xinjjj commited on
Commit
516d909
·
verified ·
1 Parent(s): 32dcb2f

Add asset kitchen_supplies/ware/c8a2ce15ccd45338b500f32a71f54408

Browse files
.gitattributes CHANGED
@@ -7650,3 +7650,4 @@ dataset/kitchen_supplies/ware/ca3e7532a3d85696bbb0349581b54688/affordance/mesh_p
7650
  dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7651
  dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7652
  dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7650
  dataset/kitchen_supplies/ware/ccd37c758de15e978c7d709637a97cd2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7651
  dataset/kitchen_supplies/ware/cd4c6b222eb45f8b9a0534490c58d29d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7652
  dataset/kitchen_supplies/ware/cf82e0113da350b289d8cf030b72c768/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7653
+ dataset/kitchen_supplies/ware/c8a2ce15ccd45338b500f32a71f54408/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/c8a2ce15ccd45338b500f32a71f54408/affordance/affordance_annot.json ADDED
@@ -0,0 +1,230 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mug",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the mug around the body from the sides to pick it up",
10
+ "confidence": 0.89
11
+ },
12
+ {
13
+ "scenario": "hold the mug by the handle to lift and carry it",
14
+ "confidence": 0.93
15
+ },
16
+ {
17
+ "scenario": "stabilize and reorient the mug by contacting the body near the rim",
18
+ "confidence": 0.74
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "contain beverages",
23
+ "provide the main drinking vessel structure",
24
+ "support drinking from the rim",
25
+ "provide grasp surfaces via body and handle",
26
+ "rest on a table"
27
+ ],
28
+ "semantic_description": "White ceramic mug with a glossy smooth finish, slightly tapered cylindrical body, loop handle on the side, and subtle gray marble-like veining visible on the exterior.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_2": {
32
+ "confidence": 0.9831666350364685,
33
+ "position": [
34
+ -0.08144597359932959,
35
+ -0.0033238913456443697,
36
+ -0.08567580301314592
37
+ ],
38
+ "orientation": {
39
+ "w": 0.6235144364116119,
40
+ "xyz": [
41
+ 0.2965473882716117,
42
+ 0.2944165382394859,
43
+ 0.6607634191650392
44
+ ]
45
+ }
46
+ },
47
+ "grasp_3": {
48
+ "confidence": 0.9829112887382507,
49
+ "position": [
50
+ -0.09860944398678839,
51
+ -0.004792726977029815,
52
+ -0.07486165780574083
53
+ ],
54
+ "orientation": {
55
+ "w": 0.6167426305911824,
56
+ "xyz": [
57
+ 0.3548290493123454,
58
+ 0.37417603808969846,
59
+ 0.59474125962057
60
+ ]
61
+ }
62
+ },
63
+ "grasp_4": {
64
+ "confidence": 0.9828874468803406,
65
+ "position": [
66
+ -0.09867957630194724,
67
+ -0.00625504637719132,
68
+ -0.062394619919359684
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5987633865121575,
72
+ "xyz": [
73
+ 0.3574261961576446,
74
+ 0.381450727030591,
75
+ 0.6068148515985773
76
+ ]
77
+ }
78
+ },
79
+ "grasp_6": {
80
+ "confidence": 0.9826964139938354,
81
+ "position": [
82
+ -0.011345917591825128,
83
+ -0.0024800953979138285,
84
+ -0.11974014807492495
85
+ ],
86
+ "orientation": {
87
+ "w": 0.7687904967755576,
88
+ "xyz": [
89
+ -0.03132504901899943,
