xinjjj commited on
Commit
7482d84
·
verified ·
1 Parent(s): d67df77

Add asset kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e

Browse files
.gitattributes CHANGED
@@ -7526,3 +7526,4 @@ dataset/kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6/affordance/mesh_p
7526
  dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7527
  dataset/kitchen_supplies/ware/29de8181d06c5e79a9ba5733b814f300/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7528
  dataset/kitchen_supplies/ware/29f5c30ddb105b468cc97db4665ee58b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7526
  dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7527
  dataset/kitchen_supplies/ware/29de8181d06c5e79a9ba5733b814f300/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7528
  dataset/kitchen_supplies/ware/29f5c30ddb105b468cc97db4665ee58b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7529
+ dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,210 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "mug handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to lift and carry the mug",
10
+ "confidence": 0.94
11
+ },
12
+ {
13
+ "scenario": "hold the handle to stabilize the mug while tilting or pouring",
14
+ "confidence": 0.88
15
+ },
16
+ {
17
+ "scenario": "hook or pinch the handle to reorient the mug on a surface",
18
+ "confidence": 0.76
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide a side grip",
23
+ "lift the mug",
24
+ "stabilize while pouring",
25
+ "help reorient the mug"
26
+ ],
27
+ "semantic_description": "Angular loop handle made of silver-gray metal with a smooth slightly reflective finish and hard surface, medium-sized and attached to the mug side.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.8552671074867249,
32
+ "position": [
33
+ 0.13827351829968393,
34
+ -0.02002578545943834,
35
+ 0.028164310147985816
36
+ ],
37
+ "orientation": {
38
+ "w": 0.4425203164208852,
39
+ "xyz": [
40
+ 0.46640230240502556,
41
+ -0.5061912295740219,
42
+ -0.5748174501251598
43
+ ]
44
+ }
45
+ },
46
+ "grasp_8": {
47
+ "confidence": 0.9100527763366699,
48
+ "position": [
49
+ 0.1253733595367521,
50
+ -0.007709157100180164,
51
+ 0.08401361643336713
52
+ ],
53
+ "orientation": {
54
+ "w": 0.3130298870787785,
55
+ "xyz": [
56
+ 0.6618280131298669,
57
+ -0.5584641801310344,
58
+ -0.3900176026060775
59
+ ]
60
+ }
61
+ },
62
+ "grasp_13": {
63
+ "confidence": 0.8231083154678345,
64
+ "position": [
65
+ 0.10177375725470483,
66
+ -0.06040008497075178,
67
+ 0.08372660516761243
68
+ ],
69
+ "orientation": {
70
+ "w": 0.453915433621607,
71
+ "xyz": [
72
+ -0.7178953260735776,
73
+ -0.4939266227204906,
74
+ 0.18607410160941332
75
+ ]
76
+ }
77
+ }
78
+ }
79
+ },
80
+ {
81
+ "part_name": "mug body",
82
+ "mask_color": "Green",
83
+ "graspable": true,
84
+ "grasp_scenarios": [
85
+ {
86
+ "scenario": "grasp the mug body from the sides to pick up the mug",
87
+ "confidence": 0.79
88
+ },
89
+ {
90
+ "scenario": "hold the body to stabilize the mug during placement",
91
+ "confidence": 0.73
92
+ },
93
+ {
94
+ "scenario": "grasp the body when the handle is inaccessible",
95
+ "confidence": 0.68
96
+ }
97
+ ],
98
+ "functional_labels": [
99
+ "contain liquids",
100
+ "support the mug structure",
101
+ "provide a drinking vessel",
102
+ "offer a secondary grasp surface"
103
+ ],
104
+ "semantic_description": "Tapered cylindrical silver-gray metal mug body with a smooth slightly reflective finish, hard cool surface, medium size, open top, rounded bottom, and small printed branding near one lower side.",
105
+ "id": 1,
106
+ "grasp_group": {
107
+ "grasp_23": {
108
+ "confidence": 0.9435027241706848,
109
+ "position": [
110
+ -0.09906261810101569,
111
+ 0.009543265769025311,
112
+ -0.07360167265869677
113
+ ],
114
+ "orientation": {
115
+ "w": 0.5682673417986378,
116
+ "xyz": [
117
+ -0.3353482806712359,
118
+ 0.3866769855317157,
119
+ -0.6442784085750985
120
+ ]
121
+ }
122
+ },
123
+ "grasp_27": {
124
+ "confidence": 0.942216694355011,
125
+ "position": [
126
+ -0.10146352299489081,
127
+ -0.004598895466187969,
128
+ -0.06704333634115756
129
+ ],
130
+ "orientation": {
131
+ "w": 0.5904885912972702,
132
+ "xyz": [
133
+ 0.36057028324036816,
134
+ 0.3715028387934821,
135
+ 0.6191106001031719
136
+ ]
137
+ }
138
+ },
139
+ "grasp_30": {
140
+ "confidence": 0.9415661692619324,
141
+ "position": [
142
+ -0.008515090914443135,
143
+ -0.0008076996600721031,
144
+ -0.1216711348388344
145
+ ],
146
+ "orientation": {
147
+ "w": 0.6948364755690958,
148
+ "xyz": [
149
+ 0.013671821479441034,
150
+ 0.003786092303169175,
151
+ 0.7190278291006705
152
+ ]
153
+ }
154
+ },
155
+ "grasp_31": {
156
+ "confidence": 0.9414516091346741,
157
+ "position": [
158
+ -0.008639144944027066,
159
+ -0.00024790239694993943,
160
+ -0.12100152880884707
161
+ ],
162
+ "orientation": {
163
+ "w": 0.7076760651521158,
164
+ "xyz": [
165
+ 0.008795876749219757,
166
+ -0.0033054538363797015,
167
+ 0.706474552505585
168
+ ]
169
+ }
170
+ },
171
+ "grasp_37": {
172
+ "confidence": 0.9397038817405701,
173
+ "position": [
174
+ 0.005696200532838702,
175
+ 0.000660397665342316,
176
+ -0.11963975639082491
177
+ ],
178
+ "orientation": {
179
+ "w": 0.7036714897694196,
180
+ "xyz": [
181
+ 0.01255985151927589,
182
+ -0.002917054642820771,
183
+ -0.7104084567400013
184
+ ]
185
+ }
186
+ },
187
+ "grasp_38": {
188
+ "confidence": 0.9396608471870422,
189
+ "position": [
190
+ 0.0002184746554121375,
191
+ -0.0009983455238398165,
192
+ -0.11972756893374026
193
+ ],
194
+ "orientation": {
195
+ "w": 0.7263880782698192,
196
+ "xyz": [
197
+ 0.01722662946307099,
198
+ 0.008423123959120149,
199
+ 0.6870172151901219
200
+ ]
201
+ }
202
+ }
203
+ }
204
+ }
205
+ ],
206
+ "quality_check": {
207
+ "success": true,
208
+ "message": "YES"
209
+ }
210
+ }
dataset/kitchen_supplies/ware/2b5f3d538e0d59e9a4dd3fde99a5809e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:d77a16101a1eaffd541c45afec2895f63381407afe443c5381ef7557286ec515
3
+ size 3778492