xinjjj commited on
Commit
fe66d91
·
verified ·
1 Parent(s): 9c35623

Add asset kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c

Browse files
.gitattributes CHANGED
@@ -8388,3 +8388,4 @@ dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/affordan
8388
  dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8389
  dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8390
  dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 
 
8388
  dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8389
  dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
8390
  dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/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
dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/affordance/affordance_annot.json ADDED
@@ -0,0 +1,337 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "affordances": [
3
+ {
4
+ "part_name": "knife blade",
5
+ "mask_color": "Red",
6
+ "graspable": false,
7
+ "grasp_scenarios": [],
8
+ "functional_labels": [
9
+ "cut food",
10
+ "slice food",
11
+ "pierce food",
12
+ "provide the cutting edge"
13
+ ],
14
+ "semantic_description": "Short curved silver metal blade with a smooth reflective finish, sharp edge, pointed tip, and small printed brand text on the flat side.",
15
+ "id": 0,
16
+ "grasp_group": {}
17
+ },
18
+ {
19
+ "part_name": "knife handle",
20
+ "mask_color": "Green",
21
+ "graspable": true,
22
+ "grasp_scenarios": [
23
+ {
24
+ "scenario": "grasp the handle to pick up and use the knife for cutting",
25
+ "confidence": 0.99
26
+ },
27
+ {
28
+ "scenario": "hold the handle to orient and stabilize the knife during slicing",
29
+ "confidence": 0.98
30
+ },
31
+ {
32
+ "scenario": "grasp the handle to move the knife safely without touching the blade",
33
+ "confidence": 0.99
34
+ }
35
+ ],
36
+ "functional_labels": [
37
+ "provide a safe grip",
38
+ "support controlled cutting",
39
+ "separate hand from blade",
40
+ "enable manipulation and orientation"
41
+ ],
42
+ "semantic_description": "Light-colored molded handle, likely plastic, with a matte to satin finish, smooth hard surface, ergonomic curved shape, and a thicker rear section opposite the blade.",
43
+ "id": 1,
44
+ "grasp_group": {
45
+ "grasp_0": {
46
+ "confidence": 0.9896098375320435,
47
+ "position": [
48
+ 0.033074382692575455,
49
+ 0.10256849636789411,
50
+ 0.011476158004370518
51
+ ],
52
+ "orientation": {
53
+ "w": 0.4894383354824949,
54
+ "xyz": [
55
+ 0.5199721318346006,
56
+ 0.5328304605448025,
57
+ -0.4540603464200757
58
+ ]
59
+ }
60
+ },
61
+ "grasp_1": {
62
+ "confidence": 0.9895033836364746,
63
+ "position": [
64
+ 0.04164861515164375,
65
+ 0.10111537238117307,
66
+ 0.008617229599622078
67
+ ],
68
+ "orientation": {
69
+ "w": 0.4847209107333489,
70
+ "xyz": [
71
+ 0.5206780883906879,
72
+ 0.5221823451649145,
73
+ -0.47038873856175767
74
+ ]
75
+ }
76
+ },
77
+ "grasp_3": {
78
+ "confidence": 0.9889694452285767,
79
+ "position": [
80
+ 0.03835773095488548,
81
+ 0.10288384219165891,
82
+ 0.00851988217618782
83
+ ],
84
+ "orientation": {
85
