Add asset kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe
Browse files
.gitattributes
CHANGED
|
@@ -8378,3 +8378,4 @@ dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/affordan
|
|
| 8378 |
dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8379 |
dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8380 |
dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8378 |
dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8379 |
dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8380 |
dataset/kitchen_supplies/cutting_tools/12930de739295e5eacfe39a94825b943/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8381 |
+
dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,436 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pestle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the pestle handle to lift and reposition it",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the pestle to pound or grind ingredients in the bowl",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the pestle to remove it from the bowl for cleaning",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"grind ingredients",
|
| 23 |
+
"crush contents",
|
| 24 |
+
"mash food or spices",
|
| 25 |
+
"transfer force into the bowl",
|
| 26 |
+
"handheld manipulation part"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Brown wood pestle with a satin finish and smooth hard texture, club-shaped with a rounded knob end and thicker working tip, sized to fit inside the bowl.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9732206463813782,
|
| 33 |
+
"position": [
|
| 34 |
+
0.0975509844138287,
|
| 35 |
+
0.03181781794410199,
|
| 36 |
+
0.10908227949403226
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.20694058680042984,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.9265170617866728,
|
| 42 |
+
0.016173233630413064,
|
| 43 |
+
-0.3138154780548929
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9721425175666809,
|
| 49 |
+
"position": [
|
| 50 |
+
0.08236503222724423,
|
| 51 |
+
0.06382683094125241,
|
| 52 |
+
0.09553855448029935
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.26097822397585596,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.026310215178268443,
|
| 58 |
+
-0.8880374312952943,
|
| 59 |
+
0.37760781216248235
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9711306095123291,
|
| 65 |
+
"position": [
|
| 66 |
+
0.0953653565957211,
|
| 67 |
+
0.06793138559442014,
|
| 68 |
+
0.07567786215804517
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.359035533634209,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.02311021668556491,
|
| 74 |
+
-0.8263359189870226,
|
| 75 |
+
0.4332763003726586
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9710314869880676,
|
| 81 |
+
"position": [
|
| 82 |
+
0.09880327800055966,
|
| 83 |
+
0.06777178670745343,
|
| 84 |
+
0.07113709091208875
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.35799256422440207,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.024266637664863422,
|
| 90 |
+
-0.8138292229526147,
|
| 91 |
+
0.4570934807288584
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9709092378616333,
|
| 97 |
+
"position": [
|
| 98 |
+
0.08903476962586865,
|
| 99 |
