xinjjj commited on
Commit
16e69b3
·
verified ·
1 Parent(s): d927206

Add asset kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc

Browse files
.gitattributes CHANGED
@@ -7232,3 +7232,4 @@ dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/affordance/m
7232
  dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7233
  dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7234
  dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7232
  dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7233
  dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7234
  dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7235
+ dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.urdf CHANGED
@@ -52,6 +52,7 @@
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
 
55
  </affordance>
56
  </custom_data>
57
  </robot>
 
52
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
53
  </geometry>
54
  </visual_seg>
55
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
56
  </affordance>
57
  </custom_data>
58
  </robot>
dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/affordance_annot.json ADDED
@@ -0,0 +1,560 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and reposition the wooden spoon",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle to manipulate the spoon during scooping or stirring",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize the spoon while scraping or serving",
18
+ "confidence": 0.86
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide main grip",
23
+ "enable manipulation",
24
+ "support stirring motion",
25
+ "support scooping control",
26
+ "connect bowl to user grip"
27
+ ],
28
+ "semantic_description": "Short brown wooden handle with a smooth polished finish, visible wood grain, slight taper, and rounded end extending from the spoon bowl as the primary grip section.",
29
+ "id": 1,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.981096088886261,
33
+ "position": [
34
+ -0.0933842882514,
35
+ 0.09886240432388149,
36
+ 0.004633320088032633
37
+ ],
38
+ "orientation": {
39
+ "w": 0.5103493504340547,
40
+ "xyz": [
41
+ 0.5429931952359769,
42
+ 0.49887332395672646,
43
+ -0.44252382657132655
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9796653389930725,
49
+ "position": [
50
+ -0.07118887454271317,
51
+ 0.09998913327581249,
52
+ 0.000789589888881892
53
+ ],
54
+ "orientation": {
55
+ "w": 0.45031029061859174,
56
+ "xyz": [
57
+ 0.5559207400404043,
58
+ 0.4541870723994792,
59
+ -0.5309301990103017
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9784720540046692,
65
+ "position": [
66
+ -0.08543752133846283,
67
+ 0.10121291349059902,
68
+ -0.0006825754826422781
69
+ ],
70
+ "orientation": {
71
+ "w": 0.5052576783636268,
72
+ "xyz": [
73
+ 0.5044290066326791,
74
+ 0.5098358072837896,
75
+ -0.47993072972404366
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.9771386384963989,
81
+ "position": [
82
+ -0.07523101568222046,
83
+ 0.0965190775168594,
84
+ -0.020038646121975034
85
+ ],
86
+ "orientation": {
87
+ "w": 0.5518118117561231,
88
+ "xyz": [
89
+ 0.45790694166093304,
90
+ 0.44874161007475843,
91
+ -0.5333440958449528
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.9769108295440674,
97
+ "position": [
98
+ -0.08818089962005615,
99
+ 0.09395466963178478,
100
+ -0.016722251137252897
101
+ ],
102
+ "orientation": {
103
+ "w": 0.5762185998334146,
104
+ "xyz": [
105
