xinjjj commited on
Commit
e34121c
·
verified ·
1 Parent(s): 971ef42

Add asset kitchen_supplies/tableware/ae0f21d538085a44844c9e276dc914d1

Browse files
.gitattributes CHANGED
@@ -7352,4 +7352,4 @@ dataset/kitchen_supplies/tableware/abe26afde9e25c30943a77b1d1b5852a/affordance/m
7352
  dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7353
  dataset/kitchen_supplies/tableware/ac5f7e5a5ae654a5ae388a178f98ab09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7354
  dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7355
- dataset/kitchen_supplies/tableware/ae0d2ae4ea975974b6d39bdcea8ea8fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7352
  dataset/kitchen_supplies/tableware/ac350efae16a5dfe8880ac4ddb4b42ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7353
  dataset/kitchen_supplies/tableware/ac5f7e5a5ae654a5ae388a178f98ab09/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7354
  dataset/kitchen_supplies/tableware/ace98d09c98152d8b22cdd8feff6b85d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7355
+ dataset/kitchen_supplies/tableware/ae0f21d538085a44844c9e276dc914d1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/ae0f21d538085a44844c9e276dc914d1/affordance/affordance_annot.json ADDED
@@ -0,0 +1,340 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bowl body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bowl body from the sides to pick up and move it",
10
+ "confidence": 0.92
11
+ },
12
+ {
13
+ "scenario": "hold the rim and outer wall to stabilize the bowl while placing it down",
14
+ "confidence": 0.85
15
+ },
16
+ {
17
+ "scenario": "grasp the bowl body to reorient it for serving or inspection",
18
+ "confidence": 0.79
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain food or liquid",
23
+ "provide the main grasp surface",
24
+ "support serving and carrying",
25
+ "form the bowl interior",
26
+ "support placement on a surface"
27
+ ],
28
+ "semantic_description": "Large round bowl body with a pink interior and rim, white outer wall with green printed graphics, and a red base; it appears to be hard smooth glossy plastic with a slightly flared cylindrical shape.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9756602644920349,
33
+ "position": [
34
+ 0.0526445604627952,
35
+ -0.0779482302350516,
36
+ 0.11086963216075674
37
+ ],
38
+ "orientation": {
39
+ "w": 0.13138354742280028,
40
+ "xyz": [
41
+ -0.8761915602015609,
42
+ 0.4390931862864368,
43
+ 0.1490767824142314
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9748904705047607,
49
+ "position": [
50
+ 0.021828282973729074,
51
+ -0.08306134763188311,
52
+ 0.11615011940011755
53
+ ],
54
+ "orientation": {
55
+ "w": 0.117968410902923,
56
+ "xyz": [
57
+ -0.8029838936227458,
58
+ 0.5741885311366516,
59
+ 0.10773973882754945
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9744585752487183,
65
+ "position": [
66
+ 0.04319060442503542,
67
+ -0.07345955344862887,
68
+ 0.11647611955413595
69
+ ],
70
+ "orientation": {
71
+ "w": 0.07558230518310052,
72
+ "xyz": [
73
+ -0.8402497123664393,
74
