xinjjj commited on
Commit
5b70faf
·
verified ·
1 Parent(s): 3b1f4d4

Add asset kitchen_supplies/cutting_tools/99fad3b2419b50afb14eb340190194c8

Browse files
.gitattributes CHANGED
@@ -7023,3 +7023,4 @@ dataset/kitchen_supplies/cutting_tools/8f8f41a0a15a5988ab9e5166a27faa0d/affordan
7023
  dataset/kitchen_supplies/cutting_tools/94c03725417052b3939b100980cd98ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7024
  dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7025
  dataset/kitchen_supplies/cutting_tools/962e3c16974e5204a19e822e1494a3c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7023
  dataset/kitchen_supplies/cutting_tools/94c03725417052b3939b100980cd98ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7024
  dataset/kitchen_supplies/cutting_tools/92ab55ac19cc556e993c1a0314ee49e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7025
  dataset/kitchen_supplies/cutting_tools/962e3c16974e5204a19e822e1494a3c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7026
+ dataset/kitchen_supplies/cutting_tools/99fad3b2419b50afb14eb340190194c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/99fad3b2419b50afb14eb340190194c8/affordance/affordance_annot.json ADDED
@@ -0,0 +1,477 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "blade of knife",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "cut fruit",
10
+ "slice soft food",
11
+ "pierce food",
12
+ "provide the sharp working edge"
13
+ ],
14
+ "semantic_description": "Short silver metal blade with a reflective smooth finish and pointed tapered shape at the front of the knife, showing small dark printed brand markings near the base.",
15
+ "id": 0,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "handle",
20
+ "mask_color": "Green",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the handle to pick up and control the fruit knife for cutting",
25
+ "confidence": 0.98
26
+ },
27
+ {
28
+ "scenario": "hold the handle to reposition or store the knife safely",
29
+ "confidence": 0.93
30
+ },
31
+ {
32
+ "scenario": "grasp the handle to stabilize the knife while handing it over or placing it down",
33
+ "confidence": 0.9
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "provide a safe grip",
38
+ "control blade orientation",
39
+ "support cutting manipulation",
40
+ "keep hand away from the sharp edge"
41
+ ],
42
+ "semantic_description": "Curved black and dark gray plastic handle with a matte to semi-matte finish, hard slightly textured surface, and ergonomic medium-size shape at the rear of the knife.",
43
+ "id": 1,
44
+ "grasp_group": {
45
+ "grasp_1": {
46
+ "confidence": 0.9790856242179871,
47
+ "position": [
48
+ -0.056758634746074677,
49
+ 0.08656128542497754,
50
+ -0.004442174191353843
51
+ ],
52
+ "orientation": {
53
+ "w": 0.6167993470296038,
54
+ "xyz": [
55
+ 0.35685242168895714,
56
+ 0.6023019060820465,
57
+ -0.3597878938604179
58
+ ]
59
+ }
60
+ },
61
+ "grasp_2": {
62
+ "confidence": 0.978966236114502,
63
+ "position": [
64
+ -0.006209706887602806,
65
+ 0.09779091225937009,
66
+ -0.0006522623589262366
67
+ ],
68
