Add asset kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf
Browse files
.gitattributes
CHANGED
|
@@ -8386,3 +8386,4 @@ dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/affordan
|
|
| 8386 |
dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8387 |
dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/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
|
|
|
|
|
|
| 8386 |
dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 8387 |
dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/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
|
dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,331 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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",
|
| 10 |
+
"slice soft foods",
|
| 11 |
+
"pierce food",
|
| 12 |
+
"provide the main cutting edge"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Long narrow silver metal blade with a smooth reflective finish, sharp edge, and tapered pointed shape extending from the front of the handle, with small dark printed markings near the base.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "handle scales",
|
| 20 |
+
"mask_color": "Blue",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the handle to pick up and control the knife for cutting",
|
| 25 |
+
"confidence": 0.97
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the handle to reposition or pass the knife safely",
|
| 29 |
+
"confidence": 0.92
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grip the handle to stabilize the knife while placing it down",
|
| 33 |
+
"confidence": 0.85
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"provide the main grip",
|
| 38 |
+
"support controlled cutting",
|
| 39 |
+
"improve handling comfort",
|
| 40 |
+
"cover the handle tang"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Brown wooden handle scales with a smooth semi-gloss finish, visible wood grain, slight contouring, and metal rivets along the handle.",
|
| 43 |
+
"id": 2,
|
| 44 |
+
"grasp_group": {
|
| 45 |
+
"grasp_21": {
|
| 46 |
+
"confidence": 0.8951024413108826,
|
| 47 |
+
"position": [
|
| 48 |
+
0.07997966930270195,
|
| 49 |
+
-0.08262972085503861,
|
| 50 |
+
0.007174193451646715
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.5974610770164485,
|
| 54 |
+
"xyz": [
|
| 55 |
+
-0.37239736818550206,
|
| 56 |
+
-0.638767832820471,
|
| 57 |
+
-0.31038060083177815
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_22": {
|
| 62 |
+
"confidence": 0.8863536715507507,
|
| 63 |
+
"position": [
|
| 64 |
+
0.08349594846367836,
|
| 65 |
+
-0.08254780917195603,
|
| 66 |
+
0.0015645370003767312
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.6059575297017803,
|
| 70 |
+
"xyz": [
|
| 71 |
+
-0.36596963774170316,
|
| 72 |
+
-0.6305145100969375,
|
| 73 |
+
-0.31832868077844
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_31": {
|
| 78 |
+
"confidence": 0.8384722471237183,
|
| 79 |
+
"position": [
|
| 80 |
+
0.11598366126418114,
|
| 81 |
+
-0.04828992037801072,
|
| 82 |
+
-0.000388360524084419
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.6806289696891534,
|
| 86 |
+
"xyz": [
|
| 87 |
+
-0.18812966509777312,
|
| 88 |
+
-0.6864570343994544,
|
| 89 |
+
-0.17357469473856876
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_32": {
|
| 94 |
+
"confidence": 0.8371542692184448,
|
| 95 |
+
"position": [
|
| 96 |
+
0.11480146273970604,
|
| 97 |
+
0.05350506753893569,
|
| 98 |
+
-0.00428404746344313
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.21335894454432008,
|
| 102 |
+
"xyz": [
|
| 103 |
+
