xinjjj commited on
Commit
bfb5269
·
verified ·
1 Parent(s): 43b890c

Add asset kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d

Browse files
.gitattributes CHANGED
@@ -7008,3 +7008,4 @@ dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/affordan
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/65ded07e2dd25046ab569a866f295c8f/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/65ded07e2dd25046ab569a866f295c8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
7011
+ dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/affordance/affordance_annot.json ADDED
@@ -0,0 +1,416 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "blade of knife",
5
+ "mask_color": "Red",
6
+ "graspable": true,
7
+ "grasp_scenarios": [
8
+ {
9
+ "scenario": "pinch the blunt spine area of the blade to reorient the knife during manipulation",
10
+ "confidence": 0.32
11
+ },
12
+ {
13
+ "scenario": "secure the blade near the flat sides with a protective gripper for packaging or handoff",
14
+ "confidence": 0.27
15
+ }
16
+ ],
17
+ "functional_labels": [
18
+ "cut fruit",
19
+ "slice soft food",
20
+ "provide the cutting edge",
21
+ "pierce and score food",
22
+ "support precise tip work"
23
+ ],
24
+ "semantic_description": "Short silver metal blade with a reflective smooth finish, hard surface, scalloped granton-like dimples, pointed tip, and small printed characters near the handle on the front cutting section.",
25
+ "id": 0,
26
+ "grasp_group": {
27
+ "grasp_2": {
28
+ "confidence": 0.9883233308792114,
29
+ "position": [
30
+ -0.1371728591620922,
31
+ -0.11356927268207073,
32
+ 0.0008286755764856935
33
+ ],
34
+ "orientation": {
35
+ "w": 0.48161779286288536,
36
+ "xyz": [
37
+ -0.5230560816374584,
38
+ 0.4771130463919646,
39
+ 0.5165460076532686
40
+ ]
41
+ }
42
+ },
43
+ "grasp_4": {
44
+ "confidence": 0.9870327711105347,
45
+ "position": [
46
+ -0.14357786253094673,
47
+ -0.11691799573600292,
48
+ -0.009456627070903778
49
+ ],
50
+ "orientation": {
51
+ "w": 0.5527833481717603,
52
+ "xyz": [
53
+ -0.4624110419873786,
54
+ -0.49775051453204266,
55
+ -0.48254639519454756
56
+ ]
57
+ }
58
+ },
59
+ "grasp_5": {
60
+ "confidence": 0.9869001507759094,
61
+ "position": [
62
+ -0.13583232834935188,
63
+ -0.11766679398715496,
64
+ -0.005663000512868166
65
+ ],
66
+ "orientation": {
67
+ "w": 0.503601374295718,
68
+ "xyz": [
69
+ -0.5014640330861266,
70
+ 0.4770731157418957,
71
+ 0.5170306775857499
72
+ ]
73
+ }
74
+ },
75
+ "grasp_9": {
76
+ "confidence": 0.9853003621101379,
77
+ "position": [
78
+ -0.1543792299926281,
79
+ 0.08618943579494953,
80
+ 0.016354302875697613
81
+ ],
82
+ "orientation": {
83
+ "w": 0.4498759038689242,
84
+ "xyz": [
85
+ 0.5649749904853133,
86
+ -0.4880711345505455,
87
+ 0.49010355932474303
88
+ ]
89
+ }
90
+ },
91
+ "grasp_11": {
92
+ "confidence": 0.9848678708076477,
93
+ "position": [
94
+ -0.12332012131810188,
95
+ -0.117611950263381,
96
+ -0.005086274351924658
97
+ ],
98
+ "orientation": {
99
+ "w": 0.5125984914827797,
100
+ "xyz": [
101
+ -0.49960142599579194,
102
+ 0.47454215548293843,
103
+ 0.5122996626410721
104
+ ]
105
+ }
106
+ },
107
+ "grasp_17": {
108
+ "confidence": 0.9839351773262024,
109
+ "position": [
110
+ -0.1326541043817997,
111
+ 0.08829404599964619,
112
+ 0.008693157695233822
113
+ ],
114
+ "orientation": {
115
+ "w": 0.49376544827780106,
116
+ "xyz": [
117
+ 0.49889341764164336,