90
+ 0.02393307857177307,
91
+ -0.6382845142423762
92
+ ]
93
+ }
94
+ },
95
+ "grasp_7": {
96
+ "confidence": 0.9826031923294067,
97
+ "position": [
98
+ -0.012413747841492295,
99
+ -0.0017038767982739955,
100
+ -0.12226461339741945
101
+ ],
102
+ "orientation": {
103
+ "w": 0.7732838964667618,
104
+ "xyz": [
105
+ -0.028760541253543007,
106
+ 0.024426201777929535,
107
+ -0.6329361795621176
108
+ ]
109
+ }
110
+ },
111
+ "grasp_9": {
112
+ "confidence": 0.9822403788566589,
113
+ "position": [
114
+ -0.014090348267927766,
115
+ -0.001061818125890568,
116
+ -0.12199867982417345
117
+ ],
118
+ "orientation": {
119
+ "w": 0.6431516688788224,
120
+ "xyz": [
121
+ 0.019338232969610576,
122
+ 0.012482149489969063,
123
+ 0.7653928138597256
124
+ ]
125
+ }
126
+ },
127
+ "grasp_11": {
128
+ "confidence": 0.9820826053619385,
129
+ "position": [
130
+ -0.0098963410127908,
131
+ -0.002416178729617968,
132
+ -0.11621776688843966
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7160714373746634,
136
+ "xyz": [
137
+ -0.02534381552416074,
138
+ 0.014138496326076666,
139
+ -0.697423465702509
140
+ ]
141
+ }
142
+ },
143
+ "grasp_12": {
144
+ "confidence": 0.9820234179496765,
145
+ "position": [
146
+ -0.00907417037524283,
147
+ -0.002656510710949078,
148
+ -0.11741020251065493
149
+ ],
150
+ "orientation": {
151
+ "w": 0.6692351349450937,
152
+ "xyz": [
153
+ 0.019988786896007717,
154
+ 0.019645299155033102,
155
+ 0.7425219490187193
156
+ ]
157
+ }
158
+ },
159
+ "grasp_15": {
160
+ "confidence": 0.9819371104240417,
161
+ "position": [
162
+ -0.10272319265641272,
163
+ 0.003256019059335813,
164
+ -0.051077128387987614
165
+ ],
166
+ "orientation": {
167
+ "w": 0.5641970466009059,
168
+ "xyz": [
169
+ -0.38478661769721817,
170
+ 0.3986065772821984,
171
+ -0.6121550032429045
172
+ ]
173
+ }
174
+ },
175
+ "grasp_16": {
176
+ "confidence": 0.9817845821380615,
177
+ "position": [
178
+ -0.005840706871822476,
179
+ -0.001877535047242418,
180
+ -0.12049625534564257
181
+ ],
182
+ "orientation": {
183
+ "w": 0.6867928276081485,
184
+ "xyz": [
185
+ 0.014168542462296943,
186
+ 0.013086551972789406,
187
+ 0.7265972794526293
188
+ ]
189
+ }
190
+ },
191
+ "grasp_17": {
192
+ "confidence": 0.9816721081733704,
193
+ "position": [
194
+ -0.006001909030601382,
195
+ -0.0024439279513899237,
196
+ -0.1150257932022214
197
+ ],
198
+ "orientation": {
199
+ "w": 0.6894733492036049,
200
+ "xyz": [
201
+ 0.004705022619522631,
202
+ 0.010977791633687062,
203
+ 0.724212573483063
204
+ ]
205
+ }
206
+ },
207
+ "grasp_19": {
208
+ "confidence": 0.9815613627433777,
209
+ "position": [
210
+ -0.012108396040275693,
211
+ -0.004351378796854988,
212
+ -0.11648491490632296
213
+ ],
214
+ "orientation": {
215
+ "w": 0.6314352353756093,
216
+ "xyz": [
217
+ 0.01892289121741935,
218
+ 0.015829078377466388,
219
+ 0.7750360688328267
220
+ ]
221
+ }
222
+ }
223
+ }
224
+ }
225
+ ],
226
+ "quality_check": {
227
+ "success": true,
228
+ "message": "YES"
229
+ }
230
+ }
dataset/kitchen_supplies/ware/c8a2ce15ccd45338b500f32a71f54408/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:4ecd79b035873b3a257be3d4faf32dadf0235cadc5cf3e5fec59d0360e4038ce
3
+ size 111287784