Add asset kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d
Browse files
.gitattributes
CHANGED
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@@ -7008,3 +7008,4 @@ dataset/kitchen_supplies/cutting_tools/58e76620a8c15aa193a87f7cb9122031/affordan
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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/65ded07e2dd25046ab569a866f295c8f/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/65ded07e2dd25046ab569a866f295c8f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7011 |
+
dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/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": "pinch the blunt spine area of the blade to reorient the knife during manipulation",
|
| 10 |
+
"confidence": 0.32
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "secure the blade near the flat sides with a protective gripper for packaging or handoff",
|
| 14 |
+
"confidence": 0.27
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cut fruit",
|
| 19 |
+
"slice soft food",
|
| 20 |
+
"provide the cutting edge",
|
| 21 |
+
"pierce and score food",
|
| 22 |
+
"support precise tip work"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Short silver metal blade with a reflective smooth finish, hard surface, scalloped granton-like dimples, pointed tip, and small printed characters near the handle on the front cutting section.",
|
| 25 |
+
"id": 0,
|
| 26 |
+
"grasp_group": {
|
| 27 |
+
"grasp_2": {
|
| 28 |
+
"confidence": 0.9883233308792114,
|
| 29 |
+
"position": [
|
| 30 |
+
-0.1371728591620922,
|
| 31 |
+
-0.11356927268207073,
|
| 32 |
+
0.0008286755764856935
|
| 33 |
+
],
|
| 34 |
+
"orientation": {
|
| 35 |
+
"w": 0.48161779286288536,
|
| 36 |
+
"xyz": [
|
| 37 |
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-0.5230560816374584,
|
| 38 |
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0.4771130463919646,
|
| 39 |
+
0.5165460076532686
|
| 40 |
+
]
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"grasp_4": {
|
| 44 |
+
"confidence": 0.9870327711105347,
|
| 45 |
+
"position": [
|
| 46 |
+
-0.14357786253094673,
|
| 47 |
+
-0.11691799573600292,
|
| 48 |
+
-0.009456627070903778
|
| 49 |
+
],
|
| 50 |
+
"orientation": {
|
| 51 |
+
"w": 0.5527833481717603,
|
| 52 |
+
"xyz": [
|
| 53 |
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-0.4624110419873786,
|
| 54 |
+
-0.49775051453204266,
|
| 55 |
+
-0.48254639519454756
|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"grasp_5": {
|
| 60 |
+
"confidence": 0.9869001507759094,
|
| 61 |
+
"position": [
|
| 62 |
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-0.13583232834935188,
|
| 63 |
+
-0.11766679398715496,
|
| 64 |
+
-0.005663000512868166
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.503601374295718,
|
| 68 |
+
"xyz": [
|
| 69 |
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-0.5014640330861266,
|
| 70 |
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0.4770731157418957,
|
| 71 |
+
0.5170306775857499
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_9": {
|
| 76 |
+
"confidence": 0.9853003621101379,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.1543792299926281,
|
| 79 |
+
0.08618943579494953,
|
| 80 |
+
0.016354302875697613
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.4498759038689242,
|
| 84 |
+
"xyz": [
|
| 85 |
+
0.5649749904853133,
|
| 86 |
+
-0.4880711345505455,
|
| 87 |
+
0.49010355932474303
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_11": {
|
| 92 |
+
"confidence": 0.9848678708076477,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.12332012131810188,
|
| 95 |
+
-0.117611950263381,
|
| 96 |
+
-0.005086274351924658
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.5125984914827797,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.49960142599579194,
|
| 102 |
+
0.47454215548293843,
|
| 103 |
+
0.5122996626410721
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_17": {
|
| 108 |
+
"confidence": 0.9839351773262024,
|
| 109 |
+
"position": [
|
| 110 |
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-0.1326541043817997,
|
| 111 |
+
0.08829404599964619,
|
| 112 |
+
0.008693157695233822
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.49376544827780106,
|
| 116 |
+
"xyz": [
|
| 117 |
+
0.49889341764164336,
|
| 118 |
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0.5449183081139638,
|
| 119 |
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-0.45865572862777815
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
}
|
| 123 |
+
}
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"part_name": "knife handle",
|
| 127 |
+
"mask_color": "Green",
|
| 128 |
+
"graspable": true,
|
| 129 |
+
"grasp_scenarios": [
|
| 130 |
+
{
|
| 131 |
+
"scenario": "grasp the handle to pick up and carry the knife safely",
|
| 132 |
+
"confidence": 0.98
|
| 133 |
+
},
|
| 134 |
+
{
|
| 135 |
+
"scenario": "hold the handle to orient the blade for cutting tasks",
|
| 136 |
+
"confidence": 0.97
|
| 137 |
+
},
|
| 138 |
+
{
|
| 139 |
+
"scenario": "grip the handle to place the knife into storage or a tray",
|
| 140 |
+
"confidence": 0.94
|
| 141 |
+
}
|
| 142 |
+
],
|
| 143 |
+
"functional_labels": [
|
| 144 |
+
"provide a safe grip",
|
| 145 |
+
"control blade orientation",
|
| 146 |
+
"keep hand away from cutting edge",
|
| 147 |
+
"support lifting and carrying",
|
| 148 |
+
"enable precise manipulation"
|
| 149 |
+
],
|
| 150 |
+
"semantic_description": "Curved brown wood handle with visible grain, a smooth semi-gloss hard surface, ergonomic contouring, and medium size at the rear of the knife for secure holding.",
|
| 151 |
+
"id": 1,
|
| 152 |
+
"grasp_group": {
|
| 153 |
+
"grasp_20": {
|
| 154 |
+
"confidence": 0.9826000332832336,
|
| 155 |
+
"position": [
|
| 156 |
+
0.039021629840135574,
|
| 157 |
+
0.09056384302675724,
|
| 158 |
+
0.043666102923452854
|
| 159 |
+
],
|
| 160 |
+
"orientation": {
|
| 161 |
+
"w": 0.2910010550475565,
|
| 162 |
+
"xyz": [
|
| 163 |
+
0.6201382108478501,
|
| 164 |
+
-0.5999675043731976,
|
| 165 |
+
0.4132626030792444
|
| 166 |
+
]
|
| 167 |
+
}
|
| 168 |
+
},
|
| 169 |
+
"grasp_21": {
|
| 170 |
+
"confidence": 0.9823901653289795,
|
| 171 |
+
"position": [
|
| 172 |
+
0.0368148498237133,
|
| 173 |
+
0.09735807217657566,
|
| 174 |
+
0.028124135918915272
|
| 175 |
+
],
|
| 176 |
+
"orientation": {
|
| 177 |
+
"w": 0.4090875607903439,
|
| 178 |
+
"xyz": [
|
| 179 |
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0.591879960404576,
|
| 180 |
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-0.5468216930252796,
|
| 181 |
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0.4281489415087364
|
| 182 |
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]
|
| 183 |
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}
|
| 184 |
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},
|
| 185 |
+
"grasp_22": {
|
| 186 |
+
"confidence": 0.9811919331550598,
|
| 187 |
+
"position": [
|
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dataset/kitchen_supplies/cutting_tools/7077ff50c73252cabf9de5c0ab08706d/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 3 |
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size 3779312
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