xinjjj commited on
Commit
271f9f7
·
verified ·
1 Parent(s): 8b1d944

Add asset kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb

Browse files
.gitattributes CHANGED
@@ -7007,4 +7007,4 @@ dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/affordan
7007
  dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7008
  dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7009
  dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7010
- dataset/kitchen_supplies/cutting_tools/62cda7ada62b53b2814ccb83f5c1191c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
7007
  dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7008
  dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7009
  dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7010
+ dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/affordance/affordance_annot.json ADDED
@@ -0,0 +1,378 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "knife blade",
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 cutting edge"
13
+ ],
14
+ "semantic_description": "Long narrow silver metal blade with a smooth reflective finish and pointed tip, forming the front working end of the knife, with small printed markings near the handle.",
15
+ "id": 0,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "knife handle",
20
+ "mask_color": "Blue",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the handle to pick up and use the knife for cutting",
25
+ "confidence": 0.98
26
+ },
27
+ {
28
+ "scenario": "hold the handle to orient the blade precisely during slicing",
29
+ "confidence": 0.96
30
+ },
31
+ {
32
+ "scenario": "grasp the handle to place or pass the knife while keeping fingers away from the blade",
33
+ "confidence": 0.9
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "provide primary grip",
38
+ "control blade orientation",
39
+ "keep hand separated from blade",
40
+ "support safe handling"
41
+ ],
42
+ "semantic_description": "Curved brown wood handle with visible grain, a smooth slightly glossy hard surface, and a medium-sized ergonomic form at the rear of the knife.",
43
+ "id": 2,
44
+ "grasp_group": {
45
+ "grasp_0": {
46
+ "confidence": 0.9898734092712402,
47
+ "position": [
48
+ 0.036897607147693634,
49
+ 0.10081738103326643,
50
+ -0.004414805014675949
51
+ ],
52
+ "orientation": {
53
+ "w": 0.5107480726031313,
54
+ "xyz": [
55
+ 0.4827985332623756,
56
+ -0.505059478389841,
57
+ 0.5009559919798022
58
+ ]
59
+ }
60
+ },
61
+ "grasp_1": {
62
+ "confidence": 0.9897624850273132,
63
+ "position": [
64
+ 0.04089143127202988,
65
+ 0.09877838809188688,
66
+ -0.002662826831510756
67
+ ],
68
+ "orientation": {
69
+ "w": 0.5049177471174162,
70
+ "xyz": [
71
+ 0.4891620749502407,
72
+ -0.5066529856963358,
73
+ 0.49908043956985204
74
+ ]
75
+ }
76
+ },
77
+ "grasp_2": {
78
+ "confidence": 0.9897508025169373,
79
+ "position": [
80
+ 0.035072408616542816,
81
+ 0.10136339683231199,
82
+ -0.004099204939848278
83
+ ],
84
+ "orientation": {
85
+ "w": 0.5096005997983074,
86
+ "xyz": [
87
+ 0.48509218864433923,
88
+ -0.5020877995149874,
89
+ 0.5028922735334561
90
+ ]
91
+ }
92
+ },
93
+ "grasp_3": {
94
+ "confidence": 0.9895384311676025,
95
+ "position": [
96
+ 0.03664375841617584,
97
+ 0.09863700587447966,
98
+ -0.006947641530132387
99
+ ],
100
+ "orientation": {
101
+ "w": 0.5023853095707776,
102
+ "xyz": [
103
+ 0.5027808065494886,
104
+ 0.47820938004963887,
105
+ -0.5158839502499176
106
+ ]
107
+ }
108
+ },
109
+ "grasp_4": {
110
+ "confidence": 0.9894578456878662,
111
+ "position": [
112
+ 0.03472071513533592,
113
+ 0.0970996381729492,
114
+ -0.015115374968445394
115
