xinjjj commited on
Commit
4911bb2
·
verified ·
1 Parent(s): 6952e7f

Add asset kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e

Browse files
.gitattributes CHANGED
@@ -8486,3 +8486,4 @@ dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/affordance/me
8486
  dataset/kitchen_supplies/utensils/097e8b15ba8a5cd489720f4cff17f795/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8487
  dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8488
  dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8486
  dataset/kitchen_supplies/utensils/097e8b15ba8a5cd489720f4cff17f795/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8487
  dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8488
  dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8489
+ dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/affordance/affordance_annot.json ADDED
@@ -0,0 +1,589 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "spatula head",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the broad head to pick up or reposition the spatula when the handle is obstructed",
10
+ "confidence": 0.42
11
+ },
12
+ {
13
+ "scenario": "hold the head to stabilize the tool during close-in manipulation or inspection",
14
+ "confidence": 0.36
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "lift food",
19
+ "slide under food",
20
+ "flip food",
21
+ "scrape cooking surfaces",
22
+ "transfer food"
23
+ ],
24
+ "semantic_description": "Broad slightly curved white silicone or nylon head with a matte smooth surface, thin tapered edges, and a wide rectangular-trapezoidal shape at the working end with a small printed logo near the neck.",
25
+ "id": 0,
26
+ "grasp_group": {
27
+ "grasp_0": {
28
+ "confidence": 0.9618297815322876,
29
+ "position": [
30
+ -0.1167460847645998,
31
+ -0.1297463964438066,
32
+ 0.024034547386690974
33
+ ],
34
+ "orientation": {
35
+ "w": 0.5395964563410778,
36
+ "xyz": [
37
+ -0.6741395644967314,
38
+ -0.32491098092847726,
39
+ -0.3857516900240403
40
+ ]
41
+ }
42
+ },
43
+ "grasp_1": {
44
+ "confidence": 0.9613949060440063,
45
+ "position": [
46
+ -0.15835736878216267,
47
+ -0.11089272459503263,
48
+ 0.039349644212052226
49
+ ],
50
+ "orientation": {
51
+ "w": 0.49086790973815436,
52
+ "xyz": [
53
+ -0.27646270724693295,
54
+ 0.7393897826923772,
55
+ 0.3686730474839616
56
+ ]
57
+ }
58
+ },
59
+ "grasp_2": {
60
+ "confidence": 0.9608971476554871,
61
+ "position": [
62
+ -0.10961349494755268,
63
+ -0.1294440816855058,
64
+ 0.01886855880729854
65
+ ],
66
+ "orientation": {
67
+ "w": 0.5523816529689586,
68
+ "xyz": [
69
+ -0.6440042748265872,
70
+ -0.3546516334818034,
71
+ -0.39288067188021664
72
+ ]
73
+ }
74
+ },
75
+ "grasp_3": {
76
+ "confidence": 0.958197295665741,
77
+ "position": [
78
+ -0.1573170442134142,
79
+ -0.10745202412363142,
80
+ 0.037892869440838695
81
+ ],
82
+ "orientation": {
83
+ "w": 0.4880365771139935,
84
+ "xyz": [
85
+ -0.2582537310647962,
86
+ 0.740597287743934,
87
+ 0.38293728882977396
88
+ ]
89
+ }
90
+ },
91
+ "grasp_4": {
92
+ "confidence": 0.9568414688110352,
93
+ "position": [
94
+ -0.1561411190778017,
95
+ -0.10957749595399946,
96
+ 0.04085415857844055
97
+ ],
98
+ "orientation": {
99
+ "w": 0.36160673662948706,
100
+ "xyz": [
101
+ -0.7467726701979386,
102
+ -0.2683329242392477,
103
+ -0.4894574433378529
104
+ ]
105
+ }
106
+ },
107
+ "grasp_5": {
108
+ "confidence": 0.9567043781280518,
109
+ "position": [
110
+ -0.11046730913221836,
111
+ -0.13073702563997358,
112
+ 0.021886235801503062
113
+ ],
114
+ "orientation": {
115
+ "w": 0.5269490886372352,
116
+ "xyz": [
117
+ -0.6574721874842646,
118
+ -0.3551908963805709,
119
