xinjjj commited on
Commit
dd9fc74
·
verified ·
1 Parent(s): d826d1f

Add asset kitchen_supplies/cutting_tools/75fbfac461d95b8c80c2aa5e703f5ca7

Browse files
.gitattributes CHANGED
@@ -7011,3 +7011,4 @@ dataset/kitchen_supplies/cutting_tools/65ded07e2dd25046ab569a866f295c8f/affordan
7011
  dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7012
  dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7013
  dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
7011
  dataset/kitchen_supplies/cutting_tools/6bcf473382f55ff9b7727e1969b6ccf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7012
  dataset/kitchen_supplies/cutting_tools/7298a00ea8315c65a83d2f301494a904/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7013
  dataset/kitchen_supplies/cutting_tools/748a226d3b575980833fce2aa084af22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7014
+ dataset/kitchen_supplies/cutting_tools/75fbfac461d95b8c80c2aa5e703f5ca7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/75fbfac461d95b8c80c2aa5e703f5ca7/affordance/affordance_annot.json ADDED
@@ -0,0 +1,510 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and manipulate the peeler",
10
+ "confidence": 0.97
11
+ },
12
+ {
13
+ "scenario": "hold the handle to stabilize the peeler during peeling",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the handle near the end to orient the blade toward food",
18
+ "confidence": 0.9
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "provide primary grip",
23
+ "enable tool manipulation",
24
+ "stabilize during peeling",
25
+ "indicate tool orientation"
26
+ ],
27
+ "semantic_description": "Elongated black plastic handle with a matte to satin finish, hard smooth surface, slight ergonomic taper, and a small hanging hole at the rounded end opposite the blade head.",
28
+ "id": 0,
29
+ "grasp_group": {
30
+ "grasp_1": {
31
+ "confidence": 0.9819005131721497,
32
+ "position": [
33
+ -0.04498020838946104,
34
+ 0.09655682282755151,
35
+ -0.002131517027009977
36
+ ],
37
+ "orientation": {
38
+ "w": 0.4913356420397409,
39
+ "xyz": [
40
+ 0.5127611922817569,
41
+ -0.4712097068531569,
42
+ 0.5230933556436645
43
+ ]
44
+ }
45
+ },
46
+ "grasp_2": {
47
+ "confidence": 0.9816727638244629,
48
+ "position": [
49
+ -0.03601196687668562,
50
+ 0.09774492966243997,
51
+ 0.00036891272247885354
52
+ ],
53
+ "orientation": {
54
+ "w": 0.4899026014023366,
55
+ "xyz": [
56
+ 0.49916274246895953,
57
+ 0.5048578363387031,
58
+ -0.5059155688032282
59
+ ]
60
+ }
61
+ },
62
+ "grasp_3": {
63
+ "confidence": 0.9816389083862305,
64
+ "position": [
65
+ -0.02245413977652788,
66
+ -0.0977492750971578,
67
+ 0.0004457263166841585
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5207146414331596,
71
+ "xyz": [
72
+ -0.4876304224378861,
73
+ -0.5096980180381143,
74
+ -0.48091658706911217
75
+ ]
76
+ }
77
+ },
78
+ "grasp_6": {
79
+ "confidence": 0.9791755676269531,
80
+ "position": [
81
+ -0.015513439662754536,
82
+ 0.09755198942730203,
83
+ 0.01793669678227161
84
+ ],
85
+ "orientation": {
86
+ "w": 0.46550273365447314,
87
+ "xyz": [
88
+ 0.48283392164370353,
89
+ -0.5892604123627346,
90
+ 0.45050058323211395
