xinjjj commited on
Commit
6af2f0d
·
verified ·
1 Parent(s): be7d416

Add asset kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a

Browse files
.gitattributes CHANGED
@@ -7657,3 +7657,4 @@ dataset/kitchen_supplies/ware/cddc60ff28fb55c599259a63cba61091/affordance/mesh_p
7657
  dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7658
  dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7659
  dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7657
  dataset/kitchen_supplies/ware/d15ebc93a84b5929867f59706aab4dbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7658
  dataset/kitchen_supplies/ware/d2fce2a71bee50e4be221f1f20afbc53/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7659
  dataset/kitchen_supplies/ware/d391b78878c8587795b6698f477e5fa3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7660
+ dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,626 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "bottle cap",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the cap to twist and open the bottle",
10
+ "confidence": 0.86
11
+ },
12
+ {
13
+ "scenario": "grasp the cap to stabilize the bottle top during manipulation",
14
+ "confidence": 0.53
15
+ },
16
+ {
17
+ "scenario": "grasp the cap to lift the empty lightweight bottle briefly",
18
+ "confidence": 0.29
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "cover the bottle opening",
23
+ "enable opening and closing",
24
+ "seal contents",
25
+ "provide top gripping point"
26
+ ],
27
+ "semantic_description": "Small blue plastic cap with a slightly glossy hard smooth surface, cylindrical and located at the top, likely ridged for twist-off closure though markings are not clearly visible.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9379006624221802,
32
+ "position": [
33
+ -0.07979309011716396,
34
+ 0.029160181409679353,
35
+ 0.15975850075483322
36
+ ],
37
+ "orientation": {
38
+ "w": 0.2803045565065988,
39
+ "xyz": [
40
+ -0.4893727981747257,
41
+ 0.7296253843064645,
42
+ -0.3867692058371786
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9314724206924438,
48
+ "position": [
49
+ -0.09379871387500316,
50
+ 0.013042345992289484,
51
+ 0.1328612044453621
52
+ ],
53
+ "orientation": {
54
+ "w": 0.43637309864343116,
55
+ "xyz": [
56
+ 0.6139916784538927,
57
+ 0.5418659253921968,
58
+ 0.3727922430370033
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9314692616462708,
64
+ "position": [
65
+ -0.0958672632696107,
66
+ 0.015690902597270906,
67
+ 0.12530269473791122
68
+ ],
69
+ "orientation": {
70
+ "w": 0.3998180400491315,
71
+ "xyz": [
72
+ -0.5160955013325825,
73
+ 0.599177022602291,
74
+ -0.4634413273986202
75
+ ]
76
+ }
77
+ },
78
+ "grasp_3": {
79
+ "confidence": 0.9304534196853638,
80
+ "position": [
81
+ -0.07213121105451137,
82
+ 0.04380182770546526,
83
+ 0.15294120460748672
84
+ ],
85
+ "orientation": {
86
+ "w": 0.23946847125404155,
87
+ "xyz": [
88
+ -0.41726347911749895,
89
+ 0.767558904846442,
90
+ -0.4235556254625165
91