+ -0.4048387429550305
120
+ ]
121
+ }
122
+ },
123
+ "grasp_6": {
124
+ "confidence": 0.9561968445777893,
125
+ "position": [
126
+ -0.17007327266037464,
127
+ -0.09532431175466627,
128
+ 0.04710562038235366
129
+ ],
130
+ "orientation": {
131
+ "w": 0.3041679374299335,
132
+ "xyz": [
133
+ -0.772870491601797,
134
+ -0.24448226233994852,
135
+ -0.5003813470264029
136
+ ]
137
+ }
138
+ },
139
+ "grasp_7": {
140
+ "confidence": 0.9558215141296387,
141
+ "position": [
142
+ -0.15151936002075672,
143
+ -0.11700302024837583,
144
+ 0.037264714716002345
145
+ ],
146
+ "orientation": {
147
+ "w": 0.484567748121791,
148
+ "xyz": [
149
+ -0.28332788847285484,
150
+ 0.733642234821888,
151
+ 0.3829993164213687
152
+ ]
153
+ }
154
+ },
155
+ "grasp_8": {
156
+ "confidence": 0.9555790424346924,
157
+ "position": [
158
+ -0.1389386672526598,
159
+ -0.11546039988752455,
160
+ 0.04005570220761001
161
+ ],
162
+ "orientation": {
163
+ "w": 0.43199119277817705,
164
+ "xyz": [
165
+ -0.28935048785422346,
166
+ 0.7384653675635415,
167
+ 0.4293353065493849
168
+ ]
169
+ }
170
+ },
171
+ "grasp_9": {
172
+ "confidence": 0.9555352926254272,
173
+ "position": [
174
+ -0.05744839273393154,
175
+ -0.1236874278401956,
176
+ -0.006029934389516711
177
+ ],
178
+ "orientation": {
179
+ "w": 0.2935995639110006,
180
+ "xyz": [
181
+ -0.4512051070843757,
182
+ 0.469194294027965,
183
+ 0.7000499709762488
184
+ ]
185
+ }
186
+ },
187
+ "grasp_10": {
188
+ "confidence": 0.9552744626998901,
189
+ "position": [
190
+ -0.1578363198786974,
191
+ -0.10372037102933973,
192
+ 0.04077742132358253
193
+ ],
194
+ "orientation": {
195
+ "w": 0.36437777410261396,
196
+ "xyz": [
197
+ -0.7518114681961039,
198
+ -0.25692878773588157,
199
+ -0.4857941457669218
200
+ ]
201
+ }
202
+ },
203
+ "grasp_11": {
204
+ "confidence": 0.955047607421875,
205
+ "position": [
206
+ -0.15923489816486835,
207
+ -0.10165771504398435,
208
+ 0.039610038278624415
209
+ ],
210
+ "orientation": {
211
+ "w": 0.38167643872664586,
212
+ "xyz": [
213
+ -0.7501018318462359,
214
+ -0.249432771525546,
215
+ -0.47901318402623366
216
+ ]
217
+ }
218
+ },
219
+ "grasp_12": {
220
+ "confidence": 0.9548563957214355,
221
+ "position": [
222
+ -0.15392817743122578,
223
+ -0.11235907336231321,
224
+ 0.038482195464894176
225
+ ],
226
+ "orientation": {
227
+ "w": 0.3748769729460825,
228
+ "xyz": [
229
+ -0.7457836494694806,
230
+ -0.2669356600363225,
231
+ -0.4816838763543345
232
+ ]
233
+ }
234
+ },
235
+ "grasp_14": {
236
+ "confidence": 0.9547917246818542,
237
+ "position": [
238
+ -0.10437146760523319,
239
+ -0.13133317639585584,
240
+ 0.018892886815592647
241
+ ],
242
+ "orientation": {
243
+ "w": 0.4089191977032875,
244
+ "xyz": [
245
+ -0.384271554463969,
246
+ 0.6209291807159147,
247
+ 0.5473275205167444
248
+ ]
249
+ }
250
+ },
251
+ "grasp_15": {
252
+ "confidence": 0.9543977975845337,
253
+ "position": [
254
+ -0.14188683964312077,
255
+ -0.12125552853103727,
256
+ 0.030629982007667422
257
+ ],
258
+ "orientation": {
259
+ "w": 0.4898387627442294,
260
+ "xyz": [
261
+ -0.31931635085556065,
262
+ 0.7024091044370666,
263
+ 0.40585281148885705
264
+ ]
265
+ }
266
+ },
267
+ "grasp_16": {
268
+ "confidence": 0.9543708562850952,
269
+ "position": [
270
+ -0.16115535981953144,
271
+ -0.10779594292398542,
272
+ 0.03868422540836036
273
+ ],
274
+ "orientation": {
275
+ "w": 0.3475127766607475,
276
+ "xyz": [
277
+ -0.7485962919973153,
278
+ -0.2588221416535119,
279
+ -0.5018461523766993
280
+ ]
281
+ }
282
+ },
283
+ "grasp_17": {
284
+ "confidence": 0.9543169140815735,
285
+ "position": [
286
+ -0.16932946629822254,
287
+ -0.10015634109731764,
288
