xinjjj commited on
Commit
e4e4f41
·
verified ·
1 Parent(s): 1462f74

Add asset kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b

Browse files
.gitattributes CHANGED
@@ -7444,4 +7444,4 @@ dataset/kitchen_supplies/utensils/62532811104d5fadad69ca298ef4db5e/affordance/me
7444
  dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7445
  dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7446
  dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7447
- dataset/kitchen_supplies/utensils/74075ca6ed8d554ababc3d323d3f2a0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7444
  dataset/kitchen_supplies/utensils/63d8314f1ec85754a7015773519b820c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7445
  dataset/kitchen_supplies/utensils/6824278dd3fd5c9aaa87f447b82352f2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7446
  dataset/kitchen_supplies/utensils/6cb06041371650eb93688f2862e66490/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7447
+ dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/affordance/affordance_annot.json ADDED
@@ -0,0 +1,546 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "glass body",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the glass body around the sides to pick up the shaker",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the body to stabilize and orient the shaker while dispensing salt",
14
+ "confidence": 0.92
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "contain salt",
19
+ "main grasp surface",
20
+ "support shaking to dispense",
21
+ "provide structural body",
22
+ "rest on a surface"
23
+ ],
24
+ "semantic_description": "Transparent clear glass body with a smooth glossy hard surface, rounded-square cylindrical shape with gently tapering sides, forming the large lower portion of the shaker and revealing white salt inside.",
25
+ "id": 0,
26
+ "grasp_group": {
27
+ "grasp_4": {
28
+ "confidence": 0.6807538866996765,
29
+ "position": [
30
+ 0.008890551122021861,
31
+ 0.11713007336948067,
32
+ -0.028899305500090122
33
+ ],
34
+ "orientation": {
35
+ "w": 0.7162801425655259,
36
+ "xyz": [
37
+ 0.6973521993754274,
38
+ -0.016595017402079693,
39
+ -0.019164362498880077
40
+ ]
41
+ }
42
+ },
43
+ "grasp_7": {
44
+ "confidence": 0.6761443018913269,
45
+ "position": [
46
+ 0.03112781660456676,
47
+ 0.10786481446120888,
48
+ -0.007080036215484142
49
+ ],
50
+ "orientation": {
51
+ "w": 0.07919992428169327,
52
+ "xyz": [
53
+ -0.10107286008369055,
54
+ -0.8191323301364939,
55
+ 0.5590472919829194
56
+ ]
57
+ }
58
+ },
59
+ "grasp_8": {
60
+ "confidence": 0.6734585762023926,
61
+ "position": [
62
+ 0.002201771902036853,
63
+ 0.11783744639251381,
64
+ -0.02370247896760702
65
+ ],
66
+ "orientation": {
67
+ "w": 0.7183982325272131,
68
+ "xyz": [
69
+ 0.6956240735316174,
70
+ 0.00011173005753484233,
71
+ 0.0033339678236955876
72
+ ]
73
+ }
74
+ },
75
+ "grasp_10": {
76
+ "confidence": 0.6693763732910156,
77
+ "position": [
78
+ 0.060701471360516734,
79
+ -0.10502813511993736,
80
+ -0.05948496516793966
81
+ ],
82
+ "orientation": {
83
+ "w": 0.7310993147557855,
84
+ "xyz": [
85
+ -0.6311569717823505,
86
+ -0.18481259120797777,
87
+ 0.18160114279692033
88
+ ]
89
+ }
90
+ },
91
+ "grasp_13": {
92
+ "confidence": 0.6620125770568848,
93
+ "position": [
94
+ 0.00014741763152414933,
95
+ 0.11425131803844124,
96
+ -0.026353460736572742
97
+ ],
98
+ "orientation": {
99
+ "w": 0.7187048876227962,
100
+ "xyz": [
101
+ 0.6949795366349397,
102