118
+ 0.5449183081139638,
119
+ -0.45865572862777815
120
+ ]
121
+ }
122
+ }
123
+ }
124
+ },
125
+ {
126
+ "part_name": "knife handle",
127
+ "mask_color": "Green",
128
+ "graspable": true,
129
+ "grasp_scenarios": [
130
+ {
131
+ "scenario": "grasp the handle to pick up and carry the knife safely",
132
+ "confidence": 0.98
133
+ },
134
+ {
135
+ "scenario": "hold the handle to orient the blade for cutting tasks",
136
+ "confidence": 0.97
137
+ },
138
+ {
139
+ "scenario": "grip the handle to place the knife into storage or a tray",
140
+ "confidence": 0.94
141
+ }
142
+ ],
143
+ "functional_labels": [
144
+ "provide a safe grip",
145
+ "control blade orientation",
146
+ "keep hand away from cutting edge",
147
+ "support lifting and carrying",
148
+ "enable precise manipulation"
149
+ ],
150
+ "semantic_description": "Curved brown wood handle with visible grain, a smooth semi-gloss hard surface, ergonomic contouring, and medium size at the rear of the knife for secure holding.",
151
+ "id": 1,
152
+ "grasp_group": {
153
+ "grasp_20": {
154
+ "confidence": 0.9826000332832336,
155
+ "position": [
156
+ 0.039021629840135574,
157
+ 0.09056384302675724,
158
+ 0.043666102923452854
159
+ ],
160
+ "orientation": {
161
+ "w": 0.2910010550475565,
162
+ "xyz": [
163
+ 0.6201382108478501,
164
+ -0.5999675043731976,
165
+ 0.4132626030792444
166
+ ]
167
+ }
168
+ },
169
+ "grasp_21": {
170
+ "confidence": 0.9823901653289795,
171
+ "position": [
172
+ 0.0368148498237133,
173
+ 0.09735807217657566,
174
+ 0.028124135918915272
175
+ ],
176
+ "orientation": {
177
+ "w": 0.4090875607903439,
178
+ "xyz": [
179
+ 0.591879960404576,
180
+ -0.5468216930252796,
181
+ 0.4281489415087364
182
+ ]
183
+ }
184
+ },
185
+ "grasp_22": {
186
+ "confidence": 0.9811919331550598,
187
+ "position": [
188
+ 0.03619338944554329,
189
+ 0.09486691839993,
190
+ 0.03588056284934282
191
+ ],
192
+ "orientation": {
193
+ "w": 0.3930670363071655,
194
+ "xyz": [
195
+ 0.6171116175606862,
196
+ -0.5632802317698248,
197
+ 0.3839100636056152
198
+ ]
199
+ }
200
+ },
201
+ "grasp_23": {
202
+ "confidence": 0.9801318049430847,
203
+ "position": [
204
+ 0.026036683470010757,
205
+ 0.0954365823417902,
206
+ 0.026673530228435993
207
+ ],
208
+ "orientation": {
209
+ "w": 0.4162331261867511,
210
+ "xyz": [
211
+ 0.5859688301693311,
212
+ -0.5469530808798543,
213
+ 0.4292235338967623
214
+ ]
215
+ }
216
+ },
217
+ "grasp_24": {
218
+ "confidence": 0.9798793792724609,
219
+ "position": [
220
+ 0.031124841421842575,
221
+ 0.10132699646055698,
222
+ 0.010510270483791828
223
+ ],
224
+ "orientation": {
225
+ "w": 0.4852527229650586,
226
+ "xyz": [
227
+ 0.5062455546576677,
228
+ 0.5455467322195829,
229
+ -0.4589379001661135
230
+ ]
231
+ }
232
+ },
233
+ "grasp_25": {
234
+ "confidence": 0.9790841341018677,
235
+ "position": [
236
+ 0.01678112894296646,
237
+ 0.0951733086258173,
238
+ 0.036554248072206974
239
+ ],
240
+ "orientation": {
241
+ "w": 0.4197873682133328,
242
+ "xyz": [
243
+ 0.557529230591973,
244
+ 0.6076876562892491,
245
+ -0.3790190429486693
246
+ ]
247
+ }
248
+ },
249
+ "grasp_26": {
250
+ "confidence": 0.9787451028823853,
251
+ "position": [
252
+ 0.05042653903365135,
253
+ 0.09454265423119068,
254
+ 0.03904459346085787
255
+ ],
256
+ "orientation": {
257
+ "w": 0.39475508613259896,
258
+ "xyz": [
259
+ 0.5935660277026747,
260
+ -0.6062902387387958,
261
