Add asset kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/42d55e2b9cf15503933a2569fd8d4eea.urdf +1 -0
- dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/affordance/affordance_annot.json +340 -0
- dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
|
@@ -6991,3 +6991,4 @@ dataset/furniture/table/fbff69cb273251e5b86bf1961be063c0/affordance/mesh_part_se
|
|
| 6991 |
dataset/home_appliances/electrical_appliances/060566ebdbf5580aaea6fdebce40c2aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6992 |
dataset/home_appliances/electrical_appliances/0dab90111dd958ae9ef67f9fadfb94fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6993 |
dataset/kitchen_supplies/cutting_tools/41666f545b8c5f9dadca19be7494d2b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 6991 |
dataset/home_appliances/electrical_appliances/060566ebdbf5580aaea6fdebce40c2aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6992 |
dataset/home_appliances/electrical_appliances/0dab90111dd958ae9ef67f9fadfb94fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6993 |
dataset/kitchen_supplies/cutting_tools/41666f545b8c5f9dadca19be7494d2b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 6994 |
+
dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/42d55e2b9cf15503933a2569fd8d4eea.urdf
CHANGED
|
@@ -52,6 +52,7 @@
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
|
|
|
| 55 |
</affordance>
|
| 56 |
</custom_data>
|
| 57 |
</robot>
|
|
|
|
| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 53 |
</geometry>
|
| 54 |
</visual_seg>
|
| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 56 |
</affordance>
|
| 57 |
</custom_data>
|
| 58 |
</robot>
|
dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,340 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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",
|
| 10 |
+
"slice",
|
| 11 |
+
"pierce",
|
| 12 |
+
"provide sharp working edge"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Short silver-gray metal blade with a satin to slightly reflective finish, hard smooth surface, pointed drop-point shape, and a sharp cutting edge extending from the front of the knife.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "knife handle",
|
| 20 |
+
"mask_color": "Yellow",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the handle to pick up and carry the knife safely",
|
| 25 |
+
"confidence": 0.98
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the handle to orient the blade for cutting",
|
| 29 |
+
"confidence": 0.97
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grip the handle to stabilize the knife during placement or handoff",
|
| 33 |
+
"confidence": 0.91
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"provide primary grip",
|
| 38 |
+
"enable safe handling",
|
| 39 |
+
"control blade orientation",
|
| 40 |
+
"stabilize during cutting"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Black handle with a hard smooth matte finish, likely polymer or composite scales, gently contoured ergonomic shape, medium-sized rear position, and visible metal rivets or pins.",
|
| 43 |
+
"id": 3,
|
| 44 |
+
"grasp_group": {
|
| 45 |
+
"grasp_0": {
|
| 46 |
+
"confidence": 0.9667640924453735,
|
| 47 |
+
"position": [
|
| 48 |
+
-0.1324127009138465,
|
| 49 |
+
0.15851654671132565,
|
| 50 |
+
0.0011756555759347975
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.028524774015613825,
|
| 54 |
+
"xyz": [
|
| 55 |
+
-0.7006009718189149,
|
| 56 |
+
-0.027032281944313508,
|
| 57 |
+
-0.7124702599313414
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_1": {
|
| 62 |
+
"confidence": 0.9628942012786865,
|
| 63 |
+
"position": [
|
| 64 |
+
-0.1357681443914771,
|
| 65 |
+
0.0699822586029768,
|
| 66 |
+
-0.0007339305011555552
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.7052545792987565,
