Add asset kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71
Browse files
.gitattributes
CHANGED
|
@@ -8477,3 +8477,4 @@ dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/affordance/m
|
|
| 8477 |
dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8478 |
dataset/kitchen_supplies/tableware/fecbc7154cbd52349d86f4dd160ea327/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8479 |
dataset/kitchen_supplies/utensils/00f7ebc016715d9bac12154a75996db2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8477 |
dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8478 |
dataset/kitchen_supplies/tableware/fecbc7154cbd52349d86f4dd160ea327/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8479 |
dataset/kitchen_supplies/utensils/00f7ebc016715d9bac12154a75996db2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8480 |
+
dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,366 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and control the tool",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle while scraping, lifting, or transferring material with the blade",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp near the end to reposition or hang the tool using the hole",
|
| 18 |
+
"confidence": 0.66
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a primary grip",
|
| 23 |
+
"control the tool",
|
| 24 |
+
"connect hand or gripper to blade",
|
| 25 |
+
"allow hanging storage"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small light orange wooden handle with a smooth finish, narrow slightly curved shape, and a rounded end with a circular hanging hole, attached at the rear of the tool.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9525353312492371,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.02218225854448974,
|
| 34 |
+
0.12070294842123985,
|
| 35 |
+
-0.09758588625118136
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.9956964836365227,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.07835844657267423,
|
| 41 |
+
0.03470753440589813,
|
| 42 |
+
0.03526830560211922
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_4": {
|
| 47 |
+
"confidence": 0.9414562582969666,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.02283507282845676,
|
| 50 |
+
0.13600238785147667,
|
| 51 |
+
-0.09762950194999576
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.9984496645911224,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.007108804403952021,
|
| 57 |
+
0.04536822331568047,
|
| 58 |
+
0.03145562733439159
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_9": {
|
| 63 |
+
"confidence": 0.9331925511360168,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.02160666394047439,
|
| 66 |
+
0.14194225892424583,
|
| 67 |
+
-0.09859921736642718
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.9987388475265883,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.006676245159985141,
|
| 73 |
+
0.0405178072860759,
|
| 74 |
+
0.028886839296728948
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_12": {
|
| 79 |
+
"confidence": 0.9310052990913391,
|
| 80 |
+
"position": [
|
| 81 |
+
0.016695975558832288,
|
| 82 |
+
0.1149594895541668,
|
| 83 |
+
0.09744858043268323
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.1528504750003808,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.006276691659035958,
|
| 89 |
+
-0.9880051669649922,
|
| 90 |
+
-0.021050545941930864
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_16": {
|
| 95 |
+
"confidence": 0.9165859222412109,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.008987401379272342,
|
| 98 |
+
0.0991453193128109,
|
| 99 |
+
-0.09642066759988666
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.992360102851236,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.11196571231800366,
|
| 105 |
+
-0.022494896831364852,