+ ]
92
+ }
93
+ },
94
+ "grasp_4": {
95
+ "confidence": 0.9263483881950378,
96
+ "position": [
97
+ -0.07937849510926753,
98
+ 0.031735325581394136,
99
+ 0.1524316594004631
100
+ ],
101
+ "orientation": {
102
+ "w": 0.40526426428709755,
103
+ "xyz": [
104
+ 0.714167247685669,
105
+ 0.5080363266254422,
106
+ 0.260048282543533
107
+ ]
108
+ }
109
+ },
110
+ "grasp_5": {
111
+ "confidence": 0.9262589812278748,
112
+ "position": [
113
+ -0.09649571229238063,
114
+ 0.014231433509849012,
115
+ 0.11553939431905746
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5054080565658929,
119
+ "xyz": [
120
+ 0.5612478146092891,
121
+ 0.501399709920295,
122
+ 0.42209230962720534
123
+ ]
124
+ }
125
+ },
126
+ "grasp_6": {
127
+ "confidence": 0.9243338704109192,
128
+ "position": [
129
+ -0.07474457670468837,
130
+ 0.024416540167294443,
131
+ 0.15685904771089554
132
+ ],
133
+ "orientation": {
134
+ "w": 0.29073713156035846,
135
+ "xyz": [
136
+ -0.4803691564049141,
137
+ 0.7371015290159205,
138
+ -0.3760302246220085
139
+ ]
140
+ }
141
+ },
142
+ "grasp_7": {
143
+ "confidence": 0.9240532517433167,
144
+ "position": [
145
+ -0.083634311449714,
146
+ 0.006773016299121082,
147
+ 0.15325739234685898
148
+ ],
149
+ "orientation": {
150
+ "w": 0.35199249343702077,
151
+ "xyz": [
152
+ -0.5573816177843166,
153
+ 0.6690611870167489,
154
+ -0.34319694746291884
155
+ ]
156
+ }
157
+ },
158
+ "grasp_8": {
159
+ "confidence": 0.9230738282203674,
160
+ "position": [
161
+ -0.08563974697608501,
162
+ 0.0004844475770369172,
163
+ 0.15271113067865372
164
+ ],
165
+ "orientation": {
166
+ "w": 0.3439909387920072,
167
+ "xyz": [
168
+ 0.6276804173634088,
169
+ 0.60264766887701,
170
+ 0.35285027261516444
171
+ ]
172
+ }
173
+ },
174
+ "grasp_9": {
175
+ "confidence": 0.9229012131690979,
176
+ "position": [
177
+ 0.05011785950046033,
178
+ -0.07148623245302588,
179
+ 0.15183833986520767
180
+ ],
181
+ "orientation": {
182
+ "w": 0.1060818662647832,
183
+ "xyz": [
184
+ 0.31714359326548913,
185
+ -0.7969960091387227,
186
+ -0.502955207068566
187
+ ]
188
+ }
189
+ },
190
+ "grasp_10": {
191
+ "confidence": 0.9224899411201477,
192
+ "position": [
193
+ -0.08114358980674297,
194
+ 0.011861602193675935,
195
+ 0.15724704414606094
196
+ ],
197
+ "orientation": {
198
+ "w": 0.35722232207808835,
199
+ "xyz": [
200
+ 0.6578718547788845,
201
+ 0.5847603055692634,
202
+ 0.31249355246063976
203
+ ]
204
+ }
205
+ },
206
+ "grasp_13": {
207
+ "confidence": 0.9204071164131165,
208
+ "position": [
209
+ -0.08661189128179103,
210
+ -0.004020171822048724,
211
+ 0.15637516230344772
212
+ ],
213
+ "orientation": {
214
+ "w": 0.32427931578808583,
215
+ "xyz": [
216
+ 0.6125103919643191,
217
+ 0.6240556807364469,
218
+ 0.3608717950024586
219
+ ]
220
+ }
221
+ },
222
+ "grasp_15": {
223
+ "confidence": 0.915859580039978,
224
+ "position": [
225
+ 0.06735553394537419,
226
+ -0.052884785109199584,
227
+ 0.15228856354951859
228
+ ],
229
+ "orientation": {
230
+ "w": 0.17581252267057676,