|
| 70 |
+
"xyz": [
|
| 71 |
+
0.046289030430553726,
|
| 72 |
+
0.7064802929129684,
|
| 73 |
+
-0.036863257663149386
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_2": {
|
| 78 |
+
"confidence": 0.9618316292762756,
|
| 79 |
+
"position": [
|
| 80 |
+
-0.13616354670375586,
|
| 81 |
+
0.07600157521665096,
|
| 82 |
+
-0.001211523951496929
|
| 83 |
+
],
|
| 84 |
+
"orientation": {
|
| 85 |
+
"w": 0.7045255336463006,
|
| 86 |
+
"xyz": [
|
| 87 |
+
0.03714263719697148,
|
| 88 |
+
0.7083652469724269,
|
| 89 |
+
-0.021974390188164855
|
| 90 |
+
]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_3": {
|
| 94 |
+
"confidence": 0.9618274569511414,
|
| 95 |
+
"position": [
|
| 96 |
+
-0.13694755639880896,
|
| 97 |
+
0.06618851236999035,
|
| 98 |
+
-0.00040501133480574936
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.7016348830054928,
|
| 102 |
+
"xyz": [
|
| 103 |
+
0.03347600118244812,
|
| 104 |
+
0.7116530872688015,
|
| 105 |
+
-0.01173591391773409
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_4": {
|
| 110 |
+
"confidence": 0.9614743590354919,
|
| 111 |
+
"position": [
|
| 112 |
+
-0.1365153482183814,
|
| 113 |
+
0.07406050525605679,
|
| 114 |
+
-0.0037818634300492704
|
| 115 |
+
],
|
| 116 |
+
"orientation": {
|
| 117 |
+
"w": 0.7145188855324696,
|
| 118 |
+
"xyz": [
|
| 119 |
+
0.029506253368454992,
|
| 120 |
+
0.698858093909618,
|
| 121 |
+
-0.013766183443822327
|
| 122 |
+
]
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
"grasp_6": {
|
| 126 |
+
"confidence": 0.9593276977539062,
|
| 127 |
+
"position": [
|
| 128 |
+
-0.13487894739955664,
|
| 129 |
+
0.08242885582149029,
|
| 130 |
+
0.0010722338338382542
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
+
"w": 0.6997706240384444,
|
| 134 |
+
"xyz": [
|
| 135 |
+
0.030674947812525947,
|
| 136 |
+
0.7136501540905806,
|
| 137 |
+
-0.00914214832716414
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_7": {
|
| 142 |
+
"confidence": 0.9590945243835449,
|
| 143 |
+
"position": [
|
| 144 |
+
-0.1297503923997283,
|
| 145 |
+
0.1709702517837286,
|
| 146 |
+
-0.002817701722960919
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
+
"w": 0.7070836416072499,
|
| 150 |
+
"xyz": [
|
| 151 |
+
0.0615350117682969,
|
| 152 |
+
0.7014245341985076,
|
| 153 |
+
-0.06519040514149756
|
| 154 |
+
]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_8": {
|
| 158 |
+
"confidence": 0.9573565721511841,
|
| 159 |
+
"position": [
|
| 160 |
+
-0.13003332074731588,
|
| 161 |
+
0.14943086169660091,
|
| 162 |
+
-1.8643360817804933e-05
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.6961187776680582,
|
| 166 |
+
"xyz": [
|
| 167 |
+
0.10916370615386924,
|
| 168 |
+
0.7017654011556661,
|
| 169 |
+
-0.10501073458226703
|
| 170 |
+
]
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
"grasp_9": {
|
| 174 |
+
"confidence": 0.9559400081634521,
|
| 175 |
+
"position": [
|
| 176 |
+
0.1091944957152009,
|
| 177 |
+
0.19169124029576778,
|
| 178 |
+
1.9093567971140146e-05
|
| 179 |
+
],
|
| 180 |
+
"orientation": {
|
| 181 |
+
"w": 0.05074033566012653,
|
| 182 |
+
"xyz": [
|
| 183 |
+
0.6958514380133133,
|
| 184 |
+
0.025187589127573573,
|
| 185 |
+
-0.7159481684492544
|
| 186 |
+
]
|
| 187 |
+
}
|
| 188 |
+
},
|
| 189 |
+
"grasp_10": {
|
| 190 |
+
"confidence": 0.9542419910430908,
|
| 191 |
+
"position": [
|
| 192 |
+
-0.12892017420381308,
|
| 193 |
+
0.1636412050575018,
|
| 194 |
+
-0.004250126599799842
|
| 195 |
+
],
|
| 196 |
+
"orientation": {
|
| 197 |
+
"w": 0.7099076643939094,
|
| 198 |
+
"xyz": [
|
| 199 |
+
0.10608493074828572,
|
| 200 |
+
0.6903454664659675,
|
| 201 |
+
-0.09055513476773358
|
| 202 |
+
]
|
| 203 |
+
}
|
| 204 |
+
},
|
| 205 |
+
"grasp_12": {
|
| 206 |
+
"confidence": 0.953213095664978,
|
| 207 |
+
"position": [
|
| 208 |
+
-0.13028018828481436,
|
| 209 |