+ "orientation": {
69
+ "w": 0.5300742463414048,
70
+ "xyz": [
71
+ 0.49751719213602313,
72
+ 0.5049406052520324,
73
+ -0.4653309811976745
74
+ ]
75
+ }
76
+ },
77
+ "grasp_3": {
78
+ "confidence": 0.9785165190696716,
79
+ "position": [
80
+ 0.009599655866622925,
81
+ 0.0986255113966763,
82
+ 0.0006327987357508391
83
+ ],
84
+ "orientation": {
85
+ "w": 0.48951413938481037,
86
+ "xyz": [
87
+ 0.5053135280558264,
88
+ -0.501740464833526,
89
+ 0.503279893950433
90
+ ]
91
+ }
92
+ },
93
+ "grasp_5": {
94
+ "confidence": 0.9784712195396423,
95
+ "position": [
96
+ -0.004756702110171318,
97
+ 0.10007720487192273,
98
+ -0.0010377552534919232
99
+ ],
100
+ "orientation": {
101
+ "w": 0.5144379856661727,
102
+ "xyz": [
103
+ 0.5150753214197286,
104
+ 0.48619712900678635,
105
+ -0.48338734355964663
106
+ ]
107
+ }
108
+ },
109
+ "grasp_9": {
110
+ "confidence": 0.9775874018669128,
111
+ "position": [
112
+ -0.023308340460062027,
113
+ 0.0907139484770596,
114
+ 0.014370169752510265
115
+ ],
116
+ "orientation": {
117
+ "w": 0.5536426305522919,
118
+ "xyz": [
119
+ 0.4603818027355229,
120
+ 0.5867854972973569,
121
+ -0.37042032005091413
122
+ ]
123
+ }
124
+ },
125
+ "grasp_10": {
126
+ "confidence": 0.9774263501167297,
127
+ "position": [
128
+ 0.007767006754875183,
129
+ 0.10074279503896832,
130
+ 0.0039057743560988456
131
+ ],
132
+ "orientation": {
133
+ "w": 0.47170570097683673,
134
+ "xyz": [
135
+ 0.5050861028644872,
136
+ -0.5099011146173941,
137
+ 0.512232968161026
138
+ ]
139
+ }
140
+ },
141
+ "grasp_11": {
142
+ "confidence": 0.9772838950157166,
143
+ "position": [
144
+ 0.00600963830947876,
145
+ 0.10113216983154416,
146
+ 0.0010707696492318064
147
+ ],
148
+ "orientation": {
149
+ "w": 0.5139088778932647,
150
+ "xyz": [
151
+ 0.518824111873617,
152
+ 0.48617872626825565,
153
+ -0.47994734324216803
154
+ ]
155
+ }
156
+ },
157
+ "grasp_15": {
158
+ "confidence": 0.9766155481338501,
159
+ "position": [
160
+ -0.004518594592809677,
161
+ 0.09410902904346585,
162
+ 0.004522336908848956
163
+ ],
164
+ "orientation": {
165
+ "w": 0.416324392049585,
166
+ "xyz": [
167
+ 0.5666332207800778,
168
+ -0.4436713692753612,
169
+ 0.5556586270168626
170
+ ]
171
+ }
172
+ },
173
+ "grasp_16": {
174
+ "confidence": 0.9765833616256714,
175
+ "position": [
176
+ 0.04828012362122536,
177
+ 0.08627031790092587,
178
+ -0.006998475844739005
179
+ ],
180
+ "orientation": {
181
+ "w": 0.38335998450095277,
182
+ "xyz": [
183
+ 0.6041146956112278,
184
+ 0.3369561444077782,
185
+ -0.6119976418057729
186
+ ]
187
+ }
188
+ },
189
+ "grasp_18": {
190
+ "confidence": 0.9763880968093872,
191
+ "position": [
192
+ -0.005314873531460762,
193
+ 0.10005243914201856,
194
+ -0.00018211620772490278
195
+ ],
196
+ "orientation": {
197
+ "w": 0.5121977847423893,
198
+ "xyz": [
199
+ 0.5125837051670247,
200
+ 0.5020612443513008,
201
+ -0.4720655478031173
202
+ ]
203
+ }
204
+ },
205
+ "grasp_19": {
206
+ "confidence": 0.9763118624687195,
207
+ "position": [
208
+ 0.048621777445077896,
209
+ 0.09055672632530332,
210
+ 0.0012043242168147117
211
+ ],
212
