xinjjj commited on
Commit
ee58627
·
verified ·
1 Parent(s): 62ae658

Add asset kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843

Browse files
.gitattributes CHANGED
@@ -7240,3 +7240,4 @@ dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/affordance/m
7240
  dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7241
  dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7242
  dataset/kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7240
  dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7241
  dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7242
  dataset/kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7243
+ dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/affordance/affordance_annot.json ADDED
@@ -0,0 +1,414 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "spoon bowl",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the bowl to pick up or reposition the spoon when the handle is obstructed",
10
+ "confidence": 0.36
11
+ },
12
+ {
13
+ "scenario": "hold the bowl to stabilize the spoon during placement or inspection",
14
+ "confidence": 0.32
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "scoop liquid or soft food",
19
+ "hold a small portion",
20
+ "serve from a container",
21
+ "contact food"
22
+ ],
23
+ "semantic_description": "Oval concave metal bowl with a reflective glossy finish and smooth hard surface, appearing warm gold-brown under lighting and forming the wider food-holding end of the spoon.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9870342016220093,
28
+ "position": [
29
+ 0.08171901106834412,
30
+ -0.09677293669665232,
31
+ 0.0023544277937617153
32
+ ],
33
+ "orientation": {
34
+ "w": 0.5102987600642527,
35
+ "xyz": [
36
+ -0.5103250367931603,
37
+ 0.4718803557674409,
38
+ 0.506450848690906
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.986459493637085,
44
+ "position": [
45
+ 0.08753449469804764,
46
+ 0.10048999119317159,
47
+ -0.0038964773120824248
48
+ ],
49
+ "orientation": {
50
+ "w": 0.5104409218836493,
51
+ "xyz": [
52
+ 0.510315793708969,
53
+ 0.46139586741710814,
54
+ -0.5158892414929485
55
+ ]
56
+ }
57
+ },
58
+ "grasp_2": {
59
+ "confidence": 0.9863895773887634,
60
+ "position": [
61
+ 0.09460374712944031,
62
+ 0.10038531798636541,
63
+ 0.0029470362642314285
64
+ ],
65
+ "orientation": {
66
+ "w": 0.47861825543686726,
67
+ "xyz": [
68
+ 0.5347803583296268,
69
+ 0.4505967268122747,
70
+ -0.5309398494118418
71
+ ]
72
+ }
73
+ },
74
+ "grasp_4": {
75
+ "confidence": 0.9862530827522278,
76
+ "position": [
77
+ 0.10100896656513214,
78
+ 0.09341541904723272,
79
+ 0.0035713639517780393
80
+ ],
81
+ "orientation": {
82
+ "w": 0.43155788894547553,
83
+ "xyz": [
84
+ 0.5798513274463037,
85
+ 0.39862560761338295,
86
+ -0.5644713026386243
87
+ ]
88
+ }
89
+ },
90
+ "grasp_5": {
91
+ "confidence": 0.9862229228019714,
92
+ "position": [
93
+ 0.0799025297164917,
94
+ 0.09746834117686376,
95
+ -0.0013335893454495817
96
+ ],
97
+ "orientation": {
98
+ "w": 0.5154721176644294,
99
+ "xyz": [
100
+ 0.5010968194338083,
101
+ 0.48362692418750863,
102
+ -0.49929497460399075
103
+ ]
104
+ }
105
+ },
106
+ "grasp_7": {
107
+ "confidence": 0.9859616160392761,
108
+ "position": [
109
+ 0.062223635613918304,
110
+ 0.0992385171703063,
111
+ 0.0005315858579706401
112
+ ],
113
+ "orientation": {
114
+ "w": 0.5236609950902554,
115
+ "xyz": [
116
+ 0.4932358574143555,
117
