xinjjj commited on
Commit
29413cd
·
verified ·
1 Parent(s): 3be3338

Add asset kitchen_supplies/tableware/edcd0d7d33585c39850c1e8a20ce5269

Browse files
.gitattributes CHANGED
@@ -7427,3 +7427,4 @@ dataset/kitchen_supplies/tableware/ecbd2adf8f0c5499943777c6930e90c6/affordance/m
7427
  dataset/kitchen_supplies/tableware/ecd1b91f53835453a5ce08b258bacc57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7428
  dataset/kitchen_supplies/tableware/ecfce2b1d75454c98fc339725247897d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7429
  dataset/kitchen_supplies/tableware/ed352fda2bda523e85c3555f78eefc17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7427
  dataset/kitchen_supplies/tableware/ecd1b91f53835453a5ce08b258bacc57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7428
  dataset/kitchen_supplies/tableware/ecfce2b1d75454c98fc339725247897d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7429
  dataset/kitchen_supplies/tableware/ed352fda2bda523e85c3555f78eefc17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7430
+ dataset/kitchen_supplies/tableware/edcd0d7d33585c39850c1e8a20ce5269/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/edcd0d7d33585c39850c1e8a20ce5269/affordance/affordance_annot.json ADDED
@@ -0,0 +1,620 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle of spoon",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and manipulate the spoon",
10
+ "confidence": 0.95
11
+ },
12
+ {
13
+ "scenario": "hold the handle to scoop or stir with the bowl end",
14
+ "confidence": 0.97
15
+ },
16
+ {
17
+ "scenario": "grasp near the end of the handle to hang or reposition the spoon",
18
+ "confidence": 0.72
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip area",
23
+ "provide leverage for scooping",
24
+ "support stirring motions",
25
+ "connect bowl to hanging hole"
26
+ ],
27
+ "semantic_description": "Tapered white plastic handle with a matte to lightly satin finish, hard smooth texture, broad flat shape, and medium length extending from the bowl to the end hole.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9803471565246582,
32
+ "position": [
33
+ -0.11399897013325244,
34
+ -0.1273471323074773,
35
+ 0.011227837530896068
36
+ ],
37
+ "orientation": {
38
+ "w": 0.46804087712823345,
39
+ "xyz": [
40
+ -0.5170138250948515,
41
+ 0.48970531696669584,
42
+ 0.523281133361764
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9747804999351501,
48
+ "position": [
49
+ -0.1339885724009946,
50
+ -0.1284011659445241,
51
+ 0.014104618458077312
52
+ ],
53
+ "orientation": {
54
+ "w": 0.501967534835463,
55
+ "xyz": [
56
+ -0.4714422587410578,
57
+ 0.5395052939098758,
58
+ 0.4844634439124963
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9746823906898499,
64
+ "position": [
65
+ -0.1318167430581525,
66
+ -0.1235488784732297,
67
+ 0.015685708029195666
68
+ ],
69
+ "orientation": {
70
+ "w": 0.48258849238330054,
71
+ "xyz": [
72
+ -0.5416823305996746,
73
+ -0.4689935919994508,
74
+ -0.5037197736825216
75
+ ]
76
+ }
77
+ },
78
+ "grasp_5": {
79
