xinjjj commited on
Commit
388c90f
·
verified ·
1 Parent(s): 5a84b01

Add asset kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a

Browse files
.gitattributes CHANGED
@@ -7219,3 +7219,4 @@ dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/affordance/m
7219
  dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7220
  dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7221
  dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7219
  dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7220
  dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7221
  dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7222
+ dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/38d395d5a51d50a69d8299b1578dbe7a.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/38d395d5a51d50a69d8299b1578dbe7a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,694 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "fork handle",
5
+ "mask_color": "Green",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and move the fork",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle to orient the fork for serving or eating motions",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "stabilize the fork by clamping the handle during manipulation",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip area",
23
+ "enable lifting and carrying",
24
+ "provide leverage for utensil use",
25
+ "support orientation control"
26
+ ],
27
+ "semantic_description": "Long gold-colored metal handle with a reflective glossy finish, smooth hard texture, and a gently tapering shape with a wider rounded end at the rear of the fork.",
28
+ "id": 1,
29
+ "grasp_group": {
30
+ "grasp_0": {
31
+ "confidence": 0.9834402799606323,
32
+ "position": [
33
+ 0.1294052042067051,
34
+ 0.1084500836150255,
35
+ 0.009764637099578977
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5017144029378595,
39
+ "xyz": [
40
+ 0.5112907921860013,
41
+ 0.501822321164348,
42
+ -0.484807943098857
43
+ ]
44
+ }
45
+ },
46
+ "grasp_1": {
47
+ "confidence": 0.9826145768165588,
48
+ "position": [
49
+ 0.1325807310640812,
50
+ 0.10725455600186251,
51
+ 0.005283314734697342
52
+ ],
53
+ "orientation": {
54
+ "w": 0.49293312593849087,
55
+ "xyz": [
56
+ 0.4908954483384966,
57
+ -0.5040814227643765,
58
+ 0.5118012420626744
59
+ ]
60
+ }
61
+ },
62
+ "grasp_2": {
63
+ "confidence": 0.9824463129043579,
64
+ "position": [
65
+ 0.1383991725742817,
66
+ 0.10956609863205813,
67
+ 0.00022586924023926258
68
+ ],
69
+ "orientation": {
70
+ "w": 0.4939789626863714,
71
+ "xyz": [
72
+ 0.4776776572610945,
73
+ -0.5007426185044209,
74
+ 0.5263702785969068
75
+ ]
76
+ }
77
+ },
78
+ "grasp_7": {
79
+ "confidence": 0.9795466065406799,
80
+ "position": [
81
+ 0.1101737953722477,
82
+ 0.10491146016283892,
83
+ 0.006492597749456763
84
+ ],
85
+ "orientation": {
86
+ "w": 0.508178327190529,
87
+ "xyz": [
88
+ 0.5080504406399985,
89
+ 0.4964974408527657,
90
+ -0.48695978146659386
91
+ ]
92
+ }
93
+ },
94
+ "grasp_8": {
95
+ "confidence": 0.9792236089706421,
96
+ "position": [
97
+ 0.15114112570881844,
98
+ 0.11193099486990832,
99
+ 0.008384285727515817
100
+ ],
101
+ "orientation": {
102
+ "w": 0.48133441318342457,
103
+ "xyz": [
104
+ 0.489391959717712,
105
+ -0.5146157278893043,
106
+ 0.5137930955725145
107
+ ]
108
+ }
109
+ },
110
+ "grasp_9": {
111
+ "confidence": 0.9787275195121765,
112
+ "position": [
113
