xinjjj commited on
Commit
2e3ba21
·
verified ·
1 Parent(s): cf162d1

Add asset kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a

Browse files
.gitattributes CHANGED
@@ -7005,3 +7005,4 @@ dataset/kitchen_supplies/cutting_tools/591c78335d405c059df45a9f9d212920/affordan
7005
  dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7006
  dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/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
 
 
7005
  dataset/kitchen_supplies/cutting_tools/5cd34ddda9b45272877ae17d31676f06/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7006
  dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/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
dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/affordance_annot.json ADDED
@@ -0,0 +1,409 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "handle",
5
+ "mask_color": "Orange",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "grasp the handle to pick up and use the peeler",
10
+ "confidence": 0.98
11
+ },
12
+ {
13
+ "scenario": "hold the handle to orient the blade toward produce",
14
+ "confidence": 0.95
15
+ },
16
+ {
17
+ "scenario": "grasp the handle to stabilize the peeler during storage retrieval",
18
+ "confidence": 0.82
19
+ }
20
+ ],
21
+ "functional_labels": [
22
+ "main grip surface",
23
+ "support handoff and pickup",
24
+ "orient the peeler",
25
+ "connect the head to the user grip"
26
+ ],
27
+ "semantic_description": "Elongated black plastic handle with a matte to satin finish, hard smooth surface, rounded slightly tapered shape, medium size at the rear, with a hanging hole and small white printed logo markings.",
28
+ "id": 4,
29
+ "grasp_group": {
30
+ "grasp_23": {
31
+ "confidence": 0.9828029870986938,
32
+ "position": [
33
+ -0.02205260330811143,
34
+ 0.09731882135383785,
35
+ -0.010731207294156775
36
+ ],
37
+ "orientation": {
38
+ "w": 0.5219669535304201,
39
+ "xyz": [
40
+ 0.4804555376985709,
41
+ 0.47676757264262415,
42
+ -0.5190430207539735
43
+ ]
44
+ }
45
+ },
46
+ "grasp_32": {
47
+ "confidence": 0.9804002046585083,
48
+ "position": [
49
+ -0.024415890220552683,
50
+ 0.09934427659027278,
51
+ -0.0037768982292618603
52
+ ],
53
+ "orientation": {
54
+ "w": 0.5158607954891705,
55
+ "xyz": [
56
+ 0.4840496779568757,
57
+ 0.5009430168439541,
58
+ -0.49863778719868707
59
+ ]
60
+ }
61
+ },
62
+ "grasp_33": {
63
+ "confidence": 0.9801563024520874,
64
+ "position": [
65
+ -0.024050262290984392,
66
+ 0.09703480522148311,
67
+ -0.007937955757370219
68
+ ],
69
+ "orientation": {
70
+ "w": 0.5323430738048405,
71
+ "xyz": [
72
+ 0.4739609759315783,
73
+ 0.49215964944172397,
74
+ -0.4997506623581402
75
+ ]
76
+ }
77
+ },
78
+ "grasp_34": {
79
+ "confidence": 0.9795193076133728,
80
+ "position": [
81
+ -0.05101110273972154,
82
+ 0.09774936060421169,
83
+ -0.0007189848402049392
84
+ ],
85
+ "orientation": {
86
+ "w": 0.4522355629443702,
87
+ "xyz": [
88
+ 0.5441437979772891,
89
+ -0.4323169194234936,
90
+ 0.5590103790730726
91
+ ]
92
+ }
93
+ },
94
+ "grasp_36": {
95
+ "confidence": 0.9790450930595398,
96
+ "position": [
97
+ -0.060258007142692804,
98
+ 0.09456448326818645,
99
+ -0.006912170996656641
100
+ ],
101
+ "orientation": {
102
+ "w": 0.4422645159865707,
103
+ "xyz": [
104
+ 0.5454884971359901,
105
+ -0.4105984010028617,
106
+ 0.5815955213766492
107
+ ]
108
+ }
109
+ },
110
+ "grasp_39": {
111
+ "confidence": 0.9783614277839661,
112
+ "position": [
113
+ -0.05861910292878747,
114
+ 0.09315306763164699,
115
+ -0.0017731213883962482
116
+ ],
117
+ "orientation": {
118
+ "w": 0.4342387877138748,
119
+ "xyz": [
120
+ 0.5592824050205523,
