xinjjj commited on
Commit
a1f305a
·
verified ·
1 Parent(s): 81a13ca

Add asset kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0

Browse files
.gitattributes CHANGED
@@ -8430,3 +8430,4 @@ dataset/kitchen_supplies/tableware/0fd34e4211b1542d93b457b5651b2860/affordance/m
8430
  dataset/kitchen_supplies/tableware/10d76f5c458d5e80bd4d30ceedfdd28d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8431
  dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8432
  dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8430
  dataset/kitchen_supplies/tableware/10d76f5c458d5e80bd4d30ceedfdd28d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8431
  dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8432
  dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8433
+ dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/affordance_annot.json ADDED
@@ -0,0 +1,583 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": 0.3
11
+ },
12
+ {
13
+ "scenario": "pinch the bowl edge to stabilize the spoon during placement or handoff",
14
+ "confidence": 0.28
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "scoop food or liquid",
19
+ "hold a small portion",
20
+ "present contents",
21
+ "contact eating surface"
22
+ ],
23
+ "semantic_description": "Rounded shallow silver-gray spoon bowl with a smooth slightly reflective hard surface, broader at the front and showing subtle interior textured ridges in some views.",
24
+ "id": 0,
25
+ "grasp_group": {
26
+ "grasp_0": {
27
+ "confidence": 0.9767794013023376,
28
+ "position": [
29
+ -0.17381087318062782,
30
+ 0.06971922476077452,
31
+ 0.08228357159532607
32
+ ],
33
+ "orientation": {
34
+ "w": 0.21904747916793962,
35
+ "xyz": [
36
+ 0.8948894746055552,
37
+ -0.19840521459071792,
38
+ 0.3344045468195303
39
+ ]
40
+ }
41
+ },
42
+ "grasp_1": {
43
+ "confidence": 0.9753486514091492,
44
+ "position": [
45
+ -0.19412509724497795,
46
+ 0.03168886114144698,
47
+ 0.08166100108064711
48
+ ],
49
+ "orientation": {
50
+ "w": 0.1407466267437592,
51
+ "xyz": [
52
+ 0.9167281100255698,
53
+ -0.05382386548122542,
54
+ 0.3700039876188616
55
+ ]
56
+ }
57
+ },
58
+ "grasp_3": {
59
+ "confidence": 0.9742676615715027,
60
+ "position": [
61
+ -0.1678674928843975,
62
+ 0.06641730625415221,
63
+ 0.08582526468671858
64
+ ],
65
+ "orientation": {
66
+ "w": 0.21842634101657363,
67
+ "xyz": [
68
+ 0.9062395368184905,
69
+ -0.19451335059528535,
70
+ 0.3052611863590179
71
+ ]
72
+ }
73
+ },
74
+ "grasp_4": {
75
+ "confidence": 0.9735909104347229,
76
+ "position": [
77
+ -0.20473941788077354,
78
+ -0.03237425204133615,
79
+ 0.0717217402998358
80
+ ],
81
+ "orientation": {
82
+ "w": 0.10815860784389697,
83
+ "xyz": [
84
+ -0.8825063698192829,
85
+ -0.06741643585444473,
86
+ -0.45270216142000536
87
+ ]
88
+ }
89
+ },
90
+ "grasp_5": {
91
+ "confidence": 0.9729411602020264,
92
+ "position": [
93
+ -0.19769276306033134,
94
+ -0.03617308329558,
95
+ 0.07102413498796523
96
+ ],
97
+ "orientation": {
98
+ "w": 0.1301165978092364,
99
+ "xyz": [
100
+ -0.888586883759847,
101
+ -0.07028595356361261,
102
+ -0.4342152757747786
103
+ ]
104
+ }
105
+ },
106
+ "grasp_7": {
107
+ "confidence": 0.9725545644760132,
108
+ "position": [
109
+ -0.15988385304808617,
110
+ 0.07283429760718718,
111
+ 0.08441799902357161
112
+ ],
113
+ "orientation": {
114
+ "w": 0.23875778587226693,
115
+ "xyz": [
116
+ 0.8929758526380772,
117
+ -0.24737743052294764,
118
+ 0.2905051689015812
119
+ ]
120
+ }
121
+ },
122
+ "grasp_8": {
123
+ "confidence": 0.9724940061569214,
124
+ "position": [
125
+ -0.1907985918223858,
126
+ -0.030620441248174757,