+ 0.15079020336270332,
114
+ 0.11079562324448489,
115
+ 0.008879410801455379
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5086220312234117,
119
+ "xyz": [
120
+ 0.5080026293503871,
121
+ 0.4922118242603504,
122
+ -0.4908813278029244
123
+ ]
124
+ }
125
+ },
126
+ "grasp_10": {
127
+ "confidence": 0.9783202409744263,
128
+ "position": [
129
+ 0.1004163883626461,
130
+ 0.10511832553311251,
131
+ 0.004422751953825355
132
+ ],
133
+ "orientation": {
134
+ "w": 0.4994784582972234,
135
+ "xyz": [
136
+ 0.49044742231982086,
137
+ -0.5061673624739494,
138
+ 0.5037630363603878
139
+ ]
140
+ }
141
+ },
142
+ "grasp_11": {
143
+ "confidence": 0.9782266020774841,
144
+ "position": [
145
+ 0.09817389771342278,
146
+ 0.10505671668215655,
147
+ 0.006090080598369241
148
+ ],
149
+ "orientation": {
150
+ "w": 0.4849113003196011,
151
+ "xyz": [
152
+ 0.5001908629512951,
153
+ -0.5023307722859656,
154
+ 0.5121854416683252
155
+ ]
156
+ }
157
+ },
158
+ "grasp_12": {
159
+ "confidence": 0.978108286857605,
160
+ "position": [
161
+ 0.14907347038388252,
162
+ 0.10919131952687167,
163
+ -0.0032093992922455072
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5255525372754308,
167
+ "xyz": [
168
+ 0.4959201720916845,
169
+ 0.46816102445320273,
170
+ -0.5086088562528563
171
+ ]
172
+ }
173
+ },
174
+ "grasp_13": {
175
+ "confidence": 0.9780887961387634,
176
+ "position": [
177
+ 0.11617015674710274,
178
+ 0.10284776854678057,
179
+ 0.02714241878129542
180
+ ],
181
+ "orientation": {
182
+ "w": 0.48670160785917377,
183
+ "xyz": [
184
+ 0.5160137773921407,
185
+ 0.5745958883482449,
186
+ -0.4082779586777616
187
+ ]
188
+ }
189
+ },
190
+ "grasp_14": {
191
+ "confidence": 0.9777179956436157,
192
+ "position": [
193
+ 0.11425858363509178,
194
+ -0.10480002444819547,
195
+ 0.0017207851051352918
196
+ ],
197
+ "orientation": {
198
+ "w": 0.5411527009550617,
199
+ "xyz": [
200
+ -0.45200071446087975,
201
+ 0.5253535645549331,
202
+ 0.47629060518271993
203
+ ]
204
+ }
205
+ },
206
+ "grasp_15": {
207
+ "confidence": 0.9774081110954285,
208
+ "position": [
209
+ 0.14132453873753548,
210
+ -0.10906530302600004,
211
+ 0.00022719393018633127
212
+ ],
213
+ "orientation": {
214
+ "w": 0.5107004782823195,
215
+ "xyz": [
216
+ -0.4971744393654901,
217
+ 0.4772891651071616,
218
+ 0.5140016062184332
219
+ ]
220
+ }
221
+ },
222
+ "grasp_16": {
223
+ "confidence": 0.9765570163726807,
224
+ "position": [
225
+ 0.15269817784428596,
226
+ 0.11052171009941958,
227
+ 0.006798954913392663
228
+ ],
229
+ "orientation": {
230
+ "w": 0.5120932869703917,
231
+ "xyz": [
232
+ 0.5026900502790577,
233
+ 0.49443287659428237,
234
+ -0.490509234707158
235
+ ]
236
+ }
237
+ },
238
+ "grasp_17": {
239
+ "confidence": 0.9758352637290955,
240
+ "position": [
241
+ 0.13524498417973518,
242
+ -0.10627163332537748,
243
+ 0.002463919809088111
244
+ ],
245
+ "orientation": {
246
+ "w": 0.5126478494113245,
247
+ "xyz": [
248
+ -0.4977794076501602,
249
+ 0.47466944033484304,
250
+ 0.5139034600249411
251
+ ]
252
+ }
253
+ },
254
+ "grasp_18": {
255
+ "confidence": 0.9757081866264343,
256
+ "position": [
257
+ 0.1573384590446949,
258
+ 0.11036358642741106,
259
+ -0.00278660305775702
260
+ ],
261
+ "orientation": {
262
+ "w": 0.5208783837564264,
263
+ "xyz": [
264
+ 0.49377246176710826,
265
+ 0.4664451168516003,
266
+ -0.5170139440102558
267
+ ]
268
+ }
269
+ },
270
+ "grasp_19": {
271
+ "confidence": 0.9755269289016724,