+ 0.044109857408329844
289
+ ],
290
+ "orientation": {
291
+ "w": 0.5139191719371743,
292
+ "xyz": [
293
+ -0.22538363419463256,
294
+ 0.7700652444855287,
295
+ 0.30346140016165446
296
+ ]
297
+ }
298
+ },
299
+ "grasp_18": {
300
+ "confidence": 0.953743577003479,
301
+ "position": [
302
+ -0.14287075586616993,
303
+ -0.11986489256378263,
304
+ 0.035725685534998775
305
+ ],
306
+ "orientation": {
307
+ "w": 0.47046454316789565,
308
+ "xyz": [
309
+ -0.27921331372300434,
310
+ 0.7275034603859455,
311
+ 0.4140552549939654
312
+ ]
313
+ }
314
+ },
315
+ "grasp_19": {
316
+ "confidence": 0.9536017775535583,
317
+ "position": [
318
+ -0.16565816290676594,
319
+ -0.10201245208736509,
320
+ 0.039589958963915706
321
+ ],
322
+ "orientation": {
323
+ "w": 0.3166847619787514,
324
+ "xyz": [
325
+ -0.7597736821768712,
326
+ -0.23724917263216272,
327
+ -0.5159142792046122
328
+ ]
329
+ }
330
+ }
331
+ }
332
+ },
333
+ {
334
+ "part_name": "handle",
335
+ "mask_color": "Green",
336
+ "graspable": true,
337
+ "grasp_scenarios": [
338
+ {
339
+ "scenario": "grasp the handle to pick up and use the spatula",
340
+ "confidence": 0.97
341
+ },
342
+ {
343
+ "scenario": "hold the handle to manipulate food while keeping distance from heat",
344
+ "confidence": 0.95
345
+ },
346
+ {
347
+ "scenario": "grasp the handle to hang, pull, or reposition the utensil",
348
+ "confidence": 0.74
349
+ }
350
+ ],
351
+ "functional_labels": [
352
+ "primary grip",
353
+ "control tool orientation",
354
+ "keep hand away from hot surface",
355
+ "support hanging storage",
356
+ "connect head to user"
357
+ ],
358
+ "semantic_description": "Long narrow light gray handle, likely plastic or coated metal, with a hard mostly smooth finish, slight curve, several small grip perforations near the neck, and an oval hanging hole at the end.",
359
+ "id": 1,
360
+ "grasp_group": {
361
+ "grasp_20": {
362
+ "confidence": 0.984745442867279,
363
+ "position": [
364
+ 0.038080969825387,
365
+ 0.01698693970683962,
366
+ 0.09503428521566093
367
+ ],
368
+ "orientation": {
369
+ "w": 0.1528491809902936,
370
+ "xyz": [
371
+ 0.6772898769173596,
372
+ 0.7192956682290846,
373
+ -0.02300635048717053
374
+ ]
375
+ }
376
+ },
377
+ "grasp_21": {
378
+ "confidence": 0.9844287633895874,
379
+ "position": [
380
+ 0.04701940529048443,
381
+ 0.08647179941181093,
382
+ 0.04184597986750305
383
+ ],
384
+ "orientation": {
385
+ "w": 0.3452102029437422,
386
+ "xyz": [
387
+ 0.6645443233267193,
388
+ -0.5199005531775656,
389
+ 0.41099169447013756
390
+ ]
391
+ }
392
+ },
393
+ "grasp_25": {
394
+ "confidence": 0.9810801148414612,
395
+ "position": [
396
+ 0.0683730449527502,
397
+ 0.020071096369065344,
398
+ 0.08966214838437736
399
+ ],
400
+ "orientation": {
401
+ "w": 0.14379897607251904,
402
+ "xyz": [
403
+ 0.6900498072863422,
404
+ 0.708756707186024,
405
+ -0.02858405085709661
406
+ ]
407
+ }
408
+ },
409
+ "grasp_27": {
410
+ "confidence": 0.9795219302177429,
411
+ "position": [
412
+ 0.047319045290350914,
413
+ 0.05506750533822924,
414
+ 0.08116596075706184
415
+ ],
416
+ "orientation": {
417
+ "w": 0.23074020158659334,
418
+ "xyz": [
419
+ 0.6559176952575259,
420
+ 0.6831823790333655,
421
+ -0.22314294386815092
422
+ ]
423
+ }
424
+ },
425
+ "grasp_28": {
426
+ "confidence": 0.9792999625205994,
427
+ "position": [
428
+ 0.05260953865945339,
429
+ -0.05141855066176504,
430
+ 0.08307967218570411
431
+ ],
432
+ "orientation": {
433
+ "w": 0.1738163219640821,
434
+ "xyz": [
435
+ -0.7242775027650841,
436
+ -0.6347576847588694,
437
+ -0.20565180973386027
438
+ ]
439
+ }
440
+ },
441
+ "grasp_29": {
442
+ "confidence": 0.9784461259841919,
