Add asset kitchen_supplies/cutting_tools/b5d37efe1eca5fc695846d4c11fdfc1f
Browse files
.gitattributes
CHANGED
|
@@ -7037,4 +7037,4 @@ dataset/kitchen_supplies/cutting_tools/ae205c266eda59d08d4ad8d2bf101db6/affordan
|
|
| 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
|
| 7039 |
dataset/kitchen_supplies/cutting_tools/b546b1f2ecb95e1290213bcc99af9a39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7040 |
-
dataset/kitchen_supplies/cutting_tools/
|
|
|
|
| 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
|
| 7039 |
dataset/kitchen_supplies/cutting_tools/b546b1f2ecb95e1290213bcc99af9a39/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7040 |
+
dataset/kitchen_supplies/cutting_tools/b5d37efe1eca5fc695846d4c11fdfc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/cutting_tools/b5d37efe1eca5fc695846d4c11fdfc1f/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,370 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "blade of knife",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"cut food or materials",
|
| 10 |
+
"slice with the sharpened edge",
|
| 11 |
+
"pierce with the tip",
|
| 12 |
+
"provide the main working edge"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Large silver metal blade with a reflective smooth hard surface, broad tapering shape, and a pointed tip at the front of the knife.",
|
| 15 |
+
"id": 1,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "handle",
|
| 20 |
+
"mask_color": "Yellow",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the handle to pick up and carry the knife safely",
|
| 25 |
+
"confidence": 0.98
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the handle to orient and control the blade for cutting",
|
| 29 |
+
"confidence": 0.97
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grip the handle to stabilize the knife while placing or retrieving it",
|
| 33 |
+
"confidence": 0.9
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"provide the main grip",
|
| 38 |
+
"enable safe handling",
|
| 39 |
+
"control blade orientation",
|
| 40 |
+
"transfer cutting force"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Medium-length black handle made of hard smooth plastic or composite, slightly curved and contoured, with a mostly matte finish and visible metal rivets along the sides.",
|
| 43 |
+
"id": 3,
|
| 44 |
+
"grasp_group": {
|
| 45 |
+
"grasp_0": {
|
| 46 |
+
"confidence": 0.987183690071106,
|
| 47 |
+
"position": [
|
| 48 |
+
-0.11234250059351325,
|
| 49 |
+
0.1347540281713009,
|
| 50 |
+
-0.003998174332082272
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.7135529840152306,
|
| 54 |
+
"xyz": [
|
| 55 |
+
0.017861527986160246,
|
| 56 |
+
0.7002733865986038,
|
| 57 |
+
-0.011844359108126968
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_1": {
|
| 62 |
+
"confidence": 0.9865235686302185,
|
| 63 |
+
"position": [
|
| 64 |
+
-0.11172212054952979,
|
| 65 |
+
0.13238434121012688,
|
| 66 |
+
-0.0042388481087982655
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.7145830397514166,
|
| 70 |
+
"xyz": [
|
| 71 |
+
0.012145358610512346,
|
| 72 |
+
0.6993125206830749,
|
| 73 |
+
-0.013622333857710885
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_3": {
|
| 78 |
+
"confidence": 0.9857461452484131,
|
| 79 |
+
"position": [
|
| 80 |
+
-0.11355573078617454,
|
| 81 |
+
0.12913860753178596,
|
| 82 |
+
0.000500048859976232
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.7012868723213889,
|
| 86 |
+
"xyz": [
|
| 87 |
+
0.03498747918949389,
|
| 88 |
+
0.7119626965139287,
|
| 89 |
+
-0.009039788839596198
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_4": {
|
| 94 |
+
"confidence": 0.9857396483421326,
|
| 95 |
+
"position": [
|
| 96 |
+
-0.11473284056410193,
|
| 97 |
+
0.14617469534277916,
|
| 98 |
+
-0.001606333302333951
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.7058993329326596,
|
| 102 |
+
"xyz": [
|
| 103 |
+
0.02461499289267799,
|
| 104 |
+
0.7074319476008752,
|
| 105 |
+
