
+ "position": [
210
+ -0.08062038943171501,
211
+ 0.10222086604335345,
212
+ 0.014969317417126149
213
+ ],
214
+ "orientation": {
215
+ "w": 0.44639514035058026,
216
+ "xyz": [
217
+ 0.5250483691375762,
218
+ -0.5513683271872466,
219
+ 0.4701580122810787
220
+ ]
221
+ }
222
+ },
223
+ "grasp_16": {
224
+ "confidence": 0.9864352345466614,
225
+ "position": [
226
+ -0.0872204415500164,
227
+ 0.09981071497895755,
228
+ -0.009268999856431037
229
+ ],
230
+ "orientation": {
231
+ "w": 0.533784992213597,
232
+ "xyz": [
233
+ 0.48574916014169844,
234
+ 0.489277869025054,
235
+ -0.48962077406036075
236
+ ]
237
+ }
238
+ },
239
+ "grasp_18": {
240
+ "confidence": 0.9861958026885986,
241
+ "position": [
242
+ -0.06809348985552788,
243
+ 0.0986906542966608,
244
+ -0.0059058142942376435
245
+ ],
246
+ "orientation": {
247
+ "w": 0.522464657645906,
248
+ "xyz": [
249
+ 0.49098614376382077,
250
+ 0.485463947884163,
251
+ -0.5002879605263358
252
+ ]
253
+ }
254
+ },
255
+ "grasp_19": {
256
+ "confidence": 0.9859630465507507,
257
+ "position": [
258
+ -0.05456952378153801,
259
+ 0.09912774260737933,
260
+ 0.018313063483219594
261
+ ],
262
+ "orientation": {
263
+ "w": 0.48446533471531067,
264
+ "xyz": [
265
+ 0.48288775750130153,
266
+ -0.6278061701811516,
267
+ 0.37144604695301364
268
+ ]
269
+ }
270
+ }
271
+ }
272
+ }
273
+ ],
274
+ "quality_check": {
275
+ "success": true,
276
+ "message": "YES"
277
+ }
278
+ }
dataset/kitchen_supplies/tableware/879b79bad9635096a48ca826c267e143/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:03c6e393fc954882a856b683acebd8480da2b1a88712f5789c40bc7ddcaa0805
3
+ size 859996