|
| 106 |
+
0.04668067213262197
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
}
|
| 110 |
+
}
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"part_name": "blade",
|
| 114 |
+
"mask_color": "Green",
|
| 115 |
+
"graspable": true,
|
| 116 |
+
"grasp_scenarios": [
|
| 117 |
+
{
|
| 118 |
+
"scenario": "grasp the broad blade body to stabilize the tool during placement or handoff",
|
| 119 |
+
"confidence": 0.34
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"scenario": "pinch the blade sides briefly to pick up the tool when the handle is inaccessible",
|
| 123 |
+
"confidence": 0.3
|
| 124 |
+
}
|
| 125 |
+
],
|
| 126 |
+
"functional_labels": [
|
| 127 |
+
"scrape or scoop material",
|
| 128 |
+
"lift and transfer contents",
|
| 129 |
+
"provide the main working surface",
|
| 130 |
+
"present the front working edge"
|
| 131 |
+
],
|
| 132 |
+
"semantic_description": "Large broad wooden blade in a darker orange-brown tone with visible wood grain and a smooth finish, shaped like a wide rectangular paddle with a gently curved front edge at the working end of the tool.",
|
| 133 |
+
"id": 1,
|
| 134 |
+
"grasp_group": {
|
| 135 |
+
"grasp_21": {
|
| 136 |
+
"confidence": 0.9828130602836609,
|
| 137 |
+
"position": [
|
| 138 |
+
-0.13864179397933185,
|
| 139 |
+
-0.15148477628827095,
|
| 140 |
+
-0.014316906686872244
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.7490083232220249,
|
| 144 |
+
"xyz": [
|
| 145 |
+
-0.06559336110802609,
|
| 146 |
+
0.6591901206739444,
|
| 147 |
+
0.012346154403411146
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_22": {
|
| 152 |
+
"confidence": 0.982208788394928,
|
| 153 |
+
"position": [
|
| 154 |
+
-0.13753980840556324,
|
| 155 |
+
-0.13711269572377205,
|
| 156 |
+
-0.011826030444353819
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
+
"w": 0.738503433109444,
|
| 160 |
+
"xyz": [
|
| 161 |
+
-0.05874519004279814,
|
| 162 |
+
0.6715087770672145,
|
| 163 |
+
-0.015415714517803554
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_23": {
|
| 168 |
+
"confidence": 0.9818400740623474,
|
| 169 |
+
"position": [
|
| 170 |
+
-0.13490844215266407,
|
| 171 |
+
-0.1433996744453907,
|
| 172 |
+
-0.014979018364101648
|
| 173 |
+
],
|
| 174 |
+
"orientation": {
|
| 175 |
+
"w": 0.7451068469547922,
|
| 176 |
+
"xyz": [
|
| 177 |
+
-0.04197073583721873,
|
| 178 |
+
0.6655398629215455,
|
| 179 |
+
0.010532559837981736
|
| 180 |
+
]
|
| 181 |
+
}
|
| 182 |
+
},
|
| 183 |
+
"grasp_24": {
|
| 184 |
+
"confidence": 0.9806020259857178,
|
| 185 |
+
"position": [
|
| 186 |
+
-0.13559420849196613,
|
| 187 |
+
-0.13519109413027763,
|
| 188 |
+
-0.023224818985909224
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.7841362402541218,
|
| 192 |
+
"xyz": [
|
| 193 |
+
-0.05290010680220877,
|
| 194 |
+
0.6181833653324206,
|
| 195 |
+
0.013463366842230805
|
| 196 |
+
]
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"grasp_25": {
|
| 200 |
+
"confidence": 0.9789083003997803,
|
| 201 |
+
"position": [
|
| 202 |
+
-0.14005066896788776,
|
| 203 |
+
-0.14755970612168312,
|
| 204 |
+
-0.003843083861283958
|
| 205 |
+
],
|
| 206 |
+
"orientation": {
|
| 207 |
+
"w": 0.7129896574648726,
|
| 208 |
+
"xyz": [
|
| 209 |
+
-0.06188681277079164,
|
| 210 |
+
0.6983457938589003,
|
| 211 |
+
0.011354424370208614
|
| 212 |
+
]
|
| 213 |
+
}
|
| 214 |
+
},
|
| 215 |
+
"grasp_26": {
|
| 216 |
+
"confidence": 0.9784859418869019,
|
| 217 |
+
"position": [
|
| 218 |
+
-0.1375946297775954,
|
| 219 |
+
-0.16177209094166756,
|
| 220 |
+
-0.0010875046718865633
|
| 221 |
+
],
|
| 222 |
+
"orientation": {
|
| 223 |
+
"w": 0.699554137004219,
|
| 224 |
+
"xyz": [
|
| 225 |
+
-0.05550552705432227,
|
| 226 |
+
0.711675017967805,
|
| 227 |
+
0.0325854978054454
|
| 228 |
+
]
|
| 229 |
+
}
|
| 230 |
+
},
|
| 231 |
+
