Add asset kitchen_supplies/cutting_tools/38b3e11d48b55ffc88b68823ff7e67c6
Browse files
.gitattributes
CHANGED
|
@@ -8391,3 +8391,4 @@ dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/affordan
|
|
| 8391 |
dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8392 |
dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8393 |
dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 8391 |
dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8392 |
dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8393 |
dataset/kitchen_supplies/cutting_tools/377f37a622675173bf0f47d84d490687/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8394 |
+
dataset/kitchen_supplies/cutting_tools/38b3e11d48b55ffc88b68823ff7e67c6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/cutting_tools/38b3e11d48b55ffc88b68823ff7e67c6/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,308 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 food or materials",
|
| 10 |
+
"slice with sharpened edge",
|
| 11 |
+
"pierce with tip",
|
| 12 |
+
"provide the working edge"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Triangular to elongated silver metal blade with a reflective smooth hard surface, tapering to a pointed tip at the front and forming the main cutting end of the knife.",
|
| 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 use the knife safely",
|
| 25 |
+
"confidence": 0.97
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the handle to stabilize and orient the blade during cutting",
|
| 29 |
+
"confidence": 0.95
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the handle to move or place the knife",
|
| 33 |
+
"confidence": 0.92
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"provide a safe grip",
|
| 38 |
+
"control blade orientation",
|
| 39 |
+
"stabilize during cutting",
|
| 40 |
+
"separate hand from blade"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Black handle, likely plastic or composite, with a mostly matte smooth hard surface, rounded elongated shape, medium size at the rear, and three visible metal rivets.",
|
| 43 |
+
"id": 1,
|
| 44 |
+
"grasp_group": {
|
| 45 |
+
"grasp_0": {
|
| 46 |
+
"confidence": 0.9822297096252441,
|
| 47 |
+
"position": [
|
| 48 |
+
-0.12154465960338712,
|
| 49 |
+
0.13000784255564213,
|
| 50 |
+
-0.0015950258530210704
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.7046202004247816,
|
| 54 |
+
"xyz": [
|
| 55 |
+
0.061809565309654424,
|
| 56 |
+
0.7051254511801616,
|
| 57 |
+
-0.04988034570395604
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_1": {
|
| 62 |
+
"confidence": 0.9817808866500854,
|
| 63 |
+
"position": [
|
| 64 |
+
-0.12210947321727872,
|
| 65 |
+
0.10903930850327015,
|
| 66 |
+
-0.00517260140622966
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.7153195764363696,
|
| 70 |
+
"xyz": [
|
| 71 |
+
0.019067192870261714,
|
| 72 |
+
0.6983016231152358,
|
| 73 |
+
-0.018143562978860925
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_4": {
|
| 78 |
+
"confidence": 0.9808930158615112,
|
| 79 |
+
"position": [
|
| 80 |
+
-0.1201200489886105,
|
| 81 |
+
0.16025997139513493,
|
| 82 |
+
-0.0006371642521116883
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.7027741890776722,
|
| 86 |
+
"xyz": [
|
| 87 |
+
0.04375676242167081,
|
| 88 |
+
0.7089130129176918,
|
| 89 |
+
-0.040449042319367266
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_5": {
|
| 94 |
+
"confidence": 0.9806195497512817,
|
| 95 |
+
"position": [
|
| 96 |
+
-0.12379991309717298,
|
| 97 |
+
0.08544458635151386,
|
| 98 |
+
-0.002262926398543641
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.7094622167754379,
|
| 102 |
+
"xyz": [
|
| 103 |
+
0.01258306917546188,
|
| 104 |
+
0.7046064656283264,
|
| 105 |
+
-0.005895585888214446
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_6": {
|
| 110 |
+
"confidence": 0.980508029460907,
|
| 111 |
+
"position": [
|
| 112 |
+
-0.11982874618843198,
|
| 113 |
+
0.16262728907167912,
|
| 114 |
+
0.0072240289591718465
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.04175004829572974,
|
| 118 |
+
"xyz": [
|
| 119 |
+
-0.7271718463564815,
|
| 120 |
+
0.0009200244400475732,
|
| 121 |
+
-0.6851840576727101
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_7": {
|
| 126 |
+
"confidence": 0.9804908633232117,
|
| 127 |
+
"position": [
|
| 128 |
+
-0.11858768062666059,
|
| 129 |
+
0.1492315325886011,
|
| 130 |
+
8.630755473859608e-05
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
+
"w": 0.7008238885206668,
|
| 134 |
+
"xyz": [
|
| 135 |
+
0.032929481218637764,
|
| 136 |
+
0.711797457992338,
|
| 137 |
+
-0.033255155105478044
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_8": {
|
| 142 |
+
"confidence": 0.980245053768158,
|
| 143 |
+
"position": [
|
| 144 |
+