+ 0.5226404782230017,
75
+ 0.12294172007157173
76
+ ]
77
+ }
78
+ },
79
+ "grasp_5": {
80
+ "confidence": 0.9737713932991028,
81
+ "position": [
82
+ 0.03195813519414514,
83
+ -0.08541477742619463,
84
+ 0.11037351289996877
85
+ ],
86
+ "orientation": {
87
+ "w": 0.12909458847401906,
88
+ "xyz": [
89
+ -0.8315587319035836,
90
+ 0.5280035030294955,
91
+ 0.1142670705418202
92
+ ]
93
+ }
94
+ },
95
+ "grasp_6": {
96
+ "confidence": 0.973391592502594,
97
+ "position": [
98
+ 0.054659309214912355,
99
+ -0.07319367202944704,
100
+ 0.11732559005031362
101
+ ],
102
+ "orientation": {
103
+ "w": 0.07074695186717389,
104
+ "xyz": [
105
+ -0.8674270922369812,
106
+ 0.469950572804706,
107
+ 0.14734845630453028
108
+ ]
109
+ }
110
+ },
111
+ "grasp_7": {
112
+ "confidence": 0.9731254577636719,
113
+ "position": [
114
+ 0.038605561829172075,
115
+ -0.07608680698103854,
116
+ 0.11402025917777792
117
+ ],
118
+ "orientation": {
119
+ "w": 0.12449136662092902,
120
+ "xyz": [
121
+ -0.49440481068108755,
122
+ -0.854415058965345,
123
+ -0.1002032425897367
124
+ ]
125
+ }
126
+ },
127
+ "grasp_8": {
128
+ "confidence": 0.9727280139923096,
129
+ "position": [
130
+ 0.049317887402139604,
131
+ -0.07793595912880846,
132
+ 0.10813247511396185
133
+ ],
134
+ "orientation": {
135
+ "w": 0.13130766358573728,
136
+ "xyz": [
137
+ -0.8743138581218927,
138
+ 0.44664398007935113,
139
+ 0.13726882398615484
140
+ ]
141
+ }
142
+ },
143
+ "grasp_9": {
144
+ "confidence": 0.971897304058075,
145
+ "position": [
146
+ 0.0017033176263794303,
147
+ 0.09163961288504652,
148
+ 0.10830531368264928
149
+ ],
150
+ "orientation": {
151
+ "w": 0.20906727213096377,
152
+ "xyz": [
153
+ 0.769466442700204,
154
+ 0.6015735637050647,
155
+ -0.04818212047222448
156
+ ]
157
+ }
158
+ },
159
+ "grasp_10": {
160
+ "confidence": 0.971874475479126,
161
+ "position": [
162
+ 0.0861790276831016,
163
+ 0.03350329873137525,
164
+ 0.10703966865548864
165
+ ],
166
+ "orientation": {
167
+ "w": 0.17224477228415752,
168
+ "xyz": [
169
+ 0.08060600623225042,
170
+ -0.970138456253768,
171
+ 0.15055160536380888
172
+ ]
173
+ }
174
+ },
175
+ "grasp_11": {
176
+ "confidence": 0.9713329076766968,
177
+ "position": [
178
+ 0.007616944028995931,
179
+ -0.09387279572911211,
180
+ 0.10594505170593038
181
+ ],
182
+ "orientation": {
183
+ "w": 0.05749136016344326,
184
+ "xyz": [
185
+ -0.5388229786746019,
186
+ -0.8028658702918742,
187
+ -0.24853759369410974
188
+ ]
189
+ }
190
+ },
191
+ "grasp_12": {
192
+ "confidence": 0.9710432887077332,
193
+ "position": [
194
+ 0.0296972751384601,
195
+ 0.08924606916480116,
196
+ 0.10933152685174718
197
+ ],
198
+ "orientation": {
199
+ "w": 0.20745604963548542,
200
+ "xyz": [
201
+ 0.6417464721765413,
202
+ -0.7365766011072234,
203
+ 0.05077758974127599
204
+ ]
205
+ }
206
+ },
207
+ "grasp_13": {
208
+ "confidence": 0.9709604382514954,
209
+ "position": [
210
+ 0.08693062735255808,
211
+ -0.012619092045497382,
212
+ 0.11352591315517202
213
+ ],
214
+ "orientation": {
215
+ "w": 0.014596495111066414,
216
+ "xyz": [
217