+ "confidence": 0.974117636680603,
80
+ "position": [
81
+ -0.11543913010973483,
82
+ -0.12762415979523212,
83
+ 0.006354321027174592
84
+ ],
85
+ "orientation": {
86
+ "w": 0.499722326392357,
87
+ "xyz": [
88
+ -0.4961329912181756,
89
+ 0.4870691681494028,
90
+ 0.5166171473810808
91
+ ]
92
+ }
93
+ },
94
+ "grasp_6": {
95
+ "confidence": 0.9740755558013916,
96
+ "position": [
97
+ -0.14934336964506656,
98
+ 0.12199109222274274,
99
+ 0.022667249431833625
100
+ ],
101
+ "orientation": {
102
+ "w": 0.5033598110801417,
103
+ "xyz": [
104
+ 0.489846563123443,
105
+ 0.5591670605554971,
106
+ -0.4404673013689431
107
+ ]
108
+ }
109
+ },
110
+ "grasp_7": {
111
+ "confidence": 0.9737266302108765,
112
+ "position": [
113
+ -0.1445241553010419,
114
+ 0.11910925235133618,
115
+ 0.019094049697741866
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5094263698678346,
119
+ "xyz": [
120
+ 0.4782627758498556,
121
+ 0.553735075749207,
122
+ -0.452909435543896
123
+ ]
124
+ }
125
+ },
126
+ "grasp_8": {
127
+ "confidence": 0.9729624390602112,
128
+ "position": [
129
+ -0.11835959379095584,
130
+ -0.12949455354828387,
131
+ 0.010622286004945636
132
+ ],
133
+ "orientation": {
134
+ "w": 0.4837706689910721,
135
+ "xyz": [
136
+ -0.49070091048837633,
137
+ 0.5115187111698545,
138
+ 0.5133489694086667
139
+ ]
140
+ }
141
+ },
142
+ "grasp_10": {
143
+ "confidence": 0.9728273749351501,
144
+ "position": [
145
+ -0.19830056850332767,
146
+ 0.0916932913241908,
147
+ 0.01626771572045982
148
+ ],
149
+ "orientation": {
150
+ "w": 0.2972810593905802,
151
+ "xyz": [
152
+ 0.644954479051274,
153
+ -0.2941060239781529,
154
+ 0.6396556404340358
155
+ ]
156
+ }
157
+ },
158
+ "grasp_11": {
159
+ "confidence": 0.9724470973014832,
160
+ "position": [
161
+ -0.18833559576887637,
162
+ 0.09819755132775754,
163
+ 0.014667487470433116
164
+ ],
165
+ "orientation": {
166
+ "w": 0.6065417695119574,
167
+ "xyz": [
168
+ 0.35100248927434274,
169
+ 0.6335660725556524,
170
+ -0.32786943448105166
171
+ ]
172
+ }
173
+ },
174
+ "grasp_12": {
175
+ "confidence": 0.9723178148269653,
176
+ "position": [
177
+ -0.13588070694822818,
178
+ -0.12247113708872348,
179
+ 0.0012583344941958785
180
+ ],
181
+ "orientation": {
182
+ "w": 0.5547716553488407,
183
+ "xyz": [
184
+ -0.43151154341591863,
185
+ 0.5218719220922746,
186
+ 0.4834003467644946
187
+ ]
188
+ }
189
+ },
190
+ "grasp_15": {
191
+ "confidence": 0.9718692898750305,
192
+ "position": [
193
+ -0.18247893278021365,
194
+ 0.10211506660562009,
195
+ 0.02922224043868482
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5598781995600504,
199
+ "xyz": [
200
+ 0.3727372046797268,
201
+ 0.6666032308432986,
202
+ -0.3213152821361224
203
+ ]
204
+ }
205
+ },
206
+ "grasp_17": {
207
+ "confidence": 0.9714445471763611,
208
+ "position": [
209
+ -0.13583387259859592,
210
+ 0.11747728462796658,
211
+ 0.02276235050521791
212
+ ],
213
+ "orientation": {
214
+ "w": 0.4792143835743147,
215
+ "xyz": [
216
+ 0.4978645895204843,
217
+ 0.5465601998150128,
218
+ -0.47302893469138113
219
+ ]
220
+ }
221