127
+ 0.08184392773546278
128
+ ],
129
+ "orientation": {
130
+ "w": 0.08375271288767674,
131
+ "xyz": [
132
+ -0.9179466411354864,
133
+ -0.08398859746607151,
134
+ -0.37855694764158704
135
+ ]
136
+ }
137
+ },
138
+ "grasp_9": {
139
+ "confidence": 0.9724871516227722,
140
+ "position": [
141
+ -0.1742292456328869,
142
+ 0.06526498455787078,
143
+ 0.08843912207521498
144
+ ],
145
+ "orientation": {
146
+ "w": 0.2073442137735166,
147
+ "xyz": [
148
+ 0.9131353935526599,
149
+ -0.16561338490130673,
150
+ 0.3094581341596996
151
+ ]
152
+ }
153
+ },
154
+ "grasp_10": {
155
+ "confidence": 0.972423255443573,
156
+ "position": [
157
+ -0.20049696788191795,
158
+ -0.04087433259701356,
159
+ 0.07328683161176741
160
+ ],
161
+ "orientation": {
162
+ "w": 0.13380160268335783,
163
+ "xyz": [
164
+ -0.8928803016866633,
165
+ -0.0735759158109518,
166
+ -0.4236136005747192
167
+ ]
168
+ }
169
+ },
170
+ "grasp_11": {
171
+ "confidence": 0.9722663164138794,
172
+ "position": [
173
+ -0.21140437945723534,
174
+ 0.018417115847114474,
175
+ 0.06398920738138258
176
+ ],
177
+ "orientation": {
178
+ "w": 0.10910676606138207,
179
+ "xyz": [
180
+ 0.872141807669271,
181
+ -0.012241794803560024,
182
+ 0.47677512453460785
183
+ ]
184
+ }
185
+ },
186
+ "grasp_12": {
187
+ "confidence": 0.9718903303146362,
188
+ "position": [
189
+ -0.17999481782317162,
190
+ 0.07085579592967406,
191
+ 0.06992251449264586
192
+ ],
193
+ "orientation": {
194
+ "w": 0.25449848933903974,
195
+ "xyz": [
196
+ 0.8706050519724399,
197
+ -0.1756135238144444,
198
+ 0.38267120698804274
199
+ ]
200
+ }
201
+ },
202
+ "grasp_14": {
203
+ "confidence": 0.9717920422554016,
204
+ "position": [
205
+ -0.18546144291758537,
206
+ 0.03210365731501952,
207
+ 0.08589514368213713
208
+ ],
209
+ "orientation": {
210
+ "w": 0.12759884178763012,
211
+ "xyz": [
212
+ 0.930478914909873,
213
+ -0.07746761276589226,
214
+ 0.3345538722761316
215
+ ]
216
+ }
217
+ },
218
+ "grasp_16": {
219
+ "confidence": 0.9713308215141296,
220
+ "position": [
221
+ -0.1906239353120327,
222
+ 0.029188917542342097,
223
+ 0.08453590446151793
224
+ ],
225
+ "orientation": {
226
+ "w": 0.1470852974330954,
227
+ "xyz": [
228
+ 0.9229873437217635,
229
+ -0.04284526465877264,
230
+ 0.35302204166989426
231
+ ]
232
+ }
233
+ },
234
+ "grasp_17": {
235
+ "confidence": 0.9713180661201477,
236
+ "position": [
237
+ -0.1865578107535839,
238
+ -0.04736943211173639,
239
+ 0.07957536005415022
240
+ ],
241
+ "orientation": {
242
+ "w": 0.1806582784414309,
243
+ "xyz": [
244
+ -0.9105111052636202,
245
+ -0.10105779005545473,
246
+ -0.35793775533087696
247
+ ]
248
+ }
249
+ },
250
+ "grasp_18": {
251
+ "confidence": 0.9712719917297363,
252
+ "position": [
253
+ -0.17964648827910423,
254
+ 0.07050678093219176,
255
+ 0.07063592993654311
256
+ ],
257
+ "orientation": {
258
+ "w": 0.26189150361004243,
259
+ "xyz": [
260
+ 0.8722341821976676,
261
+ -0.16899584126864126,
262
+ 0.3769095082068657
263
+ ]
264
+ }
265
+ },
266
+ "grasp_19": {
267
+ "confidence": 0.9709327220916748,
268
+ "position": [
269
+ -0.16860199347138405,
270
+ 0.05764795799041167,
271
+ 0.08870151662267745
272
+ ],
273
+ "orientation": {
274
+ "w": 0.21093420241149294,
275
+ "xyz": [
276
+ 0.9264727049305015,
277
+ -0.13121336886600554,
278
+ 0.28273333921315474
279
+ ]
280
+ }
281
+ }
282
+ }
283
+ },
284
+ {
285
+ "part_name": "handle",
286
+ "mask_color": "Green",
287
+ "graspable": true,
288
+ "grasp_scenarios": [
289
+ {
290
+ "scenario": "grasp the handle to pick up and manipulate the spoon",
291
+ "confidence": 0.96
292
+ },
293
+ {
294
