xinjjj commited on
Commit
8be7f75
·
verified ·
1 Parent(s): 4f2cbbd

Add asset kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8

Browse files
.gitattributes CHANGED
@@ -7453,4 +7453,4 @@ dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/affordance/me
7453
  dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7454
  dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7455
  dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7456
- dataset/kitchen_supplies/utensils/801c1d9277c95aa9b76ca84e774f2bb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7453
  dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7454
  dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7455
  dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7456
+ dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,496 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "spatula handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and manipulate the spatula",
10
+ "confidence": 0.96
11
+ },
12
+ {
13
+ "scenario": "hold the handle to press, flip, or scrape with the spatula head",
14
+ "confidence": 0.94
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to reposition or store the utensil",
18
+ "confidence": 0.61
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide primary grip",
23
+ "enable wielding",
24
+ "transmit force to head",
25
+ "support scraping motions",
26
+ "indicate tool orientation"
27
+ ],
28
+ "semantic_description": "Long light tan wooden handle with a matte smooth hard surface and visible wood grain, slightly narrowed at the neck and occupying the main rear portion of the spatula.",
29
+ "id": 0,
30
+ "grasp_group": {
31
+ "grasp_0": {
32
+ "confidence": 0.9641457796096802,
33
+ "position": [
34
+ -0.155072623048909,
35
+ -0.15391278499737382,
36
+ 0.01595266225922387
37
+ ],
38
+ "orientation": {
39
+ "w": 0.11413959717468716,
40
+ "xyz": [
41
+ 0.7602553926210804,
42
+ -0.04505737983436631,
43
+ 0.6379292459746835
44
+ ]
45
+ }
46
+ },
47
+ "grasp_1": {
48
+ "confidence": 0.9616159796714783,
49
+ "position": [
50
+ -0.15777579799760133,
51
+ -0.17534986371174455,
52
+ -0.021534252286073752
53
+ ],
54
+ "orientation": {
55
+ "w": 0.7786448930821953,
56
+ "xyz": [
57
+ -0.0031308261083283443,
58
+ 0.6274568458546101,
59
+ -0.0004847629109246558
60
+ ]
61
+ }
62
+ },
63
+ "grasp_2": {
64
+ "confidence": 0.9574859142303467,
65
+ "position": [
66
+ 0.15734373673330992,
67
+ 0.1633970863185823,
68
+ 0.005236976474407129
69
+ ],
70
+ "orientation": {
71
+ "w": 0.0024004712997079012,
72
+ "xyz": [
73
+ 0.7062387767175206,
74
+ -0.007485518413529846,
75
+ -0.7079300777705096
76
+ ]
77
+ }
78
+ },
79
+ "grasp_3": {
80
+ "confidence": 0.956798255443573,
81
+ "position": [
82
+ -0.1586088027106598,
83
+ -0.18794007832184434,
84
+ -0.009304697930929251
85
+ ],
86
+ "orientation": {
87
+ "w": 0.720173711663141,
88
+ "xyz": [
89
+ -0.01028029336444212,
90
+ 0.6935569377875709,
91
+ 0.014930326332776371
92
+ ]
93
+ }
94
+ },
95
+ "grasp_4": {
96