-0.025303624320479903
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_5": {
|
| 110 |
+
"confidence": 0.985430121421814,
|
| 111 |
+
"position": [
|
| 112 |
+
-0.11487729987129569,
|
| 113 |
+
0.11032726988196373,
|
| 114 |
+
-0.0005254315274214605
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.7064240625204864,
|
| 118 |
+
"xyz": [
|
| 119 |
+
0.017453895391712704,
|
| 120 |
+
0.7074270773459554,
|
| 121 |
+
-0.014399155026117872
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_6": {
|
| 126 |
+
"confidence": 0.9853229522705078,
|
| 127 |
+
"position": [
|
| 128 |
+
-0.11333852401003242,
|
| 129 |
+
0.1413806639611721,
|
| 130 |
+
-0.010708247544243932
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
+
"w": 0.7378193644453683,
|
| 134 |
+
"xyz": [
|
| 135 |
+
0.04268349345871778,
|
| 136 |
+
0.6730021362595414,
|
| 137 |
+
-0.029475912635337456
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_7": {
|
| 142 |
+
"confidence": 0.9852429628372192,
|
| 143 |
+
"position": [
|
| 144 |
+
-0.11410807212814689,
|
| 145 |
+
0.12532394006848335,
|
| 146 |
+
-0.004288995871320367
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
+
"w": 0.0713213967755672,
|
| 150 |
+
"xyz": [
|
| 151 |
+
-0.6825696777592277,
|
| 152 |
+
-0.09039452608801457,
|
| 153 |
+
-0.7216929561932619
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_8": {
|
| 158 |
+
"confidence": 0.9848508834838867,
|
| 159 |
+
"position": [
|
| 160 |
+
-0.11267332127317786,
|
| 161 |
+
0.1515435092151165,
|
| 162 |
+
0.00037839560536667705
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.7022660092188446,
|
| 166 |
+
"xyz": [
|
| 167 |
+
0.0074762797250529645,
|
| 168 |
+
0.7117345443924916,
|
| 169 |
+
-0.014159655918211644
|
| 170 |
+
]
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
"grasp_10": {
|
| 174 |
+
"confidence": 0.984473705291748,
|
| 175 |
+
"position": [
|
| 176 |
+
-0.11083017429336905,
|
| 177 |
+
0.13168015703558922,
|
| 178 |
+
-0.00570215261541307
|
| 179 |
+
],
|
| 180 |
+
"orientation": {
|
| 181 |
+
"w": 0.7198850326419637,
|
| 182 |
+
"xyz": [
|
| 183 |
+
-0.03807548737007927,
|
| 184 |
+
0.6919522253562282,
|
| 185 |
+
0.038960426899266036
|
| 186 |
+
]
|
| 187 |
+
}
|
| 188 |
+
},
|
| 189 |
+
"grasp_11": {
|
| 190 |
+
"confidence": 0.9842085242271423,
|
| 191 |
+
"position": [
|
| 192 |
+
-0.11497259279713035,
|
| 193 |
+
0.10042457655072212,
|
| 194 |
+
-0.0013533644378185272
|
| 195 |
+
],
|
| 196 |
+
"orientation": {
|
| 197 |
+
"w": 0.7130233685070876,
|
| 198 |
+
"xyz": [
|
| 199 |
+
-0.015617989705434203,
|
| 200 |
+
0.7009124746261106,
|
| 201 |
+
0.008686614637943648
|
| 202 |
+
]
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
"grasp_12": {
|
| 206 |
+
"confidence": 0.9839666485786438,
|
| 207 |
+
"position": [
|
| 208 |
+
-0.11496498575434089,
|
| 209 |
+
0.10237885639071465,
|
| 210 |
+
0.0013292210642248392
|
| 211 |
+
],
|
| 212 |
+
"orientation": {
|
| 213 |
+
"w": 0.6928556453357716,
|
| 214 |
+
"xyz": [
|
| 215 |
+
0.02515028190273108,
|
| 216 |
+
0.7204414380831213,
|
| 217 |
+
-0.016812267523726086
|
| 218 |
+
]
|
| 219 |
+
}
|
| 220 |
+
},
|
| 221 |
+
"grasp_13": {
|
| 222 |
+
"confidence": 0.9838482737541199,
|
| 223 |
+
"position": [
|
| 224 |
+
-0.1138573600910604,
|
| 225 |
+
0.15603458508849144,
|
| 226 |
+
-0.003621512558311224
|
| 227 |
+
],
|
| 228 |
+
"orientation": {
|
| 229 |
+
"w": 0.7112018940920051,
|
| 230 |
+
"xyz": [
|
| 231 |
+
0.019629787652778577,
|
| 232 |
+
0.7024188555602148,
|
| 233 |
+
-0.0203540814120776
|
| 234 |
+
]
|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
+
"grasp_14": {
|
| 238 |
+
"confidence": 0.9838279485702515,
|
| 239 |
+
"position": [
|
| 240 |
+
-0.11506990483030677,
|
| 241 |
+
0.13083640113472939,
|
| 242 |
+
-0.007733372272923589
|
| 243 |
+
],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.7274697309477689,
|
| 246 |
+
"xyz": [
|
| 247 |
+
-0.005163392018688328,
|
| 248 |
+
0.6860917812579539,
|
