Add asset kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/affordance_annot.json +350 -0
- dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/fork_039.urdf +1 -0
.gitattributes
CHANGED
|
@@ -8433,3 +8433,4 @@ dataset/kitchen_supplies/tableware/10ebe226c09957f69ea8acf46a424ab3/affordance/m
|
|
| 8433 |
dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8434 |
dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8435 |
dataset/kitchen_supplies/tableware/1328ed114176584e8c6eec439a93e75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8433 |
dataset/kitchen_supplies/tableware/11f706b475915ca6bfe166e62e4c74c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8434 |
dataset/kitchen_supplies/tableware/125add9a32c15940a56463cfbb1264ee/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8435 |
dataset/kitchen_supplies/tableware/1328ed114176584e8c6eec439a93e75f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8436 |
+
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,350 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the fork head to reorient the utensil during sorting or placement",
|
| 10 |
+
"confidence": 0.36
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the fork head to stabilize it while another tool manipulates the handle",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pierce food",
|
| 19 |
+
"spear and lift bites",
|
| 20 |
+
"separate soft food",
|
| 21 |
+
"provide the eating end"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small silver metal fork head with a reflective smooth hard surface, four narrow tines, and a slightly curved neck at the front end of the utensil.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9832041263580322,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.04380769096314907,
|
| 30 |
+
-0.09356338436555234,
|
| 31 |
+
-0.003481300635030493
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.4086184678542295,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.5459160991031164,
|
| 37 |
+
0.4299901151152661,
|
| 38 |
+
0.5917052149268748
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.9809448719024658,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.047878408804535866,
|
| 46 |
+
-0.0976494317765173,
|
| 47 |
+
-0.0010719796118792146
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5722165840388985,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.4874503782194137,
|
| 53 |
+
-0.5076328422506362,
|
| 54 |
+
-0.4210334988966378
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_4": {
|
| 59 |
+
"confidence": 0.9786248803138733,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.01978756533935666,
|
| 62 |
+
0.08818450664330157,
|
| 63 |
+
-0.00726211242727004
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.362393020231358,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.5829969299850136,
|
| 69 |
+
0.35761303885614104,
|
| 70 |
+
-0.633165691549787
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_8": {
|
| 75 |
+
"confidence": 0.9755926728248596,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.06408783234655857,
|
| 78 |
+
-0.09958866889428464,
|
| 79 |
+
0.0023250832746271044
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.47761787621574986,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.4881350585136803,
|
| 85 |
+
0.5219594566852728,
|
| 86 |
+
0.5110417346419152
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_9": {
|
| 91 |
+
"confidence": 0.9752945899963379,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.05932155065238476,
|
| 94 |
+
-0.09009653235625592,
|
| 95 |
+
0.03225509697222151
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.42855832436193453,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.5734492396503489,