91
+ ]
92
+ }
93
+ },
94
+ "grasp_7": {
95
+ "confidence": 0.9774270057678223,
96
+ "position": [
97
+ -0.02314136642962694,
98
+ -0.09848065389087424,
99
+ 0.0017364631821692456
100
+ ],
101
+ "orientation": {
102
+ "w": 0.49248301148519563,
103
+ "xyz": [
104
+ -0.514755570483274,
105
+ -0.4805084054909753,
106
+ -0.5114673580077547
107
+ ]
108
+ }
109
+ },
110
+ "grasp_9": {
111
+ "confidence": 0.9772486686706543,
112
+ "position": [
113
+ -0.02619341481477022,
114
+ -0.0983921111910604,
115
+ -0.0013118309252604377
116
+ ],
117
+ "orientation": {
118
+ "w": 0.5082251067941588,
119
+ "xyz": [
120
+ -0.4853553453198315,
121
+ 0.510673648344755,
122
+ 0.4953280271494745
123
+ ]
124
+ }
125
+ },
126
+ "grasp_10": {
127
+ "confidence": 0.9772216081619263,
128
+ "position": [
129
+ -0.031250241212546825,
130
+ 0.0995911611826159,
131
+ 0.002264645434479462
132
+ ],
133
+ "orientation": {
134
+ "w": 0.5062899682133684,
135
+ "xyz": [
136
+ 0.5030687509267421,
137
+ -0.48746482831018445,
138
+ 0.5029615701900457
139
+ ]
140
+ }
141
+ },
142
+ "grasp_12": {
143
+ "confidence": 0.9753735065460205,
144
+ "position": [
145
+ -0.03624214883893728,
146
+ 0.09779008018085733,
147
+ -6.155817209219094e-05
148
+ ],
149
+ "orientation": {
150
+ "w": 0.5128815122496306,
151
+ "xyz": [
152
+ 0.4808688718483062,
153
+ 0.5243823126828124,
154
+ -0.4803549444164123
155
+ ]
156
+ }
157
+ },
158
+ "grasp_14": {
159
+ "confidence": 0.9706494808197021,
160
+ "position": [
161
+ -0.041933092288672924,
162
+ -0.09373944712569937,
163
+ 0.0036289701420173515
164
+ ],
165
+ "orientation": {
166
+ "w": 0.5453733523546723,
167
+ "xyz": [
168
+ -0.44481420090880347,
169
+ 0.5567981400050166,
170
+ 0.4412301717904644
171
+ ]
172
+ }
173
+ },
174
+ "grasp_17": {
175
+ "confidence": 0.9682008028030396,
176
+ "position": [
177
+ -0.002060833852738142,
178
+ -0.0965813742368482,
179
+ -0.0024086893354251515
180
+ ],
181
+ "orientation": {
182
+ "w": 0.43874711770720104,
183
+ "xyz": [
184
+ -0.5627792712600288,
185
+ 0.42637720993357386,
186
+ 0.5558623331301692
187
+ ]
188
+ }
189
+ }
190
+ }
191
+ },
192
+ {
193
+ "part_name": "peeler head",
194
+ "mask_color": "Green",
195
+ "graspable": true,
196
+ "grasp_scenarios": [
197
+ {
198
+ "scenario": "grasp the head to reposition the peeler in a bin or drawer",
199
+ "confidence": 0.38
200
+ },
201
+ {
202
+ "scenario": "hold the head to stabilize the tool while another gripper works on the handle",
203
+ "confidence": 0.32
204
+ }
205
+ ],
206
+ "functional_labels": [
207
+ "support the blade",
208
+ "guide peeling contact",
209
+ "frame the cutting edge",
210
+ "connect blade to handle"
211
+ ],
212
+ "semantic_description": "Broad white plastic U-shaped head with a smooth glossy hard surface, medium size at the front of the tool, holding a straight metal blade across the open frame.",
213
+ "id": 1,
214
+ "grasp_group": {
215
+ "grasp_20": {
216
+ "confidence": 0.9554799199104309,
217
+ "position": [
218
+ 0.0022244183346629143,
219
+ 0.09882125543663278,
220
+ -0.0029876986336603295
221
+ ],
222
+ "orientation": {
223
+ "w": 0.5166365836270547,
224
+ "xyz": [
225