+ 0.3525052327835226
262
+ ]
263
+ }
264
+ },
265
+ "grasp_28": {
266
+ "confidence": 0.9781623482704163,
267
+ "position": [
268
+ 0.0785020999610424,
269
+ -0.10176107101142406,
270
+ -0.009572004899382591
271
+ ],
272
+ "orientation": {
273
+ "w": 0.48509523178922376,
274
+ "xyz": [
275
+ -0.5122058960599969,
276
+ 0.446746684463318,
277
+ 0.5502228058321168
278
+ ]
279
+ }
280
+ },
281
+ "grasp_30": {
282
+ "confidence": 0.9779154658317566,
283
+ "position": [
284
+ 0.03471917286515236,
285
+ 0.1012361217290163,
286
+ 0.0030390596948564053
287
+ ],
288
+ "orientation": {
289
+ "w": 0.4543908146581947,
290
+ "xyz": [
291
+ 0.5278771794395223,
292
+ -0.49218514910273814,
293
+ 0.5221383437212337
294
+ ]
295
+ }
296
+ },
297
+ "grasp_31": {
298
+ "confidence": 0.97788006067276,
299
+ "position": [
300
+ 0.061762142926454544,
301
+ 0.08386372961103916,
302
+ 0.04781166557222605
303
+ ],
304
+ "orientation": {
305
+ "w": 0.28360464487166837,
306
+ "xyz": [
307
+ 0.6365979862847991,
308
+ 0.595028561893983,
309
+ -0.4003154003979006
310
+ ]
311
+ }
312
+ },
313
+ "grasp_32": {
314
+ "confidence": 0.9778701066970825,
315
+ "position": [
316
+ 0.07556931301951408,
317
+ -0.10231412760913372,
318
+ -0.01236642338335514
319
+ ],
320
+ "orientation": {
321
+ "w": 0.5033685805669074,
322
+ "xyz": [
323
+ -0.4944415612568729,
324
+ 0.45109667072448667,
325
+ 0.5464974000498151
326
+ ]
327
+ }
328
+ },
329
+ "grasp_33": {
330
+ "confidence": 0.9776074290275574,
331
+ "position": [
332
+ 0.02246410772204399,
333
+ 0.06894620694220066,
334
+ 0.0731990234926343
335
+ ],
336
+ "orientation": {
337
+ "w": 0.20553999854367758,
338
+ "xyz": [
339
+ 0.7074070754885812,
340
+ -0.6093602624551286,
341
+ 0.29327224397814117
342
+ ]
343
+ }
344
+ },
345
+ "grasp_34": {
346
+ "confidence": 0.9775871634483337,
347
+ "position": [
348
+ 0.04413296654820442,
349
+ 0.10112962312996387,
350
+ -0.01342716533690691
351
+ ],
352
+ "orientation": {
353
+ "w": 0.5067951640802749,
354
+ "xyz": [
355
+ 0.4791551489187096,
356
+ -0.4594419760231343,
357
+ 0.5499837048472379
358
+ ]
359
+ }
360
+ },
361
+ "grasp_36": {
362
+ "confidence": 0.9773098230361938,
363
+ "position": [
364
+ 0.04988833889365196,
365
+ 0.10191387124359608,
366
+ -0.004580799024552107
367
+ ],
368
+ "orientation": {
369
+ "w": 0.48232365417534967,
370
+ "xyz": [
371
+ 0.5071516915057216,
372
+ -0.48320623676019114,
373
+ 0.5259969459815111
374
+ ]
375
+ }
376
+ },
377
+ "grasp_37": {
378
+ "confidence": 0.9769564270973206,
379
+ "position": [
380
+ 0.032459359616041183,
381
+ 0.10266199894249439,
382
+ 0.0014117815298959613
383
+ ],
384
+ "orientation": {
385
+ "w": 0.5074234282392708,
386
+ "xyz": [
387
+ 0.48629148594403815,
388
+ 0.5351165612317998,
389
+ -0.4687134743824825
390
+ ]
391
+ }
392
+ },
393
+ "grasp_38": {
394
+ "confidence": 0.9764288663864136,
395
+ "position": [
396
+ 0.013046007603406906,
397
+ 0.0868812371045351,
398
+ 0.04532108549028635
399
+ ],
400
+ "orientation": {
401
+ "w": 0.39230038643691695,
402
+ "xyz": [
403
+ 0.6022724458621831,
404
+ 0.6115240336505827,
405
+ -0.3307667819239874
406
+ ]
407
+ }
408
+ }
409
+ }
410
+ }
411
+ ],
412
+ "quality_check": {
413
+ "success": true,
414
+ "message": "YES"
415
+ }
416
+ }
dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:054d50f8559ec8fe5f69d554cb21ee50057bfefacef83d66b0e16a7d8258e5b3
3
+ size 3779312