+
0.08079768146853894,
|
| 100 |
+
0.06080412655137479
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.35689726746498546,
|
| 104 |
+
"xyz": [
|
| 105 |
+
0.05105827998904763,
|
| 106 |
+
-0.7879269014437152,
|
| 107 |
+
0.4991879310459072
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9708334803581238,
|
| 113 |
+
"position": [
|
| 114 |
+
0.10863627860089764,
|
| 115 |
+
0.03436550672631711,
|
| 116 |
+
0.09685881971381605
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.24900145607120439,
|
| 120 |
+
"xyz": [
|
| 121 |
+
0.8963533060646277,
|
| 122 |
+
-0.061623534695746496,
|
| 123 |
+
-0.361595859424626
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_7": {
|
| 128 |
+
"confidence": 0.9690605998039246,
|
| 129 |
+
"position": [
|
| 130 |
+
0.053671956004109234,
|
| 131 |
+
-0.09067850385326892,
|
| 132 |
+
0.07428406714461744
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.2610402545861687,
|
| 136 |
+
"xyz": [
|
| 137 |
+
-0.24975223166479713,
|
| 138 |
+
-0.7993108228027939,
|
| 139 |
+
-0.48019164592312685
|
| 140 |
+
]
|
| 141 |
+
}
|
| 142 |
+
},
|
| 143 |
+
"grasp_8": {
|
| 144 |
+
"confidence": 0.9690355062484741,
|
| 145 |
+
"position": [
|
| 146 |
+
0.09516881773015484,
|
| 147 |
+
0.07958223845344037,
|
| 148 |
+
0.043012110283598304
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.44999117011911477,
|
| 152 |
+
"xyz": [
|
| 153 |
+
0.07863715627696875,
|
| 154 |
+
-0.7373592424484263,
|
| 155 |
+
0.4976198268190136
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
},
|
| 159 |
+
"grasp_10": {
|
| 160 |
+
"confidence": 0.968114972114563,
|
| 161 |
+
"position": [
|
| 162 |
+
0.08080906042596325,
|
| 163 |
+
0.042547998833470047,
|
| 164 |
+
0.11027692048810422
|
| 165 |
+
],
|
| 166 |
+
"orientation": {
|
| 167 |
+
"w": 0.21491731690596305,
|
| 168 |
+
"xyz": [
|
| 169 |
+
0.9239124178892991,
|
| 170 |
+
0.17540913440730332,
|
| 171 |
+
-0.263491985704255
|
| 172 |
+
]
|
| 173 |
+
}
|
| 174 |
+
},
|
| 175 |
+
"grasp_11": {
|
| 176 |
+
"confidence": 0.9679246544837952,
|
| 177 |
+
"position": [
|
| 178 |
+
0.09693149098893628,
|
| 179 |
+
0.06311172421555966,
|
| 180 |
+
0.08617288409732282
|
| 181 |
+
],
|
| 182 |
+
"orientation": {
|
| 183 |
+
"w": 0.34869982490093926,
|
| 184 |
+
"xyz": [
|
| 185 |
+
0.017776771091890364,
|
| 186 |
+
-0.8633914342442477,
|
| 187 |
+
0.3642082505892217
|
| 188 |
+
]
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
"grasp_12": {
|
| 192 |
+
"confidence": 0.967720627784729,
|
| 193 |
+
"position": [
|
| 194 |
+
0.11538725713035092,
|
| 195 |
+
0.05778578843455762,
|
| 196 |
+
0.03599850623868406
|
| 197 |
+
],
|
| 198 |
+
"orientation": {
|
| 199 |
+
"w": 0.45557180325961466,
|
| 200 |
+
"xyz": [
|
| 201 |
+
0.7180832813829798,
|
| 202 |
+
-0.01974769526973752,
|
| 203 |
+
-0.5257573219695272
|
| 204 |
+
]
|
| 205 |
+
}
|
| 206 |
+
},
|
| 207 |
+
"grasp_13": {
|
| 208 |
+
"confidence": 0.9676093459129333,
|
| 209 |
+
"position": [
|
| 210 |
+
0.060799427272286266,
|
| 211 |
+
-0.08282554720062762,
|
| 212 |
+
0.08843214600346982
|
| 213 |
+
],
|
| 214 |
+
"orientation": {
|
| 215 |
+
"w": 0.2660231266306702,
|
| 216 |
+
"xyz": [
|
| 217 |
+
-0.2490355533522625,
|
| 218 |
+