"grasp_28": {
|
| 232 |
+
"confidence": 0.9777476191520691,
|
| 233 |
+
"position": [
|
| 234 |
+
-0.13607937539927661,
|
| 235 |
+
-0.1458115018904209,
|
| 236 |
+
-0.002715404611080885
|
| 237 |
+
],
|
| 238 |
+
"orientation": {
|
| 239 |
+
"w": 0.7038190060624259,
|
| 240 |
+
"xyz": [
|
| 241 |
+
-0.047270288756360475,
|
| 242 |
+
0.7086348806256278,
|
| 243 |
+
0.015521999448891757
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_30": {
|
| 248 |
+
"confidence": 0.9765267372131348,
|
| 249 |
+
"position": [
|
| 250 |
+
-0.136742104543373,
|
| 251 |
+
-0.14179976657032967,
|
| 252 |
+
-0.0019482823554426432
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.6974826830023212,
|
| 256 |
+
"xyz": [
|
| 257 |
+
-0.031096134251161107,
|
| 258 |
+
0.7158820587974122,
|
| 259 |
+
-0.007988444059759795
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_32": {
|
| 264 |
+
"confidence": 0.9756966829299927,
|
| 265 |
+
"position": [
|
| 266 |
+
-0.13350563193671405,
|
| 267 |
+
-0.1886003501713276,
|
| 268 |
+
0.007826170418411493
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.010671845570976972,
|
| 272 |
+
"xyz": [
|
| 273 |
+
0.7102549636039766,
|
| 274 |
+
0.15047404415008903,
|
| 275 |
+
0.6875911288150397
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_33": {
|
| 280 |
+
"confidence": 0.9756515622138977,
|
| 281 |
+
"position": [
|
| 282 |
+
-0.13524726475588977,
|
| 283 |
+
-0.1660982109606266,
|
| 284 |
+
-0.004457424394786358
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.7050390901759028,
|
| 288 |
+
"xyz": [
|
| 289 |
+
-0.12796408335403944,
|
| 290 |
+
0.6911056430472133,
|
| 291 |
+
0.09443550626535344
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_35": {
|
| 296 |
+
"confidence": 0.9754149913787842,
|
| 297 |
+
"position": [
|
| 298 |
+
-0.1374747499357909,
|
| 299 |
+
-0.1834975816309452,
|
| 300 |
+
0.0009036990813910961
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.7008567967342817,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.11305736209887252,
|
| 306 |
+
0.7000763049988868,
|
| 307 |
+
0.07688270628503702
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_36": {
|
| 312 |
+
"confidence": 0.9754042029380798,
|
| 313 |
+
"position": [
|
| 314 |
+
-0.13457662309519947,
|
| 315 |
+
-0.18641189113259315,
|
| 316 |
+
-0.0019309688359498978
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.7016831911585134,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.14665185213357837,
|
| 322 |
+
0.6886341466732805,
|
| 323 |
+
0.10916476330281344
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_38": {
|
| 328 |
+
"confidence": 0.9751572608947754,
|
| 329 |
+
"position": [
|
| 330 |
+
-0.1378968700300902,
|
| 331 |
+
-0.16786501184105873,
|
| 332 |
+
-0.015220210421830416
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.7564877715432137,
|
| 336 |
+
"xyz": [
|
| 337 |
+
-0.05653291910833157,
|
| 338 |
+
0.6513444751573169,
|
| 339 |
+
0.01675276827015286
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_39": {
|
| 344 |
+
"confidence": 0.975011944770813,
|
| 345 |
+
"position": [
|
| 346 |
+
0.12536187027581036,
|
| 347 |
+
-0.15206189826130867,
|
| 348 |
+
-0.004977964679710567
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.048573642130269136,
|
| 352 |
+
"xyz": [
|
| 353 |
+
0.6835410669866988,
|
| 354 |
+
-0.00798458233858712,
|
| 355 |
+
-0.7282502711827602
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
| 360 |
+
}
|
| 361 |
+
],
|
| 362 |
+
"quality_check": {
|
| 363 |
+
"success": true,
|
| 364 |
+
"message": "YES"
|
| 365 |
+
}
|
| 366 |
+
}
|
dataset/kitchen_supplies/utensils/04ebad9112ce5c10b9d4bd4664056e71/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3dc46519df678064fb5313448cd5b7289aff2af1ebb5355aaec5267521931639
|
| 3 |
+
size 647700
|