+ 0.007842608574200383,
103
+ 0.02013011814520917
104
+ ]
105
+ }
106
+ },
107
+ "grasp_14": {
108
+ "confidence": 0.6619263291358948,
109
+ "position": [
110
+ 0.008804543482256122,
111
+ -0.11909497284796089,
112
+ -0.05780776124447584
113
+ ],
114
+ "orientation": {
115
+ "w": 0.7253206165079595,
116
+ "xyz": [
117
+ -0.6871057339090313,
118
+ -0.03786689499918816,
119
+ 0.019021355392434772
120
+ ]
121
+ }
122
+ },
123
+ "grasp_15": {
124
+ "confidence": 0.6618516445159912,
125
+ "position": [
126
+ 0.009219782034051605,
127
+ 0.1134863073239103,
128
+ -0.02395517658442259
129
+ ],
130
+ "orientation": {
131
+ "w": 0.7168002854899249,
132
+ "xyz": [
133
+ 0.6965207529813251,
134
+ -0.030180593089432106,
135
+ -0.012055006788082112
136
+ ]
137
+ }
138
+ },
139
+ "grasp_17": {
140
+ "confidence": 0.6599324941635132,
141
+ "position": [
142
+ -0.004711998553830199,
143
+ 0.11625762528274208,
144
+ -0.02612088155001402
145
+ ],
146
+ "orientation": {
147
+ "w": 0.7183643635299582,
148
+ "xyz": [
149
+ 0.6949785273987821,
150
+ 0.021666289555702045,
151
+ 0.022092070109129603
152
+ ]
153
+ }
154
+ }
155
+ }
156
+ },
157
+ {
158
+ "part_name": "lid skirt",
159
+ "mask_color": "Yellow",
160
+ "graspable": true,
161
+ "grasp_scenarios": [
162
+ {
163
+ "scenario": "grasp the metal skirt/rim to twist or pull the top during opening or refilling",
164
+ "confidence": 0.62
165
+ },
166
+ {
167
+ "scenario": "pinch the upper rim to help reorient the shaker",
168
+ "confidence": 0.46
169
+ }
170
+ ],
171
+ "functional_labels": [
172
+ "connect cap to body",
173
+ "secure the top",
174
+ "provide twisting surface",
175
+ "help seal the contents"
176
+ ],
177
+ "semantic_description": "Metallic bronze ring below the top cap, with a reflective smooth hard finish and band-like shape wrapping around the shaker neck.",
178
+ "id": 3,
179
+ "grasp_group": {
180
+ "grasp_44": {
181
+ "confidence": 0.5835266709327698,
182
+ "position": [
183
+ -0.10889762213628273,
184
+ 0.007026580278761685,
185
+ 0.05534846056252718
186
+ ],
187
+ "orientation": {
188
+ "w": 0.45093998070873204,
189
+ "xyz": [
190
+ 0.571776194252948,
191
+ 0.5470685309495597,
192
+ 0.4128451767051589
193
+ ]
194
+ }
195
+ },
196
+ "grasp_48": {
197
+ "confidence": 0.5488052368164062,
198
+ "position": [
199
+ -0.11602942964236718,
200
+ 0.0012912959209643304,
201
+ 0.041319736279547215
202
+ ],
203
+ "orientation": {
204
+ "w": 0.465604851438593,
205
+ "xyz": [
206
+ 0.5509221857495565,
207
+ 0.5319995652440254,
208
+ 0.44347866932463015
209
+ ]
210
+ }
211
+ },
212
+ "grasp_49": {
213
+ "confidence": 0.547812283039093,
214
+ "position": [
215
+ -0.10569934865634423,
216
+ 0.0473464789101854,
217
+ 0.027186797000467777
218
+ ],
219
+ "orientation": {
220
+ "w": 0.6161384463721649,
221
+ "xyz": [
222
+ 0.5708942934856457,
223
+ 0.397056638935561,
224
+ 0.3698636857611411
225
+ ]
226
+ }
227
+ },
228
+ "grasp_51": {
229
+ "confidence": 0.5460830330848694,
230
+ "position": [
231
+ -0.10937236568133812,
232
+ 0.01678745506796986,
233
+ 0.04792581219226122
234
+ ],
235
+ "orientation": {
236
+ "w": 0.48852058323890996,
237
+ "xyz": [
238
+ 0.5786336776295268,
239
+ 0.5193733592633774,
240
+ 0.39595709433260406
241
+ ]
242
+ }
243
+ },
244
+ "grasp_53": {
245
+ "confidence": 0.5407909750938416,
246
+ "position": [
247
+ -0.10769755711953621,
248
+ -0.009911023429594934,
249
+ 0.028326143510639668
250
+ ],
251
+ "orientation": {
252
+ "w": 0.5229339167682662,