+ },
222
+ "grasp_18": {
223
+ "confidence": 0.9714201092720032,
224
+ "position": [
225
+ -0.18946707074064761,
226
+ 0.1034650894580409,
227
+ 0.013865016167983413
228
+ ],
229
+ "orientation": {
230
+ "w": 0.6169511340683249,
231
+ "xyz": [
232
+ 0.34072401726931245,
233
+ 0.630279335877482,
234
+ -0.32561695440119487
235
+ ]
236
+ }
237
+ },
238
+ "grasp_19": {
239
+ "confidence": 0.9713082909584045,
240
+ "position": [
241
+ -0.1357748341979459,
242
+ 0.11900632258038968,
243
+ 0.01685762661509216
244
+ ],
245
+ "orientation": {
246
+ "w": 0.49766133209464253,
247
+ "xyz": [
248
+ 0.4858539991908302,
249
+ 0.5363976226208265,
250
+ -0.4780760195353757
251
+ ]
252
+ }
253
+ }
254
+ }
255
+ },
256
+ {
257
+ "part_name": "bowl of spoon",
258
+ "mask_color": "Green",
259
+ "graspable": true,
260
+ "grasp_scenarios": [
261
+ {
262
+ "scenario": "grasp the bowl to pick up the spoon when the handle is inaccessible",
263
+ "confidence": 0.31
264
+ },
265
+ {
266
+ "scenario": "pinch the bowl to stabilize the spoon during placement",
267
+ "confidence": 0.24
268
+ }
269
+ ],
270
+ "functional_labels": [
271
+ "hold small amounts of food",
272
+ "support scooping",
273
+ "support stirring",
274
+ "contact food or liquid"
275
+ ],
276
+ "semantic_description": "Rounded shallow white plastic bowl with a smooth slightly matte surface, hard texture, and compact cupped form at the functional end of the spoon.",
277
+ "id": 1,
278
+ "grasp_group": {
279
+ "grasp_20": {
280
+ "confidence": 0.9888878464698792,
281
+ "position": [
282
+ 0.10445923532824963,
283
+ 0.12185631121974438,
284
+ 0.03061534441076219
285
+ ],
286
+ "orientation": {
287
+ "w": 0.49765780196751963,
288
+ "xyz": [
289
+ 0.631379291272311,
290
+ 0.4999730885331183,
291
+ -0.32206181617196766
292
+ ]
293
+ }
294
+ },
295
+ "grasp_21": {
296
+ "confidence": 0.988495945930481,
297
+ "position": [
298
+ 0.11395544733386487,
299
+ 0.12286828632932156,
300
+ 0.02280936553142965
301
+ ],
302
+ "orientation": {
303
+ "w": 0.5154136888526148,
304
+ "xyz": [
305
+ 0.6255527638442309,
306
+ 0.4735243130053348,
307
+ -0.3446841945651262
308
+ ]
309
+ }
310
+ },
311
+ "grasp_22": {
312
+ "confidence": 0.9855793714523315,
313
+ "position": [
314
+ 0.10904488142114133,
315
+ 0.11761885310988873,
316
+ 0.027611527359113097
317
+ ],
318
+ "orientation": {
319
+ "w": 0.46191166963806646,
320
+ "xyz": [
321
+ 0.6099039873792567,
322
+ 0.5278114643004624,
323
+ -0.3688763936389245
324
+ ]
325
+ }
326
+ },
327
+ "grasp_23": {
328
+ "confidence": 0.9850667715072632,
329
+ "position": [
330
+ 0.12373752321582288,
331
+ 0.12363909359555691,
332
+ 0.0212706436868757
333
+ ],
334
+ "orientation": {
335
+ "w": 0.4551360103234124,
336
+ "xyz": [
337
+ 0.6335748240449559,
338
+ 0.464091752206214,
339
+ -0.41958670138298637
340
+ ]
341
+ }
342
+ },
343
+ "grasp_24": {
344
+ "confidence": 0.984992504119873,
345
+ "position": [
346
+ 0.1468765902100131,
347
+ 0.1132522540865466,
348
+ 0.025318961357697845
349
+ ],
350
+ "orientation": {
351
+ "w": 0.42782467430592097,
