Add asset kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb
Browse files- .gitattributes +1 -1
- dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/affordance/affordance_annot.json +378 -0
- dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/fruit_knife_029.urdf +1 -0
.gitattributes
CHANGED
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@@ -7007,4 +7007,4 @@ dataset/kitchen_supplies/cutting_tools/5e0bba36eb3e5207904f47fc7d111272/affordan
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| 7007 |
dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7008 |
dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7009 |
dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7010 |
-
dataset/kitchen_supplies/cutting_tools/
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| 7007 |
dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7008 |
dataset/kitchen_supplies/cutting_tools/5e8d579fd2b65b37b56f9bf8f7a6ea3a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7009 |
dataset/kitchen_supplies/cutting_tools/5f45fb5b241359fd8d07aba9f69ea586/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7010 |
+
dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "knife blade",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"cut fruit",
|
| 10 |
+
"slice soft food",
|
| 11 |
+
"pierce food",
|
| 12 |
+
"provide cutting edge"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Long narrow silver metal blade with a smooth reflective finish and pointed tip, forming the front working end of the knife, with small printed markings near the handle.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "knife handle",
|
| 20 |
+
"mask_color": "Blue",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the handle to pick up and use the knife for cutting",
|
| 25 |
+
"confidence": 0.98
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the handle to orient the blade precisely during slicing",
|
| 29 |
+
"confidence": 0.96
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the handle to place or pass the knife while keeping fingers away from the blade",
|
| 33 |
+
"confidence": 0.9
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"provide primary grip",
|
| 38 |
+
"control blade orientation",
|
| 39 |
+
"keep hand separated from blade",
|
| 40 |
+
"support safe handling"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Curved brown wood handle with visible grain, a smooth slightly glossy hard surface, and a medium-sized ergonomic form at the rear of the knife.",
|
| 43 |
+
"id": 2,
|
| 44 |
+
"grasp_group": {
|
| 45 |
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"grasp_0": {
|
| 46 |
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"confidence": 0.9898734092712402,
|
| 47 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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],
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| 52 |
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"orientation": {
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| 53 |
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"w": 0.5107480726031313,
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| 54 |
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"xyz": [
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| 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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"grasp_1": {
|
| 62 |
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"confidence": 0.9897624850273132,
|
| 63 |
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"position": [
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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],
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| 68 |
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"orientation": {
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| 69 |
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"w": 0.5049177471174162,
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| 70 |
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"xyz": [
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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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"grasp_2": {
|
| 78 |
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"confidence": 0.9897508025169373,
|
| 79 |
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"position": [
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| 80 |
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| 82 |
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| 83 |
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],
|
| 84 |
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"orientation": {
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"w": 0.5096005997983074,
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"xyz": [
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| 89 |
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| 90 |
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]
|
| 91 |
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}
|
| 92 |
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},
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| 93 |
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"grasp_3": {
|
| 94 |
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"confidence": 0.9895384311676025,
|
| 95 |
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"position": [
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| 96 |
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|
| 98 |
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|
| 99 |
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],
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"orientation": {
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"xyz": [
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| 106 |
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|
| 108 |
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},
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"grasp_4": {
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| 110 |
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"confidence": 0.9894578456878662,
|
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"position": [
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"grasp_5": {
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"confidence": 0.989243745803833,
|
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| 138 |
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]
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|
| 140 |
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},
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"grasp_6": {
|
| 142 |
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"confidence": 0.9891501069068909,
|
| 143 |
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"position": [
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"grasp_8": {
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| 174 |
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"confidence": 0.9869112968444824,
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"orientation": {
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"grasp_9": {
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| 190 |
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"confidence": 0.9862484335899353,
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}
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}
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},
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| 303 |
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{
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| 304 |
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"part_name": "blade-handle junction",