+ "w": 0.48646723734781927,
86
+ "xyz": [
87
+ 0.5212494341307153,
88
+ 0.5158889628263599,
89
+ -0.4748760179663025
90
+ ]
91
+ }
92
+ },
93
+ "grasp_4": {
94
+ "confidence": 0.9887131452560425,
95
+ "position": [
96
+ 0.041357431560754776,
97
+ 0.09953415056224912,
98
+ -0.0028168632852612063
99
+ ],
100
+ "orientation": {
101
+ "w": 0.4971770647729514,
102
+ "xyz": [
103
+ 0.4875274621242746,
104
+ -0.5067039248748915,
105
+ 0.5083139506789053
106
+ ]
107
+ }
108
+ },
109
+ "grasp_6": {
110
+ "confidence": 0.9879251718521118,
111
+ "position": [
112
+ 0.038530055433511734,
113
+ 0.08717839082237333,
114
+ 0.042800437498954125
115
+ ],
116
+ "orientation": {
117
+ "w": 0.37593328717586133,
118
+ "xyz": [
119
+ 0.6018983575201764,
120
+ -0.6043299955666475,
121
+ 0.3621847419012584
122
+ ]
123
+ }
124
+ },
125
+ "grasp_7": {
126
+ "confidence": 0.987916886806488,
127
+ "position": [
128
+ 0.028431054204702377,
129
+ 0.10359416564460844,
130
+ 0.0050852953718276694
131
+ ],
132
+ "orientation": {
133
+ "w": 0.4829218832575736,
134
+ "xyz": [
135
+ 0.504351538878822,
136
+ -0.5087282141034835,
137
+ 0.5035986339105806
138
+ ]
139
+ }
140
+ },
141
+ "grasp_8": {
142
+ "confidence": 0.9879119992256165,
143
+ "position": [
144
+ 0.04985040798783302,
145
+ 0.09870318730827421,
146
+ 0.006421979356673546
147
+ ],
148
+ "orientation": {
149
+ "w": 0.46504730740765066,
150
+ "xyz": [
151
+ 0.5468256566128641,
152
+ 0.47184712888210933,
153
+ -0.5119306497061044
154
+ ]
155
+ }
156
+ },
157
+ "grasp_9": {
158
+ "confidence": 0.9878755211830139,
159
+ "position": [
160
+ 0.03145607188344002,
161
+ 0.09844910015817732,
162
+ 0.00724402473133523
163
+ ],
164
+ "orientation": {
165
+ "w": 0.4605837085891418,
166
+ "xyz": [
167
+ 0.5189455681954516,
168
+ -0.5103598915783488,
169
+ 0.508026500982683
170
+ ]
171
+ }
172
+ },
173
+ "grasp_10": {
174
+ "confidence": 0.9877904653549194,
175
+ "position": [
176
+ 0.053890276700258255,
177
+ 0.0969193842029199,
178
+ 0.00280214574013371
179
+ ],
180
+ "orientation": {
181
+ "w": 0.5278565724700636,
182
+ "xyz": [
183
+ 0.4693624623245427,
184
+ -0.5389836301602537,
185
+ 0.45887140276996374
186
+ ]
187
+ }
188
+ },
189
+ "grasp_11": {
190
+ "confidence": 0.9876478910446167,
191
+ "position": [
192
+ 0.036285143345594406,
193
+ 0.10255743970628828,
194
+ 0.0006056788115529343
195
+ ],
196
+ "orientation": {
197
+ "w": 0.481641123165237,
198
+ "xyz": [
199
+ 0.49785789554024623,
200
+ -0.5101531051374232,
201
+ 0.5098069768481123
202
+ ]
203
+ }
204
+ },
205
+ "grasp_12": {
206
+ "confidence": 0.9870325326919556,
207
+ "position": [
208
+ 0.049899470061063766,
209
+ 0.09646352042909712,
210
+ 0.0077334957459243014
211
+ ],
212
+ "orientation": {
213
+ "w": 0.4303121885075722,
214
+ "xyz": [
215
+ 0.5697723243367578,
216
+ 0.4519236067748197,
217
+ -0.5347485133044791
218
+ ]
219
+ }
220
+ },
221
+ "grasp_13": {
222
+ "confidence": 0.9868255257606506,
223
+ "position": [
224
+ 0.04794109985232353,
225
+ 0.09786030312534422,
226
+ -0.003586210237699561
227
+ ],
228
+ "orientation": {
229
