xinjjj commited on
Commit
cd47ed9
·
verified ·
1 Parent(s): 0a7eb91

Add asset kitchen_supplies/tableware/b4a6461492bf585d99e5ff61265bf47c

Browse files
.gitattributes CHANGED
@@ -7360,4 +7360,4 @@ dataset/kitchen_supplies/tableware/b229e08a577257708ad239a5283dfa81/affordance/m
7360
  dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7361
  dataset/kitchen_supplies/tableware/b36dd11340395cda824610743ff5740d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7362
  dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7363
- dataset/kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7360
  dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7361
  dataset/kitchen_supplies/tableware/b36dd11340395cda824610743ff5740d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7362
  dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7363
+ dataset/kitchen_supplies/tableware/b4a6461492bf585d99e5ff61265bf47c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/b4a6461492bf585d99e5ff61265bf47c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,358 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "spoon",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle end to pick up and manipulate the spoon",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "grasp the neck or handle to place or retrieve the spoon from a surface",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "grasp the bowl gently to stabilize or reorient the spoon when handle access is limited",
18
+ "confidence": 0.32
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "scoop food or liquid",
23
+ "carry small portions",
24
+ "stir contents",
25
+ "provide a graspable utensil body",
26
+ "present food at the bowl end"
27
+ ],
28
+ "semantic_description": "Small one-piece silver metal spoon with a reflective smooth hard surface, featuring an oval bowl and a narrow tapered handle in a simple unmarked design.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9870722889900208,
33
+ "position": [
34
+ -0.11999814584851265,
35
+ 0.09942429961665766,
36
+ 0.01759162952657789
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5079530697166128,
40
+ "xyz": [
41
+ 0.5944577788902987,
42
+ -0.4054913803855781,
43
+ 0.47347689332773296
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9869979619979858,
49
+ "position": [
50
+ -0.1072712279856205,
51
+ 0.09386440070375102,
52
+ -0.010762299061752856
53
+ ],
54
+ "orientation": {
55
+ "w": 0.5053974660823045,
56
+ "xyz": [
57
+ 0.3174647854112715,
58
+ 0.5250647452568409,
59
+ -0.6067095883449765
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9866966605186462,
65
+ "position": [
66
+ -0.11959490552544594,
67
+ 0.09648997785552638,
68
+ 0.009972948930226266
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5045727864655137,
72
+ "xyz": [
73
+ 0.3875914485617076,
74
+ 0.5932053993650463,
75
+ -0.4932408400816176
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9866889119148254,
81
+ "position": [
82
+ -0.12854357436299324,
83
+ 0.09253580572112696,
84
+ 0.02247071114834398
85
+ ],
86
+ "orientation": {
87
+ "w": 0.4916362811338384,
88
+ "xyz": [
89
+ 0.39175969684347495,
90
+ 0.633176381042877,
91
+ -0.4515592735084105
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9865527749061584,
97
+ "position": [
98
+ -0.12179884687066078,
99
+ 0.09154101910098689,
100
+ -0.009181946166791022
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5605365775267241,
104
+ "xyz": [
105
+ 0.31559777015964313,
106
+ 0.5327267077104135,
107
+ -0.5499082174480685
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9865214824676514,
113
+ "position": [
114
+ -0.11511586979031563,
115
+ 0.10156881513103144,
116
+ 0.031970195821486413
117
+ ],
118
+ "orientation": {
119
+ "w": 0.478168776814571,
120
+ "xyz": [
121
+ 0.6195601920083568,
122
+ -0.4537540646499242,
123
+ 0.42615377291759104
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.9863160252571106,
129
+ "position": [
130
+ -0.12168524041771889,
131
+ 0.09717675747378962,
132
+ 0.023098759702406824
133
+ ],
134
+ "orientation": {
135
+ "w": 0.4707992526532684,
136
+ "xyz": [
137
+ 0.40906281699738123,
138
+ 0.6294645806372038,
139
+ -0.4634544391572058
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9862420558929443,
145
+ "position": [
146
+ -0.12032674625515938,
147
+ 0.0976120576451649,
148
+ 0.014073321013711393
149
+ ],
150
+ "orientation": {
151