+ 0.48576998719709913,
226
+ 0.5039059671444657,
227
+ -0.49314595838645586
228
+ ]
229
+ }
230
+ },
231
+ "grasp_21": {
232
+ "confidence": 0.9495097398757935,
233
+ "position": [
234
+ -0.004462487064301968,
235
+ -0.10046557051828131,
236
+ -0.0005760442982136738
237
+ ],
238
+ "orientation": {
239
+ "w": 0.4582198909157747,
240
+ "xyz": [
241
+ -0.5537401254763528,
242
+ -0.42541655522209265,
243
+ -0.5499337774219156
244
+ ]
245
+ }
246
+ },
247
+ "grasp_22": {
248
+ "confidence": 0.9469406008720398,
249
+ "position": [
250
+ 0.01113921869546175,
251
+ -0.10372893227031454,
252
+ 0.0040905061359808315
253
+ ],
254
+ "orientation": {
255
+ "w": 0.49662667662814514,
256
+ "xyz": [
257
+ -0.4836399512383155,
258
+ 0.523352961798286,
259
+ 0.4955360925345851
260
+ ]
261
+ }
262
+ },
263
+ "grasp_23": {
264
+ "confidence": 0.9453661441802979,
265
+ "position": [
266
+ -0.019815430976450443,
267
+ 0.09538187371799722,
268
+ 0.004464892223040806
269
+ ],
270
+ "orientation": {
271
+ "w": 0.558035125417312,
272
+ "xyz": [
273
+ 0.4112821969693913,
274
+ 0.5903268256212967,
275
+ -0.4134706666843476
276
+ ]
277
+ }
278
+ },
279
+ "grasp_24": {
280
+ "confidence": 0.9403058886528015,
281
+ "position": [
282
+ 0.002094695810228586,
283
+ 0.09559430467197672,
284
+ -0.0038374708783521783
285
+ ],
286
+ "orientation": {
287
+ "w": 0.47066249624551426,
288
+ "xyz": [
289
+ 0.4744388429272182,
290
+ -0.4974377860280961,
291
+ 0.5531186563308907
292
+ ]
293
+ }
294
+ },
295
+ "grasp_25": {
296
+ "confidence": 0.9394693374633789,
297
+ "position": [
298
+ 0.012248945888131857,
299
+ 0.10220278339693323,
300
+ -0.008876632415194763
301
+ ],
302
+ "orientation": {
303
+ "w": 0.5053187098267677,
304
+ "xyz": [
305
+ 0.4764875360261996,
306
+ -0.47079226579407984,
307
+ 0.5440287418686335
308
+ ]
309
+ }
310
+ },
311
+ "grasp_27": {
312
+ "confidence": 0.9345324635505676,
313
+ "position": [
314
+ 0.011395829264074564,
315
+ 0.09976914065191522,
316
+ -0.00023465552294510417
317
+ ],
318
+ "orientation": {
319
+ "w": 0.52524427136475,
320
+ "xyz": [
321
+ 0.5543300347085072,
322
+ -0.4340827778060866,
323
+ 0.4779213429328406
324
+ ]
325
+ }
326
+ },
327
+ "grasp_28": {
328
+ "confidence": 0.9332569241523743,
329
+ "position": [
330
+ 0.0941834757104516,
331
+ 0.09666547464439645,
332
+ -0.003722043224115623
333
+ ],
334
+ "orientation": {
335
+ "w": 0.6209887804165888,
336
+ "xyz": [
337
+ 0.34913279086301957,
338
+ -0.6029533759537519,
339
+ 0.3590633027293226
340
+ ]
341
+ }
342
+ },
343
+ "grasp_29": {
344
+ "confidence": 0.9320732355117798,
345
+ "position": [
346
+ 0.00997500866651535,
347
+ 0.10395801352569833,
348
+ -0.005755229369242443
349
+ ],
350
+ "orientation": {
351
+ "w": 0.5266154159811872,
352
+ "xyz": [
353
+ 0.47146075909002466,
354
+ 0.5113672646422489,
355
+ -0.4887785561392028
356
+ ]
357
+ }
358
+ },
359
+ "grasp_30": {
360
+ "confidence": 0.9319486618041992,
361
+ "position": [
362
+ 0.03015164192765951,
363
+ -0.11126490397145972,
364
+ -0.00025046453447430395
365
+ ],
366
+ "orientation": {
367
+ "w": 0.46873069705634385,
368
+ "xyz": [
369
+ -0.5121976369203619,
370