231
+ "xyz": [
232
+ 0.41325608170899236,
233
+ -0.7583945042302199,
234
+ -0.4723845295478435
235
+ ]
236
+ }
237
+ },
238
+ "grasp_16": {
239
+ "confidence": 0.9148775935173035,
240
+ "position": [
241
+ 0.06953438918571919,
242
+ -0.07220437156502157,
243
+ 0.12649691849946976
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5498050209601848,
247
+ "xyz": [
248
+ -0.7487969296651511,
249
+ -0.2880717279480236,
250
+ 0.23244843860102346
251
+ ]
252
+ }
253
+ },
254
+ "grasp_19": {
255
+ "confidence": 0.9144634008407593,
256
+ "position": [
257
+ 0.05608645256143063,
258
+ -0.06815336423460394,
259
+ 0.14675410836935043
260
+ ],
261
+ "orientation": {
262
+ "w": 0.4724252865062125,
263
+ "xyz": [
264
+ -0.8204245713524728,
265
+ -0.2608856785275677,
266
+ 0.1888293783547596
267
+ ]
268
+ }
269
+ }
270
+ }
271
+ },
272
+ {
273
+ "part_name": "bottle body",
274
+ "mask_color": "Green",
275
+ "graspable": true,
276
+ "grasp_scenarios": [
277
+ {
278
+ "scenario": "grasp the bottle body to pick up and carry the bottle",
279
+ "confidence": 0.97
280
+ },
281
+ {
282
+ "scenario": "grasp the mid body to stabilize the bottle while unscrewing the cap",
283
+ "confidence": 0.94
284
+ },
285
+ {
286
+ "scenario": "grasp the lower body to reposition the bottle on a surface",
287
+ "confidence": 0.9
288
+ }
289
+ ],
290
+ "functional_labels": [
291
+ "contain liquid",
292
+ "provide main grasp surface",
293
+ "support squeezing and handling",
294
+ "support standing on base"
295
+ ],
296
+ "semantic_description": "Large blue plastic bottle body with a semi-gloss hard smooth surface, rounded cylindrical shape with ribbed bands, occupying most of the object below the neck and including the base.",
297
+ "id": 1,
298
+ "grasp_group": {
299
+ "grasp_20": {
300
+ "confidence": 0.8912639021873474,
301
+ "position": [
302
+ 0.06177849869709462,
303
+ -0.0801451780134812,
304
+ 0.12506777793169022
305
+ ],
306
+ "orientation": {
307
+ "w": 0.5354443282465824,
308
+ "xyz": [
309
+ -0.7827393594859073,
310
+ -0.2491905531201215,
311
+ 0.19627158402541578
312
+ ]
313
+ }
314
+ },
315
+ "grasp_21": {
316
+ "confidence": 0.8834298253059387,
317
+ "position": [
318
+ 0.10206473420839757,
319
+ -0.021949933492578566,
320
+ 0.08454709500074387
321
+ ],
322
+ "orientation": {
323
+ "w": 0.43032091115857174,
324
+ "xyz": [
325
+ 0.44563182374331606,
326
+ -0.5117165015321581,
327
+ -0.5953002714148141
328
+ ]
329
+ }
330
+ },
331
+ "grasp_22": {
332
+ "confidence": 0.8827192187309265,
333
+ "position": [
334
+ -0.016770389047451317,
335
+ 0.09756844711955637,
336
+ 0.1133713498711586
337
+ ],
338
+ "orientation": {
339
+ "w": 0.6041328104386148,
340
+ "xyz": [
341
+ 0.7925227341815707,
342
+ 0.058170622892272705,
343
+ 0.05956040454222195
344
+ ]
345
+ }
346
+ },
347
+ "grasp_23": {
348
+ "confidence": 0.8822128176689148,
349
+ "position": [
350
+ -0.06458200712222606,
351
+ 0.06695236486848444,
352
+ 0.12496203929185867
353
+ ],
354
+ "orientation": {