-0.11787714855745435,
|
| 145 |
+
0.15133332647383213,
|
| 146 |
+
-0.0021633128344547004
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
+
"w": 0.7111232208932182,
|
| 150 |
+
"xyz": [
|
| 151 |
+
0.0018899114280901822,
|
| 152 |
+
0.7030398197594226,
|
| 153 |
+
-0.0059333610953136145
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_10": {
|
| 158 |
+
"confidence": 0.9799656867980957,
|
| 159 |
+
"position": [
|
| 160 |
+
-0.11757660703733563,
|
| 161 |
+
0.14962097443640232,
|
| 162 |
+
-0.00021224174997769296
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.6989248164508393,
|
| 166 |
+
"xyz": [
|
| 167 |
+
0.06611077445281983,
|
| 168 |
+
0.7100359133201293,
|
| 169 |
+
-0.05461197896120811
|
| 170 |
+
]
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
"grasp_11": {
|
| 174 |
+
"confidence": 0.9797577261924744,
|
| 175 |
+
"position": [
|
| 176 |
+
-0.12144935922697186,
|
| 177 |
+
0.14413207210600376,
|
| 178 |
+
-0.0007577785581815988
|
| 179 |
+
],
|
| 180 |
+
"orientation": {
|
| 181 |
+
"w": 0.7015346013781272,
|
| 182 |
+
"xyz": [
|
| 183 |
+
0.013553190635554099,
|
| 184 |
+
0.7124976018074889,
|
| 185 |
+
-0.003561110979194502
|
| 186 |
+
]
|
| 187 |
+
}
|
| 188 |
+
},
|
| 189 |
+
"grasp_12": {
|
| 190 |
+
"confidence": 0.9796478748321533,
|
| 191 |
+
"position": [
|
| 192 |
+
0.09835725976154208,
|
| 193 |
+
0.15817774273455143,
|
| 194 |
+
0.0063723195635247976
|
| 195 |
+
],
|
| 196 |
+
"orientation": {
|
| 197 |
+
"w": 0.0031674607269405017,
|
| 198 |
+
"xyz": [
|
| 199 |
+
-0.7217628341670315,
|
| 200 |
+
-0.005655467468492437,
|
| 201 |
+
0.6921101025815406
|
| 202 |
+
]
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
"grasp_13": {
|
| 206 |
+
"confidence": 0.9792659878730774,
|
| 207 |
+
"position": [
|
| 208 |
+
-0.11956292437389493,
|
| 209 |
+
0.12841195054352283,
|
| 210 |
+
-0.003493677795631811
|
| 211 |
+
],
|
| 212 |
+
"orientation": {
|
| 213 |
+
"w": 0.029260351540491985,
|
| 214 |
+
"xyz": [
|
| 215 |
+
-0.6920922608564973,
|
| 216 |
+
-0.020027786870496778,
|
| 217 |
+
-0.7209375992714901
|
| 218 |
+
]
|
| 219 |
+
}
|
| 220 |
+
},
|
| 221 |
+
"grasp_14": {
|
| 222 |
+
"confidence": 0.9792342185974121,
|
| 223 |
+
"position": [
|
| 224 |
+
-0.12186478124931455,
|
| 225 |
+
0.09618445672094822,
|
| 226 |
+
0.0008627981005702168
|
| 227 |
+
],
|
| 228 |
+
"orientation": {
|
| 229 |
+
"w": 0.6950960608820848,
|
| 230 |
+
"xyz": [
|
| 231 |
+
-0.007892104912375365,
|
| 232 |
+
0.7187344536002654,
|
| 233 |
+
0.014140934699996924
|
| 234 |
+
]
|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
+
"grasp_15": {
|
| 238 |
+
"confidence": 0.9791479110717773,
|
| 239 |
+
"position": [
|
| 240 |
+
-0.12058261828497052,
|
| 241 |
+
0.10907954908907413,
|
| 242 |
+
-0.004217117995722219
|
| 243 |
+
],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.7132460254614353,
|
| 246 |
+
"xyz": [
|
| 247 |
+
0.010620564052378443,
|
| 248 |
+
0.7008312972832114,
|
| 249 |
+
0.001674374810645224
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
"grasp_17": {
|
| 254 |
+
"confidence": 0.9788483381271362,
|
| 255 |
+
"position": [
|
| 256 |
+
0.10444758785888553,
|
| 257 |
+
0.1746521983295679,
|
| 258 |
+
-0.0032860242936294526
|
| 259 |
+
],
|
| 260 |
+
"orientation": {
|
| 261 |
+
"w": 0.009597706607303462,
|
| 262 |
+
"xyz": [
|
| 263 |
+
-0.6865526122272234,
|
| 264 |
+
0.00529794632167202,
|
| 265 |
+
0.7269974734733464
|
| 266 |
+
]
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
"grasp_18": {
|
| 270 |
+
"confidence": 0.9785128831863403,
|
| 271 |
+
"position": [
|
| 272 |
+
-0.11911716358736157,
|
| 273 |
+
0.17656762339174747,
|
| 274 |
+
0.0005467735172715038
|
| 275 |
+
],
|
| 276 |
+
"orientation": {
|
| 277 |
+
"w": 0.703986344877189,
|
| 278 |
+
"xyz": [
|
| 279 |
+
0.013755669783063595,
|
| 280 |
+
0.7093997342369489,
|
| 281 |
+
-0.031080940137341414
|
| 282 |
+
]
|
| 283 |
+
}
|
| 284 |
+
},
|
| 285 |
+
"grasp_19": {
|
| 286 |
+
"confidence": 0.9784621000289917,
|
| 287 |
+
"position": [
|
| 288 |
+
0.1040511797182262,
|
| 289 |
+
0.16327370144426823,
|
| 290 |
+
-0.015767747041536495
|
| 291 |
+
],
|
| 292 |
+
"orientation": {
|
| 293 |
+
"w": 0.026973506943125416,
|
| 294 |
+
"xyz": [
|
| 295 |
+
0.6373237947251755,
|
| 296 |
+
-0.0028251055597636743,
|
| 297 |
+
-0.7701187112250082
|
| 298 |
+
]
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
}
|
| 302 |
+
}
|
| 303 |
+
],
|
| 304 |
+
"quality_check": {
|
| 305 |
+
"success": true,
|
| 306 |
+
"message": "YES"
|
| 307 |
+
}
|
| 308 |
+
}
|
dataset/kitchen_supplies/cutting_tools/38b3e11d48b55ffc88b68823ff7e67c6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:99e5495d5b30d98ef4fd3614dea2ab96cca7f23224990c14d79dcbfa518a230c
|
| 3 |
+
size 276132
|