+ 0.4832558529736578,
371
+ 0.5333000046287023
372
+ ]
373
+ }
374
+ },
375
+ "grasp_31": {
376
+ "confidence": 0.930410623550415,
377
+ "position": [
378
+ 0.09340614173561335,
379
+ 0.09525966184446588,
380
+ -0.005126739833940519
381
+ ],
382
+ "orientation": {
383
+ "w": 0.36224915305938993,
384
+ "xyz": [
385
+ 0.6041603954268738,
386
+ 0.34805500356274377,
387
+ -0.6185656652291142
388
+ ]
389
+ }
390
+ },
391
+ "grasp_32": {
392
+ "confidence": 0.9303072094917297,
393
+ "position": [
394
+ -0.005971502512693405,
395
+ 0.09474767284700647,
396
+ 6.170845153974369e-06
397
+ ],
398
+ "orientation": {
399
+ "w": 0.5544782721529101,
400
+ "xyz": [
401
+ 0.4315831324727331,
402
+ 0.5659300523429511,
403
+ -0.4312922690362665
404
+ ]
405
+ }
406
+ },
407
+ "grasp_34": {
408
+ "confidence": 0.9298986196517944,
409
+ "position": [
410
+ 0.004573018290102482,
411
+ -0.10026292962720618,
412
+ -0.0011589634050324094
413
+ ],
414
+ "orientation": {
415
+ "w": 0.5268281229680757,
416
+ "xyz": [
417
+ -0.4568409913168344,
418
+ 0.5309163840262001,
419
+ 0.4815352849741445
420
+ ]
421
+ }
422
+ },
423
+ "grasp_35": {
424
+ "confidence": 0.9284926652908325,
425
+ "position": [
426
+ 0.0957837039604783,
427
+ 0.09641189413378015,
428
+ -0.0005001533536415081
429
+ ],
430
+ "orientation": {
431
+ "w": 0.35318558887165297,
432
+ "xyz": [
433
+ 0.6180783031005682,
434
+ 0.34210500045972114,
435
+ -0.6133541552073809
436
+ ]
437
+ }
438
+ },
439
+ "grasp_36": {
440
+ "confidence": 0.9284797310829163,
441
+ "position": [
442
+ 0.09429619554430246,
443
+ 0.09821681963512674,
444
+ -0.004508765861828579
445
+ ],
446
+ "orientation": {
447
+ "w": 0.3398150996593884,
448
+ "xyz": [
449
+ 0.5910025305527368,
450
+ 0.3666506780562988,
451
+ -0.6330947695287003
452
+ ]
453
+ }
454
+ },
455
+ "grasp_37": {
456
+ "confidence": 0.9274839162826538,
457
+ "position": [
458
+ 0.09368871990591288,
459
+ 0.10060376959154382,
460
+ -0.0031122395121201407
461
+ ],
462
+ "orientation": {
463
+ "w": 0.3587943105297815,
464
+ "xyz": [
465
+ 0.6016474566334749,
466
+ 0.3581739995923573,
467
+ -0.6172506514163787
468
+ ]
469
+ }
470
+ },
471
+ "grasp_38": {
472
+ "confidence": 0.9273850917816162,
473
+ "position": [
474
+ 0.046503701247274876,
475
+ 0.11535947310039774,
476
+ 0.0017923197192430962
477
+ ],
478
+ "orientation": {
479
+ "w": 0.49288789343410444,
480
+ "xyz": [
481
+ 0.5237289870189983,
482
+ 0.48240925336836904,
483
+ -0.5000507823478704
484
+ ]
485
+ }
486
+ },
487
+ "grasp_39": {
488
+ "confidence": 0.9266474843025208,
489
+ "position": [
490
+ 0.09589526150375605,
491
+ 0.09430687414715067,
492
+ -0.0024601253498985898
493
+ ],
494
+ "orientation": {
495
+ "w": 0.3572809789369444,
496
+ "xyz": [
497
+ 0.609821951307722,
498
+ 0.34446990591288007,
499
+ -0.6179061204693418
500
+ ]
501
+ }
502
+ }
503
+ }
504
+ }
505
+ ],
506
+ "quality_check": {
507
+ "success": true,
508
+ "message": "YES"
509
+ }
510
+ }
dataset/kitchen_supplies/cutting_tools/75fbfac461d95b8c80c2aa5e703f5ca7/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:45dda6ed86132f046adc14fd850ffff93b108bb6df472450eb3a0b845dbabb84
3
+ size 3778680