-0.8316291323220165,
|
| 219 |
+
-0.41905366665560284
|
| 220 |
+
]
|
| 221 |
+
}
|
| 222 |
+
},
|
| 223 |
+
"grasp_14": {
|
| 224 |
+
"confidence": 0.9675480723381042,
|
| 225 |
+
"position": [
|
| 226 |
+
0.11393683770438656,
|
| 227 |
+
0.04532450239639729,
|
| 228 |
+
0.07850727974437177
|
| 229 |
+
],
|
| 230 |
+
"orientation": {
|
| 231 |
+
"w": 0.36258029468467734,
|
| 232 |
+
"xyz": [
|
| 233 |
+
0.8363636486264614,
|
| 234 |
+
-0.1167707461617914,
|
| 235 |
+
-0.39420295534587757
|
| 236 |
+
]
|
| 237 |
+
}
|
| 238 |
+
},
|
| 239 |
+
"grasp_15": {
|
| 240 |
+
"confidence": 0.9673646688461304,
|
| 241 |
+
"position": [
|
| 242 |
+
0.10176170238992199,
|
| 243 |
+
0.07516930426936597,
|
| 244 |
+
0.049435937544330955
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.48846696919873,
|
| 248 |
+
"xyz": [
|
| 249 |
+
0.12601950704262177,
|
| 250 |
+
-0.7516218044513251,
|
| 251 |
+
0.4249514877252163
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_16": {
|
| 256 |
+
"confidence": 0.9673247337341309,
|
| 257 |
+
"position": [
|
| 258 |
+
0.11350316921016201,
|
| 259 |
+
0.06947081710677594,
|
| 260 |
+
0.03777656494639814
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.4967389377873199,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.02015923906681475,
|
| 266 |
+
-0.7185602581168112,
|
| 267 |
+
0.48632827207687
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"grasp_17": {
|
| 272 |
+
"confidence": 0.9670498371124268,
|
| 273 |
+
"position": [
|
| 274 |
+
0.09792842337628826,
|
| 275 |
+
0.014933303813450038,
|
| 276 |
+
0.11536571918986738
|
| 277 |
+
],
|
| 278 |
+
"orientation": {
|
| 279 |
+
"w": 0.11893976209461167,
|
| 280 |
+
"xyz": [
|
| 281 |
+
0.9461090666292511,
|
| 282 |
+
-0.04480423082230617,
|
| 283 |
+
-0.2978649827274531
|
| 284 |
+
]
|
| 285 |
+
}
|
| 286 |
+
},
|
| 287 |
+
"grasp_18": {
|
| 288 |
+
"confidence": 0.9669917225837708,
|
| 289 |
+
"position": [
|
| 290 |
+
0.09976163128158078,
|
| 291 |
+
0.06564691837411374,
|
| 292 |
+
0.08201802312396467
|
| 293 |
+
],
|
| 294 |
+
"orientation": {
|
| 295 |
+
"w": 0.3143122075902675,
|
| 296 |
+
"xyz": [
|
| 297 |
+
-0.10381150942013789,
|
| 298 |
+
-0.8342314099495322,
|
| 299 |
+
0.4410090263534986
|
| 300 |
+
]
|
| 301 |
+
}
|
| 302 |
+
},
|
| 303 |
+
"grasp_19": {
|
| 304 |
+
"confidence": 0.9665158987045288,
|
| 305 |
+
"position": [
|
| 306 |
+
0.10663306334754452,
|
| 307 |
+
0.05666110466700047,
|
| 308 |
+
0.06988103478215635
|
| 309 |
+
],
|
| 310 |
+
"orientation": {
|
| 311 |
+
"w": 0.40828319532612817,
|
| 312 |
+
"xyz": [
|
| 313 |
+
0.8218938786323178,
|
| 314 |
+
-0.05462375017986265,
|
| 315 |
+
-0.3934609645152864
|
| 316 |
+
]
|
| 317 |
+
}
|
| 318 |
+
}
|
| 319 |
+
}
|
| 320 |
+
},
|
| 321 |
+
{
|
| 322 |
+
"part_name": "mortar bowl",
|
| 323 |
+
"mask_color": "Green",
|
| 324 |
+
"graspable": true,
|
| 325 |
+
"grasp_scenarios": [
|
| 326 |
+
{
|
| 327 |
+
"scenario": "grasp the outer bowl body to pick up and move the mortar",
|
| 328 |
+
"confidence": 0.82
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"scenario": "hold the bowl from the sides to stabilize it while using the pestle",
|
| 332 |
+
"confidence": 0.88
|
| 333 |
+
},
|
| 334 |
+
{
|