253
+ "xyz": [
254
+ -0.5217871694087337,
255
+ 0.4991941475027927,
256
+ -0.4528614265233701
257
+ ]
258
+ }
259
+ },
260
+ "grasp_54": {
261
+ "confidence": 0.5364590287208557,
262
+ "position": [
263
+ -0.11262075921695214,
264
+ -0.03999408090021461,
265
+ 0.032022287137806416
266
+ ],
267
+ "orientation": {
268
+ "w": 0.5819141077607773,
269
+ "xyz": [
270
+ -0.5717698688680298,
271
+ 0.42794916906758707,
272
+ -0.3889918982934941
273
+ ]
274
+ }
275
+ },
276
+ "grasp_55": {
277
+ "confidence": 0.5350966453552246,
278
+ "position": [
279
+ -0.11627554467122536,
280
+ -0.01268609834369272,
281
+ 0.029687811620533466
282
+ ],
283
+ "orientation": {
284
+ "w": 0.4897228361154255,
285
+ "xyz": [
286
+ 0.4710772352389622,
287
+ 0.5190223276360152,
288
+ 0.518530235995908
289
+ ]
290
+ }
291
+ },
292
+ "grasp_56": {
293
+ "confidence": 0.5332750082015991,
294
+ "position": [
295
+ -0.10852875879209023,
296
+ 0.01448137836996466,
297
+ 0.058685232885181904
298
+ ],
299
+ "orientation": {
300
+ "w": 0.3979282497450908,
301
+ "xyz": [
302
+ -0.5182116380718513,
303
+ 0.6197126304404078,
304
+ -0.43481727414435534
305
+ ]
306
+ }
307
+ },
308
+ "grasp_58": {
309
+ "confidence": 0.5265931487083435,
310
+ "position": [
311
+ -0.10760327002208214,
312
+ -0.009150134748779237,
313
+ 0.042517238296568394
314
+ ],
315
+ "orientation": {
316
+ "w": 0.4920681860723183,
317
+ "xyz": [
318
+ -0.5473618091276266,
319
+ 0.5247471507267024,
320
+ -0.42767321399432773
321
+ ]
322
+ }
323
+ },
324
+ "grasp_59": {
325
+ "confidence": 0.5255330801010132,
326
+ "position": [
327
+ -0.11245485713880043,
328
+ -0.020739536150358617,
329
+ 0.04192074853926897
330
+ ],
331
+ "orientation": {
332
+ "w": 0.5137077438917285,
333
+ "xyz": [
334
+ -0.5688445051961634,
335
+ 0.48798173831718505,
336
+ -0.4176052033233552
337
+ ]
338
+ }
339
+ }
340
+ }
341
+ },
342
+ {
343
+ "part_name": "upper cap side band",
344
+ "mask_color": "Blue",
345
+ "graspable": false,
346
+ "grasp_scenarios": [],
347
+ "functional_labels": [
348
+ "form the side wall of the top cap",
349
+ "connect the cap top to the lower lid skirt",
350
+ "help enclose the dispensing top"
351
+ ],
352
+ "semantic_description": "Thin metallic bronze band around the upper portion of the lid, with a smooth reflective finish, visible as a narrow ring between the domed top and the wider lower lid skirt.",
353
+ "id": 2,
354
+ "grasp_group": {}
355
+ },
356
+ {
357
+ "part_name": "shaker cap top",
358
+ "mask_color": "Green",
359
+ "graspable": true,
360
+ "grasp_scenarios": [
361
+ {
362
+ "scenario": "grasp the top cap to remove or adjust the lid",
363
+ "confidence": 0.57
364
+ },
365
+ {
366
+ "scenario": "hold the top while manipulating the shaker for refilling",
367
+ "confidence": 0.38
368
+ }
369
+ ],
370
+ "functional_labels": [
371
+ "cover the opening",
372
+ "dispense salt through top holes",
373
+ "protect contents",
374
+ "provide top handling surface"
375
+ ],
376
+ "semantic_description": "Rounded bronze cap top with a glossy reflective hard finish, broad circular top, and slightly domed shape covering the shaker opening.",
377
+ "id": 1,
378
+ "grasp_group": {
379
+ "grasp_25": {
380
+ "confidence": 0.6542113423347473,
381
+ "position": [
382
+ -0.05508381074469071,
383
+ 0.012570801773108542,
384
+ 0.13201279658824205
385
+ ],
386
+ "orientation": {
387
+ "w": 0.21551431029647755,
388
+ "xyz": [
389
+ 0.7167604147627872,
390
+ 0.644091464521086,
391