352
+ "xyz": [
353
+ 0.6807710294988893,
354
+ 0.40595206015205576,
355
+ -0.43441889727353783
356
+ ]
357
+ }
358
+ },
359
+ "grasp_25": {
360
+ "confidence": 0.9848789572715759,
361
+ "position": [
362
+ 0.1305915879784152,
363
+ 0.12498822237830609,
364
+ 0.018586398800835013
365
+ ],
366
+ "orientation": {
367
+ "w": 0.4683086297003569,
368
+ "xyz": [
369
+ 0.6360546412293053,
370
+ 0.43369949716711464,
371
+ -0.4336199567314962
372
+ ]
373
+ }
374
+ },
375
+ "grasp_26": {
376
+ "confidence": 0.9842729568481445,
377
+ "position": [
378
+ 0.13790454145055264,
379
+ 0.10922737594228238,
380
+ 0.03536368138156831
381
+ ],
382
+ "orientation": {
383
+ "w": 0.4220834298024398,
384
+ "xyz": [
385
+ 0.705874833535909,
386
+ 0.4212949489477843,
387
+ -0.3822261943639464
388
+ ]
389
+ }
390
+ },
391
+ "grasp_27": {
392
+ "confidence": 0.9841798543930054,
393
+ "position": [
394
+ 0.11115374590735883,
395
+ 0.12125140603166074,
396
+ 0.031140642007812858
397
+ ],
398
+ "orientation": {
399
+ "w": 0.3493806549863411,
400
+ "xyz": [
401
+ 0.527029967195012,
402
+ -0.6302180072654646,
403
+ 0.4505528103542212
404
+ ]
405
+ }
406
+ },
407
+ "grasp_28": {
408
+ "confidence": 0.9840996265411377,
409
+ "position": [
410
+ 0.14147532160859555,
411
+ 0.11258007015567273,
412
+ 0.04031877941451967
413
+ ],
414
+ "orientation": {
415
+ "w": 0.3645798538931625,
416
+ "xyz": [
417
+ 0.4249883341350816,
418
+ -0.7360327535463882,
419
+ 0.3804237527958133
420
+ ]
421
+ }
422
+ },
423
+ "grasp_29": {
424
+ "confidence": 0.9840021133422852,
425
+ "position": [
426
+ 0.1289293336449191,
427
+ 0.1202015447197482,
428
+ 0.023828435456380248
429
+ ],
430
+ "orientation": {
431
+ "w": 0.43184655683874995,
432
+ "xyz": [
433
+ 0.6502976771608913,
434
+ 0.45377098824786477,
435
+ -0.4297829366671298
436
+ ]
437
+ }
438
+ },
439
+ "grasp_30": {
440
+ "confidence": 0.9837311506271362,
441
+ "position": [
442
+ 0.13989249046426266,
443
+ 0.1162449138937518,
444
+ 0.017702025128528476
445
+ ],
446
+ "orientation": {
447
+ "w": 0.424679007458481,
448
+ "xyz": [
449
+ 0.40841575435423694,
450
+ -0.6679260126885652,
451
+ 0.4546637810440745
452
+ ]
453
+ }
454
+ },
455
+ "grasp_31": {
456
+ "confidence": 0.9836534857749939,
457
+ "position": [
458
+ 0.14718404586892575,
459
+ 0.11551396723370999,
460
+ 0.02795324265025556
461
+ ],
462
+ "orientation": {
463
+ "w": 0.40315431306150845,
464
+ "xyz": [
465
+ 0.6889470259814988,
466
+ 0.39502272483475376,
467
+ -0.45472589778379446
468
+ ]
469
+ }
470
+ },
471
+ "grasp_32": {
472
+ "confidence": 0.9834248423576355,
473
+ "position": [
474
+ 0.09841550316195935,
475
+ 0.1271457317052409,
476
+ -0.001592910150066018
477
+ ],
478
+ "orientation": {
479
+ "w": 0.5961931613087298,
480
+ "xyz": [
481
+ 0.533956578157931,
482
+ 0.470696234170904,
483
+ -0.3713342728430891
484
+ ]
485
+ }
486
+ },
487
+ "grasp_33": {
488
+ "confidence": 0.9831196665763855,
489
+ "position": [
490
+ 0.1057383957086131,
491
+ 0.12157657172065228,
492
+ 0.009833279298618436
493
+ ],
494