272
+ "position": [
273
+ 0.15924980118870735,
274
+ 0.10759863871498965,
275
+ 0.01079090521670878
276
+ ],
277
+ "orientation": {
278
+ "w": 0.5015282393848827,
279
+ "xyz": [
280
+ 0.475241565864647,
281
+ -0.5344524127855034,
282
+ 0.48680129174209485
283
+ ]
284
+ }
285
+ }
286
+ }
287
+ },
288
+ {
289
+ "part_name": "fork head",
290
+ "mask_color": "Blue",
291
+ "graspable": true,
292
+ "grasp_scenarios": [
293
+ {
294
+ "scenario": "grasp the neck and head to reorient the fork in a bin or drawer",
295
+ "confidence": 0.56
296
+ },
297
+ {
298
+ "scenario": "pinch the head to stabilize the fork while another tool manipulates it",
299
+ "confidence": 0.48
300
+ }
301
+ ],
302
+ "functional_labels": [
303
+ "support the tines",
304
+ "connect handle to tines",
305
+ "provide structural rigidity",
306
+ "position food-piercing end"
307
+ ],
308
+ "semantic_description": "Small gold-colored metal neck and base section with a glossy reflective surface and smooth hard texture, located at the front where the handle transitions into the tines.",
309
+ "id": 2,
310
+ "grasp_group": {
311
+ "grasp_20": {
312
+ "confidence": 0.9690585732460022,
313
+ "position": [
314
+ -0.1000843234360218,
315
+ 0.10888176280423068,
316
+ -0.007654008222743869
317
+ ],
318
+ "orientation": {
319
+ "w": 0.510469477173847,
320
+ "xyz": [
321
+ 0.4891093857455678,
322
+ 0.49930078110557574,
323
+ -0.5008908580088225
324
+ ]
325
+ }
326
+ },
327
+ "grasp_21": {
328
+ "confidence": 0.9688980579376221,
329
+ "position": [
330
+ -0.09305449947714806,
331
+ 0.10899206119938754,
332
+ -0.006655000848695636
333
+ ],
334
+ "orientation": {
335
+ "w": 0.515200689891018,
336
+ "xyz": [
337
+ 0.4842183459893833,
338
+ 0.5092695818843356,
339
+ -0.49065806373734355
340
+ ]
341
+ }
342
+ },
343
+ "grasp_22": {
344
+ "confidence": 0.9655873775482178,
345
+ "position": [
346
+ -0.06624002009630203,
347
+ 0.10691281277104281,
348
+ -0.009302481776103377
349
+ ],
350
+ "orientation": {
351
+ "w": 0.5341850951154627,
352
+ "xyz": [
353
+ 0.46487238570176775,
354
+ -0.49942248035662806,
355
+ 0.49911635445341196
356
+ ]
357
+ }
358
+ },
359
+ "grasp_23": {
360
+ "confidence": 0.965389609336853,
361
+ "position": [
362
+ -0.09006599709391594,
363
+ 0.10866727549000643,
364
+ -0.002522310009226203
365
+ ],
366
+ "orientation": {
367
+ "w": 0.49647550646989874,
368
+ "xyz": [
369
+ 0.5020307523700088,
370
+ 0.5033026083689159,
371
+ -0.4981602950449841
372
+ ]
373
+ }
374
+ },
375
+ "grasp_24": {
376
+ "confidence": 0.9645785689353943,
377
+ "position": [
378
+ -0.08712892606854439,
379
+ 0.10933343190117739,
380
+ -0.01799504808150232
381
+ ],
382
+ "orientation": {
383
+ "w": 0.538130131276853,
384
+ "xyz": [
385
+ 0.4760094915687862,
386
+ 0.4419667452343081,
387
+ -0.5371185361308753
388
+ ]
389
+ }
390
+ },
391
+ "grasp_25": {
392
+ "confidence": 0.9640569090843201,
393
+ "position": [
394
+ -0.08797505870461464,
395
+ 0.11118078845902346,
396
+ -0.012023797957226634
397
+ ],
398
+ "orientation": {
399
+ "w": 0.5168363603823516,
400
+ "xyz": [
401
+ 0.48176222017839215,
402
+ 0.48077936601537474,
403
+ -0.5192653859149147
404
+ ]
405
+ }
406
+ },
407
+ "grasp_26": {
408
+ "confidence": 0.9638296961784363,
409
+ "position": [
410
+ -0.09047168865799904,
411
+ 0.1106003584282007,
412
+ -0.005443583475425839
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5042838055170007,