121
+ -0.41451343034501664,
122
+ 0.5716804026226702
123
+ ]
124
+ }
125
+ }
126
+ }
127
+ },
128
+ {
129
+ "part_name": "peeler frame",
130
+ "mask_color": "Red",
131
+ "graspable": true,
132
+ "grasp_scenarios": [
133
+ {
134
+ "scenario": "grasp the frame to reposition the peeler when the handle is obstructed",
135
+ "confidence": 0.41
136
+ },
137
+ {
138
+ "scenario": "pinch the frame to stabilize the tool while inspecting or cleaning the blade",
139
+ "confidence": 0.56
140
+ }
141
+ ],
142
+ "functional_labels": [
143
+ "support the blade",
144
+ "connect blade to handle",
145
+ "maintain cutting geometry",
146
+ "guide peeling contact"
147
+ ],
148
+ "semantic_description": "White rigid plastic U-shaped frame with a smooth glossy surface, medium size at the front of the tool, arching around the blade and forming the peeler head.",
149
+ "id": 0,
150
+ "grasp_group": {
151
+ "grasp_0": {
152
+ "confidence": 0.9770064949989319,
153
+ "position": [
154
+ -0.013448749203234911,
155
+ 0.09410136262886226,
156
+ -0.009256841702153906
157
+ ],
158
+ "orientation": {
159
+ "w": 0.5824377837373006,
160
+ "xyz": [
161
+ 0.4246913202885293,
162
+ 0.5242260180728946,
163
+ -0.4534209881800842
164
+ ]
165
+ }
166
+ },
167
+ "grasp_1": {
168
+ "confidence": 0.9685538411140442,
169
+ "position": [
170
+ -0.011283569503575563,
171
+ 0.09203831921331584,
172
+ -0.010609070857753977
173
+ ],
174
+ "orientation": {
175
+ "w": 0.5884006514035782,
176
+ "xyz": [
177
+ 0.4256619481207113,
178
+ 0.5154695450207936,
179
+ -0.4548491260912589
180
+ ]
181
+ }
182
+ },
183
+ "grasp_2": {
184
+ "confidence": 0.957760751247406,
185
+ "position": [
186
+ 0.011733851861208677,
187
+ 0.10240094433538616,
188
+ -0.01132059664814733
189
+ ],
190
+ "orientation": {
191
+ "w": 0.5497111842176917,
192
+ "xyz": [
193
+ 0.4670183645921087,
194
+ 0.47663744224980675,
195
+ -0.5025218499978454
196
+ ]
197
+ }
198
+ },
199
+ "grasp_3": {
200
+ "confidence": 0.9554077386856079,
201
+ "position": [
202
+ -0.01707470091059804,
203
+ -0.08987992932088673,
204
+ 0.025512878695735708
205
+ ],
206
+ "orientation": {
207
+ "w": 0.5187990683741946,
208
+ "xyz": [
209
+ -0.5263515024059502,
210
+ 0.5921214286897798,
211
+ 0.3212379744915602
212
+ ]
213
+ }
214
+ },
215
+ "grasp_4": {
216
+ "confidence": 0.9520624279975891,
217
+ "position": [
218
+ 0.014244120102375746,
219
+ 0.10266763041727245,
220
+ -0.01243711364804767
221
+ ],
222
+ "orientation": {
223
+ "w": 0.5056344815842112,
224
+ "xyz": [
225
+ 0.4742630197600805,
226
+ -0.46478235016533,
227
+ 0.5508046169885537
228
+ ]
229
+ }
230
+ },
231
+ "grasp_5": {
232
+ "confidence": 0.9436131715774536,
233
+ "position": [
234
+ 0.002236513886600733,
235
+ 0.09344825963489711,
236
+ 0.030433026055106893
237
+ ],
238
+ "orientation": {
239
+ "w": 0.4326274658899529,
240
+ "xyz": [
241
+ 0.5579007358287696,
242
+ 0.6000304195467044,
243
+ -0.376222992835313
244
+ ]
245
+ }
246
+ },
247
+ "grasp_7": {
248
+ "confidence": 0.9363358020782471,
249
+ "position": [
250
+ -0.004606505390256643,
251
+ -0.09865797986276448,
252
+ 0.005869468121090904
253
+ ],
254
+ "orientation": {
255
+ "w": 0.43374681236731805,
256
+ "xyz": [
257
+ -0.554233628578426,
258
+ -0.4600532658660811,
259
+ -0.541331488350655
260
+ ]
261
+ }
262
+ },
263
+ "grasp_9": {
264
+ "confidence": 0.9257758855819702,
265
+ "position": [
266
+ 0.028824548702687025,
267
+ 0.0971285633277148,
268
+ -0.01725259525119327
269
+ ],
270
+ "orientation": {
271
+ "w": 0.5128702296724292,
272
+ "xyz": [
273
+ 0.5216870224320387,
274
+ 0.39419039786730026,
275
+ -0.5562559737845186
276
+ ]
277
+ }