+ 0.46553902327423563,
106
+ 0.4535039971315705,
107
+ -0.4955599535884409
108
+ ]
109
+ }
110
+ },
111
+ "grasp_6": {
112
+ "confidence": 0.9760650992393494,
113
+ "position": [
114
+ -0.10223763436079025,
115
+ 0.09556578318006359,
116
+ 0.000308461079839617
117
+ ],
118
+ "orientation": {
119
+ "w": 0.4514100133837108,
120
+ "xyz": [
121
+ 0.5259077991183589,
122
+ -0.4792956123768378,
123
+ 0.5384474928901746
124
+ ]
125
+ }
126
+ },
127
+ "grasp_7": {
128
+ "confidence": 0.9758254289627075,
129
+ "position": [
130
+ -0.09996271878480911,
131
+ 0.09387672910816036,
132
+ 0.020732212404254824
133
+ ],
134
+ "orientation": {
135
+ "w": 0.4666010341612819,
136
+ "xyz": [
137
+ 0.5403849225100524,
138
+ 0.5714489221334933,
139
+ -0.4046155457170363
140
+ ]
141
+ }
142
+ },
143
+ "grasp_8": {
144
+ "confidence": 0.9756524562835693,
145
+ "position": [
146
+ -0.11870191246271133,
147
+ 0.09502826849347912,
148
+ 0.002315004647243768
149
+ ],
150
+ "orientation": {
151
+ "w": 0.5488697696242064,
152
+ "xyz": [
153
+ 0.46055679600895566,
154
+ 0.5621295793113519,
155
+ -0.4130856445168224
156
+ ]
157
+ }
158
+ },
159
+ "grasp_9": {
160
+ "confidence": 0.9756399393081665,
161
+ "position": [
162
+ -0.11726079136133194,
163
+ 0.09362308154231869,
164
+ -0.001365702337352559
165
+ ],
166
+ "orientation": {
167
+ "w": 0.559476323268996,
168
+ "xyz": [
169
+ 0.46677752495517744,
170
+ 0.5490208642254871,
171
+ -0.4094887990448862
172
+ ]
173
+ }
174
+ },
175
+ "grasp_10": {
176
+ "confidence": 0.9755284190177917,
177
+ "position": [
178
+ -0.09940239042043686,
179
+ 0.0806126467359718,
180
+ -0.046283962612506
181
+ ],
182
+ "orientation": {
183
+ "w": 0.6980112103329152,
184
+ "xyz": [
185
+ 0.3711475811406327,
186
+ 0.3421521455795895,
187
+ -0.5078993330752858
188
+ ]
189
+ }
190
+ },
191
+ "grasp_12": {
192
+ "confidence": 0.9751374125480652,
193
+ "position": [
194
+ -0.10712193697690964,
195
+ 0.09482213328010403,
196
+ 0.005614499154035002
197
+ ],
198
+ "orientation": {
199
+ "w": 0.5219075388670316,
200
+ "xyz": [
201
+ 0.47427140691223113,
202
+ 0.5679076542011903,
203
+ -0.4244526472516723
204
+ ]
205
+ }
206
+ },
207
+ "grasp_13": {
208
+ "confidence": 0.9747841954231262,
209
+ "position": [
210
+ -0.08301209658384323,
211
+ 0.09743254850036465,
212
+ 0.002620223502162844
213
+ ],
214
+ "orientation": {
215
+ "w": 0.48891163180720676,
216
+ "xyz": [
217
+ 0.5018717130455952,
218
+ 0.5267540546989607,
219
+ -0.48126953548557155
220
+ ]
221
+ }
222
+ },
223
+ "grasp_14": {
224
+ "confidence": 0.9744910597801208,
225
+ "position": [
226
+ -0.1228046789765358,
227
+ 0.09471746007329784,
228
+ 0.009420691581908613
229
+ ],
230
+ "orientation": {
231
+ "w": 0.5328922230966431,
232
+ "xyz": [
233
+ 0.4629048448654977,
234
+ 0.5916019623112659,
235
+ -0.38955372075315436
236
+ ]
237
+ }
238
+ },
239
+ "grasp_15": {
240
+ "confidence": 0.9744514226913452,
241
+ "position": [
242
+ -0.07077993452548981,
243
+ 0.09870433280593716,
244
+ -0.0037127965479157865
245
+ ],
246
+ "orientation": {
247
+ "w": 0.47346215466864183,
248
+ "xyz": [
249
+ 0.5290160045199513,
250
+ 0.4700343519255016,
251
+ -0.5244457675186708
252
+ ]
253
+ }
254
+ },
255
+ "grasp_16": {
256
+ "confidence": 0.9743382334709167,
257
+ "position": [
258
+ -0.10299738496541977,
259
+ 0.0902426264656242,
260
+ 0.03388553258264437
261
+ ],
262
+ "orientation": {
263
+ "w": 0.4256115728383589,
