xinjjj commited on
Commit
e74c55b
·
verified ·
1 Parent(s): 0bbe0ab

Add asset kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f

Browse files
.gitattributes CHANGED
@@ -7274,3 +7274,4 @@ dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/affordance/m
7274
  dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7275
  dataset/kitchen_supplies/tableware/680fd401dbcf5e29b6c6693fd12646ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7276
  dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7274
  dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7275
  dataset/kitchen_supplies/tableware/680fd401dbcf5e29b6c6693fd12646ea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7276
  dataset/kitchen_supplies/tableware/69abd964d45d52cfadc38131585e7878/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7277
+ dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/affordance/affordance_annot.json ADDED
@@ -0,0 +1,445 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and move the spoon",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle to orient the spoon for scooping or stirring",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the handle end to stabilize the spoon while avoiding the bowl",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "primary gripping area",
23
+ "provide leverage for manipulation",
24
+ "position the spoon during scooping",
25
+ "keep hand or gripper away from contents"
26
+ ],
27
+ "semantic_description": "Long narrow silver-gray metal handle with a smooth slightly reflective finish and hard texture, tapering toward the neck and widening at the end, extending from the bowl as the main rear part.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.9850563406944275,
32
+ "position": [
33
+ 0.09597063809633255,
34
+ 0.10959515516879037,
35
+ -0.015262815868481994
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5541757339871901,
39
+ "xyz": [
40
+ 0.5954683539286898,
41
+ -0.3967915201967325,
42
+ 0.42528012512834656
43
+ ]
44
+ }
45
+ },
46
+ "grasp_3": {
47
+ "confidence": 0.9849047660827637,
48
+ "position": [
49
+ 0.08930062502622604,
50
+ 0.10534138773800805,
51
+ -0.017275560414418578
52
+ ],
53
+ "orientation": {
54
+ "w": 0.4634049340187026,
55
+ "xyz": [
56
+ 0.39148621963961083,
57
+ 0.6064797573357268,
58
+ -0.5139812359429157
59
+ ]
60
+ }
61
+ },
62
+ "grasp_4": {
63
+ "confidence": 0.9845731854438782,
64
+ "position": [
65
+ 0.10227293521165848,
66
+ 0.10995006357552484,
67
+ -0.019093147246167064
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4603613171652195,
71
+ "xyz": [
72
+ 0.43441724529373466,
73
+ 0.5496563213853409,
74
+ -0.5451853290491611
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.9844427704811096,
80
+ "position": [
81
+ 0.0703791007399559,
82
+ 0.1032956296694465,
83
+ -0.007395560620352626
84
+ ],
85
+ "orientation": {
86
+ "w": 0.4838175126956164,
87
+ "xyz": [
88
+ 0.6407152694118554,
89
+ -0.3738611401090133,
90
+ 0.46436236482720006
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.9840643405914307,
96
+ "position": [
97
+ 0.08640222996473312,
98
+ 0.10459937696577981,
99
+ -0.008008118020370603
100
+ ],
101
+ "orientation": {
102
+ "w": 0.46395426809840773,
103
+ "xyz": [
104
+ 0.41175660122926394,
105
+ 0.6122755727569889,
106
+ -0.49022603099233386
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.9838979840278625,
112
+ "position": [
113
+ 0.09839258342981339,
114
+ 0.10488372092368081,
115
+ -0.01684275339357555
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5631245138380543,
119
+ "xyz": [
120
+ 0.5740819016542951,
121
+ -0.4201645355218817,
122
+ 0.42045512863719986
123
+ ]
124
+ }
125
+ },
126
+ "grasp_9": {
127
+ "confidence": 0.9835978150367737,
128
+ "position": [
129