+ 0.5038324898505272,
118
+ -0.47817399903469054
119
+ ]
120
+ }
121
+ },
122
+ "grasp_9": {
123
+ "confidence": 0.9857380390167236,
124
+ "position": [
125
+ 0.0768296867609024,
126
+ 0.09690272290026769,
127
+ 0.0016202422266360372
128
+ ],
129
+ "orientation": {
130
+ "w": 0.5111010783037908,
131
+ "xyz": [
132
+ 0.5017046234110658,
133
+ 0.49732659623305475,
134
+ -0.4896268122600186
135
+ ]
136
+ }
137
+ },
138
+ "grasp_10": {
139
+ "confidence": 0.9854561686515808,
140
+ "position": [
141
+ 0.06501813232898712,
142
+ 0.09970113862073049,
143
+ -0.001176884543383494
144
+ ],
145
+ "orientation": {
146
+ "w": 0.49089638692668736,
147
+ "xyz": [
148
+ 0.49397340714823273,
149
+ -0.49260259777483184,
150
+ 0.5218751680221794
151
+ ]
152
+ }
153
+ },
154
+ "grasp_11": {
155
+ "confidence": 0.9852661490440369,
156
+ "position": [
157
+ 0.0645647943019867,
158
+ 0.09895593900000677,
159
+ -0.0011131350474897772
160
+ ],
161
+ "orientation": {
162
+ "w": 0.5273086913965441,
163
+ "xyz": [
164
+ 0.497047696632742,
165
+ 0.49905469282061565,
166
+ -0.4752194701645452
167
+ ]
168
+ }
169
+ },
170
+ "grasp_12": {
171
+ "confidence": 0.9846926927566528,
172
+ "position": [
173
+ 0.124983049929142,
174
+ 0.09185721207177266,
175
+ 0.005155359249329194
176
+ ],
177
+ "orientation": {
178
+ "w": 0.37745864208154284,
179
+ "xyz": [
180
+ 0.604412977137932,
181
+ 0.36088863142327854,
182
+ -0.6016388636837323
183
+ ]
184
+ }
185
+ },
186
+ "grasp_14": {
187
+ "confidence": 0.9842476844787598,
188
+ "position": [
189
+ 0.119716115295887,
190
+ 0.09099518734728917,
191
+ 0.006630585849052295
192
+ ],
193
+ "orientation": {
194
+ "w": 0.37551607338299703,
195
+ "xyz": [
196
+ 0.6100585710908161,
197
+ 0.3680236621111984,
198
+ -0.5927687598009103
199
+ ]
200
+ }
201
+ },
202
+ "grasp_15": {
203
+ "confidence": 0.9841660261154175,
204
+ "position": [
205
+ 0.08530683815479279,
206
+ 0.10147392231738195,
207
+ 0.0016178879595827311
208
+ ],
209
+ "orientation": {
210
+ "w": 0.5115183557942731,
211
+ "xyz": [
212
+ 0.5028774174274923,
213
+ 0.49477217040761723,
214
+ -0.4905749424064736
215
+ ]
216
+ }
217
+ },
218
+ "grasp_16": {
219
+ "confidence": 0.9837603569030762,
220
+ "position": [
221
+ 0.08650115132331848,
222
+ -0.0954345665522851,
223
+ 0.007283990591531619
224
+ ],
225
+ "orientation": {
226
+ "w": 0.47755996946137536,
227
+ "xyz": [
228
+ -0.534404639585272,
229
+ 0.4619172886707966,
230
+ 0.5224754302211789
231
+ ]
232
+ }
233
+ },
234
+ "grasp_17": {
235
+ "confidence": 0.982810378074646,
236
+ "position": [
237
+ 0.0677916631102562,
238
+ -0.09746718179667369,
239
+ -0.0008958493999671191
240
+ ],
241
+ "orientation": {
242
+ "w": 0.5507180720140994,
243
+ "xyz": [
244
+ -0.46600596870378763,
245
+ 0.5074561757309172,
246
+ 0.4712072495219809
247
+ ]
248
+ }
249
+ },
250
+ "grasp_18": {
251
+ "confidence": 0.9821762442588806,
252
+ "position": [
253
+ 0.11260225623846054,
254
+ 0.08881278563058004,
255
+ 0.019905273657059297
256
+ ],
257
+ "orientation": {
258
+ "w": 0.33785779463012194,
259
+ "xyz": [
260
+ 0.6328064053739965,
261
+ 0.4161622320251104,
262
+ -0.5587639578222549
263
+ ]
264
+ }
265
+ }
266
+ }
267
+ },
268
+ {
269
+ "part_name": "spoon handle",
270
+ "mask_color": "Green",
271
+ "graspable": true,
272
+ "grasp_scenarios": [
273
+ {
274
+ "scenario": "grasp the handle to pick up and manipulate the spoon",
275
+ "confidence": 0.96
