Add asset kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9
Browse files
.gitattributes
CHANGED
|
@@ -7035,3 +7035,4 @@ dataset/kitchen_supplies/cutting_tools/ac3a1d06c773501ea4cc1f2c73d7608d/affordan
|
|
| 7035 |
dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7036 |
dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7037 |
dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7035 |
dataset/kitchen_supplies/cutting_tools/afc52e1c1f1d5c68813161329147ae55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7036 |
dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7037 |
dataset/kitchen_supplies/cutting_tools/b24f24c182465f3e8debab8ceb27746e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7038 |
+
dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,551 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle of knife",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and control the fruit knife",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to cut or peel fruit with the blade",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to reorient the knife safely away from the blade",
|
| 18 |
+
"confidence": 0.95
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide primary grip",
|
| 23 |
+
"control cutting motions",
|
| 24 |
+
"enable safe handling",
|
| 25 |
+
"stabilize the knife during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Curved light pink handle made of matte plastic or coated wood with a hard slightly textured surface, medium-sized at one end of the knife and shaped ergonomically for gripping.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_21": {
|
| 31 |
+
"confidence": 0.9889040589332581,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.020798363257199526,
|
| 34 |
+
0.09280896541895345,
|
| 35 |
+
0.0013477617758326232
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5849539978834397,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.41447550963769203,
|
| 41 |
+
0.5749782944991235,
|
| 42 |
+
-0.3942573184173446
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_22": {
|
| 47 |
+
"confidence": 0.9888967275619507,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.040531881619244814,
|
| 50 |
+
0.09039779362501577,
|
| 51 |
+
-0.0017983714933507144
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.6047891919167622,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.37437734753213664,
|
| 57 |
+
0.5998755451359462,
|
| 58 |
+
-0.3663617956928952
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_23": {
|
| 63 |
+
"confidence": 0.9884659051895142,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.03871410759165883,
|
| 66 |
+
0.0864953210693784,
|
| 67 |
+
-0.008331632416229695
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.625757486084266,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.3416271302316769,
|
| 73 |
+
0.5899684974442111,
|
| 74 |
+
-0.3790193194582409
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_25": {
|
| 79 |
+
"confidence": 0.9881801605224609,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.04185906099155545,
|
| 82 |
+
0.08707812038483098,
|
| 83 |
+
-0.017567079688888043
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.643818340653994,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.3189278048558248,
|
| 89 |
+
0.5706070675461193,