+ 0.11280272156000137,
130
+ 0.10581539367558435,
131
+ -0.0166360957082361
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5975075278020245,
135
+ "xyz": [
136
+ 0.5646581580147962,
137
+ -0.4250522692578548,
138
+ 0.37878290247316926
139
+ ]
140
+ }
141
+ },
142
+ "grasp_12": {
143
+ "confidence": 0.9823378324508667,
144
+ "position": [
145
+ 0.13787346333265305,
146
+ 0.10398705099942163,
147
+ -0.030236086575314403
148
+ ],
149
+ "orientation": {
150
+ "w": 0.6445959214258512,
151
+ "xyz": [
152
+ 0.49317943973952727,
153
+ -0.46756107042465567,
154
+ 0.3502239051274401
155
+ ]
156
+ }
157
+ },
158
+ "grasp_13": {
159
+ "confidence": 0.9816950559616089,
160
+ "position": [
161
+ 0.09096778184175491,
162
+ 0.10417260770918801,
163
+ -0.014696672325953841
164
+ ],
165
+ "orientation": {
166
+ "w": 0.4333768322932305,
167
+ "xyz": [
168
+ 0.4052272120303227,
169
+ 0.5988984666146118,
170
+ -0.5378624866527533
171
+ ]
172
+ }
173
+ },
174
+ "grasp_14": {
175
+ "confidence": 0.9816777110099792,
176
+ "position": [
177
+ 0.10089472681283951,
178
+ 0.10474563931347802,
179
+ -0.015342562226578593
180
+ ],
181
+ "orientation": {
182
+ "w": 0.44032038144243285,
183
+ "xyz": [
184
+ 0.4139135708997701,
185
+ 0.5988477489364343,
186
+ -0.5255234448672645
187
+ ]
188
+ }
189
+ },
190
+ "grasp_15": {
191
+ "confidence": 0.9814385771751404,
192
+ "position": [
193
+ 0.06682943552732468,
194
+ 0.10516722296597436,
195
+ -0.010390019742771983
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5059799656175509,
199
+ "xyz": [
200
+ 0.36449328962855926,
201
+ 0.6432519357511433,
202
+ -0.44424752487979113
203
+ ]
204
+ }
205
+ },
206
+ "grasp_17": {
207
+ "confidence": 0.9813569784164429,
208
+ "position": [
209
+ 0.15033861249685287,
210
+ 0.1029764095437713,
211
+ -0.036930086789652705
212
+ ],
213
+ "orientation": {
214
+ "w": 0.40125143220463433,
215
+ "xyz": [
216
+ 0.4976018900459039,
217
+ 0.40741531855943935,
218
+ -0.652228798336584
219
+ ]
220
+ }
221
+ },
222
+ "grasp_18": {
223
+ "confidence": 0.9811912178993225,
224
+ "position": [
225
+ 0.10842997580766678,
226
+ 0.10652310197474435,
227
+ -0.03005136246792972
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5816707398896738,
231
+ "xyz": [
232
+ 0.5565482352430023,
233
+ -0.4002505516192344,
234
+ 0.43785009778758494
235
+ ]
236
+ }
237
+ },
238
+ "grasp_19": {
239
+ "confidence": 0.9811122417449951,
240
+ "position": [
241
+ 0.08341775089502335,
242
+ 0.11013413016917184,
243
+ -0.01797396200709045
244
+ ],
245
+ "orientation": {
246
+ "w": 0.48361178019982093,
247
+ "xyz": [
248
+ 0.3894996272427884,
249
+ 0.6094960539185493,
250
+ -0.4928734591022372
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "bowl interior",
258
+ "mask_color": "Green",
259
+ "graspable": false,
260
+ "grasp_scenarios": [],
261
+ "functional_labels": [
262
+ "hold small amounts of food or liquid",
263
+ "scoop contents",
264
+ "present contents for eating",
265
+ "provide concave containment surface"
266
+ ],
267
+ "semantic_description": "Oval silver-gray metal bowl interior with a smooth slightly reflective finish and hard texture, forming the shallow concave top surface at the front of the spoon.",
268
+ "id": 1,
269
+ "grasp_group": {}
270
+ },
271
+ {
272
+ "part_name": "bowl underside",
273
+ "mask_color": "Blue",
274
+ "graspable": true,
275
+ "grasp_scenarios": [
276
+ {
277
+ "scenario": "pinch the bowl to pick up the spoon when the handle is obstructed",
278
+ "confidence": 0.42
279
+ },
280
+ {
281
+ "scenario": "grasp the bowl to reorient the spoon during sorting or placement",
282
+ "confidence": 0.36
283
+ }
284
+ ],
285
+ "functional_labels": [
286
+ "support the spoon head",
287
+ "contact resting surfaces",
288
+ "provide structural backing for the bowl",
