diff --git a/.gitattributes b/.gitattributes index 63b91b247de0f02159604dae9561f0f34786b620..6c3b51858d01c2e605257af3ee3c13fa630ac446 100644 --- a/.gitattributes +++ b/.gitattributes @@ -3863,5 +3863,7 @@ dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot dataset/kitchen_supplies/cookware/bc4f157ed6015f68a223cddbc41982f4/mesh/soup_pot_gs.ply filter=lfs diff=lfs merge=lfs -text dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/garlic_press_014.usd filter=lfs diff=lfs merge=lfs -text dataset/kitchen_supplies/cutting_tools/121fb03a7fa950a6b32148e8f0dbb874/mesh/garlic_press_014.glb filter=lfs diff=lfs merge=lfs -text -dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/fruit_knife_014.usd filter=lfs diff=lfs merge=lfs -text -dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/mesh/fruit_knife_014.glb filter=lfs diff=lfs merge=lfs -text +dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/mesh/peeler_016.glb filter=lfs diff=lfs merge=lfs -text +dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/peeler_016.usd filter=lfs diff=lfs merge=lfs -text +dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.glb filter=lfs diff=lfs merge=lfs -text +dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/wire_cutters_019.usd filter=lfs diff=lfs merge=lfs -text diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/material.mtl b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/material.mtl new file mode 100644 index 0000000000000000000000000000000000000000..89908c7a8fc965d5a00ca6c949a0269f0589d00a --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/material.mtl @@ -0,0 +1,8 @@ +# https://github.com/mikedh/trimesh + +newmtl wire_cutters_019_geometry_Looks_material_0 +Ka 0.00000000 0.00000000 0.00000000 +Kd 0.98039216 0.98039216 0.98039216 +Ks 0.00000000 0.00000000 0.00000000 +Ns 1.00000000 +map_Kd wire_cutters_019_geometry_Looks_material_0.png \ No newline at end of file diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/material_0.png b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7366083552568fb311a000e5d3c0daab9ad4f9ec --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43e25bcd59c11705c9abc781a1b06ad72ee11d1478a4394ca66ba02069531af7 +size 10093991 diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.glb b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.glb new file mode 100644 index 0000000000000000000000000000000000000000..8034257fc2b2945af3deaedef92322e0e643cde8 --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.glb @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:962c311641f8a4421601daf396b79594ca3d4aec10d257688b16242bdec6e5ea +size 13574212 diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.mtl b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.mtl new file mode 100644 index 0000000000000000000000000000000000000000..2103fc3b90ba55b44466ec6825e6c82fc4d053dc --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.mtl @@ -0,0 +1,6 @@ +newmtl wire_cutters_019_geometry_Looks_material_0 +Kd 0.980392 0.980392 0.980392 +Ka 0.000000 0.000000 0.000000 +Ks 0.000000 0.000000 0.000000 +d 1.000000 +map_Kd material_0.png diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.obj b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.obj new file mode 100644 index 