Add asset kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/affordance/affordance_annot.json +461 -0
- dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/fruit_knife_027.urdf +1 -0
.gitattributes
CHANGED
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@@ -8384,3 +8384,4 @@ dataset/kitchen_supplies/cutting_tools/23b4b76d0b19568a814d766277f49b3f/affordan
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| 8384 |
dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8385 |
dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8386 |
dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8384 |
dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8385 |
dataset/kitchen_supplies/cutting_tools/247d1ccadab95cdd8b3ba917c43447ed/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8386 |
dataset/kitchen_supplies/cutting_tools/1759ff2636cb5a8390d830027ece6aad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8387 |
+
dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,461 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "knife handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and hold the fruit knife for use",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the handle to stabilize and reorient the knife during manipulation",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to place the knife into storage or a tray",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide primary grip",
|
| 23 |
+
"control knife orientation",
|
| 24 |
+
"support cutting motions",
|
| 25 |
+
"keep hand away from blade"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Curved silver-toned metal handle with a glossy reflective finish, hard smooth feel, engraved scrollwork, and a medium-sized ergonomic shape at the rear of the knife.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9854069948196411,
|
| 32 |
+
"position": [
|
| 33 |
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|
| 34 |
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0.0959625486866571,
|
| 35 |
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-0.0026650471590983216
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.5344632959824901,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
+
]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9850441217422485,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.5166766990912544,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_2": {
|
| 63 |
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"confidence": 0.9849063754081726,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.5260474531054229,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9844843745231628,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.5093681429159976,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
+
},
|
| 94 |
+
"grasp_5": {
|
| 95 |
+
"confidence": 0.9832462668418884,
|
| 96 |
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"position": [
|
| 97 |
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0.04019574820995331,
|
| 98 |
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0.09507837338605896,
|
| 99 |
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-0.00694368579206639
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.4583815570319287,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_6": {
|
| 111 |
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"confidence": 0.9831843972206116,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.5002549133543135,
|
| 119 |
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"xyz": [
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| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_7": {
|
| 127 |
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"confidence": 0.9830445051193237,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
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| 134 |
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"w": 0.49616885693869517,
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| 135 |
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"xyz": [
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| 136 |
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| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_8": {
|
| 143 |
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"confidence": 0.9830440878868103,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.55898558369494,
|
| 151 |
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"xyz": [
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| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_9": {
|
| 159 |
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"confidence": 0.9827859997749329,
|
| 160 |
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"position": [
|
| 161 |
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dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:fe38ea854319e844a75bb9f7cff3396edde8e26e1b2003ef0695ba97883c472b
|
| 3 |
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size 3781688
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dataset/kitchen_supplies/cutting_tools/2562b48a53d0561094d1440eb572607d/fruit_knife_027.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
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|
| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 59 |
</geometry>
|
| 60 |
</visual_seg>
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| 61 |
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
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| 63 |
<quality>
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| 64 |
<PartSegChecker>YES</PartSegChecker>
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