0.6758677539958191,
|
| 104 |
+
0.1695160053313831,
|
| 105 |
+
-0.6847956365428095
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_33": {
|
| 110 |
+
"confidence": 0.8358224034309387,
|
| 111 |
+
"position": [
|
| 112 |
+
0.11093400046229362,
|
| 113 |
+
0.05300988332601264,
|
| 114 |
+
-0.008708482084330171
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.22326845273711238,
|
| 118 |
+
"xyz": [
|
| 119 |
+
0.6725440382211832,
|
| 120 |
+
0.15886712512205747,
|
| 121 |
+
-0.6874568722625233
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_34": {
|
| 126 |
+
"confidence": 0.8339889049530029,
|
| 127 |
+
"position": [
|
| 128 |
+
0.10867373272776604,
|
| 129 |
+
0.053704322141129524,
|
| 130 |
+
-0.0049467263161204755
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
+
"w": 0.2059260245642753,
|
| 134 |
+
"xyz": [
|
| 135 |
+
0.6781379101477284,
|
| 136 |
+
0.17093056163860754,
|
| 137 |
+
-0.6844751203115675
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_35": {
|
| 142 |
+
"confidence": 0.831607460975647,
|
| 143 |
+
"position": [
|
| 144 |
+
0.11649258062243462,
|
| 145 |
+
0.05054020957322791,
|
| 146 |
+
-0.00576756609370932
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
+
"w": 0.20788586386249905,
|
| 150 |
+
"xyz": [
|
| 151 |
+
0.6749716142290493,
|
| 152 |
+
0.1634885018704363,
|
| 153 |
+
-0.68881659195125
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_38": {
|
| 158 |
+
"confidence": 0.8284395933151245,
|
| 159 |
+
"position": [
|
| 160 |
+
0.11431493982672691,
|
| 161 |
+
-0.050508293497841805,
|
| 162 |
+
0.0026919027441181242
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.16491518063872038,
|
| 166 |
+
"xyz": [
|
| 167 |
+
-0.6928166798207309,
|
| 168 |
+
0.20155472796255602,
|
| 169 |
+
0.6724460744126752
|
| 170 |
+
]
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
"grasp_39": {
|
| 174 |
+
"confidence": 0.8278613090515137,
|
| 175 |
+
"position": [
|
| 176 |
+
0.11084764823317528,
|
| 177 |
+
0.051174145948607475,
|
| 178 |
+
-0.01520572736626491
|
| 179 |
+
],
|
| 180 |
+
"orientation": {
|
| 181 |
+
"w": 0.24030763063998076,
|
| 182 |
+
"xyz": [
|
| 183 |
+
0.652097405107941,
|
| 184 |
+
0.13816535376924688,
|
| 185 |
+
-0.7056426517193436
|
| 186 |
+
]
|
| 187 |
+
}
|
| 188 |
+
}
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"part_name": "bolster of knife",
|
| 193 |
+
"mask_color": "Orange",
|
| 194 |
+
"graspable": false,
|
| 195 |
+
"grasp_scenarios": [],
|
| 196 |
+
"functional_labels": [
|
| 197 |
+
"connect blade to handle",
|
| 198 |
+
"reinforce the blade-handle joint",
|
| 199 |
+
"provide a finger stop",
|
| 200 |
+
"improve balance"
|
| 201 |
+
],
|
| 202 |
+
"semantic_description": "Small silver metal bolster at the junction between blade and handle, with a smooth reflective finish forming a short transition piece near the heel.",
|
| 203 |
+
"id": 4,
|
| 204 |
+
"grasp_group": {}
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
+
"part_name": "end cap of knife handle",
|
| 208 |
+
"mask_color": "Green",
|
| 209 |
+
"graspable": true,
|
| 210 |
+
"grasp_scenarios": [
|
| 211 |
+
{
|
| 212 |
+
"scenario": "pinch the handle end to orient the knife before taking a full grip",
|
| 213 |
+
"confidence": 0.41
|
| 214 |
+
},
|
| 215 |
+
{
|
| 216 |
+
"scenario": "grasp the handle end to pull the knife from a tight slot or holder",
|
| 217 |
+
"confidence": 0.36
|
| 218 |
+
}
|
| 219 |
+
],
|
| 220 |
+
"functional_labels": [
|
| 221 |
+
"finish the handle end",
|
| 222 |
+
"protect the handle tip",
|
| 223 |
+
"provide rear contour",