|
| 101 |
+
-0.5865011145207449,
|
| 102 |
+
-0.3788273681117194
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_10": {
|
| 107 |
+
"confidence": 0.975174069404602,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.07883730344474316,
|
| 110 |
+
-0.09755307341765729,
|
| 111 |
+
-0.004456688504433259
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.5027372116321538,
|
| 115 |
+
"xyz": [
|
| 116 |
+
-0.45519405597034174,
|
| 117 |
+
0.5248263966255612,
|
| 118 |
+
0.5144034611612024
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_11": {
|
| 123 |
+
"confidence": 0.9722022414207458,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.08774456195533276,
|
| 126 |
+
-0.09675456489276257,
|
| 127 |
+
0.011228489369386807
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.48681880257787546,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.5867511747392253,
|
| 133 |
+
-0.4551092695341473,
|
| 134 |
+
-0.46000659254284304
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_13": {
|
| 139 |
+
"confidence": 0.9717127680778503,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.03351231664419174,
|
| 142 |
+
0.0860787266974512,
|
| 143 |
+
-0.0019019524042960256
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.3479889884060052,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.58445845225286,
|
| 149 |
+
0.3801883378519453,
|
| 150 |
+
-0.6267127007646579
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_15": {
|
| 155 |
+
"confidence": 0.9715191125869751,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.07313923723995686,
|
| 158 |
+
-0.099252081465238,
|
| 159 |
+
-0.00044382180203683674
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.520389928651542,
|
| 163 |
+
"xyz": [
|
| 164 |
+
-0.5334935692326905,
|
| 165 |
+
-0.46277496803815876,
|
| 166 |
+
-0.4800190232716707
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
},
|
| 170 |
+
"grasp_16": {
|
| 171 |
+
"confidence": 0.9713220000267029,
|
| 172 |
+
"position": [
|
| 173 |
+
-0.07614891417324543,
|
| 174 |
+
-0.09723663980912534,
|
| 175 |
+
0.019529443845385686
|
| 176 |
+
],
|
| 177 |
+
"orientation": {
|
| 178 |
+
"w": 0.4511731449489273,
|
| 179 |
+
"xyz": [
|
| 180 |
+
-0.5946553584094928,
|
| 181 |
+
-0.49699296085446176,
|
| 182 |
+
-0.4425220840284553
|
| 183 |
+
]
|
| 184 |
+
}
|
| 185 |
+
},
|
| 186 |
+
"grasp_19": {
|
| 187 |
+
"confidence": 0.9680013656616211,
|
| 188 |
+
"position": [
|
| 189 |
+
-0.06103246472775936,
|
| 190 |
+
0.09830644075918826,
|
| 191 |
+
-0.0002162682358175516
|
| 192 |
+
],
|
| 193 |
+
"orientation": {
|
| 194 |
+
"w": 0.5432018840045951,
|
| 195 |
+
"xyz": [
|
| 196 |
+
0.5068958728749124,
|
| 197 |
+
-0.4893287389752943,
|
| 198 |
+
0.4566680112391138
|
| 199 |
+
]
|
| 200 |
+
}
|
| 201 |
+
}
|
| 202 |
+
}
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"part_name": "fork handle",
|
| 206 |
+
"mask_color": "Orange",
|
| 207 |
+
"graspable": true,
|
| 208 |
+
"grasp_scenarios": [
|
| 209 |
+
{
|
| 210 |
+
"scenario": "grasp the handle to pick up and carry the fork",
|
| 211 |
+
"confidence": 0.97
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"scenario": "hold the handle to position the fork for eating or serving",
|
| 215 |
+
"confidence": 0.95
|
| 216 |
+
},
|
| 217 |
+
{
|
| 218 |
+
"scenario": "grasp the handle end to place the fork into a drawer or rack",
|
| 219 |
+
"confidence": 0.88
|
| 220 |
+
}
|
| 221 |
+
],
|
| 222 |
+
"functional_labels": [
|
| 223 |
+
"provide main grip",
|
| 224 |
+
"support controlled manipulation",
|
| 225 |
+
"balance the utensil",
|
| 226 |
+
"keep hand away from food end"
|
| 227 |
+
],
|
| 228 |
+