+ "scenario": "hold the handle to orient the bowl for scooping or serving",
295
+ "confidence": 0.94
296
+ },
297
+ {
298
+ "scenario": "grasp near the end of the handle to hang, retrieve, or place the spoon",
299
+ "confidence": 0.79
300
+ }
301
+ ],
302
+ "functional_labels": [
303
+ "provide main grip",
304
+ "enable manipulation",
305
+ "extend reach from the bowl",
306
+ "allow hanging storage"
307
+ ],
308
+ "semantic_description": "Elongated silver-gray handle with a smooth slightly reflective finish, rounded edges, a wider terminal section, and a hanging hole at the tip.",
309
+ "id": 1,
310
+ "grasp_group": {
311
+ "grasp_20": {
312
+ "confidence": 0.9864287972450256,
313
+ "position": [
314
+ 0.016761858016252518,
315
+ 0.018787435779813677,
316
+ 0.09378881775774062
317
+ ],
318
+ "orientation": {
319
+ "w": 0.13262642323579715,
320
+ "xyz": [
321
+ 0.6824848103252459,
322
+ 0.7186876655741165,
323
+ -0.010618610390213536
324
+ ]
325
+ }
326
+ },
327
+ "grasp_21": {
328
+ "confidence": 0.9843757748603821,
329
+ "position": [
330
+ 0.030609440058469772,
331
+ 0.04237342957640067,
332
+ 0.08575917803682387
333
+ ],
334
+ "orientation": {
335
+ "w": 0.23509293751730143,
336
+ "xyz": [
337
+ 0.648639668710718,
338
+ 0.7180611961359097,
339
+ -0.09157515770230967
340
+ ]
341
+ }
342
+ },
343
+ "grasp_25": {
344
+ "confidence": 0.9786058068275452,
345
+ "position": [
346
+ 0.03305979445576668,
347
+ 0.03741726611042395,
348
+ 0.08866718434728682
349
+ ],
350
+ "orientation": {
351
+ "w": 0.07293449289589288,
352
+ "xyz": [
353
+ 0.6965547219746401,
354
+ -0.6845089237480332,
355
+ 0.202335395692797
356
+ ]
357
+ }
358
+ },
359
+ "grasp_26": {
360
+ "confidence": 0.9781739115715027,
361
+ "position": [
362
+ 0.03216538205742836,
363
+ 0.03679366741562262,
364
+ 0.08878606581129134
365
+ ],
366
+ "orientation": {
367
+ "w": 0.17391213492539392,
368
+ "xyz": [
369
+ 0.6921792755296681,
370
+ 0.6958923489539541,
371
+ -0.07985147788402935
372
+ ]
373
+ }
374
+ },
375
+ "grasp_29": {
376
+ "confidence": 0.9762766361236572,
377
+ "position": [
378
+ 0.0389779768884182,
379
+ -0.08743637095903978,
380
+ -0.037515721982344985
381
+ ],
382
+ "orientation": {
383
+ "w": 0.6697956374583315,
384
+ "xyz": [
385
+ -0.3287787816529768,
386
+ 0.44429460126981046,
387
+ 0.49586351353882746
388
+ ]
389
+ }
390
+ },
391
+ "grasp_30": {
392
+ "confidence": 0.9762532114982605,
393
+ "position": [
394
+ 0.07634051516652107,
395
+ -0.0949041474959813,
396
+ 0.017021234380081296
397
+ ],
398
+ "orientation": {
399
+ "w": 0.38249816701406997,
400
+ "xyz": [
401
+ -0.5853901119120777,
402
+ -0.5045195656928796,
403
+ -0.5064322036951341
404
+ ]
405
+ }
406
+ },
407
+ "grasp_32": {
408
+ "confidence": 0.975796103477478,
409
+ "position": [
410
+ 0.06721416488289833,
411
+ 0.06383347470546141,
412
+ 0.07481449865736067
413
+ ],
414
+ "orientation": {
415
+ "w": 0.2634854920372566,
416
+ "xyz": [
417
+ 0.6789490114953161,
418
+ -0.6504600995699038,
419
+ 0.21565086167907815
420
+ ]
421
+ }
422
+ },
423
+ "grasp_33": {
424
+ "confidence": 0.9753679037094116,
425
+ "position": [
426
+ 0.011036884039640427,
427
+ 0.09215854812646285,
428
+ -0.011220111278817058
429
+ ],
430
+ "orientation": {
431
+ "w": 0.5924865985028119,
432
+ "xyz": [
433
+ 0.41192587379178086,
434
+ 0.5326588319093167,
435
+ -0.44221179754100715
436
+ ]
437
+ }
438
+ },
439
+ "grasp_34": {
440
+ "confidence": 0.9752060174942017,
441
+ "position": [
442
+ 0.10225718095898628,
443
+ 0.09756114293122664,
444
+ -0.021800398593768477
445
+ ],
446
+ "orientation": {
447
+ "w": 0.5624806522633553,