264
+ "xyz": [
265
+ 0.5157445067393656,
266
+ 0.6369010943785371,
267
+ -0.38369178882750177
268
+ ]
269
+ }
270
+ },
271
+ "grasp_17": {
272
+ "confidence": 0.9741591215133667,
273
+ "position": [
274
+ -0.08404728770256042,
275
+ 0.07804224858409725,
276
+ -0.05453634861623868
277
+ ],
278
+ "orientation": {
279
+ "w": 0.6541526129967231,
280
+ "xyz": [
281
+ 0.3217199078292579,
282
+ 0.34712242235682766,
283
+ -0.589988714903108
284
+ ]
285
+ }
286
+ },
287
+ "grasp_19": {
288
+ "confidence": 0.9735310077667236,
289
+ "position": [
290
+ -0.09151948988437653,
291
+ 0.08064123461372219,
292
+ -0.04376055527245626
293
+ ],
294
+ "orientation": {
295
+ "w": 0.5529459191827611,
296
+ "xyz": [
297
+ 0.3742509134722545,
298
+ -0.36444399938183536,
299
+ 0.6491283659946526
300
+ ]
301
+ }
302
+ }
303
+ }
304
+ },
305
+ {
306
+ "part_name": "spoon bowl",
307
+ "mask_color": "Blue",
308
+ "graspable": true,
309
+ "grasp_scenarios": [
310
+ {
311
+ "scenario": "grasp the bowl to pick up the spoon when the handle is obstructed",
312
+ "confidence": 0.42
313
+ },
314
+ {
315
+ "scenario": "pinch the bowl to stabilize the spoon during placement or inspection",
316
+ "confidence": 0.36
317
+ }
318
+ ],
319
+ "functional_labels": [
320
+ "scoop food",
321
+ "hold small contents",
322
+ "serve portions",
323
+ "transfer ingredients",
324
+ "provide concave working end"
325
+ ],
326
+ "semantic_description": "Rounded oval brown wooden spoon bowl with a smooth polished concave interior, visible wood grain, and a broader front end sized to hold small amounts of food.",
327
+ "id": 2,
328
+ "grasp_group": {
329
+ "grasp_21": {
330
+ "confidence": 0.41985175013542175,
331
+ "position": [
332
+ -0.025842387229204178,
333
+ 0.09682412663823925,
334
+ 0.034983312303666025
335
+ ],
336
+ "orientation": {
337
+ "w": 0.24829629274013534,
338
+ "xyz": [
339
+ 0.7065794318870257,
340
+ -0.45169663231741675,
341
+ 0.48483462108106273
342
+ ]
343
+ }
344
+ },
345
+ "grasp_24": {
346
+ "confidence": 0.918908953666687,
347
+ "position": [
348
+ 0.0982353687286377,
349
+ 0.07747660795575939,
350
+ 0.1043255939730443
351
+ ],
352
+ "orientation": {
353
+ "w": 0.11297393325069649,
354
+ "xyz": [
355
+ 0.775683966763703,
356
+ 0.5969166643710692,
357
+ -0.1710022511773166
358
+ ]
359
+ }
360
+ },
361
+ "grasp_25": {
362
+ "confidence": 0.9144012928009033,
363
+ "position": [
364
+ 0.15473126620054245,
365
+ 0.021974571369355544,
366
+ 0.10678023990476504
367
+ ],
368
+ "orientation": {
369
+ "w": 0.18527748332261057,
370
+ "xyz": [
371
+ 0.06731435144980227,
372
+ -0.9759957074414253,
373
+ 0.0925927174158113
374
+ ]
375
+ }
376
+ },
377
+ "grasp_26": {
378
+ "confidence": 0.8952747583389282,
379
+ "position": [
380
+ 0.172890804708004,
381
+ 0.002032428135862574,
382
+ 0.09917950030649081
383
+ ],
384
+ "orientation": {
385
+ "w": 0.26451468275470935,
386
+ "xyz": [
387
+ 0.09600552353205113,
388
+ -0.9577190838039863,
389
+ -0.0599089190034738
390
+ ]
391
+ }
392
+ },
393
+ "grasp_27": {
394
+ "confidence": 0.888349711894989,
395
+ "position": [
396
+ 0.16861719638109207,
397
+ 0.011698705464368686,
398
+ 0.09702684130752459
399
+ ],
400
+ "orientation": {
401
+ "w": 0.2619855038413807,
402
+ "xyz": [
403
+ -0.0601935124445658,
404
+ -0.9485769141505007,
405
+ 0.16715913010445463
406
+ ]
407
+ }
408
+ },
409
+ "grasp_28": {
410
+ "confidence": 0.8600733876228333,