|
| 90 |
+
-0.3977317865016585
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_26": {
|
| 95 |
+
"confidence": 0.9880716800689697,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.010789340827614069,
|
| 98 |
+
0.09653204289497808,
|
| 99 |
+
-0.001510274421889335
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5684279703923056,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.4540844145335246,
|
| 105 |
+
0.5392851286201391,
|
| 106 |
+
-0.4241091097849595
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_27": {
|
| 111 |
+
"confidence": 0.9880034923553467,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.0385981691069901,
|
| 114 |
+
0.088116142724175,
|
| 115 |
+
-0.005590635060798377
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6208826423994438,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.3392040691890167,
|
| 121 |
+
0.601750376232429,
|
| 122 |
+
-0.3705965845995181
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_28": {
|
| 127 |
+
"confidence": 0.98800128698349,
|
| 128 |
+
"position": [
|
| 129 |
+
0.039430111180990934,
|
| 130 |
+
0.09302821365417913,
|
| 131 |
+
-0.003878674644511193
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.4213744118229523,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.6020129245637517,
|
| 137 |
+
0.3631920407878819,
|
| 138 |
+
-0.5728137439232696
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_29": {
|
| 143 |
+
"confidence": 0.9878436326980591,
|
| 144 |
+
"position": [
|
| 145 |
+
-0.032310493756085634,
|
| 146 |
+
0.08749971148790792,
|
| 147 |
+
0.0009211816941387951
|
| 148 |
+
],
|
| 149 |
+
"orientation": {
|
| 150 |
+
"w": 0.6033055353660446,
|
| 151 |
+
"xyz": [
|
| 152 |
+
0.3880640815157914,
|
| 153 |
+
0.6038612674101217,
|
| 154 |
+
-0.3475345585058229
|
| 155 |
+
]
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"grasp_30": {
|
| 159 |
+
"confidence": 0.9877753257751465,
|
| 160 |
+
"position": [
|
| 161 |
+
0.05130629939958453,
|
| 162 |
+
0.09386541304411367,
|
| 163 |
+
0.003969551820773631
|
| 164 |
+
],
|
| 165 |
+
"orientation": {
|
| 166 |
+
"w": 0.4098922855810811,
|
| 167 |
+
"xyz": [
|
| 168 |
+
0.6054078202653785,
|
| 169 |
+
0.39353821617123463,
|
| 170 |
+
-0.5573126212417974
|
| 171 |
+
]
|
| 172 |
+
}
|
| 173 |
+
},
|
| 174 |
+
"grasp_31": {
|
| 175 |
+
"confidence": 0.9875763654708862,
|
| 176 |
+
"position": [
|
| 177 |
+
-0.0180411827750504,
|
| 178 |
+
0.09576020744862035,
|
| 179 |
+
0.0004079924547113478
|
| 180 |
+
],
|
| 181 |
+
"orientation": {
|
| 182 |
+
"w": 0.5694173938175701,
|
| 183 |
+
"xyz": [
|
| 184 |
+
0.42909726503425644,
|
| 185 |
+
0.5648191564431791,
|
| 186 |
+
-0.41547405366995366
|
| 187 |
+
]
|
| 188 |
+
}
|
| 189 |
+
},
|
| 190 |
+
"grasp_33": {
|
| 191 |
+
"confidence": 0.987230122089386,
|
| 192 |
+
"position": [
|
| 193 |
+
0.04995038313791156,
|
| 194 |
+
0.0913599765044637,
|
| 195 |
+
-0.0069348394754342735
|
| 196 |
+
],
|
| 197 |
+
"orientation": {
|
| 198 |
+
"w": 0.42131094495548377,
|
| 199 |
+
"xyz": [
|
| 200 |
+
0.5916737628188073,
|
| 201 |
+
0.3527739379366296,
|
| 202 |
+
-0.589889646260412
|
| 203 |
+
]
|
| 204 |
+
}
|
| 205 |
+
},
|
| 206 |
+
"grasp_34": {
|
| 207 |
+
"confidence": 0.9870420694351196,
|
| 208 |
+
"position": [
|
| 209 |
+
-0.035233371425420046,
|
| 210 |
+