+
0.16485329531133175,
|
| 210 |
+
-0.0029885160620324314
|
| 211 |
+
],
|
| 212 |
+
"orientation": {
|
| 213 |
+
"w": 0.7113457256144349,
|
| 214 |
+
"xyz": [
|
| 215 |
+
0.027655931676209645,
|
| 216 |
+
0.7017701795127449,
|
| 217 |
+
-0.02722174204277566
|
| 218 |
+
]
|
| 219 |
+
}
|
| 220 |
+
},
|
| 221 |
+
"grasp_13": {
|
| 222 |
+
"confidence": 0.9528030753135681,
|
| 223 |
+
"position": [
|
| 224 |
+
-0.1336658140644431,
|
| 225 |
+
0.17720127664506435,
|
| 226 |
+
-0.0005150859942659736
|
| 227 |
+
],
|
| 228 |
+
"orientation": {
|
| 229 |
+
"w": 0.7034742353008536,
|
| 230 |
+
"xyz": [
|
| 231 |
+
0.03684617163045976,
|
| 232 |
+
0.7085781368077626,
|
| 233 |
+
-0.041029062164491426
|
| 234 |
+
]
|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
+
"grasp_14": {
|
| 238 |
+
"confidence": 0.9519245028495789,
|
| 239 |
+
"position": [
|
| 240 |
+
-0.13401044812053442,
|
| 241 |
+
0.05798419751226902,
|
| 242 |
+
-0.004434189002495259
|
| 243 |
+
],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.7192493838650702,
|
| 246 |
+
"xyz": [
|
| 247 |
+
0.016778085194669733,
|
| 248 |
+
0.6942437334570734,
|
| 249 |
+
-0.020602383903361794
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
},
|
| 253 |
+
"grasp_15": {
|
| 254 |
+
"confidence": 0.9511900544166565,
|
| 255 |
+
"position": [
|
| 256 |
+
-0.13054082449525595,
|
| 257 |
+
0.14975564740598202,
|
| 258 |
+
-0.0011592017253860831
|
| 259 |
+
],
|
| 260 |
+
"orientation": {
|
| 261 |
+
"w": 0.7069346183463395,
|
| 262 |
+
"xyz": [
|
| 263 |
+
0.0006569328859975655,
|
| 264 |
+
0.7072713734568238,
|
| 265 |
+
-0.00319657804486745
|
| 266 |
+
]
|
| 267 |
+
}
|
| 268 |
+
},
|
| 269 |
+
"grasp_16": {
|
| 270 |
+
"confidence": 0.9509707689285278,
|
| 271 |
+
"position": [
|
| 272 |
+
0.11385344062000513,
|
| 273 |
+
0.1871973779052496,
|
| 274 |
+
0.004874063015449792
|
| 275 |
+
],
|
| 276 |
+
"orientation": {
|
| 277 |
+
"w": 0.03213693964127015,
|
| 278 |
+
"xyz": [
|
| 279 |
+
0.7086595365528523,
|
| 280 |
+
0.022734945430373132,
|
| 281 |
+
-0.7044515601654014
|
| 282 |
+
]
|
| 283 |
+
}
|
| 284 |
+
},
|
| 285 |
+
"grasp_17": {
|
| 286 |
+
"confidence": 0.9506339430809021,
|
| 287 |
+
"position": [
|
| 288 |
+
-0.13304937537759542,
|
| 289 |
+
0.1837067659944296,
|
| 290 |
+
-0.0007143265102058649
|
| 291 |
+
],
|
| 292 |
+
"orientation": {
|
| 293 |
+
"w": 0.7057119713993543,
|
| 294 |
+
"xyz": [
|
| 295 |
+
0.05598352998661483,
|
| 296 |
+
0.7041372677987675,
|
| 297 |
+
-0.05501968639280391
|
| 298 |
+
]
|
| 299 |
+
}
|
| 300 |
+
},
|
| 301 |
+
"grasp_18": {
|
| 302 |
+
"confidence": 0.9488246440887451,
|
| 303 |
+
"position": [
|
| 304 |
+
-0.13198442663997412,
|
| 305 |
+
0.12770490907132626,
|
| 306 |
+
0.0034825432230718434
|
| 307 |
+
],
|
| 308 |
+
"orientation": {
|
| 309 |
+
"w": 0.6953073408116502,
|
| 310 |
+
"xyz": [
|
| 311 |
+
0.08126047965274487,
|
| 312 |
+
0.7074302932694295,
|
| 313 |
+
-0.09740028965442427
|
| 314 |
+
]
|
| 315 |
+
}
|
| 316 |
+
},
|
| 317 |
+
"grasp_19": {
|
| 318 |
+
"confidence": 0.9479827880859375,
|
| 319 |
+
"position": [
|
| 320 |
+
-0.1297028949484229,
|
| 321 |
+
0.1611477043479681,
|
| 322 |
+
-0.00015374676877399907
|
| 323 |
+
],
|
| 324 |
+
"orientation": {
|
| 325 |
+
"w": 0.7082660656067861,
|
| 326 |
+
"xyz": [
|
| 327 |
+
0.013976300201108491,
|
| 328 |
+
0.7056817039468095,
|
| 329 |
+
-0.013310749689621055
|
| 330 |
+
]
|
| 331 |
+
}
|
| 332 |
+
}
|
| 333 |
+
}
|
| 334 |
+
}
|
| 335 |
+
],
|
| 336 |
+
"quality_check": {
|
| 337 |
+
"success": true,
|
| 338 |
+
"message": "YES"
|
| 339 |
+
}
|
| 340 |
+
}
|
dataset/kitchen_supplies/cutting_tools/42d55e2b9cf15503933a2569fd8d4eea/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95645233debffc181e04a07176070b2a7a50d5feb4697c442a03e241a58a76d9
|
| 3 |
+
size 467144
|