Add asset kitchen_supplies/tableware/70b7cfbf6f9158d99eaf3a49c358f382
Browse files
.gitattributes
CHANGED
|
@@ -7282,4 +7282,4 @@ dataset/kitchen_supplies/tableware/6d759d8af86d56548fcb3b4a529e03d5/affordance/m
|
|
| 7282 |
dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7283 |
dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7284 |
dataset/kitchen_supplies/tableware/6f91cc1b63715573afee92f303a18662/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7285 |
-
dataset/kitchen_supplies/tableware/
|
|
|
|
| 7282 |
dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7283 |
dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7284 |
dataset/kitchen_supplies/tableware/6f91cc1b63715573afee92f303a18662/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7285 |
+
dataset/kitchen_supplies/tableware/70b7cfbf6f9158d99eaf3a49c358f382/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/70b7cfbf6f9158d99eaf3a49c358f382/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,246 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle end to pick up and move the fork",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to use the fork for spearing food",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the middle of the fork to place or orient it on a table",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a handle for holding",
|
| 23 |
+
"spear food with the tines",
|
| 24 |
+
"lift small food pieces",
|
| 25 |
+
"enable eating and serving",
|
| 26 |
+
"indicate utensil orientation"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "A small one-piece silver metal fork with a reflective smooth hard surface, featuring a slender flat handle and four narrow tapered tines at one end.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_1": {
|
| 32 |
+
"confidence": 0.9794488549232483,
|
| 33 |
+
"position": [
|
| 34 |
+
0.09446648068842478,
|
| 35 |
+
-0.02407679706811905,
|
| 36 |
+
-0.003436285420320928
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.13293123891922765,
|
| 40 |
+
"xyz": [
|
| 41 |
+
-0.6969054780837616,
|
| 42 |
+
0.08000552181437759,
|
| 43 |
+
0.700179374742967
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.979151725769043,
|
| 49 |
+
"position": [
|
| 50 |
+
0.09742670811829157,
|
| 51 |
+
-0.0063607050105929375,
|
| 52 |
+
-0.00360881129745394
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.05580988820906682,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.6983947658065601,
|
| 58 |
+
-0.014871430081774162,
|
| 59 |
+
0.7133784746117687
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_5": {
|
| 64 |
+
"confidence": 0.9788001775741577,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.08396966449799947,
|
| 67 |
+
-0.04983106628060341,
|
| 68 |
+
-0.009489447926171124
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7064899356681218,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.16933651528751162,
|
| 74 |
+
0.6604297604018177,
|
| 75 |
+
0.18981477014588033
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_7": {
|
| 80 |
+
"confidence": 0.9782605767250061,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.09494246981921606,
|
| 83 |
+
-0.015453887172043324,
|
| 84 |
+
-0.00476440938655287
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.7135051465400317,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.03758564002224113,
|
| 90 |
+
0.6943394600545967,
|
| 91 |
+
0.085967666806176
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_8": {
|
| 96 |
+
"confidence": 0.9781910181045532,
|
| 97 |
+
"position": [
|
| 98 |
+
0.08265013553318568,
|
| 99 |
+
-0.04487752914428711,
|
| 100 |
+
0.008408677647821605
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.6344563431776727,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.1580636834822751,
|
| 106 |
+
-0.7169646686539202,
|
| 107 |
+
-0.24174921813235326
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_10": {
|
| 112 |
+
"confidence": 0.9771516919136047,
|
| 113 |
+
"position": [
|
| 114 |
+
-0.09611932627740316,
|
| 115 |
+
-0.00677085854113102,
|
| 116 |
+
-0.0018947399803437293
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.060916305142981145,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.6920192026141645,
|
| 122 |
+
0.005053307776957117,
|
| 123 |
+
-0.7192865152785052
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_11": {
|
| 128 |
+
"confidence": 0.9769718050956726,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.08378468148293905,
|
| 131 |
+
-0.04303605295717716,
|
| 132 |
+
-0.011559935403056443
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.7184700235273951,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.15360976341037558,
|
| 138 |
+
0.6464836586476215,
|
| 139 |
+
0.20558148014628588
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_12": {
|
| 144 |
+
"confidence": 0.9768691658973694,
|
| 145 |
+
"position": [
|
| 146 |
+
-0.08393340997281484,
|
| 147 |
+
-0.04725436866283417,
|
| 148 |
+
-0.004443150362931192
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.6944924461367331,
|
| 152 |
+
"xyz": [
|
| 153 |
+
-0.1727552886501984,
|
| 154 |
+
0.6712699355575606,
|
| 155 |
+
0.19295731683186362
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_14": {
|
| 160 |
+
"confidence": 0.9765497446060181,
|
| 161 |
+
"position": [
|
| 162 |
+
0.09833700515446253,
|
| 163 |
+
-0.0013149445876479149,
|
| 164 |
+
0.0072392140282318
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.6772154504713388,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.03317207236911851,
|
| 170 |
+
-0.7336757904789859,
|
| 171 |
+
-0.04470661833190926
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_15": {
|
| 176 |
+
"confidence": 0.9764012694358826,
|
| 177 |
+
"position": [
|
| 178 |
+
-0.09583429686608724,
|
| 179 |
+
-0.011013559647835791,
|
| 180 |
+
-0.005490726907737553
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.7117146259087748,
|
| 184 |
+
"xyz": [
|
| 185 |
+
-0.03184434243681173,
|
| 186 |
+
0.6967407751292989,
|
| 187 |
+
0.08366911852364561
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_16": {
|
| 192 |
+
"confidence": 0.9759956002235413,
|
| 193 |
+
"position": [
|
| 194 |
+
-0.09575468741240911,
|
| 195 |
+
-0.005155390594154596,
|
| 196 |
+
-0.0027759039076045156
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.7104516718549264,
|
| 200 |
+
"xyz": [
|
| 201 |
+
-0.020020959337681516,
|
| 202 |
+
0.6996480161409933,
|
| 203 |
+
0.07314531191888475
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_17": {
|
| 208 |
+
"confidence": 0.9759002327919006,
|
| 209 |
+
"position": [
|
| 210 |
+
-0.0877230136829894,
|
| 211 |
+
-0.04264681786298752,
|
| 212 |
+
-0.0011295122749288566
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.6875867890006656,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.1607765402281881,
|
| 218 |
+
0.6821763629158087,
|
| 219 |
+
0.18976491135867915
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_19": {
|
| 224 |
+
"confidence": 0.9755421876907349,
|
| 225 |
+
"position": [
|
| 226 |
+
-0.08531684122863226,
|
| 227 |
+
-0.04019276425242424,
|
| 228 |
+
-0.00300644023809582
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.6938978236572894,
|
| 232 |
+
"xyz": [
|
| 233 |
+
-0.15281210987860344,
|
| 234 |
+
0.6773760927422613,
|
| 235 |
+
0.19056730669071914
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
}
|
| 241 |
+
],
|
| 242 |
+
"quality_check": {
|
| 243 |
+
"success": true,
|
| 244 |
+
"message": "YES"
|
| 245 |
+
}
|
| 246 |
+
}
|
dataset/kitchen_supplies/tableware/70b7cfbf6f9158d99eaf3a49c358f382/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d22ca836d900e0c254e7a0c3c7230585071ce0add7fe93d936260fe9290189e7
|
| 3 |
+
size 3780200
|