"semantic_description": "Long black handle with a likely plastic or composite body, matte to semi-gloss smooth hard finish, tapered rounded shape, and small white logo markings near the upper portion plus a light-colored end cap.",
|
| 229 |
+
"id": 4,
|
| 230 |
+
"grasp_group": {
|
| 231 |
+
"grasp_22": {
|
| 232 |
+
"confidence": 0.9760645031929016,
|
| 233 |
+
"position": [
|
| 234 |
+
0.08598179556429386,
|
| 235 |
+
0.08366537933397922,
|
| 236 |
+
-0.018971796467667446
|
| 237 |
+
],
|
| 238 |
+
"orientation": {
|
| 239 |
+
"w": 0.40222153297595664,
|
| 240 |
+
"xyz": [
|
| 241 |
+
0.568136857367983,
|
| 242 |
+
0.31246641409415554,
|
| 243 |
+
-0.6463768945233452
|
| 244 |
+
]
|
| 245 |
+
}
|
| 246 |
+
},
|
| 247 |
+
"grasp_24": {
|
| 248 |
+
"confidence": 0.9737933874130249,
|
| 249 |
+
"position": [
|
| 250 |
+
0.08155612833797932,
|
| 251 |
+
0.08479284589338931,
|
| 252 |
+
0.012276755325729027
|
| 253 |
+
],
|
| 254 |
+
"orientation": {
|
| 255 |
+
"w": 0.3036100097784935,
|
| 256 |
+
"xyz": [
|
| 257 |
+
0.6310849913611916,
|
| 258 |
+
0.4128311932100549,
|
| 259 |
+
-0.5823427698132002
|
| 260 |
+
]
|
| 261 |
+
}
|
| 262 |
+
},
|
| 263 |
+
"grasp_25": {
|
| 264 |
+
"confidence": 0.9730353951454163,
|
| 265 |
+
"position": [
|
| 266 |
+
0.03958008624613285,
|
| 267 |
+
0.09487422649908694,
|
| 268 |
+
-0.02442667944706045
|
| 269 |
+
],
|
| 270 |
+
"orientation": {
|
| 271 |
+
"w": 0.5684707142939,
|
| 272 |
+
"xyz": [
|
| 273 |
+
0.4401913650938357,
|
| 274 |
+
-0.4447505957806671,
|
| 275 |
+
0.534106278412593
|
| 276 |
+
]
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"grasp_26": {
|
| 280 |
+
"confidence": 0.9726637005805969,
|
| 281 |
+
"position": [
|
| 282 |
+
0.08147267438471317,
|
| 283 |
+
0.0826392108683649,
|
| 284 |
+
-0.018734914570814
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.3764412277645864,
|
| 288 |
+
"xyz": [
|
| 289 |
+
0.5789422373459334,
|
| 290 |
+
0.3168008848571122,
|
| 291 |
+
-0.6501961913220704
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_29": {
|
| 296 |
+
"confidence": 0.9684720039367676,
|
| 297 |
+
"position": [
|
| 298 |
+
-0.021571259247139096,
|
| 299 |
+
0.08449360077429446,
|
| 300 |
+
0.0004693405644502491
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.5939316854532474,
|
| 304 |
+
"xyz": [
|
| 305 |
+
0.3493508094242747,
|
| 306 |
+
0.6280142050139512,
|
| 307 |
+
-0.3616591257938398
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_36": {
|
| 312 |
+
"confidence": 0.9588811993598938,
|
| 313 |
+
"position": [
|
| 314 |
+
0.0938973892480135,
|
| 315 |
+
0.08396457974959048,
|
| 316 |
+
-0.008469614520436153
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.35455639632958075,
|
| 320 |
+
"xyz": [
|
| 321 |
+
0.5883661166541014,
|
| 322 |
+
0.35097977729031304,
|
| 323 |
+
-0.6363397445770589
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_37": {
|
| 328 |
+
"confidence": 0.950271725654602,
|
| 329 |
+
"position": [
|
| 330 |
+
0.09401537664234638,
|
| 331 |
+
0.08444059734392795,
|
| 332 |
+
-0.0006238491332624108
|
| 333 |
+
],
|
| 334 |
+
"orientation": {
|
| 335 |
+
"w": 0.34313335797630706,
|
| 336 |
+
"xyz": [
|
| 337 |
+
0.6031190023022774,
|
| 338 |
+
0.37031605857296324,
|
| 339 |
+
-0.6175540336430448
|
| 340 |
+
]
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
}
|
| 344 |
+
}
|
| 345 |
+
],
|
| 346 |
+
"quality_check": {
|
| 347 |
+
"success": true,
|
| 348 |
+
"message": "YES"
|
| 349 |
+
}
|
| 350 |
+
}
|
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:01026649d7eed816f98ef345a0b8b5a7985ca624108f94f28bcd39739e51d847
|
| 3 |
+
size 3800384
|
dataset/kitchen_supplies/tableware/145c254862ca5b17a09a3864a865a5fe/fork_039.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|