0000000000000000000000000000000000000000..393aeff6a7397ba95ca8530e7afd39110e4f8a59 --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mesh/wire_cutters_019.obj @@ -0,0 +1,117008 @@ +# https://github.com/mikedh/trimesh +mtllib material.mtl +usemtl wire_cutters_019_geometry_Looks_material_0 +v -0.05767100 -0.00529994 -0.01674802 +v -0.05767100 -0.00529994 -0.01674802 +v -0.05767100 -0.00529994 -0.01674802 +v -0.05781400 -0.00528594 -0.01667902 +v -0.05781400 -0.00528594 -0.01667902 +v -0.05781400 -0.00528594 -0.01667902 +v -0.05771400 -0.00529094 -0.01664802 +v -0.05771400 -0.00529094 -0.01664802 +v 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/dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/mesh/wire_cutters_019_collision_4.obj @@ -0,0 +1,247 @@ +# https://github.com/mikedh/trimesh +v 0.01221274 0.01555207 0.00614816 +v 0.01422352 0.01794117 0.00482734 +v 0.01221274 0.01780771 0.00590438 +v 0.01221274 0.01471194 0.00606082 +v 0.01806520 0.00010165 0.00412622 +v 0.01806520 0.00122838 0.00412986 +v 0.01806520 0.00281455 0.00411652 +v 0.01806520 0.00361530 0.00410925 +v 0.01806520 0.00463701 0.00408621 +v 0.01806520 0.00696705 0.00394068 +v 0.01806520 0.01316516 0.00307591 +v 0.01806520 0.01532892 0.00264534 +v 0.01394167 0.01958423 0.00451684 +v 0.01225857 0.01798274 0.00586072 +v 0.01806520 0.00839133 0.00377572 +v 0.01221274 0.01793679 0.00588983 +v 0.01221274 0.00600441 0.00310984 +v 0.01503127 0.00010166 0.00306615 +v 0.01708502 0.00010166 0.00408134 +v 0.01806520 0.00010168 -0.00404864 +v 0.01806520 0.01647535 0.00105525 +v 0.01604755 0.01941140 0.00239792 +v 0.01457871 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164 157 +f 157 161 160 +f 157 160 158 +f 157 164 165 +f 157 165 166 +f 157 166 161 +f 158 160 167 +f 158 167 159 +f 161 166 162 + diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/mesh/wire_cutters_019_collision_7.obj b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/mesh/wire_cutters_019_collision_7.obj new file mode 100644 index 0000000000000000000000000000000000000000..f4877f9ddb977e61fcfb5caa134859ba70ae32ff --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/mesh/wire_cutters_019_collision_7.obj @@ -0,0 +1,88 @@ +# https://github.com/mikedh/trimesh +v 0.01802698 -0.00461883 0.00412500 +v 0.01802698 -0.00480721 0.00412418 +v 0.01802698 0.00010117 0.00412420 +v 0.01409910 -0.00480721 0.00422275 +v 0.01802698 -0.00480718 -0.00402571 +v 0.01708498 0.00010118 0.00408149 +v 0.01318216 -0.00480721 0.00422110 +v 0.01802698 0.00010120 -0.00404705 +v 0.01390402 -0.00480717 -0.00416864 +v 0.01802698 -0.00363895 -0.00403227 +v 0.01264703 -0.00480721 0.00411104 +v 0.01503036 0.00010118 0.00306624 +v 0.01193233 -0.00480720 0.00383587 +v 0.01802698 -0.00039329 -0.00404623 +v 0.01344525 -0.00480717 -0.00416864 +v 0.01324242 -0.00480717 -0.00416782 +v 0.01773883 0.00010120 -0.00403062 +v 0.01193233 -0.00426513 0.00322311 +v 0.01403348 0.00010119 0.00099714 +v 0.01193233 -0.00480718 -0.00371112 +v 0.01708498 0.00010120 -0.00398298 +v 0.01193233 -0.00366059 0.00130351 +v 0.01396129 0.00010119 -0.00101446 +v 0.01193233 -0.00358418 0.00105545 +v 0.01193233 -0.00475720 -0.00367087 +v 0.01481619 0.00010120 -0.00292338 +v 0.01583157 0.00010120 -0.00342115 +v 0.01431327 0.00010120 -0.00184324 +v 