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/
|
|
|
|
| 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
|