+ "orientation": {
213
+ "w": 0.378315065217586,
214
+ "xyz": [
215
+ 0.6208500602885404,
216
+ 0.3581199975387237,
217
+ -0.5858096802136288
218
+ ]
219
+ }
220
+ }
221
+ }
222
+ },
223
+ {
224
+ "part_name": "bolster of knife",
225
+ "mask_color": "Blue",
226
+ "graspable": true,
227
+ "grasp_scenarios": [
228
+ {
229
+ "scenario": "pinch near the bolster for fine orientation adjustment during precise cutting",
230
+ "confidence": 0.48
231
+ },
232
+ {
233
+ "scenario": "grasp the bolster together with the handle to stabilize the knife during pickup",
234
+ "confidence": 0.42
235
+ }
236
+ ],
237
+ "functional_labels": [
238
+ "connect blade to handle",
239
+ "reinforce the junction",
240
+ "support finger indexing",
241
+ "help balance the knife"
242
+ ],
243
+ "semantic_description": "Small light silver to off-white metal connector section between blade and handle, with a smooth hard surface and compact collar-like shape near the knife center.",
244
+ "id": 2,
245
+ "grasp_group": {
246
+ "grasp_20": {
247
+ "confidence": 0.9824346899986267,
248
+ "position": [
249
+ 0.0002872683107852936,
250
+ 0.09610257344320416,
251
+ 0.002292377670528367
252
+ ],
253
+ "orientation": {
254
+ "w": 0.45374410058972053,
255
+ "xyz": [
256
+ 0.5652814289670209,
257
+ 0.43414082904825035,
258
+ -0.5348784327287157
259
+ ]
260
+ }
261
+ },
262
+ "grasp_21": {
263
+ "confidence": 0.9801954627037048,
264
+ "position": [
265
+ -0.06868229061365128,
266
+ 0.0859394078142941,
267
+ -0.003776750498218462
268
+ ],
269
+ "orientation": {
270
+ "w": 0.3608274959610085,
271
+ "xyz": [
272
+ 0.5982860070597518,
273
+ -0.3415408560250822,
274
+ 0.628655084748912
275
+ ]
276
+ }
277
+ },
278
+ "grasp_25": {
279
+ "confidence": 0.9800841808319092,
280
+ "position": [
281
+ -0.046333197504282,
282
+ -0.09624816430732608,
283
+ -0.0036453974607866257
284
+ ],
285
+ "orientation": {
286
+ "w": 0.5763601962947643,
287
+ "xyz": [
288
+ -0.42409073815740694,
289
+ 0.5485898802329434,
290
+ 0.4324408783199975
291
+ ]
292
+ }
293
+ },
294
+ "grasp_26": {
295
+ "confidence": 0.9782288670539856,
296
+ "position": [
297
+ 0.025963593274354935,
298
+ 0.08781403349712491,
299
+ 0.0017331713170278817
300
+ ],
301
+ "orientation": {
302
+ "w": 0.3684685593934657,
303
+ "xyz": [
304
+ 0.623686866773458,
305
+ 0.3583115846877991,
306
+ -0.5889468747105543
307
+ ]
308
+ }
309
+ },
310
+ "grasp_27": {
311
+ "confidence": 0.9774312376976013,
312
+ "position": [
313
+ -0.07492132112383842,
314
+ 0.08400563197210431,
315
+ -0.0011818186903838068
316
+ ],
317
+ "orientation": {
318
+ "w": 0.6180455549709032,
319
+ "xyz": [
320
+ 0.3595052075446185,
321
+ 0.6226007916641478,
322
+ -0.31803136944047683
323
+ ]
324
+ }
325
+ },
326
+ "grasp_28": {
327
+ "confidence": 0.9818753600120544,
328
+ "position": [
329
+ -0.021382116014137864,
330
+ 0.09969031112268567,
331
+ -0.009612590743927285
332
+ ],
333
+ "orientation": {
334
+ "w": 0.5325026951331991,
335
+ "xyz": [
336
+ 0.49887114037573715,
337
+ 0.47129665690577827,
338
+ -0.49542701396424454
339
+ ]
340
+ }
341
+ },
342