443
+ "position": [
444
+ 0.0513050090521574,
445
+ 0.08585485408548266,
446
+ 0.040339774219319224
447
+ ],
448
+ "orientation": {
449
+ "w": 0.43741783350561453,
450
+ "xyz": [
451
+ 0.49038957380420156,
452
+ 0.6857020521250584,
453
+ -0.3130437677815536
454
+ ]
455
+ }
456
+ },
457
+ "grasp_30": {
458
+ "confidence": 0.9779061675071716,
459
+ "position": [
460
+ 0.04639066569507122,
461
+ -0.033806234947405756,
462
+ -0.08910283562727273
463
+ ],
464
+ "orientation": {
465
+ "w": 0.6726588095340515,
466
+ "xyz": [
467
+ -0.24481685093700192,
468
+ 0.020326960428540763,
469
+ -0.6979839898831913
470
+ ]
471
+ }
472
+ },
473
+ "grasp_33": {
474
+ "confidence": 0.9749816060066223,
475
+ "position": [
476
+ 0.09958485327661037,
477
+ 0.06356611440423876,
478
+ 0.0692739028017968
479
+ ],
480
+ "orientation": {
481
+ "w": 0.2291363016557304,
482
+ "xyz": [
483
+ 0.637334858862662,
484
+ 0.6807001534551285,
485
+ -0.2791919304496623
486
+ ]
487
+ }
488
+ },
489
+ "grasp_35": {
490
+ "confidence": 0.974555492401123,
491
+ "position": [
492
+ 0.06364904157817364,
493
+ 0.08267749438527972,
494
+ 0.05300666275434196
495
+ ],
496
+ "orientation": {
497
+ "w": 0.34483470290739443,
498
+ "xyz": [
499
+ 0.5767447398614539,
500
+ 0.6537495935457359,
501
+ -0.3479454003887654
502
+ ]
503
+ }
504
+ },
505
+ "grasp_37": {
506
+ "confidence": 0.9742100238800049,
507
+ "position": [
508
+ 0.06502803973853588,
509
+ -0.028476300067268312,
510
+ -0.0968182769138366
511
+ ],
512
+ "orientation": {
513
+ "w": 0.6957189970005675,
514
+ "xyz": [
515
+ -0.047911415492271264,
516
+ 0.13141208436682084,
517
+ 0.70456400529719
518
+ ]
519
+ }
520
+ },
521
+ "grasp_38": {
522
+ "confidence": 0.9733020663261414,
523
+ "position": [
524
+ 0.06145123206079006,
525
+ 0.08613407204393297,
526
+ 0.035102299181744456
527
+ ],
528
+ "orientation": {
529
+ "w": 0.4115607658906105,
530
+ "xyz": [
531
+ 0.5107789121465381,
532
+ 0.6675016446338442,
533
+ -0.35236939892255953
534
+ ]
535
+ }
536
+ },
537
+ "grasp_39": {
538
+ "confidence": 0.9732298851013184,
539
+ "position": [
540
+ 0.10075402818620205,
541
+ -0.019142592675052583,
542
+ 0.08969944599084556
543
+ ],
544
+ "orientation": {
545
+ "w": 0.14120065097934226,
546
+ "xyz": [
547
+ -0.6737744107615321,
548
+ -0.7252774731044087,
549
+ 0.007937667997889704
550
+ ]
551
+ }
552
+ }
553
+ }
554
+ },
555
+ {
556
+ "part_name": "hanging hole",
557
+ "mask_color": "Blue",
558
+ "graspable": false,
559
+ "grasp_scenarios": [],
560
+ "functional_labels": [
561
+ "enable hanging storage",
562
+ "provide attachment point",
563
+ "reduce end weight",
564
+ "indicate handle end"
565
+ ],
566
+ "semantic_description": "Small oval opening through the handle tip with smooth hard edges, positioned at the far end of the light gray handle for hanging or tethering.",
567
+ "id": 2,
568
+ "grasp_group": {}
569
+ },
570
+ {
571
+ "part_name": "grip perforations",
572
+ "mask_color": "Yellow",
573
+ "graspable": false,
574
+ "grasp_scenarios": [],
575
+ "functional_labels": [
576
+ "improve grip traction",
577
+ "provide finger indexing",
578
+ "add visual detail"
579
+ ],
580
+ "semantic_description": "A short row of tiny elongated holes or recessed slots near the upper handle, matching the handle material appearance and adding slight texture to the otherwise smooth light gray grip area.",
581
+ "id": 3,
582
+ "grasp_group": {}
583
+ }
584
+ ],
585
+ "quality_check": {
586
+ "success": true,
587
+ "message": "YES"
588
+ }
589
+ }
dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:18bac08f4e6c2d472f3de04288af4bd19a09d6922babc5bfc2ee0db0760a826f
3
+ size 3781052