| 335 |
+
"scenario": "grasp the bowl near the rim to empty or pour out contents",
|
| 336 |
+
"confidence": 0.69
|
| 337 |
+
}
|
| 338 |
+
],
|
| 339 |
+
"functional_labels": [
|
| 340 |
+
"contain ingredients",
|
| 341 |
+
"support grinding",
|
| 342 |
+
"stabilize contents during crushing",
|
| 343 |
+
"provide a working cavity",
|
| 344 |
+
"support the pestle"
|
| 345 |
+
],
|
| 346 |
+
"semantic_description": "White ceramic bowl with a glossy smooth hard surface, round thick-walled shape with a deep interior, small foot ring, and blue floral decoration on the outer side.",
|
| 347 |
+
"id": 1,
|
| 348 |
+
"grasp_group": {
|
| 349 |
+
"grasp_21": {
|
| 350 |
+
"confidence": 0.8427160382270813,
|
| 351 |
+
"position": [
|
| 352 |
+
-0.09409555426100269,
|
| 353 |
+
0.08725671644788235,
|
| 354 |
+
0.007777385180816054
|
| 355 |
+
],
|
| 356 |
+
"orientation": {
|
| 357 |
+
"w": 0.615145113436119,
|
| 358 |
+
"xyz": [
|
| 359 |
+
0.28539683285220113,
|
| 360 |
+
0.6927793651855388,
|
| 361 |
+
-0.24536073114237114
|
| 362 |
+
]
|
| 363 |
+
}
|
| 364 |
+
},
|
| 365 |
+
"grasp_23": {
|
| 366 |
+
"confidence": 0.8345916867256165,
|
| 367 |
+
"position": [
|
| 368 |
+
-0.11897410085657611,
|
| 369 |
+
0.05641311954241246,
|
| 370 |
+
-0.00672016222961247
|
| 371 |
+
],
|
| 372 |
+
"orientation": {
|
| 373 |
+
"w": 0.6975710213003705,
|
| 374 |
+
"xyz": [
|
| 375 |
+
0.15195518689180765,
|
| 376 |
+
0.6831676452290796,
|
| 377 |
+
-0.153578188330207
|
| 378 |
+
]
|
| 379 |
+
}
|
| 380 |
+
},
|
| 381 |
+
"grasp_28": {
|
| 382 |
+
"confidence": 0.8114098906517029,
|
| 383 |
+
"position": [
|
| 384 |
+
0.004190693085547537,
|
| 385 |
+
0.11834226723294705,
|
| 386 |
+
-0.00935918209142983
|
| 387 |
+
],
|
| 388 |
+
"orientation": {
|
| 389 |
+
"w": 0.5697422579913125,
|
| 390 |
+
"xyz": [
|
| 391 |
+
0.5809104354971993,
|
| 392 |
+
0.37114964601449685,
|
| 393 |
+
-0.4474201220918979
|
| 394 |
+
]
|
| 395 |
+
}
|
| 396 |
+
},
|
| 397 |
+
"grasp_29": {
|
| 398 |
+
"confidence": 0.8101904392242432,
|
| 399 |
+
"position": [
|
| 400 |
+
-0.10548136761644855,
|
| 401 |
+
0.0776668059406802,
|
| 402 |
+
-0.011772657977417111
|
| 403 |
+
],
|
| 404 |
+
"orientation": {
|
| 405 |
+
"w": 0.7017147355227553,
|
| 406 |
+
"xyz": [
|
| 407 |
+
0.23574499444635416,
|
| 408 |
+
0.6435459350759477,
|
| 409 |
+
-0.19460050614256438
|
| 410 |
+
]
|
| 411 |
+
}
|
| 412 |
+
},
|
| 413 |
+
"grasp_34": {
|
| 414 |
+
"confidence": 0.803737998008728,
|
| 415 |
+
"position": [
|
| 416 |
+
-0.10995471110800281,
|
| 417 |
+
0.05251305352430791,
|
| 418 |
+
-0.027145594591274858
|
| 419 |
+
],
|
| 420 |
+
"orientation": {
|
| 421 |
+
"w": 0.764242268280454,
|
| 422 |
+
"xyz": [
|
| 423 |
+
0.12946926262455166,
|
| 424 |
+
0.6176827569279411,
|
| 425 |
+
-0.13281369358202305
|
| 426 |
+
]
|
| 427 |
+
}
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
}
|
| 431 |
+
],
|
| 432 |
+
"quality_check": {
|
| 433 |
+
"success": true,
|
| 434 |
+
"message": "YES"
|
| 435 |
+
}
|
| 436 |
+
}
|
dataset/kitchen_supplies/cutting_tools/158d7126bc085825b954c21242c9f5fe/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a5d514ad9667bbe913a6e5f19f3558befc409d3b2741ad38252cc715a95e0717
|
| 3 |
+
size 3777164
|