355
+ "w": 0.5288027914441661,
356
+ "xyz": [
357
+ 0.7620283974959392,
358
+ 0.3160749804641414,
359
+ 0.1994415601002496
360
+ ]
361
+ }
362
+ },
363
+ "grasp_24": {
364
+ "confidence": 0.8789797425270081,
365
+ "position": [
366
+ -0.08074185450095683,
367
+ 0.049990168190561235,
368
+ 0.12589719146490097
369
+ ],
370
+ "orientation": {
371
+ "w": 0.27216380407580937,
372
+ "xyz": [
373
+ -0.394287528049823,
374
+ 0.7311494830030338,
375
+ -0.4856795676984373
376
+ ]
377
+ }
378
+ },
379
+ "grasp_25": {
380
+ "confidence": 0.8769850730895996,
381
+ "position": [
382
+ -0.08445374865550548,
383
+ 0.024719098932109773,
384
+ 0.1353069618344307
385
+ ],
386
+ "orientation": {
387
+ "w": 0.41666529095641824,
388
+ "xyz": [
389
+ 0.6773413208870065,
390
+ 0.5261705487126137,
391
+ 0.30123632582860155
392
+ ]
393
+ }
394
+ },
395
+ "grasp_26": {
396
+ "confidence": 0.8764121532440186,
397
+ "position": [
398
+ -0.07063800294417888,
399
+ 0.07175908458884805,
400
+ 0.12797407060861588
401
+ ],
402
+ "orientation": {
403
+ "w": 0.525140534732155,
404
+ "xyz": [
405
+ 0.7557875707937903,
406
+ 0.34358732639438283,
407
+ 0.18697677865448345
408
+ ]
409
+ }
410
+ },
411
+ "grasp_27": {
412
+ "confidence": 0.8739200234413147,
413
+ "position": [
414
+ -0.06795106281060725,
415
+ 0.06337604147847742,
416
+ 0.12963483482599258
417
+ ],
418
+ "orientation": {
419
+ "w": 0.5077220086858151,
420
+ "xyz": [
421
+ 0.7622213525033223,
422
+ 0.3497025137440294,
423
+ 0.19734518885737748
424
+ ]
425
+ }
426
+ },
427
+ "grasp_28": {
428
+ "confidence": 0.8733635544776917,
429
+ "position": [
430
+ 0.05531047086697072,
431
+ -0.0796832867199555,
432
+ 0.12954267114400864
433
+ ],
434
+ "orientation": {
435
+ "w": 0.5050011659327148,
436
+ "xyz": [
437
+ -0.8132800780834702,
438
+ -0.23437975144519063,
439
+ 0.16916107445755246
440
+ ]
441
+ }
442
+ },
443
+ "grasp_29": {
444
+ "confidence": 0.8722096681594849,
445
+ "position": [
446
+ -0.09895407606381923,
447
+ -0.007200817693956196,
448
+ 0.12000525742769241
449
+ ],
450
+ "orientation": {
451
+ "w": 0.44960646356255024,
452
+ "xyz": [
453
+ -0.5702538505189676,
454
+ 0.5697657301022896,
455
+ -0.3847487318914429
456
+ ]
457
+ }
458
+ },
459
+ "grasp_30": {
460
+ "confidence": 0.8695170283317566,
461
+ "position": [
462
+ 0.10226310591679066,
463
+ -0.020392126985825598,
464
+ 0.08253009617328644
465
+ ],
466
+ "orientation": {
467
+ "w": 0.4456538937956002,
468
+ "xyz": [
469
+ 0.43757846950582463,
470
+ -0.5219869883027841,
471
+ -0.5809021208537196
472
+ ]
473
+ }
474
+ },
475
+ "grasp_31": {
476
+ "confidence": 0.8688309788703918,
477
+ "position": [
478
+ 0.099016776192002,
479
+ -0.024067788966931403,
480
+ 0.08323043584823608
481
+ ],
482
+ "orientation": {
483
+ "w": 0.43296406036161617,
484
+ "xyz": [
485
+ 0.4316644157367443,
486
+ -0.5243954043725992,
487
+ -0.5926359881872985
488
+ ]
489
+ }
490
+ },
491
+ "grasp_32": {
492
+ "confidence": 0.8677448034286499,
493
+ "position": [
494