0.01193233 -0.00427424 -0.00317228 +v 0.01193233 -0.00358898 -0.00101447 +f 1 2 5 +f 1 5 10 +f 1 10 14 +f 1 14 8 +f 1 8 3 +f 1 3 4 +f 1 4 2 +f 2 4 7 +f 2 7 11 +f 2 11 13 +f 2 13 20 +f 2 20 16 +f 2 16 15 +f 2 15 9 +f 2 9 5 +f 3 6 7 +f 3 7 4 +f 3 8 17 +f 3 17 21 +f 3 21 27 +f 3 27 26 +f 3 26 28 +f 3 28 23 +f 3 23 19 +f 3 19 12 +f 3 12 6 +f 5 9 10 +f 6 11 7 +f 6 12 13 +f 6 13 11 +f 8 14 9 +f 8 9 15 +f 8 15 16 +f 8 16 17 +f 9 14 10 +f 12 18 13 +f 12 19 18 +f 13 18 22 +f 13 22 24 +f 13 24 30 +f 13 30 29 +f 13 29 25 +f 13 25 20 +f 16 20 21 +f 16 21 17 +f 18 19 22 +f 19 23 24 +f 19 24 22 +f 20 25 26 +f 20 26 27 +f 20 27 21 +f 23 28 29 +f 23 29 30 +f 23 30 24 +f 25 29 26 +f 26 29 28 + diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/mesh/wire_cutters_019_collision_8.obj b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/mesh/wire_cutters_019_collision_8.obj new file mode 100644 index 0000000000000000000000000000000000000000..ee9770bb54b656df31f84812a0cb70823898d7e2 --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/mesh/wire_cutters_019_collision_8.obj @@ -0,0 +1,139 @@ +# https://github.com/mikedh/trimesh +v 0.00425310 -0.00480717 -0.00546912 +v 0.00250872 -0.00480717 -0.00538728 +v 0.00250872 0.00010121 -0.00437471 +v 0.00491857 -0.00480717 -0.00544603 +v 0.00022864 -0.00480717 -0.00491196 +v 0.00109178 0.00010121 -0.00421522 +v 0.00175724 0.00010121 -0.00429391 +v 0.00328584 0.00010121 -0.00433169 +v 0.00632645 -0.00480717 -0.00518267 +v 0.00414747 0.00010121 -0.00428027 +v -0.00011994 -0.00480717 -0.00469476 +v 0.00044895 0.00010120 -0.00377662 +v -0.00246037 -0.00480718 -0.00314289 +v 0.01193233 -0.00480718 -0.00371054 +v 0.00536070 0.00010120 -0.00370003 +v -0.00012295 0.00010120 -0.00338630 +v -0.00253431 -0.00480718 -0.00299494 +v -0.00137088 0.00010120 -0.00235067 +v 0.01193233 -0.00475720 -0.00367067 +v 0.01193233 -0.00480720 0.00383581 +v 0.00670973 0.00010120 -0.00266440 +v 0.01193233 -0.00427424 -0.00317226 +v -0.00348346 -0.00480719 -0.00101496 +v -0.00160930 0.00010120 -0.00164451 +v 0.00493667 -0.00480721 0.00525023 +v 0.01193233 -0.00426513 0.00322304 +v 0.00651960 0.00010118 0.00243611 +v 0.00493667 0.00010118 0.00334268 +v 0.00747328 0.00010119 -0.00101494 +v 0.01193233 -0.00358898 -0.00101495 +v -0.00344272 -0.00480719 0.00105630 +v -0.00181151 0.00010119 -0.00101494 +v 0.00250872 -0.00480721 0.00503513 +v 0.00250872 0.00010118 0.00381380 +v 0.01193233 -0.00366059 0.00130393 +v 0.00728315 0.00010119 0.00105527 +v 0.00692853 0.00010118 0.00170372 +v 0.00738425 0.00010119 -0.00004017 +v 0.01193233 -0.00358418 0.00105526 +v -0.00241812 -0.00480720 0.00315379 +v -0.00117472 0.00010118 0.00213287 +v -0.00157460 0.00010119 0.00113711 +v -0.00171493 0.00010119 0.00007944 +v 0.00119741 -0.00480721 0.00479904 +v -0.00002336 0.00010118 0.00287365 +v -0.00228684 -0.00480720 0.00324927 +v -0.00075824 0.00010118 0.00240568 +f 1 2 3 +f 1 3 4 +f 1 4 9 +f 1 9 14 +f 1 14 20 +f 1 20 25 +f 1 25 33 +f 1 33 44 +f 1 44 46 +f 1 46 40 +f 1 40 31 +f 1 31 23 +f 1 23 17 +f 1 17 13 +f 1 13 11 +f 1 11 5 +f 1 5 2 +f 2 5 6 +f 2 6 7 +f 2 7 3 +f 3 8 4 +f 3 7 6 +f 3 6 12 +f 3 12 16 +f 3 16 18 +f 3 18 24 +f 3 24 32 +f 3 32 43 +f 3 43 42 +f 3 42 41 +f 3 41 47 +f 3 47 45 +f 3 45 34 +f 3 34 28 +f 3 28 27 +f 3 27 37 +f 3 37 36 +f 3 36 38 +f 