+ "grasp_29": {
343
+ "confidence": 0.9817485213279724,
344
+ "position": [
345
+ -0.02681239228695631,
346
+ 0.09441059874370694,
347
+ -0.0035291029780637473
348
+ ],
349
+ "orientation": {
350
+ "w": 0.4920303363807301,
351
+ "xyz": [
352
+ 0.4973758808603722,
353
+ -0.48443993243889316,
354
+ 0.5252059910911482
355
+ ]
356
+ }
357
+ },
358
+ "grasp_31": {
359
+ "confidence": 0.9803789854049683,
360
+ "position": [
361
+ -0.06126147136092186,
362
+ 0.09145744936540723,
363
+ -0.0035999873362015933
364
+ ],
365
+ "orientation": {
366
+ "w": 0.6026240973758802,
367
+ "xyz": [
368
+ 0.38955752780692054,
369
+ 0.5849989199318323,
370
+ -0.3779753873858129
371
+ ]
372
+ }
373
+ },
374
+ "grasp_32": {
375
+ "confidence": 0.9800074696540833,
376
+ "position": [
377
+ -0.019101697020232677,
378
+ -0.09978520078584552,
379
+ 0.0009503431210760027
380
+ ],
381
+ "orientation": {
382
+ "w": 0.5070551507227717,
383
+ "xyz": [
384
+ -0.5095222660186707,
385
+ 0.48927404356838966,
386
+ 0.4938552873534347
387
+ ]
388
+ }
389
+ },
390
+ "grasp_33": {
391
+ "confidence": 0.9798830151557922,
392
+ "position": [
393
+ -0.07220425456762314,
394
+ 0.08738589333370328,
395
+ -0.005001463199732825
396
+ ],
397
+ "orientation": {
398
+ "w": 0.6301925315794678,
399
+ "xyz": [
400
+ 0.3443044474728954,
401
+ 0.6025358829985273,
402
+ -0.3482274117455869
403
+ ]
404
+ }
405
+ },
406
+ "grasp_34": {
407
+ "confidence": 0.97967529296875,
408
+ "position": [
409
+ -0.020418006228283048,
410
+ -0.09825323475524783,
411
+ -0.003515396936563775
412
+ ],
413
+ "orientation": {
414
+ "w": 0.5162722716321898,
415
+ "xyz": [
416
+ -0.5047278998581077,
417
+ 0.482760241909855,
418
+ 0.4956361946828545
419
+ ]
420
+ }
421
+ },
422
+ "grasp_35": {
423
+ "confidence": 0.9795911312103271,
424
+ "position": [
425
+ -0.06679441034793854,
426
+ -0.0909019778482616,
427
+ -0.006954367010621354
428
+ ],
429
+ "orientation": {
430
+ "w": 0.629496647304063,
431
+ "xyz": [
432
+ -0.36186551561937685,
433
+ 0.5869730567844258,
434
+ 0.3581200221261216
435
+ ]
436
+ }
437
+ },
438
+ "grasp_37": {
439
+ "confidence": 0.979559063911438,
440
+ "position": [
441
+ -0.023773677879944444,
442
+ 0.10067448066547513,
443
+ 0.006853819155367091
444
+ ],
445
+ "orientation": {
446
+ "w": 0.4627813282038176,
447
+ "xyz": [
448
+ 0.5108891834616863,
449
+ -0.5236682710164003,
450
+ 0.5005968701644619
451
+ ]
452
+ }
453
+ },
454
+ "grasp_38": {
455
+ "confidence": 0.979516863822937,
456
+ "position": [
457
+ -0.06536239013075829,
458
+ -0.09068740112707019,
459
+ -0.001074209954822436
460
+ ],
461
+ "orientation": {
462
+ "w": 0.6159031504917227,
463
+ "xyz": [
464
+ -0.3734624347303986,
465
+ 0.5899171879642214,
466
+ 0.3649477091365257
467
+ ]
468
+ }
469
+ }
470
+ }
471
+ }
472
+ ],
473
+ "quality_check": {
474
+ "success": true,
475
+ "message": "YES"
476
+ }
477
+ }
dataset/kitchen_supplies/cutting_tools/99fad3b2419b50afb14eb340190194c8/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:e213923b9831e73e84231d2817aea8f6a94804e8818dc117d105bc9df6de74b0
3
+ size 3784016