416
+ "xyz": [
417
+ 0.4897494176816929,
418
+ 0.5034499072760542,
419
+ -0.5023758973492523
420
+ ]
421
+ }
422
+ },
423
+ "grasp_27": {
424
+ "confidence": 0.9637237191200256,
425
+ "position": [
426
+ -0.10173012688755989,
427
+ 0.11035968977375887,
428
+ -0.002313446719199419
429
+ ],
430
+ "orientation": {
431
+ "w": 0.48861635991741376,
432
+ "xyz": [
433
+ 0.49352058946718763,
434
+ 0.5121725215237946,
435
+ -0.5053422491628565
436
+ ]
437
+ }
438
+ },
439
+ "grasp_28": {
440
+ "confidence": 0.9626650214195251,
441
+ "position": [
442
+ -0.08269987627863884,
443
+ 0.11013452577753924,
444
+ -0.005930603248998523
445
+ ],
446
+ "orientation": {
447
+ "w": 0.504181717036862,
448
+ "xyz": [
449
+ 0.5008452647767785,
450
+ 0.49587570501396505,
451
+ -0.49906122082700827
452
+ ]
453
+ }
454
+ },
455
+ "grasp_29": {
456
+ "confidence": 0.9624165296554565,
457
+ "position": [
458
+ -0.0755365900695324,
459
+ 0.10534997153445147,
460
+ -0.005993128987029195
461
+ ],
462
+ "orientation": {
463
+ "w": 0.5210534028047812,
464
+ "xyz": [
465
+ 0.48058870211663157,
466
+ -0.49760254775620993,
467
+ 0.4999295503267824
468
+ ]
469
+ }
470
+ },
471
+ "grasp_30": {
472
+ "confidence": 0.9620290994644165,
473
+ "position": [
474
+ -0.08634443953633308,
475
+ 0.11019968110485934,
476
+ -0.0027022643480449915
477
+ ],
478
+ "orientation": {
479
+ "w": 0.49591668870844957,
480
+ "xyz": [
481
+ 0.4953935068623147,
482
+ 0.5091310214131782,
483
+ -0.499437197507233
484
+ ]
485
+ }
486
+ },
487
+ "grasp_31": {
488
+ "confidence": 0.959836483001709,
489
+ "position": [
490
+ -0.10390506312251091,
491
+ 0.11179314422770403,
492
+ -0.0007714268285781145
493
+ ],
494
+ "orientation": {
495
+ "w": 0.48927825425985993,
496
+ "xyz": [
497
+ 0.49793667500106403,
498
+ 0.5110510786261546,
499
+ -0.5014904312470506
500
+ ]
501
+ }
502
+ },
503
+ "grasp_32": {
504
+ "confidence": 0.9592939019203186,
505
+ "position": [
506
+ -0.07933902367949486,
507
+ 0.11007521170540713,
508
+ -0.00491254567168653
509
+ ],
510
+ "orientation": {
511
+ "w": 0.4925374412221366,
512
+ "xyz": [
513
+ 0.49968565057847053,
514
+ 0.5010307493393038,
515
+ -0.5066451498009396
516
+ ]
517
+ }
518
+ },
519
+ "grasp_33": {
520
+ "confidence": 0.9591651558876038,
521
+ "position": [
522
+ -0.09545233473181725,
523
+ -0.1095408288820181,
524
+ -0.001119042281061411
525
+ ],
526
+ "orientation": {
527
+ "w": 0.48493432696837235,
528
+ "xyz": [
529
+ -0.515484243296727,
530
+ 0.48769623121049366,
531
+ 0.511142914950029
532
+ ]
533
+ }
534
+ },
535
+ "grasp_34": {
536
+ "confidence": 0.9580458998680115,
537
+ "position": [
538
+ -0.06642219424247742,
539
+ 0.10309048611088656,
540
+ -7.92869832366705e-06
541
+ ],
542
+ "orientation": {
543
+ "w": 0.49892750160244814,
544
+ "xyz": [
545
+ 0.4800073195679835,
546
+ -0.5144431245778567,
547
+ 0.5059768699065903
548
+ ]
549
+ }
550
+ },
551
+ "grasp_35": {
552
+ "confidence": 0.957962691783905,
553
+ "position": [
554
+ -0.053136806935071945,
555
+ 0.10251451897784136,
556
+ -0.02486087358556688
557
+ ],
558
+ "orientation": {
559
+ "w": 0.5413606938663719,
560
+ "xyz": [
561
+ 0.46118090199566114,
562
+ 0.39398016185896123,
563
+ -0.5822545893615397
564
+ ]
565
+ }
566
+ },
567
+ "grasp_36": {
568
+ "confidence": 0.957611083984375,
569
+ "position": [
570
+ -0.0698811523616314,
571
+ 0.10783593970700167,
572
+ -0.0004574251361191273
573
+ ],