3 38 29 +f 3 29 21 +f 3 21 15 +f 3 15 10 +f 3 10 8 +f 4 8 10 +f 4 10 9 +f 5 11 6 +f 6 11 13 +f 6 13 12 +f 9 10 14 +f 10 15 14 +f 12 13 16 +f 13 17 18 +f 13 18 16 +f 14 19 22 +f 14 22 30 +f 14 30 39 +f 14 39 35 +f 14 35 26 +f 14 26 20 +f 14 15 19 +f 15 21 22 +f 15 22 19 +f 17 23 18 +f 18 23 24 +f 20 26 27 +f 20 27 28 +f 20 28 25 +f 21 29 22 +f 22 29 30 +f 23 31 32 +f 23 32 24 +f 25 28 34 +f 25 34 33 +f 26 35 36 +f 26 36 37 +f 26 37 27 +f 29 38 39 +f 29 39 30 +f 31 40 41 +f 31 41 42 +f 31 42 43 +f 31 43 32 +f 33 34 44 +f 34 45 44 +f 35 39 36 +f 36 39 38 +f 40 46 41 +f 41 46 47 +f 44 45 46 +f 45 47 46 + diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/wire_cutters_019.xml b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/wire_cutters_019.xml new file mode 100644 index 0000000000000000000000000000000000000000..f2f54b498c7c4b85713179ad01934364c7a8e15e --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/mjcf/wire_cutters_019.xml @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/textures/material_0.png b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/textures/material_0.png new file mode 100644 index 0000000000000000000000000000000000000000..7366083552568fb311a000e5d3c0daab9ad4f9ec --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/textures/material_0.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43e25bcd59c11705c9abc781a1b06ad72ee11d1478a4394ca66ba02069531af7 +size 10093991 diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/video.mp4 b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/video.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..075e53c8be022d056a18a15fc1ecb86053ee45a8 --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/video.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a2db4728906aa19d0036142af02958ddf0f395cdb30b8177a20b8471e9d6098 +size 167255 diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/wire_cutters_019.urdf b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/wire_cutters_019.urdf new file mode 100644 index 0000000000000000000000000000000000000000..d1585f79126df915fe2426b81886a1d0926c840c --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/wire_cutters_019.urdf @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + 0.75 + 0.60 + + + + + + + + + 1.000000 + 16e66753f38c57a68da776ac019bc055 + kitchen_supplies + cutting_tools + wire_cutters + red black cutters + black,red + elongated + metal + red and black handled metal wire cutters with spring-loaded jaws + 0.0140 + 0.0140 + 0.0140 + 0.15 + 0.35 + v0.1.0 + 20260518183701 + "" + + -0.062413 -0.022272 -0.006955 + 0.084629 0.022340 0.007003 + + is_graspable + ./caption_candidates.json + + + + + 9 + + + + + + + affordance/affordance_annot.json + + + YES + + + \ No newline at end of file diff --git a/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/wire_cutters_019.usd b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/wire_cutters_019.usd new file mode 100644 index 0000000000000000000000000000000000000000..d92a6a9931ec98f83d2eae90a8ba686bf26195f5 --- /dev/null +++ b/dataset/kitchen_supplies/cutting_tools/16e66753f38c57a68da776ac019bc055/wire_cutters_019.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3177b936d2b03bf8eb0a585790a60dd01a86c02b4fb4eef2441b7325f1ec410f +size 5005356