+ 0.05018180038314313,
495
+ -0.08234828489366919,
496
+ 0.12198995798826218
497
+ ],
498
+ "orientation": {
499
+ "w": 0.5419773417800493,
500
+ "xyz": [
501
+ -0.7984908331712606,
502
+ -0.20554129774713825,
503
+ 0.1625599128288407
504
+ ]
505
+ }
506
+ },
507
+ "grasp_33": {
508
+ "confidence": 0.8657019138336182,
509
+ "position": [
510
+ -0.09563459653872997,
511
+ 0.004410319845192134,
512
+ 0.12635812908411026
513
+ ],
514
+ "orientation": {
515
+ "w": 0.3894965800919943,
516
+ "xyz": [
517
+ -0.5742391002273031,
518
+ 0.5934914336591878,
519
+ -0.40781097096564306
520
+ ]
521
+ }
522
+ },
523
+ "grasp_34": {
524
+ "confidence": 0.8619827032089233,
525
+ "position": [
526
+ -0.09906590182799846,
527
+ 0.019839605665765703,
528
+ 0.11784369498491287
529
+ ],
530
+ "orientation": {
531
+ "w": 0.4565598398598119,
532
+ "xyz": [
533
+ 0.6204255194804805,
534
+ 0.5284318346826132,
535
+ 0.35691046986397884
536
+ ]
537
+ }
538
+ },
539
+ "grasp_35": {
540
+ "confidence": 0.8611996173858643,
541
+ "position": [
542
+ -0.0043930948013439775,
543
+ -0.10159384983126074,
544
+ 0.11563669890165329
545
+ ],
546
+ "orientation": {
547
+ "w": 0.04890726151937529,
548
+ "xyz": [
549
+ 0.001359873489463569,
550
+ 0.8013653837658562,
551
+ 0.5961709085627798
552
+ ]
553
+ }
554
+ },
555
+ "grasp_36": {
556
+ "confidence": 0.8586485385894775,
557
+ "position": [
558
+ -0.003376698470674455,
559
+ -0.10655047523323447,
560
+ 0.09323792904615402
561
+ ],
562
+ "orientation": {
563
+ "w": 0.7040111236102709,
564
+ "xyz": [
565
+ -0.7099496649230427,
566
+ 0.01427029191076068,
567
+ -0.011669184952026554
568
+ ]
569
+ }
570
+ },
571
+ "grasp_37": {
572
+ "confidence": 0.8563356995582581,
573
+ "position": [
574
+ -0.0467620660783723,
575
+ 0.08275006187614053,
576
+ 0.11603131145238876
577
+ ],
578
+ "orientation": {
579
+ "w": 0.16078113370926553,
580
+ "xyz": [
581
+ -0.17966644233864487,
582
+ 0.7814216801196444,
583
+ -0.5755428345306102
584
+ ]
585
+ }
586
+ },
587
+ "grasp_38": {
588
+ "confidence": 0.8559702038764954,
589
+ "position": [
590
+ -0.057801200193353,
591
+ 0.08092972857411951,
592
+ 0.11527825146913528
593
+ ],
594
+ "orientation": {
595
+ "w": 0.18605762596557046,
596
+ "xyz": [
597
+ -0.21524946530352834,
598
+ 0.7719066246121764,
599
+ -0.5685159543816138
600
+ ]
601
+ }
602
+ },
603
+ "grasp_39": {
604
+ "confidence": 0.8536342978477478,
605
+ "position": [
606
+ -0.07135708827991039,
607
+ 0.07931244594510645,
608
+ 0.09107977151870728
609
+ ],
610
+ "orientation": {
611
+ "w": 0.275317785112839,
612
+ "xyz": [
613
+ -0.22712930376538967,
614
+ 0.6664257329033045,
615
+ -0.6545908180656858
616
+ ]
617
+ }
618
+ }
619
+ }
620
+ }
621
+ ],
622
+ "quality_check": {
623
+ "success": true,
624
+ "message": "YES"
625
+ }
626
+ }
dataset/kitchen_supplies/ware/d51a155ee2d255cd8d1a6d63cc11434a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:530ba9066b70d5dd52ac05a5dc761775c0f314c34da9cd21011e65b3794b3cbc
3
+ size 2266440