+ ],
116
+ "orientation": {
117
+ "w": 0.5260389324063777,
118
+ "xyz": [
119
+ 0.4643227216768818,
120
+ 0.46307331646787275,
121
+ -0.5415261353829357
122
+ ]
123
+ }
124
+ },
125
+ "grasp_5": {
126
+ "confidence": 0.989243745803833,
127
+ "position": [
128
+ 0.040230534970760345,
129
+ 0.10024389494356001,
130
+ -0.00956662491807947
131
+ ],
132
+ "orientation": {
133
+ "w": 0.5184604015412477,
134
+ "xyz": [
135
+ 0.47152722645073814,
136
+ -0.49576837216601055,
137
+ 0.5129079916605186
138
+ ]
139
+ }
140
+ },
141
+ "grasp_6": {
142
+ "confidence": 0.9891501069068909,
143
+ "position": [
144
+ 0.03488948941230774,
145
+ 0.09431239087280119,
146
+ -0.02158197508106241
147
+ ],
148
+ "orientation": {
149
+ "w": 0.539747845430162,
150
+ "xyz": [
151
+ 0.43560376159067826,
152
+ -0.46132639252350194,
153
+ 0.5532626734226709
154
+ ]
155
+ }
156
+ },
157
+ "grasp_7": {
158
+ "confidence": 0.9889088273048401,
159
+ "position": [
160
+ 0.0345594622194767,
161
+ 0.10239094365533674,
162
+ -0.004574017868435476
163
+ ],
164
+ "orientation": {
165
+ "w": 0.5077767295687852,
166
+ "xyz": [
167
+ 0.48757245548873057,
168
+ -0.5009491350252374,
169
+ 0.5034737904544638
170
+ ]
171
+ }
172
+ },
173
+ "grasp_8": {
174
+ "confidence": 0.9869112968444824,
175
+ "position": [
176
+ 0.02376449480652809,
177
+ 0.09307818729575956,
178
+ 0.015419659866893198
179
+ ],
180
+ "orientation": {
181
+ "w": 0.41375052052150213,
182
+ "xyz": [
183
+ 0.5709007430027074,
184
+ -0.5134946008032482,
185
+ 0.48908705089488447
186
+ ]
187
+ }
188
+ },
189
+ "grasp_9": {
190
+ "confidence": 0.9862484335899353,
191
+ "position": [
192
+ 0.055649131536483765,
193
+ 0.09521398563083494,
194
+ -0.011295208045339677
195
+ ],
196
+ "orientation": {
197
+ "w": 0.47913853930178474,
198
+ "xyz": [
199
+ 0.5173939466086875,
200
+ 0.410758954306778,
201
+ -0.5779332536074047
202
+ ]
203
+ }
204
+ },
205
+ "grasp_11": {
206
+ "confidence": 0.9850772023200989,
207
+ "position": [
208
+ 0.0765124186873436,
209
+ 0.09321136642392958,
210
+ -0.005047283870226238
211
+ ],
212
+ "orientation": {
213
+ "w": 0.40893287304340686,
214
+ "xyz": [
215
+ 0.5834893422917629,
216
+ 0.37806522356515215,
217
+ -0.591084409798654
218
+ ]
219
+ }
220
+ },
221
+ "grasp_12": {
222
+ "confidence": 0.9848184585571289,
223
+ "position": [
224
+ 0.06586575508117676,
225
+ 0.09232245255407179,
226
+ -0.015573514894640539
227
+ ],
228
+ "orientation": {
229
+ "w": 0.5938247292871173,
230
+ "xyz": [
231
+ 0.3885723662221496,
232
+ -0.5333836239736299,
233
+ 0.46031034832204126
234
+ ]
235
+ }
236
+ },
237
+ "grasp_13": {
238
+ "confidence": 0.984575629234314,
239
+ "position": [
240
+ -0.0069791823625564575,
241
+ 0.10144824404414976,
242
+ -0.007475287457054947
243
+ ],
244
+ "orientation": {
245
+ "w": 0.5149379325988142,
246
+ "xyz": [
247
+ 0.49752065915318733,
248
+ 0.4752610607232306,
249
+ -0.5113111024091562
250
+ ]
251
+ }
252
+ },
253
+ "grasp_15": {
254
+ "confidence": 0.9833855032920837,
255
+ "position": [
256
+ 0.03200786933302879,
257
+ 0.09235530961450422,
258
+ 0.013635113566124346
259
+ ],
260
+ "orientation": {
261
+ "w": 0.3423239423296985,
262
+ "xyz": [
263
+ 0.6331929200808057,
264
+ 0.4056161002722394,
265
+ -0.5633441431907639
266
+ ]
267
+ }
268
+ },
269
+ "grasp_16": {
270
+ "confidence": 0.9822627305984497,
271
+ "position": [
272
+ 0.046124428510665894,
273
+ -0.10110987853113329,
274
+ -0.00524850170040736
275
+ ],
276
+ "orientation": {
277
+ "w": 0.5332356866231412,
278
+ "xyz": [
279
+ -0.4644857032730982,
280
+ -0.5074768728021144,
281
+ -0.49232099034819593
282
+ ]