|
| 224 |
+
"aid orientation by touch"
|
| 225 |
+
],
|
| 226 |
+
"semantic_description": "Small silver metal end cap at the butt of the handle with a smooth glossy finish and rounded hooked contour at the rear.",
|
| 227 |
+
"id": 1,
|
| 228 |
+
"grasp_group": {
|
| 229 |
+
"grasp_4": {
|
| 230 |
+
"confidence": 0.7285933494567871,
|
| 231 |
+
"position": [
|
| 232 |
+
0.12302471324801445,
|
| 233 |
+
0.04270390496822074,
|
| 234 |
+
-0.006490570900496095
|
| 235 |
+
],
|
| 236 |
+
"orientation": {
|
| 237 |
+
"w": 0.2181556163833462,
|
| 238 |
+
"xyz": [
|
| 239 |
+
0.668285510905121,
|
| 240 |
+
0.14893182000498473,
|
| 241 |
+
-0.6954293033405242
|
| 242 |
+
]
|
| 243 |
+
}
|
| 244 |
+
},
|
| 245 |
+
"grasp_6": {
|
| 246 |
+
"confidence": 0.8488161563873291,
|
| 247 |
+
"position": [
|
| 248 |
+
0.09026176854968071,
|
| 249 |
+
0.08907880337210372,
|
| 250 |
+
-0.012210035172756761
|
| 251 |
+
],
|
| 252 |
+
"orientation": {
|
| 253 |
+
"w": 0.3997868519130837,
|
| 254 |
+
"xyz": [
|
| 255 |
+
0.5871042909008821,
|
| 256 |
+
0.3348684165125392,
|
| 257 |
+
-0.6191463221772241
|
| 258 |
+
]
|
| 259 |
+
}
|
| 260 |
+
},
|
| 261 |
+
"grasp_7": {
|
| 262 |
+
"confidence": 0.8395812511444092,
|
| 263 |
+
"position": [
|
| 264 |
+
0.09177221730351448,
|
| 265 |
+
0.07339761854382232,
|
| 266 |
+
0.0009529936360195279
|
| 267 |
+
],
|
| 268 |
+
"orientation": {
|
| 269 |
+
"w": 0.3485009058486322,
|
| 270 |
+
"xyz": [
|
| 271 |
+
0.6264691814814087,
|
| 272 |
+
0.3207262043313648,
|
| 273 |
+
-0.6190461898209959
|
| 274 |
+
]
|
| 275 |
+
}
|
| 276 |
+
},
|
| 277 |
+
"grasp_12": {
|
| 278 |
+
"confidence": 0.7193050980567932,
|
| 279 |
+
"position": [
|
| 280 |
+
0.12061537429690361,
|
| 281 |
+
0.04101384506793693,
|
| 282 |
+
-0.004440193006303161
|
| 283 |
+
],
|
| 284 |
+
"orientation": {
|
| 285 |
+
"w": 0.20706199435544764,
|
| 286 |
+
"xyz": [
|
| 287 |
+
0.6721777677418564,
|
| 288 |
+
0.15079757159059048,
|
| 289 |
+
-0.6946671659503565
|
| 290 |
+
]
|
| 291 |
+
}
|
| 292 |
+
},
|
| 293 |
+
"grasp_15": {
|
| 294 |
+
"confidence": 0.5447282195091248,
|
| 295 |
+
"position": [
|
| 296 |
+
0.11692076548933983,
|
| 297 |
+
0.044849981379229575,
|
| 298 |
+
0.02399814740056172
|
| 299 |
+
],
|
| 300 |
+
"orientation": {
|
| 301 |
+
"w": 0.19461529506180023,
|
| 302 |
+
"xyz": [
|
| 303 |
+
0.7520901547613406,
|
| 304 |
+
0.20186375359796838,
|
| 305 |
+
-0.5964363428081909
|
| 306 |
+
]
|
| 307 |
+
}
|
| 308 |
+
}
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"part_name": "full tang or metal liner",
|
| 313 |
+
"mask_color": "Yellow",
|
| 314 |
+
"graspable": false,
|
| 315 |
+
"grasp_scenarios": [],
|
| 316 |
+
"functional_labels": [
|
| 317 |
+
"structurally support the handle",
|
| 318 |
+
"connect blade to handle scales",
|
| 319 |
+
"reinforce the knife body",
|
| 320 |
+
"form the visible metal spine between scales"
|
| 321 |
+
],
|
| 322 |
+
"semantic_description": "Thin exposed silver metal strip running along the outer edge of the wooden handle and around the handle profile, appearing smooth, narrow, and continuous between the wood scales and the blade/handle hardware.",
|
| 323 |
+
"id": 3,
|
| 324 |
+
"grasp_group": {}
|
| 325 |
+
}
|
| 326 |
+
],
|
| 327 |
+
"quality_check": {
|
| 328 |
+
"success": false,
|
| 329 |
+
"message": "Yellow part misidentified; not full tang/liner but thin handle outline/spine edge segmentation."
|
| 330 |
+
}
|
| 331 |
+
}
|
dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5260866fa61e1b137dc41ec4cc697f1a6b0f7e5bbd0a60fa8f106bb2cf8a8949
|
| 3 |
+
size 3787088
|