278
+ },
279
+ "grasp_12": {
280
+ "confidence": 0.9106273651123047,
281
+ "position": [
282
+ 0.04361061891540885,
283
+ 0.10290200333110988,
284
+ -0.011919022625079378
285
+ ],
286
+ "orientation": {
287
+ "w": 0.5815688307627784,
288
+ "xyz": [
289
+ 0.4000782672580812,
290
+ -0.5324716890941762,
291
+ 0.4671070278492724
292
+ ]
293
+ }
294
+ },
295
+ "grasp_14": {
296
+ "confidence": 0.9094609618186951,
297
+ "position": [
298
+ 0.06720309099182487,
299
+ 0.10188878397457302,
300
+ -0.008609148761024699
301
+ ],
302
+ "orientation": {
303
+ "w": 0.40738461321353053,
304
+ "xyz": [
305
+ 0.5994270038921813,
306
+ 0.3360494997125303,
307
+ -0.6014946198135636
308
+ ]
309
+ }
310
+ },
311
+ "grasp_15": {
312
+ "confidence": 0.906723141670227,
313
+ "position": [
314
+ 0.06009100889787078,
315
+ 0.10257487068884075,
316
+ -0.011592104187002406
317
+ ],
318
+ "orientation": {
319
+ "w": 0.4237474893037937,
320
+ "xyz": [
321
+ 0.5801333710401482,
322
+ 0.35131707918662325,
323
+ -0.6003829169672508
324
+ ]
325
+ }
326
+ },
327
+ "grasp_16": {
328
+ "confidence": 0.9065808653831482,
329
+ "position": [
330
+ 0.06411009794101119,
331
+ 0.10049646417610347,
332
+ -0.013050903653493151
333
+ ],
334
+ "orientation": {
335
+ "w": 0.6182522005089643,
336
+ "xyz": [
337
+ 0.3345869291373085,
338
+ -0.5758641550920878,
339
+ 0.4173682765812045
340
+ ]
341
+ }
342
+ },
343
+ "grasp_18": {
344
+ "confidence": 0.8989506363868713,
345
+ "position": [
346
+ 0.03753315610811114,
347
+ 0.1004363156389445,
348
+ -0.008398495701840147
349
+ ],
350
+ "orientation": {
351
+ "w": 0.5624204755604989,
352
+ "xyz": [
353
+ 0.42058586386657626,
354
+ -0.53240744859553,
355
+ 0.4725812612301776
356
+ ]
357
+ }
358
+ }
359
+ }
360
+ },
361
+ {
362
+ "part_name": "blade of peeler",
363
+ "mask_color": "Cyan",
364
+ "graspable": false,
365
+ "grasp_scenarios": [],
366
+ "functional_labels": [
367
+ "peel vegetable skin",
368
+ "slice thin outer layers",
369
+ "perform cutting",
370
+ "contact food surface"
371
+ ],
372
+ "semantic_description": "Thin silver metal transverse blade with a reflective smooth finish and narrow elongated shape, mounted across the head, with a sharp working edge and small serration-like detail visible.",
373
+ "id": 6,
374
+ "grasp_group": {}
375
+ },
376
+ {
377
+ "part_name": "blade axle cap",
378
+ "mask_color": "Yellow",
379
+ "graspable": false,
380
+ "grasp_scenarios": [],
381
+ "functional_labels": [
382
+ "retain the blade",
383
+ "act as pivot endpoint",
384
+ "secure blade assembly"
385
+ ],
386
+ "semantic_description": "Tiny round metallic end caps at the blade pivots, silver and slightly reflective with a hard smooth surface, located on both outer ends of the peeler head.",
387
+ "id": 3,
388
+ "grasp_group": {}
389
+ },
390
+ {
391
+ "part_name": "handle logo badge",
392
+ "mask_color": "Magenta",
393
+ "graspable": false,
394
+ "grasp_scenarios": [],
395
+ "functional_labels": [
396
+ "brand marking",
397
+ "visual identification",
398
+ "indicate front face of handle"
399
+ ],
400
+ "semantic_description": "Small oval white printed emblem area on the upper handle, smooth and flat against the black plastic surface, serving as a decorative brand mark.",
401
+ "id": 7,
402
+ "grasp_group": {}
403
+ }
404
+ ],
405
+ "quality_check": {
406
+ "success": true,
407
+ "message": "YES"
408
+ }
409
+ }
dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:86ea8353958887e3bb1d1cd32a4b3f862c35e40b248d0a0fb41e180e8309dde5
3
+ size 3781392
dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/peeler_019.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>