283
+ }
284
+ },
285
+ "grasp_17": {
286
+ "confidence": 0.9808390140533447,
287
+ "position": [
288
+ 0.04358465224504471,
289
+ 0.09075164664682234,
290
+ 0.04204974948515883
291
+ ],
292
+ "orientation": {
293
+ "w": 0.36757825798851146,
294
+ "xyz": [
295
+ 0.5685223911500153,
296
+ -0.6419495648384228,
297
+ 0.35995731860730257
298
+ ]
299
+ }
300
+ }
301
+ }
302
+ },
303
+ {
304
+ "part_name": "blade-handle junction",
305
+ "mask_color": "Green",
306
+ "graspable": false,
307
+ "grasp_scenarios": [],
308
+ "functional_labels": [
309
+ "connect blade to handle",
310
+ "reinforce the transition area",
311
+ "support structural continuity between blade and handle"
312
+ ],
313
+ "semantic_description": "Small silver-gray transition section between the blade and wooden handle, with a smooth finish located at the neck of the knife.",
314
+ "id": 1,
315
+ "grasp_group": {}
316
+ },
317
+ {
318
+ "part_name": "dark handle inlay",
319
+ "mask_color": "Purple",
320
+ "graspable": false,
321
+ "grasp_scenarios": [],
322
+ "functional_labels": [
323
+ "provide decorative accent",
324
+ "identify a central handle insert",
325
+ "offer slight tactile variation"
326
+ ],
327
+ "semantic_description": "Small elongated dark purple-brown oval inlay set into the handle surface near the center, smooth and slightly glossy.",
328
+ "id": 5,
329
+ "grasp_group": {}
330
+ },
331
+ {
332
+ "part_name": "end rivet",
333
+ "mask_color": "Orange",
334
+ "graspable": false,
335
+ "grasp_scenarios": [],
336
+ "functional_labels": [
337
+ "fasten handle assembly",
338
+ "reinforce handle construction",
339
+ "provide decorative detail"
340
+ ],
341
+ "semantic_description": "Small round brass-colored metal rivet near the end of the wooden handle, with a smooth glossy finish.",
342
+ "id": 4,
343
+ "grasp_group": {}
344
+ },
345
+ {
346
+ "part_name": "light handle inlay",
347
+ "mask_color": "Cyan",
348
+ "graspable": false,
349
+ "grasp_scenarios": [],
350
+ "functional_labels": [
351
+ "provide decorative detail",
352
+ "identify a side handle insert",
353
+ "offer slight tactile variation"
354
+ ],
355
+ "semantic_description": "Elongated light blue-cyan inset on one side of the handle, smooth and slightly glossy, positioned centrally within the curved grip.",
356
+ "id": 6,
357
+ "grasp_group": {}
358
+ },
359
+ {
360
+ "part_name": "end rivet",
361
+ "mask_color": "Yellow",
362
+ "graspable": false,
363
+ "grasp_scenarios": [],
364
+ "functional_labels": [
365
+ "fasten handle assembly",
366
+ "reinforce handle construction",
367
+ "provide decorative detail"
368
+ ],
369
+ "semantic_description": "Small round yellow-brass metal rivet near the butt end of the handle, with a smooth glossy finish.",
370
+ "id": 3,
371
+ "grasp_group": {}
372
+ }
373
+ ],
374
+ "quality_check": {
375
+ "success": false,
376
+ "message": "Handle insert and rivet colors/identities are mismatched across views; one rivet part is duplicated incorrectly."
377
+ }
378
+ }
dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:dc04ba41d0b3b48789dfc2565118ee0e9f62b563696d69e93b481275e8268994
3
+ size 3782900
dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/fruit_knife_029.urdf CHANGED
@@ -58,6 +58,7 @@
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
 
61
  </affordance>
62
  <quality>
63
  <PartSegChecker>YES</PartSegChecker>
 
58
  <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
59
  </geometry>
60
  </visual_seg>
61
+ <affordance_annot>affordance/affordance_annot.json</affordance_annot>
62
  </affordance>
63
  <quality>
64
  <PartSegChecker>YES</PartSegChecker>