| 249 |
+
-0.006260800901604119
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
"grasp_15": {
|
| 254 |
+
"confidence": 0.9836909770965576,
|
| 255 |
+
"position": [
|
| 256 |
+
-0.11465002736076713,
|
| 257 |
+
0.15443449839949608,
|
| 258 |
+
0.0008421681122854352
|
| 259 |
+
],
|
| 260 |
+
"orientation": {
|
| 261 |
+
"w": 0.7006137930711788,
|
| 262 |
+
"xyz": [
|
| 263 |
+
0.021476311253261722,
|
| 264 |
+
0.7127993168971012,
|
| 265 |
+
-0.024417511019642568
|
| 266 |
+
]
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
"grasp_16": {
|
| 270 |
+
"confidence": 0.9836860299110413,
|
| 271 |
+
"position": [
|
| 272 |
+
-0.11577700218185782,
|
| 273 |
+
0.08018980547785759,
|
| 274 |
+
-0.004593461053445935
|
| 275 |
+
],
|
| 276 |
+
"orientation": {
|
| 277 |
+
"w": 0.7203393299082782,
|
| 278 |
+
"xyz": [
|
| 279 |
+
0.02696114732952339,
|
| 280 |
+
0.6929706468170439,
|
| 281 |
+
-0.013267591037432339
|
| 282 |
+
]
|
| 283 |
+
}
|
| 284 |
+
},
|
| 285 |
+
"grasp_17": {
|
| 286 |
+
"confidence": 0.9836586117744446,
|
| 287 |
+
"position": [
|
| 288 |
+
-0.11471700062975287,
|
| 289 |
+
0.1105564795434475,
|
| 290 |
+
-0.0009926292404998094
|
| 291 |
+
],
|
| 292 |
+
"orientation": {
|
| 293 |
+
"w": 0.016046029688131107,
|
| 294 |
+
"xyz": [
|
| 295 |
+
0.7001903566443755,
|
| 296 |
+
0.008287004649451535,
|
| 297 |
+
0.71372775968671
|
| 298 |
+
]
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"grasp_18": {
|
| 302 |
+
"confidence": 0.9835352897644043,
|
| 303 |
+
"position": [
|
| 304 |
+
-0.1161980121396482,
|
| 305 |
+
0.13734199479222298,
|
| 306 |
+
0.002227463060989976
|
| 307 |
+
],
|
| 308 |
+
"orientation": {
|
| 309 |
+
"w": 0.6967146076665738,
|
| 310 |
+
"xyz": [
|
| 311 |
+
0.009231104284925108,
|
| 312 |
+
0.7172549220077135,
|
| 313 |
+
-0.006994214280594376
|
| 314 |
+
]
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"grasp_19": {
|
| 318 |
+
"confidence": 0.9832525253295898,
|
| 319 |
+
"position": [
|
| 320 |
+
-0.11598658701404929,
|
| 321 |
+
0.11438963189721107,
|
| 322 |
+
-0.0006161631536087953
|
| 323 |
+
],
|
| 324 |
+
"orientation": {
|
| 325 |
+
"w": 0.7006746977543635,
|
| 326 |
+
"xyz": [
|
| 327 |
+
0.03615164335789401,
|
| 328 |
+
0.711861642596406,
|
| 329 |
+
-0.03163903300199203
|
| 330 |
+
]
|
| 331 |
+
}
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
},
|
| 335 |
+
{
|
| 336 |
+
"part_name": "bolster of knife",
|
| 337 |
+
"mask_color": "Purple",
|
| 338 |
+
"graspable": false,
|
| 339 |
+
"grasp_scenarios": [],
|
| 340 |
+
"functional_labels": [
|
| 341 |
+
"connect blade to handle",
|
| 342 |
+
"reinforce the blade-handle junction",
|
| 343 |
+
"act as a finger stop",
|
| 344 |
+
"support structural stability"
|
| 345 |
+
],
|
| 346 |
+
"semantic_description": "Small silver metal collar at the blade-handle junction with a smooth hard finish, forming a narrow transition between the black handle and the blade.",
|
| 347 |
+
"id": 5,
|
| 348 |
+
"grasp_group": {}
|
| 349 |
+
},
|
| 350 |
+
{
|
| 351 |
+
"part_name": "handle butt cap",
|
| 352 |
+
"mask_color": "Red",
|
| 353 |
+
"graspable": false,
|
| 354 |
+
"grasp_scenarios": [],
|
| 355 |
+
"functional_labels": [
|
| 356 |
+
"finish the end of the handle",
|
| 357 |
+
"protect the handle end",
|
| 358 |
+
"provide rear balance",
|
| 359 |
+
"indicate handle boundary"
|
| 360 |
+
],
|
| 361 |
+
"semantic_description": "Small rounded end piece at the back of the handle, appearing black like the handle with a smooth hard finish and slightly thicker terminal shape.",
|
| 362 |
+
"id": 0,
|
| 363 |
+
"grasp_group": {}
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"quality_check": {
|
| 367 |
+
"success": true,
|
| 368 |
+
"message": "YES"
|
| 369 |
+
}
|
| 370 |
+
}
|
dataset/kitchen_supplies/cutting_tools/b5d37efe1eca5fc695846d4c11fdfc1f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2bcd8bf0efa1cab8243ea3870eaf3ec906b8993e4091a3c27a78d930e5b75910
|
| 3 |
+
size 293656
|