+ "w": 0.5012374746858358,
230
+ "xyz": [
231
+ 0.5196903331916917,
232
+ 0.4631230740613257,
233
+ -0.5140038616874997
234
+ ]
235
+ }
236
+ },
237
+ "grasp_14": {
238
+ "confidence": 0.9867863059043884,
239
+ "position": [
240
+ 0.05526209995150566,
241
+ 0.0966689478373155,
242
+ 0.005077405206975527
243
+ ],
244
+ "orientation": {
245
+ "w": 0.429601976353403,
246
+ "xyz": [
247
+ 0.5785253343223106,
248
+ 0.4319331393281124,
249
+ -0.5423876313216132
250
+ ]
251
+ }
252
+ },
253
+ "grasp_15": {
254
+ "confidence": 0.9867008328437805,
255
+ "position": [
256
+ 0.05196090415120125,
257
+ 0.09894654562231153,
258
+ 0.005067439589765854
259
+ ],
260
+ "orientation": {
261
+ "w": 0.47988350545400205,
262
+ "xyz": [
263
+ 0.533105775830681,
264
+ 0.4873008879884776,
265
+ -0.49804407187997707
266
+ ]
267
+ }
268
+ },
269
+ "grasp_16": {
270
+ "confidence": 0.9866342544555664,
271
+ "position": [
272
+ 0.03604884818196297,
273
+ 0.10164178570266813,
274
+ -0.0006323290726868436
275
+ ],
276
+ "orientation": {
277
+ "w": 0.5159160140616047,
278
+ "xyz": [
279
+ 0.5051674022836508,
280
+ 0.5114760732514754,
281
+ -0.4658634870818121
282
+ ]
283
+ }
284
+ },
285
+ "grasp_19": {
286
+ "confidence": 0.9858330488204956,
287
+ "position": [
288
+ 0.03824085369706154,
289
+ 0.0964659716701135,
290
+ 0.008023477930692025
291
+ ],
292
+ "orientation": {
293
+ "w": 0.49305562875872355,
294
+ "xyz": [
295
+ 0.5165858979074484,
296
+ 0.5230769466951227,
297
+ -0.4652157186387867
298
+ ]
299
+ }
300
+ }
301
+ }
302
+ },
303
+ {
304
+ "part_name": "finger guard / blade-handle transition",
305
+ "mask_color": "Blue",
306
+ "graspable": false,
307
+ "grasp_scenarios": [],
308
+ "functional_labels": [
309
+ "mark the blade-handle transition",
310
+ "help prevent fingers from sliding forward",
311
+ "improve grip safety",
312
+ "shape the front of the handle"
313
+ ],
314
+ "semantic_description": "Small light-colored triangular transition area at the front of the handle near the blade junction, with a smooth hard surface and slight protruding contour.",
315
+ "id": 2,
316
+ "grasp_group": {}
317
+ },
318
+ {
319
+ "part_name": "small logo mark",
320
+ "mask_color": "Yellow",
321
+ "graspable": false,
322
+ "grasp_scenarios": [],
323
+ "functional_labels": [
324
+ "provide branding detail",
325
+ "identify the maker",
326
+ "serve as a decorative mark"
327
+ ],
328
+ "semantic_description": "Tiny yellow diamond-like logo mark visible on the knife near the blade-handle area, appearing as a small flat printed or embossed emblem.",
329
+ "id": 3,
330
+ "grasp_group": {}
331
+ }
332
+ ],
333
+ "quality_check": {
334
+ "success": false,
335
+ "message": "Blue and yellow parts are misidentified; yellow is blade text/logo, blue is handle marking, not finger guard or yellow logo mark."
336
+ }
337
+ }
dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/affordance/mesh_part_seg.glb ADDED
@@ -0,0 +1,3 @@
 
 
 
 
1
+ version https://git-lfs.github.com/spec/v1
2
+ oid sha256:b85e53f943bc896e19f17c3d7b34f239f12fc151e19f0f0e0016b0a72c5124ff
3
+ size 3782024