+ "orientation": {
495
+ "w": 0.3898355765773005,
496
+ "xyz": [
497
+ 0.4903794715010622,
498
+ -0.5659640597649808,
499
+ 0.535948579827696
500
+ ]
501
+ }
502
+ },
503
+ "grasp_34": {
504
+ "confidence": 0.9826604723930359,
505
+ "position": [
506
+ 0.10175335581880063,
507
+ 0.12483384634833783,
508
+ 0.007716494845226407
509
+ ],
510
+ "orientation": {
511
+ "w": 0.5091562987231667,
512
+ "xyz": [
513
+ 0.5434862004111315,
514
+ 0.5164126456402314,
515
+ -0.42272992898073075
516
+ ]
517
+ }
518
+ },
519
+ "grasp_35": {
520
+ "confidence": 0.9820992946624756,
521
+ "position": [
522
+ 0.14453256304841489,
523
+ 0.11304615612607449,
524
+ 0.021754272049292922
525
+ ],
526
+ "orientation": {
527
+ "w": 0.4139623968286443,
528
+ "xyz": [
529
+ 0.6738392012144456,
530
+ 0.3993830541481832,
531
+ -0.46375536760002184
532
+ ]
533
+ }
534
+ },
535
+ "grasp_36": {
536
+ "confidence": 0.9817628860473633,
537
+ "position": [
538
+ 0.1344489174662158,
539
+ 0.12066495593171567,
540
+ 0.035553347086533904
541
+ ],
542
+ "orientation": {
543
+ "w": 0.38774424279984215,
544
+ "xyz": [
545
+ 0.6766461985929463,
546
+ 0.4578162892273393,
547
+ -0.4268589572954993
548
+ ]
549
+ }
550
+ },
551
+ "grasp_37": {
552
+ "confidence": 0.9815409183502197,
553
+ "position": [
554
+ 0.14294889743905514,
555
+ 0.1205268296180293,
556
+ 0.016643436392769217
557
+ ],
558
+ "orientation": {
559
+ "w": 0.41324509256093817,
560
+ "xyz": [
561
+ 0.6486497196243293,
562
+ 0.39974596656338235,
563
+ -0.49868346365393745
564
+ ]
565
+ }
566
+ },
567
+ "grasp_38": {
568
+ "confidence": 0.9812757968902588,
569
+ "position": [
570
+ 0.1333507167873904,
571
+ 0.1127213480649516,
572
+ 0.025576257845386863
573
+ ],
574
+ "orientation": {
575
+ "w": 0.43987382556201954,
576
+ "xyz": [
577
+ 0.6639197128454367,
578
+ 0.4478861672200568,
579
+ -0.40634912783663546
580
+ ]
581
+ }
582
+ },
583
+ "grasp_39": {
584
+ "confidence": 0.9810669422149658,
585
+ "position": [
586
+ 0.13490021403413266,
587
+ 0.1173767390428111,
588
+ 0.022300259908661246
589
+ ],
590
+ "orientation": {
591
+ "w": 0.4109247265466408,
592
+ "xyz": [
593
+ 0.6599639594452644,
594
+ 0.425534057992469,
595
+ -0.46315138651887866
596
+ ]
597
+ }
598
+ }
599
+ }
600
+ },
601
+ {
602
+ "part_name": "hanging hole of spoon",
603
+ "mask_color": "Blue",
604
+ "graspable": false,
605
+ "grasp_scenarios": [],
606
+ "functional_labels": [
607
+ "enable hanging storage",
608
+ "provide attachment point",
609
+ "indicate handle end"
610
+ ],
611
+ "semantic_description": "Small circular hole through the handle end, appearing as a recessed opening in the white plastic with smooth edges and positioned near the top of the handle.",
612
+ "id": 2,
613
+ "grasp_group": {}
614
+ }
615
+ ],
616
+ "quality_check": {
617
+ "success": true,
618
+ "message": "YES"
619
+ }
620
+ }
dataset/kitchen_supplies/tableware/edcd0d7d33585c39850c1e8a20ce5269/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:3a44c55ea3405cc9752fe62afe776088c74e41156b03058dd81ea0c25f447847
3
+ size 1122472