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| 305 |
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"mask_color": "Green",
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| 306 |
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|
| 307 |
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"grasp_scenarios": [],
|
| 308 |
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"functional_labels": [
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| 309 |
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"connect blade to handle",
|
| 310 |
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"reinforce the transition area",
|
| 311 |
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"support structural continuity between blade and handle"
|
| 312 |
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],
|
| 313 |
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"semantic_description": "Small silver-gray transition section between the blade and wooden handle, with a smooth finish located at the neck of the knife.",
|
| 314 |
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"id": 1,
|
| 315 |
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"grasp_group": {}
|
| 316 |
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},
|
| 317 |
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{
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| 318 |
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"part_name": "dark handle inlay",
|
| 319 |
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"mask_color": "Purple",
|
| 320 |
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"graspable": false,
|
| 321 |
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"grasp_scenarios": [],
|
| 322 |
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"functional_labels": [
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| 323 |
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"provide decorative accent",
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| 324 |
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"identify a central handle insert",
|
| 325 |
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"offer slight tactile variation"
|
| 326 |
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],
|
| 327 |
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"semantic_description": "Small elongated dark purple-brown oval inlay set into the handle surface near the center, smooth and slightly glossy.",
|
| 328 |
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"id": 5,
|
| 329 |
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"grasp_group": {}
|
| 330 |
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},
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| 331 |
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{
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| 332 |
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"part_name": "end rivet",
|
| 333 |
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"mask_color": "Orange",
|
| 334 |
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"graspable": false,
|
| 335 |
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"grasp_scenarios": [],
|
| 336 |
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"functional_labels": [
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| 337 |
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"fasten handle assembly",
|
| 338 |
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"reinforce handle construction",
|
| 339 |
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"provide decorative detail"
|
| 340 |
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],
|
| 341 |
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"semantic_description": "Small round brass-colored metal rivet near the end of the wooden handle, with a smooth glossy finish.",
|
| 342 |
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"id": 4,
|
| 343 |
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"grasp_group": {}
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| 344 |
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},
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| 345 |
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{
|
| 346 |
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"part_name": "light handle inlay",
|
| 347 |
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"mask_color": "Cyan",
|
| 348 |
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"graspable": false,
|
| 349 |
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"grasp_scenarios": [],
|
| 350 |
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"functional_labels": [
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| 351 |
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"provide decorative detail",
|
| 352 |
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"identify a side handle insert",
|
| 353 |
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"offer slight tactile variation"
|
| 354 |
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],
|
| 355 |
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"semantic_description": "Elongated light blue-cyan inset on one side of the handle, smooth and slightly glossy, positioned centrally within the curved grip.",
|
| 356 |
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"id": 6,
|
| 357 |
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"grasp_group": {}
|
| 358 |
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},
|
| 359 |
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{
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| 360 |
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"part_name": "end rivet",
|
| 361 |
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"mask_color": "Yellow",
|
| 362 |
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"graspable": false,
|
| 363 |
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"grasp_scenarios": [],
|
| 364 |
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"functional_labels": [
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| 365 |
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"fasten handle assembly",
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| 366 |
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"reinforce handle construction",
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| 367 |
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"provide decorative detail"
|
| 368 |
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],
|
| 369 |
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"semantic_description": "Small round yellow-brass metal rivet near the butt end of the handle, with a smooth glossy finish.",
|
| 370 |
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"id": 3,
|
| 371 |
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"grasp_group": {}
|
| 372 |
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}
|
| 373 |
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],
|
| 374 |
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"quality_check": {
|
| 375 |
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"success": false,
|
| 376 |
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"message": "Handle insert and rivet colors/identities are mismatched across views; one rivet part is duplicated incorrectly."
|
| 377 |
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}
|
| 378 |
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}
|
dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:dc04ba41d0b3b48789dfc2565118ee0e9f62b563696d69e93b481275e8268994
|
| 3 |
+
size 3782900
|
dataset/kitchen_supplies/cutting_tools/64d1f50bde5f5a2397a07b01789a96fb/fruit_knife_029.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>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|