0.08561940101208165,
|
| 211 |
+
-0.015199832792859524
|
| 212 |
+
],
|
| 213 |
+
"orientation": {
|
| 214 |
+
"w": 0.6385559777083901,
|
| 215 |
+
"xyz": [
|
| 216 |
+
0.3207655328296401,
|
| 217 |
+
0.5764054623008398,
|
| 218 |
+
-0.3963741657968572
|
| 219 |
+
]
|
| 220 |
+
}
|
| 221 |
+
},
|
| 222 |
+
"grasp_35": {
|
| 223 |
+
"confidence": 0.9869208335876465,
|
| 224 |
+
"position": [
|
| 225 |
+
0.06389056099578738,
|
| 226 |
+
0.08855664340080693,
|
| 227 |
+
0.012283824209589511
|
| 228 |
+
],
|
| 229 |
+
"orientation": {
|
| 230 |
+
"w": 0.34561634772968175,
|
| 231 |
+
"xyz": [
|
| 232 |
+
0.6480782967003309,
|
| 233 |
+
0.3746687765282286,
|
| 234 |
+
-0.5658331639474956
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_37": {
|
| 239 |
+
"confidence": 0.986364483833313,
|
| 240 |
+
"position": [
|
| 241 |
+
0.026883624028414488,
|
| 242 |
+
0.097691397939343,
|
| 243 |
+
0.00031165225664153695
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.4923619855588862,
|
| 247 |
+
"xyz": [
|
| 248 |
+
0.5345364179405792,
|
| 249 |
+
0.4740844012647659,
|
| 250 |
+
-0.49708598204857307
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_38": {
|
| 255 |
+
"confidence": 0.9863069653511047,
|
| 256 |
+
"position": [
|
| 257 |
+
-0.017358735669404268,
|
| 258 |
+
0.09342868236126378,
|
| 259 |
+
-0.0003724705456988886
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.5935924786154674,
|
| 263 |
+
"xyz": [
|
| 264 |
+
0.40649261457963903,
|
| 265 |
+
0.5755904899924904,
|
| 266 |
+
-0.38872523902309203
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "blade of knife",
|
| 274 |
+
"mask_color": "Yellow",
|
| 275 |
+
"graspable": true,
|
| 276 |
+
"grasp_scenarios": [
|
| 277 |
+
{
|
| 278 |
+
"scenario": "delicately pinch the blade spine to reposition the knife in a careful setup task",
|
| 279 |
+
"confidence": 0.24
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"scenario": "grasp the blade with a protective gripper for tool transfer or packaging",
|
| 283 |
+
"confidence": 0.18
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"cut fruit",
|
| 288 |
+
"slice soft food",
|
| 289 |
+
"pierce food surfaces",
|
| 290 |
+
"provide cutting edge"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "Short silver metal blade with a reflective smooth finish, hard surface, tapered pointed shape, and a sharpened edge extending from the handle end.",
|
| 293 |
+
"id": 3,
|
| 294 |
+
"grasp_group": {
|
| 295 |
+
"grasp_40": {
|
| 296 |
+
"confidence": 0.9904409646987915,
|
| 297 |
+
"position": [
|
| 298 |
+
0.011384440120309591,
|
| 299 |
+
-0.09445389005122706,
|
| 300 |
+
0.011924546037334949
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.5326368121975875,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.45355688064205024,
|
| 306 |
+
-0.5984285099387082,
|
| 307 |
+
-0.3904708706251749
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_41": {
|
| 312 |
+
"confidence": 0.9899981617927551,
|
| 313 |
+
"position": [
|
| 314 |
+
0.004777014721184969,
|
| 315 |
+
-0.09584952535806224,
|
| 316 |
+
-0.0009150602272711694
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.4186772542924129,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.5830130307137448,
|
| 322 |
+
0.41954887098421967,
|
| 323 |
+
0.5556832799464159
