xinjjj commited on
Commit
830c70d
·
verified ·
1 Parent(s): 3eda392

Add asset kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12

Browse files
.gitattributes CHANGED
@@ -7597,3 +7597,4 @@ dataset/kitchen_supplies/ware/8e6870fa162d50ba9d3d6cda85c9451a/affordance/mesh_p
7597
  dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7598
  dataset/kitchen_supplies/ware/91ab119347dd56b098c1f553e824e907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7599
  dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7597
  dataset/kitchen_supplies/ware/8fcf16a567b15d20b9df625e271d5903/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7598
  dataset/kitchen_supplies/ware/91ab119347dd56b098c1f553e824e907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7599
  dataset/kitchen_supplies/ware/8e14e822769a5828800ae6647acb6588/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7600
+ dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/affordance/affordance_annot.json ADDED
@@ -0,0 +1,386 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "cup rim",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the rim to pick up or reposition the lightweight cup",
10
+ "confidence": 0.63
11
+ },
12
+ {
13
+ "scenario": "hold the rim to stabilize the cup during placement",
14
+ "confidence": 0.58
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "define the drinking edge",
19
+ "stiffen the cup opening",
20
+ "support sipping",
21
+ "provide top-edge contact"
22
+ ],
23
+ "semantic_description": "Thin circular lip at the top, appearing white to light beige plastic with a slightly glossy smooth hard surface, wrapping the cup opening as a narrow reinforced edge.",
24
+ "id": 1,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.979668915271759,
28
+ "position": [
29
+ -0.011084228870458901,
30
+ -0.08896608953364193,
31
+ 0.13459719065576792
32
+ ],
33
+ "orientation": {
34
+ "w": 0.1617322255464647,
35
+ "xyz": [
36
+ -0.7263309672197691,
37
+ -0.6554848531955794,
38
+ -0.12894037578878007
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9790760278701782,
44
+ "position": [
45
+ 0.020534457522444427,
46
+ -0.08530209516175091,
47
+ 0.14121656958013773
48
+ ],
49
+ "orientation": {
50
+ "w": 0.13065389474215458,
51
+ "xyz": [
52
+ -0.5683453814344035,
53
+ -0.8016408755542375,
54
+ -0.13147240711086325
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9752723574638367,
60
+ "position": [
61
+ 0.03178197692614049,
62
+ -0.06435954128392041,
63
+ 0.14884475711733103
64
+ ],
65
+ "orientation": {
66
+ "w": 0.06182155184380279,
67
+ "xyz": [
68
+ -0.8892546345807036,
69
+ 0.45184815146795915,
70
+ 0.03517866710595607
71
+ ]
72
+ }
73
+ },
74
+ "grasp_3": {
75
+ "confidence": 0.9743766188621521,
76
+ "position": [
77
+ 0.02667868125718087,
78
+ -0.062073487089946866,
79
+ 0.14675007108598948
80
+ ],
81
+ "orientation": {
82
+ "w": 0.06445676288234033,
83
+ "xyz": [
84
+ -0.8715494076062205,
85
+ 0.4853809209443487,
86
+ 0.025540505147550477
87
+ ]
88
+ }
89
+ },
90
+ "grasp_4": {
91
+ "confidence": 0.9743527173995972,
92
+ "position": [
93
+ 0.008744222926907241,
94
+ -0.07728964393027127,
95
+ 0.1433054292574525
96
+ ],
97
+ "orientation": {
98
+ "w": 0.2082524606581277,
99
+ "xyz": [
100
+ -0.8658297465972055,
101
+ 0.45466288468471494,
102
+ -0.015856349751050415
103
+ ]
104
+ }
105
+ },
106
+ "grasp_7": {
107
+ "confidence": 0.9726118445396423,
108
+ "position": [
109