276
+ },
277
+ {
278
+ "scenario": "hold the handle to dip, stir, or serve soup",
279
+ "confidence": 0.94
280
+ },
281
+ {
282
+ "scenario": "pinch the handle near the neck to orient the spoon precisely",
283
+ "confidence": 0.88
284
+ }
285
+ ],
286
+ "functional_labels": [
287
+ "provide primary grip",
288
+ "enable manipulation",
289
+ "control orientation",
290
+ "keep hand away from food"
291
+ ],
292
+ "semantic_description": "Long narrow tapered metal handle with a reflective glossy finish and smooth hard texture, matching the spoon's warm gold-brown appearance and extending from the bowl as the main gripping section.",
293
+ "id": 1,
294
+ "grasp_group": {
295
+ "grasp_22": {
296
+ "confidence": 0.8785895705223083,
297
+ "position": [
298
+ 0.18541886657476425,
299
+ -0.015826845134142786,
300
+ 0.005662224575644359
301
+ ],
302
+ "orientation": {
303
+ "w": 0.026078683500813004,
304
+ "xyz": [
305
+ -0.7092963518021452,
306
+ 0.022260352183874565,
307
+ 0.7040760358851039
308
+ ]
309
+ }
310
+ },
311
+ "grasp_27": {
312
+ "confidence": 0.9108649492263794,
313
+ "position": [
314
+ -0.014678806299343705,
315
+ 0.09450371790444478,
316
+ -0.004753225628519431
317
+ ],
318
+ "orientation": {
319
+ "w": 0.5062428204644025,
320
+ "xyz": [
321
+ 0.49819670590342,
322
+ -0.47752646227625006,
323
+ 0.5171911897752675
324
+ ]
325
+ }
326
+ },
327
+ "grasp_33": {
328
+ "confidence": 0.4703492820262909,
329
+ "position": [
330
+ 0.16540426760911942,
331
+ -0.00024488201597705483,
332
+ 0.0516233172675129
333
+ ],
334
+ "orientation": {
335
+ "w": 0.3579680646225669,
336
+ "xyz": [
337
+ 0.6159091406162404,
338
+ -0.5971851123894847,
339
+ -0.36862546948914926
340
+ ]
341
+ }
342
+ },
343
+ "grasp_34": {
344
+ "confidence": 0.9470351338386536,
345
+ "position": [
346
+ -0.01558183366432786,
347
+ 0.06645626801764593,
348
+ 0.07292714607319795
349
+ ],
350
+ "orientation": {
351
+ "w": 0.27437092532862123,
352
+ "xyz": [
353
+ 0.7031102669727066,
354
+ 0.6234817404361204,
355
+ -0.20402712357584224
356
+ ]
357
+ }
358
+ },
359
+ "grasp_35": {
360
+ "confidence": 0.8837291598320007,
361
+ "position": [
362
+ 0.05953097343444824,
363
+ 0.019507330318447202,
364
+ -0.08223152268328704
365
+ ],
366
+ "orientation": {
367
+ "w": 0.6617627994464201,
368
+ "xyz": [
369
+ 0.2451741785241384,
370
+ -0.10805965433815945,
371
+ -0.7002019212756908
372
+ ]
373
+ }
374
+ },
375
+ "grasp_36": {
376
+ "confidence": 0.8525909185409546,
377
+ "position": [
378
+ 0.16321716457605362,
379
+ -0.059498762304428965,
380
+ 0.02305417213938199
381
+ ],
382
+ "orientation": {
383
+ "w": 0.6260012138372939,
384
+ "xyz": [
385
+ -0.2558302862884749,
386
+ -0.727210075323184,
387
+ -0.11763864688205233
388
+ ]
389
+ }
390
+ },
391
+ "grasp_37": {
392
+ "confidence": 0.8114203214645386,
393
+ "position": [
394
+ 0.08230745047330856,
395
+ 0.008796463196631521,
396
+ 0.08774518858990632
397
+ ],
398
+ "orientation": {
399
+ "w": 0.22584519055694466,
400
+ "xyz": [
401
+ 0.6637978917867083,
402
+ -0.6937292306827803,
403
+ -0.16463919113654563
404
+ ]
405
+ }
406
+ }
407
+ }
408
+ }
409
+ ],
410
+ "quality_check": {
411
+ "success": true,
412
+ "message": "YES"
413
+ }
414
+ }
dataset/kitchen_supplies/tableware/47e8588120595db1b2412c76fd250843/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:1cbc919748ae951d71fe292fdd6ba0fcc114c7e33c5f2b38c73c6bde2a13d211
3
+ size 547068