448
+ "xyz": [
449
+ 0.4235403835772886,
450
+ -0.4685989899569585,
451
+ 0.5335204269003309
452
+ ]
453
+ }
454
+ },
455
+ "grasp_35": {
456
+ "confidence": 0.9749587178230286,
457
+ "position": [
458
+ 0.05448294058442116,
459
+ 0.07139542658114806,
460
+ -0.0657880527433008
461
+ ],
462
+ "orientation": {
463
+ "w": 0.6642728017868871,
464
+ "xyz": [
465
+ 0.30092878817241325,
466
+ 0.258821964358122,
467
+ -0.6333993211403728
468
+ ]
469
+ }
470
+ },
471
+ "grasp_36": {
472
+ "confidence": 0.9746736884117126,
473
+ "position": [
474
+ 0.07860498502850533,
475
+ -0.09698820154881105,
476
+ 0.009435300016775727
477
+ ],
478
+ "orientation": {
479
+ "w": 0.4950089966973682,
480
+ "xyz": [
481
+ -0.48688896862055236,
482
+ 0.5636804674304677,
483
+ 0.44740312477859256
484
+ ]
485
+ }
486
+ },
487
+ "grasp_37": {
488
+ "confidence": 0.9741541743278503,
489
+ "position": [
490
+ 0.04645687714219093,
491
+ 0.095297604391817,
492
+ 0.010051439749076962
493
+ ],
494
+ "orientation": {
495
+ "w": 0.3721384251666224,
496
+ "xyz": [
497
+ 0.5924148932859344,
498
+ -0.44971647558878647,
499
+ 0.5552591091657315
500
+ ]
501
+ }
502
+ },
503
+ "grasp_38": {
504
+ "confidence": 0.9738043546676636,
505
+ "position": [
506
+ 0.1139751709997654,
507
+ 0.0958786602714099,
508
+ -0.013861166080459952
509
+ ],
510
+ "orientation": {
511
+ "w": 0.5797578183912143,
512
+ "xyz": [
513
+ 0.42388802201120707,
514
+ -0.5039991456852466,
515
+ 0.4797756537781257
516
+ ]
517
+ }
518
+ },
519
+ "grasp_39": {
520
+ "confidence": 0.9731781482696533,
521
+ "position": [
522
+ 0.10211126878857613,
523
+ 0.09776888747001067,
524
+ -0.01274640648625791
525
+ ],
526
+ "orientation": {
527
+ "w": 0.5606049202761308,
528
+ "xyz": [
529
+ 0.44100675509137,
530
+ -0.4877780749700995,
531
+ 0.5032968457127833
532
+ ]
533
+ }
534
+ }
535
+ }
536
+ },
537
+ {
538
+ "part_name": "neck",
539
+ "mask_color": "Yellow",
540
+ "graspable": true,
541
+ "grasp_scenarios": [
542
+ {
543
+ "scenario": "pinch the narrow neck to lift or reposition the spoon in a tight space",
544
+ "confidence": 0.58
545
+ },
546
+ {
547
+ "scenario": "grasp the neck to stabilize the spoon during precise orientation",
548
+ "confidence": 0.54
549
+ }
550
+ ],
551
+ "functional_labels": [
552
+ "connect bowl to handle",
553
+ "transfer force between parts",
554
+ "support bowl alignment",
555
+ "provide a narrow control point"
556
+ ],
557
+ "semantic_description": "Slim silver-gray connecting neck between the bowl and handle, smooth and slightly reflective, narrow and gently tapered.",
558
+ "id": 3,
559
+ "grasp_group": {
560
+ "grasp_45": {
561
+ "confidence": 0.8665885329246521,
562
+ "position": [
563
+ -0.03310510143637657,
564
+ -0.0119888712069951,
565
+ -0.09645357704721391
566
+ ],
567
+ "orientation": {
568
+ "w": 0.6945991858889871,
569
+ "xyz": [
570
+ -0.029751907274445225,
571
+ 0.05300297906822182,
572
+ 0.7168245804838048
573
+ ]
574
+ }
575
+ }
576
+ }
577
+ }
578
+ ],
579
+ "quality_check": {
580
+ "success": true,
581
+ "message": "YES"
582
+ }
583
+ }
dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:90999326ed74339567f486c1ef083dc50a0afc93759300f76fcfd7db03476176
3
+ size 3781060
dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/spoon_037.urdf CHANGED
@@ -57,6 +57,7 @@
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
 
60
  </affordance>
61
  <quality>
62
  <PartSegChecker>YES</PartSegChecker>
 
57
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
58
  </geometry>
59
  </visual_seg>
60
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>