411
+ "position": [
412
+ 0.15331407636404037,
413
+ -0.07133467277162708,
414
+ 0.09159867611015216
415
+ ],
416
+ "orientation": {
417
+ "w": 0.26853530071896403,
418
+ "xyz": [
419
+ -0.22264432234572293,
420
+ -0.9150884489714377,
421
+ -0.20231517133926938
422
+ ]
423
+ }
424
+ },
425
+ "grasp_29": {
426
+ "confidence": 0.8263516426086426,
427
+ "position": [
428
+ 0.1720263734459877,
429
+ 0.02136861192411743,
430
+ 0.08779271837556735
431
+ ],
432
+ "orientation": {
433
+ "w": 0.17670206328514612,
434
+ "xyz": [
435
+ -0.8988158484268247,
436
+ -0.2671931374234913,
437
+ 0.29918936939893254
438
+ ]
439
+ }
440
+ },
441
+ "grasp_30": {
442
+ "confidence": 0.8183255791664124,
443
+ "position": [
444
+ 0.09908770024776459,
445
+ -0.07256372799747624,
446
+ 0.10603501048171893
447
+ ],
448
+ "orientation": {
449
+ "w": 0.18026305592281025,
450
+ "xyz": [
451
+ -0.5825781061952022,
452
+ -0.7859728657520118,
453
+ -0.10175772773088008
454
+ ]
455
+ }
456
+ },
457
+ "grasp_31": {
458
+ "confidence": 0.7869353890419006,
459
+ "position": [
460
+ 0.04807443730533123,
461
+ 0.07750398138887249,
462
+ 0.10212528106058016
463
+ ],
464
+ "orientation": {
465
+ "w": 0.1937767026882613,
466
+ "xyz": [
467
+ 0.6325165379057254,
468
+ 0.744812025120911,
469
+ -0.08734109002243595
470
+ ]
471
+ }
472
+ },
473
+ "grasp_32": {
474
+ "confidence": 0.7729483842849731,
475
+ "position": [
476
+ 0.08169621974229813,
477
+ -0.08125999351614155,
478
+ 0.1029508724459447
479
+ ],
480
+ "orientation": {
481
+ "w": 0.16731197814796017,
482
+ "xyz": [
483
+ -0.5820842131488434,
484
+ -0.7825611460223725,
485
+ -0.14416214311413217
486
+ ]
487
+ }
488
+ },
489
+ "grasp_33": {
490
+ "confidence": 0.7698401808738708,
491
+ "position": [
492
+ 0.023402697406709194,
493
+ 0.06744469920522533,
494
+ 0.09410423930967227
495
+ ],
496
+ "orientation": {
497
+ "w": 0.2815924316569049,
498
+ "xyz": [
499
+ 0.6591811105350227,
500
+ 0.6928289597702025,
501
+ 0.07857479526606669
502
+ ]
503
+ }
504
+ },
505
+ "grasp_34": {
506
+ "confidence": 0.6396171450614929,
507
+ "position": [
508
+ -0.010618012398481369,
509
+ 0.05738475391990505,
510
+ 0.09848866757238284
511
+ ],
512
+ "orientation": {
513
+ "w": 0.19754514441389592,
514
+ "xyz": [
515
+ 0.5664278239470434,
516
+ 0.7983400536749968,
517
+ -0.05280714795663133
518
+ ]
519
+ }
520
+ },
521
+ "grasp_37": {
522
+ "confidence": 0.04182415083050728,
523
+ "position": [
524
+ -0.038553282618522644,
525
+ -0.0001596842339495197,
526
+ 0.06632761057699099
527
+ ],
528
+ "orientation": {
529
+ "w": 0.3423166611559127,
530
+ "xyz": [
531
+ -0.6576122844426859,
532
+ 0.5896668964940686,
533
+ -0.32040339889613195
534
+ ]
535
+ }
536
+ },
537
+ "grasp_39": {
538
+ "confidence": 0.8847802877426147,
539
+ "position": [
540
+ 0.06455466523766518,
541
+ 0.08437793920165859,
542
+ 0.10353008058154956
543
+ ],
544
+ "orientation": {
545
+ "w": 0.20927197539793083,
546
+ "xyz": [
547
+ 0.7361779023871378,
548
+ 0.6387345599604592,
549
+ -0.07915490042972852
550
+ ]
551
+ }
552
+ }
553
+ }
554
+ }
555
+ ],
556
+ "quality_check": {
557
+ "success": false,
558
+ "message": "Blue/green part identities are swapped; handle and bowl mask colors and selected regions do not match images."
559
+ }
560
+ }
dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e0249f8e44329f233f91726d558dfa5b46cb540107d15e4fe376426c2e03f269
3
+ size 1152324