289
+ "indicate spoon orientation"
290
+ ],
291
+ "semantic_description": "Rounded silver-gray metal underside of the spoon bowl with a smooth slightly reflective finish and hard texture, forming the convex lower surface at the front and slightly larger than the neck.",
292
+ "id": 2,
293
+ "grasp_group": {
294
+ "grasp_20": {
295
+ "confidence": 0.7441085577011108,
296
+ "position": [
297
+ -0.036819896660745144,
298
+ -0.007696441549342126,
299
+ 0.08864140999503434
300
+ ],
301
+ "orientation": {
302
+ "w": 0.21925764964530084,
303
+ "xyz": [
304
+ -0.6323885911585295,
305
+ -0.7294275873016852,
306
+ 0.14123083136408368
307
+ ]
308
+ }
309
+ },
310
+ "grasp_21": {
311
+ "confidence": 0.6944113373756409,
312
+ "position": [
313
+ -0.03700715024024248,
314
+ 0.002761329582426697,
315
+ -0.09590176749043167
316
+ ],
317
+ "orientation": {
318
+ "w": 0.6611405628317334,
319
+ "xyz": [
320
+ -0.05100373848440905,
321
+ -0.07601645345767549,
322
+ 0.7446564802933431
323
+ ]
324
+ }
325
+ },
326
+ "grasp_23": {
327
+ "confidence": 0.5534347295761108,
328
+ "position": [
329
+ -0.053602815605700016,
330
+ 0.008024056733120233,
331
+ -0.09690629946999252
332
+ ],
333
+ "orientation": {
334
+ "w": 0.6239923877712887,
335
+ "xyz": [
336
+ -0.022979030269930402,
337
+ -0.06009849076945806,
338
+ 0.7787770127440672
339
+ ]
340
+ }
341
+ },
342
+ "grasp_25": {
343
+ "confidence": 0.5118753910064697,
344
+ "position": [
345
+ -0.19678881019353867,
346
+ 0.009088883933145553,
347
+ -0.029323237715288997
348
+ ],
349
+ "orientation": {
350
+ "w": 0.6399581864168901,
351
+ "xyz": [
352
+ -0.3120756465787663,
353
+ 0.42104198306022445,
354
+ -0.5619483596836663
355
+ ]
356
+ }
357
+ },
358
+ "grasp_27": {
359
+ "confidence": 0.4846097230911255,
360
+ "position": [
361
+ -0.20659189671278,
362
+ -0.005904481455218047,
363
+ -0.006009298376739025
364
+ ],
365
+ "orientation": {
366
+ "w": 0.46503665793578025,
367
+ "xyz": [
368
+ 0.49337539311334544,
369
+ 0.4021951211776609,
370
+ 0.6152728766547886
371
+ ]
372
+ }
373
+ },
374
+ "grasp_30": {
375
+ "confidence": 0.47322341799736023,
376
+ "position": [
377
+ -0.15375231951475143,
378
+ 0.014238620933610946,
379
+ -0.07286735880188644
380
+ ],
381
+ "orientation": {
382
+ "w": 0.7037502063812677,
383
+ "xyz": [
384
+ 0.24708381781078548,
385
+ 0.16276317075373392,
386
+ 0.6459050891892406
387
+ ]
388
+ }
389
+ },
390
+ "grasp_32": {
391
+ "confidence": 0.4584988057613373,
392
+ "position": [
393
+ -0.07662294059991837,
394
+ 0.004032728320453316,
395
+ -0.0962691034656018
396
+ ],
397
+ "orientation": {
398
+ "w": 0.6721673734276702,
399
+ "xyz": [
400
+ 0.05397186528396429,
401
+ 0.014705520385683402,
402
+ 0.738283013164534
403
+ ]
404
+ }
405
+ },
406
+ "grasp_34": {
407
+ "confidence": 0.45359480381011963,
408
+ "position": [
409
+ -0.17167594283819199,
410
+ -0.0018129355157725513,
411
+ -0.055299537954851985
412
+ ],
413
+ "orientation": {
414
+ "w": 0.6784611953579961,
415
+ "xyz": [
416
+ -0.25989738088017855,
417
+ 0.2825804430458093,
418
+ -0.6263322209602953
419
+ ]
420
+ }
421
+ },
422
+ "grasp_36": {
423
+ "confidence": 0.44117429852485657,
424
+ "position": [
425
+ -0.17949307709932327,
426
+ 0.01896128786029294,
427
+ -0.04855933296494186
428
+ ],
429
+ "orientation": {
430
+ "w": 0.528290306669527,
431
+ "xyz": [
432
+ -0.3009887438893081,
433
+ 0.3215386881210044,
434
+ -0.725898064450083
435
+ ]
436
+ }
437
+ }
438
+ }
439
+ }
440
+ ],
441
+ "quality_check": {
442
+ "success": true,
443
+ "message": "YES"
444
+ }
445
+ }
dataset/kitchen_supplies/tableware/6977b00350005f839a7fcc75cc8e093f/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8cf4ec3c5f681a041c2f648ea606aba05e53070b8822eb6ac3c9a6505533591c
3
+ size 606564