+ -0.0018691682489588857,
110
+ -0.09132011537440121,
111
+ 0.13911690656095743
112
+ ],
113
+ "orientation": {
114
+ "w": 0.1955775288110817,
115
+ "xyz": [
116
+ -0.7877162297190478,
117
+ 0.5769722027626207,
118
+ 0.09140923859549456
119
+ ]
120
+ }
121
+ },
122
+ "grasp_8": {
123
+ "confidence": 0.972257673740387,
124
+ "position": [
125
+ -0.03517899860162288,
126
+ 0.05651509086601436,
127
+ 0.14929366949945688
128
+ ],
129
+ "orientation": {
130
+ "w": 0.018527002600813202,
131
+ "xyz": [
132
+ 0.5059313136808069,
133
+ 0.8621880229048005,
134
+ -0.017946285725856333
135
+ ]
136
+ }
137
+ },
138
+ "grasp_9": {
139
+ "confidence": 0.9722453951835632,
140
+ "position": [
141
+ 0.07160441752057523,
142
+ -0.03157306392677128,
143
+ 0.14536682609468699
144
+ ],
145
+ "orientation": {
146
+ "w": 0.14050125636551616,
147
+ "xyz": [
148
+ -0.2227335915408762,
149
+ -0.9639010878439134,
150
+ -0.039291691390604885
151
+ ]
152
+ }
153
+ },
154
+ "grasp_10": {
155
+ "confidence": 0.9719984531402588,
156
+ "position": [
157
+ -0.02359738026279956,
158
+ -0.0650733292568475,
159
+ 0.1435033017769456
160
+ ],
161
+ "orientation": {
162
+ "w": 0.0883445995645158,
163
+ "xyz": [
164
+ -0.6105682844575995,
165
+ 0.7855428666540168,
166
+ 0.048207949461463784
167
+ ]
168
+ }
169
+ },
170
+ "grasp_11": {
171
+ "confidence": 0.9719544053077698,
172
+ "position": [
173
+ 0.024435715633444488,
174
+ -0.06728383456356823,
175
+ 0.1484057093039155
176
+ ],
177
+ "orientation": {
178
+ "w": 0.04777562565231743,
179
+ "xyz": [
180
+ -0.835805468688106,
181
+ 0.546077104101136,
182
+ 0.030765312953105292
183
+ ]
184
+ }
185
+ },
186
+ "grasp_12": {
187
+ "confidence": 0.9714140295982361,
188
+ "position": [
189
+ 0.05119134287815541,
190
+ -0.06080268626101315,
191
+ 0.14336226228624582
192
+ ],
193
+ "orientation": {
194
+ "w": 0.12565977097855632,
195
+ "xyz": [
196
+ -0.38221472531921974,
197
+ -0.9079828372804136,
198
+ -0.11699868764640071
199
+ ]
200
+ }
201
+ },
202
+ "grasp_13": {
203
+ "confidence": 0.9710088968276978,
204
+ "position": [
205
+ 0.05505820910912007,
206
+ -0.05529281054623425,
207
+ 0.14596610609441996
208
+ ],
209
+ "orientation": {
210
+ "w": 0.10168442725276153,
211
+ "xyz": [
212
+ -0.2769761688601001,
213
+ -0.9466856082141799,
214
+ -0.12934774191305906
215
+ ]
216
+ }
217
+ },
218
+ "grasp_14": {
219
+ "confidence": 0.9709238409996033,
220
+ "position": [
221
+ 0.024065809207968414,
222
+ -0.06217593257315457,
223
+ 0.15028684679418802
224
+ ],
225
+ "orientation": {
226
+ "w": 0.0077443947249063935,
227
+ "xyz": [
228
+ -0.4613066341863135,
229
+ -0.8839984777173195,
230
+ -0.07538504493267452
231
+ ]
232
+ }
233
+ },
234
+ "grasp_15": {
235
+ "confidence": 0.9702479839324951,
236
+ "position": [
237
+ 0.02544153470080346,
238
+ -0.05893846903927624,
239
+ 0.15144226793199778
240
+ ],
241
+ "orientation": {
242
+ "w": 0.04710487223245215,
243
+ "xyz": [
244
+ -0.8552616303694761,
245
+ 0.5160048925636344,
246
+ 0.00690112165538343
247
+ ]
248
+ }
249
+ },
250
+ "grasp_16": {
251
+ "confidence": 0.9702146649360657,
252
+ "position": [
253
+ -0.029142614570446312,
254
+ 0.05050983722321689,
255
+ 0.14934528712183237
256
+ ],
257
+ "orientation": {
258
+ "w": 0.010247959739829157,
259
+ "xyz": [
260
+ 0.487623059314132,
261
+ 0.8729559167514918,
262
+ -0.008166930565366926
263
+ ]
264
+ }
265
+ },
266
+ "grasp_17": {
267
+ "confidence": 0.9701827764511108,