574
+ "orientation": {
575
+ "w": 0.5099738484980167,
576
+ "xyz": [
577
+ 0.4829504497004871,
578
+ -0.5116173039533743,
579
+ 0.4949073360516091
580
+ ]
581
+ }
582
+ },
583
+ "grasp_37": {
584
+ "confidence": 0.9570876359939575,
585
+ "position": [
586
+ -0.10322578623890877,
587
+ 0.10761235523386858,
588
+ 0.0020197247504256666
589
+ ],
590
+ "orientation": {
591
+ "w": 0.49063149824971497,
592
+ "xyz": [
593
+ 0.4961954878072352,
594
+ 0.5143587325026003,
595
+ -0.49850362596805525
596
+ ]
597
+ }
598
+ },
599
+ "grasp_38": {
600
+ "confidence": 0.9568933248519897,
601
+ "position": [
602
+ -0.08707403019070625,
603
+ 0.10570268947049044,
604
+ 0.00046481058234348893
605
+ ],
606
+ "orientation": {
607
+ "w": 0.4769717769660545,
608
+ "xyz": [
609
+ 0.5079642182539963,
610
+ 0.5062870580327163,
611
+ -0.5080784307762213
612
+ ]
613
+ }
614
+ },
615
+ "grasp_39": {
616
+ "confidence": 0.955793559551239,
617
+ "position": [
618
+ -0.09135205671191216,
619
+ 0.10710689294501208,
620
+ -0.0016574342735111713
621
+ ],
622
+ "orientation": {
623
+ "w": 0.510205988451141,
624
+ "xyz": [
625
+ 0.4891877913687292,
626
+ -0.5009767030236233,
627
+ 0.4994071456757095
628
+ ]
629
+ }
630
+ }
631
+ }
632
+ },
633
+ {
634
+ "part_name": "left outer tine",
635
+ "mask_color": "Orange",
636
+ "graspable": false,
637
+ "grasp_scenarios": [],
638
+ "functional_labels": [
639
+ "pierce food",
640
+ "help retain food",
641
+ "guide insertion into food"
642
+ ],
643
+ "semantic_description": "Slender outer gold-colored metal prong with a glossy reflective finish, smooth hard texture, and straight narrow form along the left side of the fork tip.",
644
+ "id": 4,
645
+ "grasp_group": {}
646
+ },
647
+ {
648
+ "part_name": "left inner tine",
649
+ "mask_color": "Yellow",
650
+ "graspable": false,
651
+ "grasp_scenarios": [],
652
+ "functional_labels": [
653
+ "pierce food",
654
+ "help hold food on the fork",
655
+ "separate food items"
656
+ ],
657
+ "semantic_description": "Thin inner gold-colored metal prong with a glossy reflective finish, smooth hard texture, and narrow straight shape near the center-left of the fork tip.",
658
+ "id": 3,
659
+ "grasp_group": {}
660
+ },
661
+ {
662
+ "part_name": "right inner tine",
663
+ "mask_color": "Red",
664
+ "graspable": false,
665
+ "grasp_scenarios": [],
666
+ "functional_labels": [
667
+ "pierce food",
668
+ "help hold food on the fork",
669
+ "separate food items"
670
+ ],
671
+ "semantic_description": "Thin inner gold-colored metal prong with a glossy reflective finish, smooth hard texture, and narrow straight shape near the center-right of the fork tip.",
672
+ "id": 0,
673
+ "grasp_group": {}
674
+ },
675
+ {
676
+ "part_name": "right outer tine",
677
+ "mask_color": "Pink",
678
+ "graspable": false,
679
+ "grasp_scenarios": [],
680
+ "functional_labels": [
681
+ "pierce food",
682
+ "help retain food",
683
+ "guide insertion into food"
684
+ ],
685
+ "semantic_description": "Slender outer gold-colored metal prong with a glossy reflective finish, smooth hard texture, and straight narrow form along the right side of the fork tip.",
686
+ "id": 8,
687
+ "grasp_group": {}
688
+ }
689
+ ],
690
+ "quality_check": {
691
+ "success": true,
692
+ "message": "YES"
693
+ }
694
+ }
dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:7db96dd791846d06145019636b65da63329a9295a1fda343950826af07f913f5
3
+ size 372424