+ "confidence": 0.956494927406311,
97
+ "position": [
98
+ 0.1567123745335266,
99
+ 0.17552086478099227,
100
+ 0.0031880789174465463
101
+ ],
102
+ "orientation": {
103
+ "w": 0.0026168350434315215,
104
+ "xyz": [
105
+ 0.6947198374659702,
106
+ -0.009344368759453214,
107
+ -0.7192149764695521
108
+ ]
109
+ }
110
+ },
111
+ "grasp_5": {
112
+ "confidence": 0.9553059935569763,
113
+ "position": [
114
+ 0.15776566311251372,
115
+ 0.15359429782256484,
116
+ 0.001814167175325565
117
+ ],
118
+ "orientation": {
119
+ "w": 0.051185832678477206,
120
+ "xyz": [
121
+ -0.6948733326362403,
122
+ 0.06981298209215248,
123
+ 0.7139028012659824
124
+ ]
125
+ }
126
+ },
127
+ "grasp_6": {
128
+ "confidence": 0.954248309135437,
129
+ "position": [
130
+ -0.1575767780886963,
131
+ -0.15882243448868394,
132
+ -0.002880757048842497
133
+ ],
134
+ "orientation": {
135
+ "w": 0.7080972802613731,
136
+ "xyz": [
137
+ -0.0026953878424604556,
138
+ 0.7056461740042499,
139
+ -0.02558229239120335
140
+ ]
141
+ }
142
+ },
143
+ "grasp_7": {
144
+ "confidence": 0.9541257619857788,
145
+ "position": [
146
+ -0.15745581046212465,
147
+ -0.1701930039562285,
148
+ 0.002326551519217901
149
+ ],
150
+ "orientation": {
151
+ "w": 0.03848920399802415,
152
+ "xyz": [
153
+ 0.7188975228409088,
154
+ 0.0033781891336991388,
155
+ 0.6940414401654847
156
+ ]
157
+ }
158
+ },
159
+ "grasp_8": {
160
+ "confidence": 0.9536213874816895,
161
+ "position": [
162
+ -0.15883048728574067,
163
+ -0.15454913908615708,
164
+ 0.0021792260668007657
165
+ ],
166
+ "orientation": {
167
+ "w": 0.047914110279467424,
168
+ "xyz": [
169
+ 0.7253342788909329,
170
+ -0.014395853094014255,
171
+ 0.6865764205939444
172
+ ]
173
+ }
174
+ },
175
+ "grasp_9": {
176
+ "confidence": 0.9534471035003662,
177
+ "position": [
178
+ 0.15128549083601683,
179
+ -0.15782323712483048,
180
+ -0.006481550939497538
181
+ ],
182
+ "orientation": {
183
+ "w": 0.034846595186049524,
184
+ "xyz": [
185
+ 0.6944612452550987,
186
+ 0.03309414433822233,
187
+ -0.7179234438665435
188
+ ]
189
+ }
190
+ },
191
+ "grasp_10": {
192
+ "confidence": 0.9531605839729309,
193
+ "position": [
194
+ 0.1582678322447464,
195
+ 0.15595043962821364,
196
+ 0.00204967001627665
197
+ ],
198
+ "orientation": {
199
+ "w": 0.7003217481199434,
200
+ "xyz": [
201
+ -0.013866595267340338,
202
+ -0.7136876414050843,
203
+ -0.0026677990115310606
204
+ ]
205
+ }
206
+ },
207
+ "grasp_11": {
208
+ "confidence": 0.9527820944786072,
209
+ "position": [
210
+ -0.1591467197285965,
211
+ -0.15358749264851213,
212
+ -0.00016906025120988488
213
+ ],
214
+ "orientation": {
215
+ "w": 0.6997979188719241,
216
+ "xyz": [
217
+ 0.003893079982426642,
218
+ 0.7143283524381919,
219
+ 0.0016497192830927795
220
+ ]
221
+ }
222
+ },
223
+ "grasp_12": {
224
+ "confidence": 0.9522749185562134,
225
+ "position": [
226
+ -0.15811478451360017,
227
+ -0.19130423897877336,
228
+ -0.003935457978514023
229
+ ],
230
+ "orientation": {
231
+ "w": 0.7179890790554411,
232
+ "xyz": [
233
+ -0.0024071509744577873,
234