268
+ "position": [
269
+ -0.07559799228329211,
270
+ 0.01981402817182243,
271
+ 0.14413029793649912
272
+ ],
273
+ "orientation": {
274
+ "w": 0.15139499543308313,
275
+ "xyz": [
276
+ 0.21863966952920255,
277
+ 0.9639121068321288,
278
+ 0.012235218364400224
279
+ ]
280
+ }
281
+ },
282
+ "grasp_18": {
283
+ "confidence": 0.9701271653175354,
284
+ "position": [
285
+ -0.04468866263050586,
286
+ 0.05126433144323528,
287
+ 0.1467737490311265
288
+ ],
289
+ "orientation": {
290
+ "w": 0.04882999286748374,
291
+ "xyz": [
292
+ 0.9388431841964436,
293
+ -0.33679800550645034,
294
+ 0.05249962639220607
295
+ ]
296
+ }
297
+ },
298
+ "grasp_19": {
299
+ "confidence": 0.9700325727462769,
300
+ "position": [
301
+ 0.03715853195171803,
302
+ -0.053461599396541715,
303
+ 0.1481087440624833
304
+ ],
305
+ "orientation": {
306
+ "w": 0.05145013327131582,
307
+ "xyz": [
308
+ -0.3971439094441479,
309
+ -0.915204460892538,
310
+ -0.04505989059219779
311
+ ]
312
+ }
313
+ }
314
+ }
315
+ },
316
+ {
317
+ "part_name": "cup body",
318
+ "mask_color": "Blue",
319
+ "graspable": true,
320
+ "grasp_scenarios": [
321
+ {
322
+ "scenario": "grasp the sidewall to pick up the cup",
323
+ "confidence": 0.9
324
+ },
325
+ {
326
+ "scenario": "hold the body to transport the cup",
327
+ "confidence": 0.88
328
+ },
329
+ {
330
+ "scenario": "squeeze the side lightly to stabilize while filling or emptying",
331
+ "confidence": 0.72
332
+ }
333
+ ],
334
+ "functional_labels": [
335
+ "contain liquid",
336
+ "main grasp surface",
337
+ "form the cup sidewall",
338
+ "support stacking"
339
+ ],
340
+ "semantic_description": "Large tapered magenta to purple plastic sidewall with a semi-gloss smooth hard surface and shallow horizontal ridges near the upper section, forming most of the cup's height and volume.",
341
+ "id": 2,
342
+ "grasp_group": {}
343
+ },
344
+ {
345
+ "part_name": "base ring",
346
+ "mask_color": "Yellow",
347
+ "graspable": true,
348
+ "grasp_scenarios": [
349
+ {
350
+ "scenario": "grasp the lower ring area to lift or stabilize the cup",
351
+ "confidence": 0.55
352
+ },
353
+ {
354
+ "scenario": "hold the lower edge while rotating or repositioning the cup",
355
+ "confidence": 0.5
356
+ }
357
+ ],
358
+ "functional_labels": [
359
+ "stiffen the lower sidewall",
360
+ "transition between sidewall and bottom",
361
+ "provide a lower-edge contact area"
362
+ ],
363
+ "semantic_description": "Narrow circular band around the lower outer perimeter, matching the magenta-purple plastic cup with a smooth slightly glossy hard finish, just above the dark bottom disc.",
364
+ "id": 3,
365
+ "grasp_group": {}
366
+ },
367
+ {
368
+ "part_name": "cup bottom",
369
+ "mask_color": "Red",
370
+ "graspable": false,
371
+ "grasp_scenarios": [],
372
+ "functional_labels": [
373
+ "close the container base",
374
+ "support contents from below",
375
+ "form the underside surface"
376
+ ],
377
+ "semantic_description": "Flat circular underside in dark gray to black plastic, with a dull smoother hard finish, forming the small bottom face at the base of the tapered cup.",
378
+ "id": 0,
379
+ "grasp_group": {}
380
+ }
381
+ ],
382
+ "quality_check": {
383
+ "success": true,
384
+ "message": "YES"
385
+ }
386
+ }
dataset/kitchen_supplies/ware/928bb45f83025c9c896974675fa49a12/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:8858383fc057059693644b5bc378f67db5eb3302cf32e5a3b4efe217fb9d8cff
3
+ size 2653696