Add asset kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f
Browse files
.gitattributes
CHANGED
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@@ -8385,3 +8385,4 @@ dataset/kitchen_supplies/cutting_tools/240986d0d01f536cae41662dd18420ae/affordan
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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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| 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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| 8388 |
+
dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "blade of knife",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "carefully pinch the blunt spine near the base to reorient the knife during manipulation",
|
| 10 |
+
"confidence": 0.24
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the blade lightly to stabilize it while the handle is being approached or inserted into a holder",
|
| 14 |
+
"confidence": 0.18
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cut fruit",
|
| 19 |
+
"slice soft food",
|
| 20 |
+
"provide serrated cutting edge",
|
| 21 |
+
"penetrate food with pointed tip",
|
| 22 |
+
"transmit cutting force from handle"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Long narrow silver-gray metal blade with a slightly reflective smooth finish, hard texture, serrated cutting edge and pointed tip, forming the front working end of the knife.",
|
| 25 |
+
"id": 0,
|
| 26 |
+
"grasp_group": {
|
| 27 |
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"grasp_1": {
|
| 28 |
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"confidence": 0.9805542230606079,
|
| 29 |
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"position": [
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| 30 |
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-0.03563453536480665,
|
| 31 |
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-0.09913759760092944,
|
| 32 |
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-0.0032248854404315352
|
| 33 |
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],
|
| 34 |
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"orientation": {
|
| 35 |
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"w": 0.5038582859156256,
|
| 36 |
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"xyz": [
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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]
|
| 41 |
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}
|
| 42 |
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},
|
| 43 |
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"grasp_2": {
|
| 44 |
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"confidence": 0.9804940223693848,
|
| 45 |
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"position": [
|
| 46 |
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|
| 47 |
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|
| 48 |
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| 49 |
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],
|
| 50 |
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"orientation": {
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| 51 |
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"w": 0.5128226670382028,
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| 52 |
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"xyz": [
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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]
|
| 57 |
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}
|
| 58 |
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},
|
| 59 |
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"grasp_3": {
|
| 60 |
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"confidence": 0.980363667011261,
|
| 61 |
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"position": [
|
| 62 |
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|
| 63 |
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|
| 64 |
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| 65 |
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],
|
| 66 |
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"orientation": {
|
| 67 |
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"w": 0.5228428954517814,
|
| 68 |
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"xyz": [
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| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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]
|
| 73 |
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}
|
| 74 |
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},
|
| 75 |
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"grasp_4": {
|
| 76 |
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"confidence": 0.9803470373153687,
|
| 77 |
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"position": [
|
| 78 |
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|
| 79 |
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|
| 80 |
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-0.010219962918199599
|
| 81 |
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],
|
| 82 |
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"orientation": {
|
| 83 |
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"w": 0.5213012271544857,
|
| 84 |
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"xyz": [
|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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]
|
| 89 |
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}
|
| 90 |
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},
|
| 91 |
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"grasp_8": {
|
| 92 |
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"confidence": 0.9801581501960754,
|
| 93 |
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"position": [
|
| 94 |
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-0.023773715598508716,
|
| 95 |
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-0.09913505695294589,
|
| 96 |
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-0.005585955106653273
|
| 97 |
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],
|
| 98 |
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"orientation": {
|
| 99 |
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"w": 0.4886524148403622,
|
| 100 |
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"xyz": [
|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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]
|
| 105 |
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}
|
| 106 |
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},
|
| 107 |
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"grasp_9": {
|
| 108 |
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"confidence": 0.9800439476966858,
|
| 109 |
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"position": [
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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],
|
| 114 |
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"orientation": {
|
| 115 |
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"w": 0.5169231541532711,
|
| 116 |
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"xyz": [
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| 117 |
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| 118 |
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| 119 |
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|
| 120 |
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]
|
| 121 |
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}
|
| 122 |
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},
|
| 123 |
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"grasp_10": {
|
| 124 |
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"confidence": 0.979900062084198,
|
| 125 |
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"position": [
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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],
|
| 130 |
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"orientation": {
|
| 131 |
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"w": 0.5352774738178132,
|
| 132 |
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"xyz": [
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| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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]
|
| 137 |
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}
|
| 138 |
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},
|
| 139 |
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"grasp_11": {
|
| 140 |
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"confidence": 0.9798668622970581,
|
| 141 |
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"position": [
|
| 142 |
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-0.040452358312904835,
|
| 143 |
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-0.10217460326384753,
|
| 144 |
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-0.01822834985796362
|
| 145 |
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],
|
| 146 |
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"orientation": {
|
| 147 |
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"w": 0.5464845887405979,
|
| 148 |
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"xyz": [
|
| 149 |
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-0.46434991988680746,
|
| 150 |
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0.4515133539919737,
|
| 151 |
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0.5309137758026755
|
| 152 |
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]
|
| 153 |
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}
|
| 154 |
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},
|
| 155 |
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"grasp_16": {
|
| 156 |
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"confidence": 0.9797051548957825,
|
| 157 |
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"position": [
|
| 158 |
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-0.037286155857145786,
|
| 159 |
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-0.10156056366395205,
|
| 160 |
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-0.001206470129545778
|
| 161 |
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],
|
| 162 |
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"orientation": {
|
| 163 |
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"w": 0.5061347385035224,
|
| 164 |
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"xyz": [
|
| 165 |
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-0.5054149637950819,
|
| 166 |
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0.48340940100133345,
|
| 167 |
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0.5046768192373401
|
| 168 |
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]
|
| 169 |
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}
|
| 170 |
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},
|
| 171 |
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"grasp_18": {
|
| 172 |
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"confidence": 0.9796950817108154,
|
| 173 |
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"position": [
|
| 174 |
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-0.04048827290534973,
|
| 175 |
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-0.09872876934241503,
|
| 176 |
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-0.0065729349153116345
|
| 177 |
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],
|
| 178 |
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"orientation": {
|
| 179 |
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"w": 0.531318478250792,
|
| 180 |
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"xyz": [
|
| 181 |
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-0.4717792438833992,
|
| 182 |
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0.49297397299246304,
|
| 183 |
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0.502097283065839
|
| 184 |
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]
|
| 185 |
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}
|
| 186 |
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}
|
| 187 |
+
}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"part_name": "knife handle",
|
| 191 |
+
"mask_color": "Green",
|
| 192 |
+
"graspable": true,
|
| 193 |
+
"grasp_scenarios": [
|
| 194 |
+
{
|
| 195 |
+
"scenario": "grasp the handle to pick up and use the knife safely",
|
| 196 |
+
"confidence": 0.97
|
| 197 |
+
},
|
| 198 |
+
{
|
| 199 |
+
"scenario": "hold the handle to orient the blade for cutting or slicing",
|
| 200 |
+
"confidence": 0.96
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"scenario": "grasp the handle to place the knife into storage or a tray",
|
| 204 |
+
"confidence": 0.9
|
| 205 |
+
}
|
| 206 |
+
],
|
| 207 |
+
"functional_labels": [
|
| 208 |
+
"provide safe grip",
|
| 209 |
+
"control blade orientation",
|
| 210 |
+
"transfer hand or gripper force",
|
| 211 |
+
"stabilize during cutting",
|
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"success": true,
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| 367 |
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|
dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:5fbbbaf74dd340ca975b4762a93b1c86562f17d6506f3288c23de3b254e74f5e
|
| 3 |
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size 3780276
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