+ 0.9810880706537545,
218
+ -0.0690024592792991,
219
+ -0.18025482119703448
220
+ ]
221
+ }
222
+ },
223
+ "grasp_14": {
224
+ "confidence": 0.9709181785583496,
225
+ "position": [
226
+ 0.029929975396953523,
227
+ -0.07827814194388338,
228
+ 0.11821182171115652
229
+ ],
230
+ "orientation": {
231
+ "w": 0.071600108084707,
232
+ "xyz": [
233
+ -0.8013547774933316,
234
+ 0.5816021471700459,
235
+ 0.12017856513564949
236
+ ]
237
+ }
238
+ },
239
+ "grasp_15": {
240
+ "confidence": 0.9709121584892273,
241
+ "position": [
242
+ 0.0019319975981488824,
243
+ 0.0784509750919824,
244
+ 0.11197422543773428
245
+ ],
246
+ "orientation": {
247
+ "w": 0.029531794708822293,
248
+ "xyz": [
249
+ -0.5805061830934021,
250
+ 0.7834744432696923,
251
+ -0.2197913584171378
252
+ ]
253
+ }
254
+ },
255
+ "grasp_16": {
256
+ "confidence": 0.9708582162857056,
257
+ "position": [
258
+ 0.013957165530882776,
259
+ 0.09058499065213255,
260
+ 0.10985720256576315
261
+ ],
262
+ "orientation": {
263
+ "w": 0.16991934905862208,
264
+ "xyz": [
265
+ 0.67432487666341,
266
+ -0.7138051136742952,
267
+ 0.08303996158957677
268
+ ]
269
+ }
270
+ },
271
+ "grasp_17": {
272
+ "confidence": 0.9702802300453186,
273
+ "position": [
274
+ 0.08679933322127908,
275
+ 0.0265787235366588,
276
+ 0.11186117777833715
277
+ ],
278
+ "orientation": {
279
+ "w": 0.0920882891060754,
280
+ "xyz": [
281
+ 0.9794289255042438,
282
+ 0.042037786199003585,
283
+ -0.17456102493570994
284
+ ]
285
+ }
286
+ },
287
+ "grasp_18": {
288
+ "confidence": 0.9702084064483643,
289
+ "position": [
290
+ 0.026993571198545396,
291
+ 0.09030674871974043,
292
+ 0.10322213271865621
293
+ ],
294
+ "orientation": {
295
+ "w": 0.22066914694905132,
296
+ "xyz": [
297
+ 0.6376244608276957,
298
+ -0.7359624240212023,
299
+ 0.05567301831052533
300
+ ]
301
+ }
302
+ },
303
+ "grasp_19": {
304
+ "confidence": 0.9700229167938232,
305
+ "position": [
306
+ 0.021474883309565485,
307
+ -0.09062958779759356,
308
+ 0.11062692204723135
309
+ ],
310
+ "orientation": {
311
+ "w": 0.12913738633658373,
312
+ "xyz": [
313
+ -0.7824330303542301,
314
+ 0.5910319417199866,
315
+ 0.14765951485615442
316
+ ]
317
+ }
318
+ }
319
+ }
320
+ },
321
+ {
322
+ "part_name": "decorative side appliqu\u00e9",
323
+ "mask_color": "Blue",
324
+ "graspable": false,
325
+ "grasp_scenarios": [],
326
+ "functional_labels": [
327
+ "serve as decoration",
328
+ "provide a character or visual accent",
329
+ "aid visual identification of the bowl"
330
+ ],
331
+ "semantic_description": "Small yellow star-shaped decorative piece attached near the upper outer side of the bowl, with a cartoon face on the front; it appears to be smooth hard plastic and protrudes slightly from the wall.",
332
+ "id": 2,
333
+ "grasp_group": {}
334
+ }
335
+ ],
336
+ "quality_check": {
337
+ "success": true,
338
+ "message": "YES"
339
+ }
340
+ }
dataset/kitchen_supplies/tableware/ae0f21d538085a44844c9e276dc914d1/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3b7cda27303015a93cb361cd50065fc751526cfcf24c3d557d5164d215fc7d93
3
+ size 3778304