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_43": {
|
| 328 |
+
"confidence": 0.9897438883781433,
|
| 329 |
+
"position": [
|
| 330 |
+
0.01715875370427966,
|
| 331 |
+
-0.0916486048954539,
|
| 332 |
+
0.012478091579396278
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.5581829268330992,
|
| 336 |
+
"xyz": [
|
| 337 |
+
-0.4311685590841741,
|
| 338 |
+
-0.6242293078639117,
|
| 339 |
+
-0.3359512837496724
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
},
|
| 343 |
+
"grasp_50": {
|
| 344 |
+
"confidence": 0.988021731376648,
|
| 345 |
+
"position": [
|
| 346 |
+
-0.018850394058972597,
|
| 347 |
+
-0.0998132565873675,
|
| 348 |
+
0.008481536817271262
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.4820637092787239,
|
| 352 |
+
"xyz": [
|
| 353 |
+
-0.5274036605582658,
|
| 354 |
+
0.5200353551165269,
|
| 355 |
+
0.46799913296394857
|
| 356 |
+
]
|
| 357 |
+
}
|
| 358 |
+
}
|
| 359 |
+
}
|
| 360 |
+
},
|
| 361 |
+
{
|
| 362 |
+
"part_name": "bolster of knife",
|
| 363 |
+
"mask_color": "Red",
|
| 364 |
+
"graspable": true,
|
| 365 |
+
"grasp_scenarios": [
|
| 366 |
+
{
|
| 367 |
+
"scenario": "pinch near the bolster to stabilize the knife during precise manipulation",
|
| 368 |
+
"confidence": 0.52
|
| 369 |
+
},
|
| 370 |
+
{
|
| 371 |
+
"scenario": "grasp the bolster area together with the handle for secure pickup",
|
| 372 |
+
"confidence": 0.47
|
| 373 |
+
}
|
| 374 |
+
],
|
| 375 |
+
"functional_labels": [
|
| 376 |
+
"connect handle to blade",
|
| 377 |
+
"reinforce blade junction",
|
| 378 |
+
"balance the knife",
|
| 379 |
+
"provide finger stop"
|
| 380 |
+
],
|
| 381 |
+
"semantic_description": "Small silver-gray collar between the handle and blade, likely metal or dense plastic, with a smooth slightly reflective finish and a short ring-like shape at the knife junction.",
|
| 382 |
+
"id": 0,
|
| 383 |
+
"grasp_group": {
|
| 384 |
+
"grasp_0": {
|
| 385 |
+
"confidence": 0.9896941184997559,
|
| 386 |
+
"position": [
|
| 387 |
+
-0.04810949461534619,
|
| 388 |
+
0.0892404576879926,
|
| 389 |
+
-0.011987406003754586
|
| 390 |
+
],
|
| 391 |
+
"orientation": {
|
| 392 |
+
"w": 0.6086433935789896,
|
| 393 |
+
"xyz": [
|
| 394 |
+
0.3698717887892715,
|
| 395 |
+
0.5604431804491393,
|
| 396 |
+
-0.4226718831416743
|
| 397 |
+
]
|
| 398 |
+
}
|
| 399 |
+
},
|
| 400 |
+
"grasp_3": {
|
| 401 |
+
"confidence": 0.9888216257095337,
|
| 402 |
+
"position": [
|
| 403 |
+
-0.005980993737466633,
|
| 404 |
+
-0.096054021443706,
|
| 405 |
+
0.020644085307139903
|
| 406 |
+
],
|
| 407 |
+
"orientation": {
|
| 408 |
+
"w": 0.4445774914138503,
|
| 409 |
+
"xyz": [
|
| 410 |
+
-0.5601812657429601,
|
| 411 |
+
0.5394325397496056,
|
| 412 |
+
0.44447760202070097
|
| 413 |
+
]
|
| 414 |
+
}
|
| 415 |
+
},
|
| 416 |
+
"grasp_5": {
|
| 417 |
+
"confidence": 0.9886773824691772,
|
| 418 |
+
"position": [
|
| 419 |
+
-0.027014717925339937,
|
| 420 |
+
0.09536711481632665,
|
| 421 |
+
-0.009043911646585912
|
| 422 |
+
],
|
| 423 |
+
"orientation": {
|
| 424 |
+
"w": 0.5830752516565377,
|
| 425 |
+
"xyz": [
|
| 426 |
+
0.4472073823181789,
|
| 427 |
+
0.5186849894414903,
|
| 428 |
+
-0.43702939241413474
|
| 429 |
+
]
|
| 430 |
+
}
|
| 431 |
+
},
|
| 432 |
+
"grasp_6": {
|
| 433 |
+
"confidence": 0.9883753061294556,
|
| 434 |
+
"position": [
|
| 435 |
+
-0.008977713994681835,
|
| 436 |