+ "w": 0.4907155283729145,
152
+ "xyz": [
153
+ 0.3947027228898905,
154
+ 0.6055217338858899,
155
+ -0.4865711258889323
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.986152172088623,
161
+ "position": [
162
+ -0.10841362550854683,
163
+ 0.10221881868346827,
164
+ 0.013339002965949476
165
+ ],
166
+ "orientation": {
167
+ "w": 0.45740425601314155,
168
+ "xyz": [
169
+ 0.4021184844420129,
170
+ 0.5936897765547196,
171
+ -0.5259415559408959
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9858609437942505,
177
+ "position": [
178
+ -0.10957280173897743,
179
+ 0.09963286371930735,
180
+ 0.03904826974030584
181
+ ],
182
+ "orientation": {
183
+ "w": 0.4018612965597455,
184
+ "xyz": [
185
+ 0.45893569844486287,
186
+ 0.6536535079662272,
187
+ -0.4479091588075542
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9858201742172241,
193
+ "position": [
194
+ -0.1215992160141468,
195
+ 0.09506426455482142,
196
+ 0.030132912448607385
197
+ ],
198
+ "orientation": {
199
+ "w": 0.45548701813180464,
200
+ "xyz": [
201
+ 0.6385203647439643,
202
+ -0.4282945767151993,
203
+ 0.4487617136933358
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9857041835784912,
209
+ "position": [
210
+ -0.11769931390881538,
211
+ 0.0977508321593632,
212
+ 0.02092579787131399
213
+ ],
214
+ "orientation": {
215
+ "w": 0.47201975879846525,
216
+ "xyz": [
217
+ 0.4137003940860335,
218
+ 0.6228953562241952,
219
+ -0.4669589986618014
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9854589700698853,
225
+ "position": [
226
+ -0.1358773596584797,
227
+ 0.09164482804044383,
228
+ 0.011819647974334657
229
+ ],
230
+ "orientation": {
231
+ "w": 0.533795259855825,
232
+ "xyz": [
233
+ 0.372207252335678,
234
+ 0.6011231666964294,
235
+ -0.46386993901850715
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.9854162335395813,
241
+ "position": [
242
+ -0.12258199229836464,
243
+ 0.09476015420659678,
244
+ 0.02542197925504297
245
+ ],
246
+ "orientation": {
247
+ "w": 0.4690932877084733,
248
+ "xyz": [
249
+ 0.4150240505463297,
250
+ 0.6390312495782049,
251
+ -0.446481339988013
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9853330254554749,
257
+ "position": [
258
+ -0.13629046455025673,
259
+ 0.09312685282930033,
260
+ 0.027876375592313707
261
+ ],
262
+ "orientation": {
263
+ "w": 0.49163023263427935,
264
+ "xyz": [
265
+ 0.38470187820237706,
266
+ 0.653600176949629,
267
+ -0.42791469705882
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9851454496383667,
273
+ "position": [
274
+ -0.12324525788426399,
275
+ 0.09660348000033991,
276
+ 0.024376713088713586
277
+ ],
278
+ "orientation": {
279
+ "w": 0.4849135963334769,
280
+ "xyz": [
281
+ 0.6138790521989909,
282
+ -0.42463826842630614,
283
+ 0.45573419264974024
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.984946608543396,
289
+ "position": [
290
+ -0.12422243133187294,
291
+ 0.09742758126958506,
292
+ 0.00996231974568218
293
+ ],
294
+ "orientation": {
295
+ "w": 0.5061979504779479,
296
+ "xyz": [
297
+ 0.3701759685425475,
298
+ 0.6031439243644616,
299
+ -0.4929003892753058
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9848551154136658,
305
+ "position": [
306
+ -0.12792328372597694,
307
+ 0.09500951768859522,
308
+ 0.025582578382454813
309
+ ],
310
+ "orientation": {
311
+ "w": 0.47147297520922354,
312
+ "xyz": [
313
+ 0.41198060699297884,
314
+ 0.638407827664575,
315
+ -0.4476836591675609
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9844767451286316,
321
+ "position": [
322
+ -0.11255184188485146,
323
+ 0.10315716715558665,
324
+ 0.032548304996453226
325
+ ],
326
+ "orientation": {
327
+ "w": 0.42305139588198826,
328
+ "xyz": [
329
+ 0.46679602046881574,
330
+ 0.6282782142708075,
331
+ -0.45650353469547533
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9844720959663391,
337
+ "position": [
338
+ -0.12396872416138649,
339
+ 0.0946220576952328,
340
+ 0.03347207268234342
341
+ ],
342
+ "orientation": {
343
+ "w": 0.4218803784262203,
344
+ "xyz": [
345
+ 0.6586272600135719,
346
+ -0.4256410560746574,
347
+ 0.4550349108031319
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ }
353
+ ],
354
+ "quality_check": {
355
+ "success": true,
356
+ "message": "YES"
357
+ }
358
+ }
dataset/kitchen_supplies/tableware/b4a6461492bf585d99e5ff61265bf47c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7c24a34d710adfbeb902ceb66b3f044206ad5b1715e2fa91a0d62f244aa9bb62
3
+ size 1049580