+ 0.6960201468056392,
235
+ 0.006468633701318255
236
+ ]
237
+ }
238
+ },
239
+ "grasp_13": {
240
+ "confidence": 0.951606035232544,
241
+ "position": [
242
+ 0.15830352052580565,
243
+ 0.15178289776667953,
244
+ 0.0017202001035911962
245
+ ],
246
+ "orientation": {
247
+ "w": 0.7038631789099121,
248
+ "xyz": [
249
+ -0.031750773141854365,
250
+ -0.7096145383215262,
251
+ -0.003964944193110441
252
+ ]
253
+ }
254
+ },
255
+ "grasp_14": {
256
+ "confidence": 0.9514222145080566,
257
+ "position": [
258
+ 0.1553959910525009,
259
+ 0.165234652813524,
260
+ 0.003971406418713741
261
+ ],
262
+ "orientation": {
263
+ "w": 0.02861510036425048,
264
+ "xyz": [
265
+ -0.7051750794485356,
266
+ 0.04721739708392414,
267
+ 0.70688032987806
268
+ ]
269
+ }
270
+ },
271
+ "grasp_15": {
272
+ "confidence": 0.9512612819671631,
273
+ "position": [
274
+ 0.156348115648143,
275
+ -0.17315666610375047,
276
+ -0.005381589595344849
277
+ ],
278
+ "orientation": {
279
+ "w": 0.045614935735003435,
280
+ "xyz": [
281
+ -0.705129443985649,
282
+ 0.008975039669453233,
283
+ 0.7075529616398427
284
+ ]
285
+ }
286
+ },
287
+ "grasp_16": {
288
+ "confidence": 0.9512486457824707,
289
+ "position": [
290
+ 0.1542627428425476,
291
+ -0.17476883763447404,
292
+ -0.00888158225279767
293
+ ],
294
+ "orientation": {
295
+ "w": 0.04867579997134066,
296
+ "xyz": [
297
+ -0.6901416356997626,
298
+ 0.011404157189339847,
299
+ 0.7219453818465821
300
+ ]
301
+ }
302
+ },
303
+ "grasp_17": {
304
+ "confidence": 0.9504904747009277,
305
+ "position": [
306
+ 0.15738222643267363,
307
+ 0.17682951455935836,
308
+ 0.005155082952114753
309
+ ],
310
+ "orientation": {
311
+ "w": 0.031716471079179166,
312
+ "xyz": [
313
+ -0.7028162101478311,
314
+ 0.04755108189633073,
315
+ 0.709071459604892
316
+ ]
317
+ }
318
+ },
319
+ "grasp_18": {
320
+ "confidence": 0.9501311182975769,
321
+ "position": [
322
+ -0.15859917656052858,
323
+ 0.1425753659568727,
324
+ -0.0008353597513632849
325
+ ],
326
+ "orientation": {
327
+ "w": 0.7055927715261636,
328
+ "xyz": [
329
+ 0.009346368050014216,
330
+ 0.7084903397102853,
331
+ -0.00963974644407508
332
+ ]
333
+ }
334
+ },
335
+ "grasp_19": {
336
+ "confidence": 0.9497725963592529,
337
+ "position": [
338
+ 0.15630627318751067,
339
+ 0.1588184959255159,
340
+ 0.0037297044618753716
341
+ ],
342
+ "orientation": {
343
+ "w": 0.7061741844148075,
344
+ "xyz": [
345
+ -0.0154694287904119,
346
+ -0.7078688184636516,
347
+ 0.0006737105117259467
348
+ ]
349
+ }
350
+ }
351
+ }
352
+ },
353
+ {
354
+ "part_name": "spatula head",
355
+ "mask_color": "Green",
356
+ "graspable": true,
357
+ "grasp_scenarios": [
358
+ {
359
+ "scenario": "grasp the head to stabilize the spatula during handoff or storage retrieval",
360
+ "confidence": 0.34
361
+ },
362
+ {
363
+ "scenario": "grasp the head when the handle is obstructed",
364
+ "confidence": 0.27
365
+ }
366
+ ],
367
+ "functional_labels": [
368
+ "flip food",
369
+ "lift food",
370
+ "scrape surfaces",
371
+ "spread ingredients",
372
+ "provide flat working edge"