+
0.09787652251543477,
|
| 437 |
+
-0.01190994045464322
|
| 438 |
+
],
|
| 439 |
+
"orientation": {
|
| 440 |
+
"w": 0.5320406986407665,
|
| 441 |
+
"xyz": [
|
| 442 |
+
0.4960728288912026,
|
| 443 |
+
0.4669702895869614,
|
| 444 |
+
-0.502775488731097
|
| 445 |
+
]
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"grasp_7": {
|
| 449 |
+
"confidence": 0.9882367253303528,
|
| 450 |
+
"position": [
|
| 451 |
+
-0.0590638336725533,
|
| 452 |
+
0.08381020632805303,
|
| 453 |
+
-0.006993882532697171
|
| 454 |
+
],
|
| 455 |
+
"orientation": {
|
| 456 |
+
"w": 0.6228896731700977,
|
| 457 |
+
"xyz": [
|
| 458 |
+
0.33926314467508467,
|
| 459 |
+
0.6017923273885505,
|
| 460 |
+
-0.3670898642287646
|
| 461 |
+
]
|
| 462 |
+
}
|
| 463 |
+
},
|
| 464 |
+
"grasp_9": {
|
| 465 |
+
"confidence": 0.9881701469421387,
|
| 466 |
+
"position": [
|
| 467 |
+
-0.019147465471178293,
|
| 468 |
+
0.09733794984640554,
|
| 469 |
+
-0.010536204266827554
|
| 470 |
+
],
|
| 471 |
+
"orientation": {
|
| 472 |
+
"w": 0.5518566526846972,
|
| 473 |
+
"xyz": [
|
| 474 |
+
0.47041078395624575,
|
| 475 |
+
0.49365301573660847,
|
| 476 |
+
-0.48007773253866304
|
| 477 |
+
]
|
| 478 |
+
}
|
| 479 |
+
},
|
| 480 |
+
"grasp_11": {
|
| 481 |
+
"confidence": 0.9875863790512085,
|
| 482 |
+
"position": [
|
| 483 |
+
-0.009010537061840296,
|
| 484 |
+
0.09655627963365987,
|
| 485 |
+
0.01841126923682168
|
| 486 |
+
],
|
| 487 |
+
"orientation": {
|
| 488 |
+
"w": 0.45107799190463393,
|
| 489 |
+
"xyz": [
|
| 490 |
+
0.5487839878182728,
|
| 491 |
+
0.5497719330450042,
|
| 492 |
+
-0.4394492024904766
|
| 493 |
+
]
|
| 494 |
+
}
|
| 495 |
+
},
|
| 496 |
+
"grasp_12": {
|
| 497 |
+
"confidence": 0.9874580502510071,
|
| 498 |
+
"position": [
|
| 499 |
+
-0.05898965569213033,
|
| 500 |
+
0.08447652665199712,
|
| 501 |
+
-0.009644511330407113
|
| 502 |
+
],
|
| 503 |
+
"orientation": {
|
| 504 |
+
"w": 0.620003706703419,
|
| 505 |
+
"xyz": [
|
| 506 |
+
0.3442032139198052,
|
| 507 |
+
0.6011946802776407,
|
| 508 |
+
-0.3683537804979915
|
| 509 |
+
]
|
| 510 |
+
}
|
| 511 |
+
},
|
| 512 |
+
"grasp_14": {
|
| 513 |
+
"confidence": 0.9852411150932312,
|
| 514 |
+
"position": [
|
| 515 |
+
-0.05492163868620992,
|
| 516 |
+
0.08687685785116628,
|
| 517 |
+
0.017509732220787555
|
| 518 |
+
],
|
| 519 |
+
"orientation": {
|
| 520 |
+
"w": 0.31789157993222716,
|
| 521 |
+
"xyz": [
|
| 522 |
+
0.6385596204983746,
|
| 523 |
+
-0.42410166941011096,
|
| 524 |
+
0.5579644509112758
|
| 525 |
+
]
|
| 526 |
+
}
|
| 527 |
+
},
|
| 528 |
+
"grasp_18": {
|
| 529 |
+
"confidence": 0.9821997880935669,
|
| 530 |
+
"position": [
|
| 531 |
+
-0.062454157043248415,
|
| 532 |
+
0.07888993975939229,
|
| 533 |
+
0.013844287779647857
|
| 534 |
+
],
|
| 535 |
+
"orientation": {
|
| 536 |
+
"w": 0.2647604640184123,
|
| 537 |
+
"xyz": [
|
| 538 |
+
0.6586638928090219,
|
| 539 |
+
-0.38992400132228544,
|
| 540 |
+
0.5865347783339354
|
| 541 |
+
]
|
| 542 |
+
}
|
| 543 |
+
}
|
| 544 |
+
}
|
| 545 |
+
}
|
| 546 |
+
],
|
| 547 |
+
"quality_check": {
|
| 548 |
+
"success": true,
|
| 549 |
+
"message": "YES"
|
| 550 |
+
}
|
| 551 |
+
}
|
dataset/kitchen_supplies/cutting_tools/b2f1afb902635e0e976c86edcfe1d7d9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:728dc39dab45e2a284aa18fc699687e91e640c22763d8622e4aecb336429eab9
|
| 3 |
+
size 3786668
|