Add asset kitchen_supplies/cutting_tools/da85e229c7bc5c2590341aadf06219d6
Browse files
.gitattributes
CHANGED
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@@ -7048,4 +7048,5 @@ dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/affordan
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| 7048 |
dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7049 |
dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7050 |
dataset/kitchen_supplies/cutting_tools/cea111db9e0458ba967300e600c7eda5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7051 |
-
dataset/kitchen_supplies/cutting_tools/
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| 7048 |
dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7049 |
dataset/kitchen_supplies/cutting_tools/cc10238c0d7958b0b9a7757f20dc8343/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7050 |
dataset/kitchen_supplies/cutting_tools/cea111db9e0458ba967300e600c7eda5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7051 |
+
dataset/kitchen_supplies/cutting_tools/d1705221ae005fab9483cbcb7ef60bc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7052 |
+
dataset/kitchen_supplies/cutting_tools/da85e229c7bc5c2590341aadf06219d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/da85e229c7bc5c2590341aadf06219d6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,602 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "knife blade",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "carefully pinch the dull spine area or blade sides near the base to reorient the knife during sorting with a specialized gripper",
|
| 10 |
+
"confidence": 0.23
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly stabilize the blade near the base for controlled transfer when edge avoidance is ensured",
|
| 14 |
+
"confidence": 0.17
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cut",
|
| 19 |
+
"slice",
|
| 20 |
+
"pierce",
|
| 21 |
+
"provide the working edge",
|
| 22 |
+
"indicate tool direction"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Silver metal blade with a smooth slightly reflective finish and hard surface, thin and tapered with a pointed tip at the front of the knife and a visible cutting edge.",
|
| 25 |
+
"id": 1,
|
| 26 |
+
"grasp_group": {
|
| 27 |
+
"grasp_0": {
|
| 28 |
+
"confidence": 0.9889238476753235,
|
| 29 |
+
"position": [
|
| 30 |
+
0.10163325350731611,
|
| 31 |
+
-0.14569061435759068,
|
| 32 |
+
0.002616754500195384
|
| 33 |
+
],
|
| 34 |
+
"orientation": {
|
| 35 |
+
"w": 0.6905333540621561,
|
| 36 |
+
"xyz": [
|
| 37 |
+
-0.0381338718852236,
|
| 38 |
+
-0.7206438577827348,
|
| 39 |
+
-0.048804968832366714
|
| 40 |
+
]
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"grasp_1": {
|
| 44 |
+
"confidence": 0.9876367449760437,
|
| 45 |
+
"position": [
|
| 46 |
+
0.10349929612129927,
|
| 47 |
+
-0.14129945077002048,
|
| 48 |
+
-0.002193615073338151
|
| 49 |
+
],
|
| 50 |
+
"orientation": {
|
| 51 |
+
"w": 0.1009580216307659,
|
| 52 |
+
"xyz": [
|
| 53 |
+
-0.7008623184664347,
|
| 54 |
+
0.0550878104155218,
|
| 55 |
+
0.703963650741911
|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"grasp_2": {
|
| 60 |
+
"confidence": 0.987392008304596,
|
| 61 |
+
"position": [
|
| 62 |
+
0.10432410519570112,
|
| 63 |
+
-0.13992438651621342,
|
| 64 |
+
0.009964931290596724
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.6700033005908866,
|
| 68 |
+
"xyz": [
|
| 69 |
+
-0.02937167217890289,
|
| 70 |
+
-0.7415034455806654,
|
| 71 |
+
-0.020137583338983946
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_4": {
|
| 76 |
+
"confidence": 0.9856143593788147,
|
| 77 |
+
"position": [
|
| 78 |
+
0.10076606553047895,
|
| 79 |
+
-0.14798341132700443,
|
| 80 |
+
0.003648055251687765
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.6935310309421466,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.053163643593587204,
|
| 86 |
+
-0.7160885970712408,