373
+ ],
374
+ "semantic_description": "Broad rectangular darker brown wooden paddle with a matte smooth hard finish, rounded corners, straight working edge, and prominent wood grain at the front end of the spatula.",
375
+ "id": 1,
376
+ "grasp_group": {
377
+ "grasp_20": {
378
+ "confidence": 0.8962779641151428,
379
+ "position": [
380
+ -0.15811579779256135,
381
+ 0.05608277162536979,
382
+ 0.0014976757083786651
383
+ ],
384
+ "orientation": {
385
+ "w": 0.7091495883465049,
386
+ "xyz": [
387
+ 0.002166348833959338,
388
+ 0.7049777652685325,
389
+ 0.010417233687433445
390
+ ]
391
+ }
392
+ },
393
+ "grasp_22": {
394
+ "confidence": 0.6253695487976074,
395
+ "position": [
396
+ -0.14685075834859163,
397
+ 0.06346642738208175,
398
+ 0.0023009480646578595
399
+ ],
400
+ "orientation": {
401
+ "w": 0.7009989026664674,
402
+ "xyz": [
403
+ 0.04062630521553913,
404
+ 0.711751195890896,
405
+ -0.018980962378726093
406
+ ]
407
+ }
408
+ },
409
+ "grasp_27": {
410
+ "confidence": 0.8928254842758179,
411
+ "position": [
412
+ -0.16504263237584382,
413
+ 0.05709037696942687,
414
+ -0.0015542135370196775
415
+ ],
416
+ "orientation": {
417
+ "w": 0.7137449216507852,
418
+ "xyz": [
419
+ -0.0025672343535950346,
420
+ 0.7002361095025501,
421
+ 0.01519825892068824
422
+ ]
423
+ }
424
+ },
425
+ "grasp_29": {
426
+ "confidence": 0.3523867130279541,
427
+ "position": [
428
+ -0.13648691133130342,
429
+ 0.007270695408806205,
430
+ 0.003409151380765252
431
+ ],
432
+ "orientation": {
433
+ "w": 0.19124903169092536,
434
+ "xyz": [
435
+ -0.6773423775966091,
436
+ -0.1696109749746092,
437
+ -0.6898284051539333
438
+ ]
439
+ }
440
+ },
441
+ "grasp_31": {
442
+ "confidence": 0.7419465780258179,
443
+ "position": [
444
+ -0.1491347785340622,
445
+ 0.011117154266685247,
446
+ -0.0049120451585622504
447
+ ],
448
+ "orientation": {
449
+ "w": 0.16328240378022385,
450
+ "xyz": [
451
+ -0.6686591511422721,
452
+ -0.15492553477664506,
453
+ -0.7086831978279285
454
+ ]
455
+ }
456
+ },
457
+ "grasp_33": {
458
+ "confidence": 0.8522447943687439,
459
+ "position": [
460
+ -0.1552395160542801,
461
+ 0.044062045868486166,
462
+ 0.0033471807109890506
463
+ ],
464
+ "orientation": {
465
+ "w": 0.7041015507087977,
466
+ "xyz": [
467
+ -0.04293766980898938,
468
+ 0.7058593865031911,
469
+ 0.0644972037082167
470
+ ]
471
+ }
472
+ },
473
+ "grasp_34": {
474
+ "confidence": 0.7130305767059326,
475
+ "position": [
476
+ -0.14739442721474916,
477
+ 0.013650681357830763,
478
+ -0.000919441765290685
479
+ ],
480
+ "orientation": {
481
+ "w": 0.6970970754743662,
482
+ "xyz": [
483
+ -0.15631925011845108,
484
+ 0.6776223861165536,
485
+ 0.17449315528466836
486
+ ]
487
+ }
488
+ }
489
+ }
490
+ }
491
+ ],
492
+ "quality_check": {
493
+ "success": false,
494
+ "message": "Mask colors are swapped and part identities are reversed between handle and head."
495
+ }
496
+ }
dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:86063a9ac9a5d635ae8834e865c00783d2a5a2a4814c3e9d33528e1597e07cb7
3
+ size 1073072