+ 0.1579692223744658
392
+ ]
393
+ }
394
+ },
395
+ "grasp_26": {
396
+ "confidence": 0.6534488797187805,
397
+ "position": [
398
+ 0.09195197054941673,
399
+ -0.028010736568830907,
400
+ 0.10573565680533648
401
+ ],
402
+ "orientation": {
403
+ "w": 0.29323987979719685,
404
+ "xyz": [
405
+ 0.5365585241883368,
406
+ -0.6832233948215148,
407
+ -0.3991504926539907
408
+ ]
409
+ }
410
+ },
411
+ "grasp_28": {
412
+ "confidence": 0.6497965455055237,
413
+ "position": [
414
+ -0.053238551525282674,
415
+ 0.020841381163336337,
416
+ 0.1338410945609212
417
+ ],
418
+ "orientation": {
419
+ "w": 0.2122772052540636,
420
+ "xyz": [
421
+ 0.7812986753366139,
422
+ 0.5678459506320126,
423
+ 0.1485319642285855
424
+ ]
425
+ }
426
+ },
427
+ "grasp_29": {
428
+ "confidence": 0.6343689560890198,
429
+ "position": [
430
+ -0.0493690589646576,
431
+ 0.012955611222423613,
432
+ 0.13285696227103472
433
+ ],
434
+ "orientation": {
435
+ "w": 0.20573273610560625,
436
+ "xyz": [
437
+ 0.7067218659767647,
438
+ 0.6607787373474974,
439
+ 0.14693435852198647
440
+ ]
441
+ }
442
+ },
443
+ "grasp_32": {
444
+ "confidence": 0.6221636533737183,
445
+ "position": [
446
+ 0.10610399076540489,
447
+ -0.022968824370764196,
448
+ 0.08610302675515413
449
+ ],
450
+ "orientation": {
451
+ "w": 0.3245425810057145,
452
+ "xyz": [
453
+ 0.5479561505385437,
454
+ -0.6451616718660272,
455
+ -0.42211679350170733
456
+ ]
457
+ }
458
+ },
459
+ "grasp_34": {
460
+ "confidence": 0.6166804432868958,
461
+ "position": [
462
+ -0.052466984299826436,
463
+ 0.003191789728589356,
464
+ 0.13137000519782305
465
+ ],
466
+ "orientation": {
467
+ "w": 0.18223881251667143,
468
+ "xyz": [
469
+ 0.6768349709586623,
470
+ 0.6924067533356121,
471
+ 0.17104480475927109
472
+ ]
473
+ }
474
+ },
475
+ "grasp_36": {
476
+ "confidence": 0.6156340837478638,
477
+ "position": [
478
+ 0.023431845547747798,
479
+ -0.11415918671991676,
480
+ 0.05225625727325678
481
+ ],
482
+ "orientation": {
483
+ "w": 0.6722025792133709,
484
+ "xyz": [
485
+ -0.7347876341706981,
486
+ -0.05593806984049232,
487
+ 0.07142658826543825
488
+ ]
489
+ }
490
+ },
491
+ "grasp_37": {
492
+ "confidence": 0.6150997877120972,
493
+ "position": [
494
+ 0.09090085753996391,
495
+ -0.008264812990091741,
496
+ 0.10074213612824678
497
+ ],
498
+ "orientation": {
499
+ "w": 0.3289380215635046,
500
+ "xyz": [
501
+ 0.595774004350553,
502
+ -0.6318551813133391,
503
+ -0.37096110787720354
504
+ ]
505
+ }
506
+ },
507
+ "grasp_38": {
508
+ "confidence": 0.6143593192100525,
509
+ "position": [
510
+ -0.0611422950605629,
511
+ -0.0042713325237855315,
512
+ 0.12971503753215075
513
+ ],
514
+ "orientation": {
515
+ "w": 0.19021490704099966,
516
+ "xyz": [
517
+ 0.6394991260045089,
518
+ 0.7184924665007558,
519
+ 0.19653939187988
520
+ ]
521
+ }
522
+ },
523
+ "grasp_39": {
524
+ "confidence": 0.614203929901123,
525
+ "position": [
526
+ -0.061785719750332646,
527
+ 0.010067622759379447,
528
+ 0.13404994923621416
529
+ ],
530
+ "orientation": {
531
+ "w": 0.17420971569077356,
532
+ "xyz": [
533
+ -0.6273340973416562,
534
+ 0.7352911724472296,
535
+ -0.18828116473149117
536
+ ]
537
+ }
538
+ }
539
+ }
540
+ }
541
+ ],
542
+ "quality_check": {
543
+ "success": true,
544
+ "message": "YES"
545
+ }
546
+ }
dataset/kitchen_supplies/utensils/6f7beae1fb2e52b0b707367cd3bd590b/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:2625c31fa3e316b2531647773c62ab9425151976e602c176e846f2fc8370e6ec
3
+ size 1917944