|
| 87 |
+
-0.05835629584474744
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_5": {
|
| 92 |
+
"confidence": 0.985289990901947,
|
| 93 |
+
"position": [
|
| 94 |
+
0.10246442537754774,
|
| 95 |
+
-0.12868929840624332,
|
| 96 |
+
-0.0003715673374244943
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
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-0.0041579019743949175
|
| 510 |
+
],
|
| 511 |
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"orientation": {
|
| 512 |
+
"w": 0.7098903365462379,
|
| 513 |
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"xyz": [
|
| 514 |
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0.018384191907992647,
|
| 515 |
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0.7037965407720138,
|
| 516 |
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-0.01970179594621506
|
| 517 |
+
]
|
| 518 |
+
}
|
| 519 |
+
},
|
| 520 |
+
"grasp_36": {
|
| 521 |
+
"confidence": 0.9824778437614441,
|
| 522 |
+
"position": [
|
| 523 |
+
-0.11933509726077318,
|
| 524 |
+
0.16175674460828304,
|
| 525 |
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-0.0064138369634747505
|
| 526 |
+
],
|
| 527 |
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"orientation": {
|
| 528 |
+
"w": 0.7226673735646797,
|
| 529 |
+
"xyz": [
|
| 530 |
+
0.0163242385428116,
|
| 531 |
+
0.6907257437966645,
|
| 532 |
+
-0.0195788987859223
|
| 533 |
+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_38": {
|
| 537 |
+
"confidence": 0.9824299812316895,
|
| 538 |
+
"position": [
|
| 539 |
+
-0.12027627695351839,
|
| 540 |
+
0.15549287758767605,
|
| 541 |
+
-0.004935267847031355
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.718638144685831,
|
| 545 |
+
"xyz": [
|
| 546 |
+
0.004135388539258533,
|
| 547 |
+
0.6953688217682027,
|
| 548 |
+
-0.0020778057747279513
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
},
|
| 552 |
+
"grasp_39": {
|
| 553 |
+
"confidence": 0.9816542863845825,
|
| 554 |
+
"position": [
|
| 555 |
+
-0.11904724407941103,
|
| 556 |
+
0.12502958439290524,
|
| 557 |
+
-0.004602746106684208
|
| 558 |
+
],
|
| 559 |
+
"orientation": {
|
| 560 |
+
"w": 0.7165707657035207,
|
| 561 |
+
"xyz": [
|
| 562 |
+
0.004940465158730922,
|
| 563 |
+
0.6974948561689625,
|
| 564 |
+
0.001689722143982826
|
| 565 |
+
]
|
| 566 |
+
}
|
| 567 |
+
}
|
| 568 |
+
}
|
| 569 |
+
},
|
| 570 |
+
{
|
| 571 |
+
"part_name": "blade-handle junction",
|
| 572 |
+
"mask_color": "Yellow",
|
| 573 |
+
"graspable": false,
|
| 574 |
+
"grasp_scenarios": [],
|
| 575 |
+
"functional_labels": [
|
| 576 |
+
"connect blade to handle",
|
| 577 |
+
"form the transition between blade and handle",
|
| 578 |
+
"help define the finger stop area"
|
| 579 |
+
],
|
| 580 |
+
"semantic_description": "Small narrow metal transition area at the blade-handle junction, silver and slightly reflective, visible as a thin section between the black handle and silver blade.",
|
| 581 |
+
"id": 3,
|
| 582 |
+
"grasp_group": {}
|
| 583 |
+
},
|
| 584 |
+
{
|
| 585 |
+
"part_name": "blade logo marking",
|
| 586 |
+
"mask_color": "Red",
|
| 587 |
+
"graspable": false,
|
| 588 |
+
"grasp_scenarios": [],
|
| 589 |
+
"functional_labels": [
|
| 590 |
+
"brand marking",
|
| 591 |
+
"visual identification"
|
| 592 |
+
],
|
| 593 |
+
"semantic_description": "Small printed or etched logo mark on the flat face of the silver blade, appearing as a tiny localized dark marking near the middle-to-base region depending on view.",
|
| 594 |
+
"id": 0,
|
| 595 |
+
"grasp_group": {}
|
| 596 |
+
}
|
| 597 |
+
],
|
| 598 |
+
"quality_check": {
|
| 599 |
+
"success": true,
|
| 600 |
+
"message": "YES"
|
| 601 |
+
}
|
| 602 |
+
}
|
dataset/kitchen_supplies/cutting_tools/da85e229c7bc5c2590341aadf06219d6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:91f466229e5d107e99716c61877c81233885252afdb831c59fe1ea9208353517
|
| 3 |
+
size 328180
|