Add asset kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61
Browse files
.gitattributes
CHANGED
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@@ -8389,3 +8389,4 @@ dataset/kitchen_supplies/cutting_tools/266fad8dd2f055a49b421a1e978f231f/affordan
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| 8389 |
dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8390 |
dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8391 |
dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8389 |
dataset/kitchen_supplies/cutting_tools/2777c619174e5d8b98d39036f0d2f2cf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8390 |
dataset/kitchen_supplies/cutting_tools/2b31d2b77de6519984cd4320750e2e07/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8391 |
dataset/kitchen_supplies/cutting_tools/31139df982ac5b7e92086b4bd37e8b1c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8392 |
+
dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,478 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "knife handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the curved handle to pick up and control the knife during use",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the blade for cutting or repositioning tasks",
|
| 14 |
+
"confidence": 0.97
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grip the handle to pass or store the knife more safely than holding the blade",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a safe grip",
|
| 23 |
+
"control blade orientation",
|
| 24 |
+
"support cutting force transfer",
|
| 25 |
+
"keep hand away from the edge"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Reddish-brown to orange handle scales, likely wood or wood-look material, with a smooth slightly glossy hard finish and visible metal rivets, forming the curved hand grip on the knife.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_20": {
|
| 31 |
+
"confidence": 0.9686047434806824,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.11979173077270389,
|
| 34 |
+
0.14696833916241303,
|
| 35 |
+
0.0006387774715221894
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.14051981252947573,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.6949422731851886,
|
| 41 |
+
-0.12486998197046639,
|
| 42 |
+
0.6940582877752989
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_22": {
|
| 47 |
+
"confidence": 0.9670645594596863,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.11399211687967181,
|
| 50 |
+
0.16636433132225648,
|
| 51 |
+
0.0008408174267060531
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.061429620559168965,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.7027792493589623,
|
| 57 |
+
-0.03761119155930304,
|
| 58 |
+
0.7077521647143863
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_23": {
|
| 63 |
+
"confidence": 0.966880738735199,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.11533269239589572,
|
| 66 |
+
0.1607902241521515,
|
| 67 |
+
-0.00044451477015172713
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.7068490059873132,
|
| 71 |
+
"xyz": [
|
| 72 |
+
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|
| 73 |
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|
| 74 |
+
-0.035462749358556124
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_24": {
|
| 79 |
+
"confidence": 0.9668239951133728,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.11483730329200625,
|
| 82 |
+
0.17027394898468629,
|
| 83 |
+
-0.007394780905542575
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.731357691097372,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.05350435766317786,
|
| 89 |
+
0.6774636893016734,
|
| 90 |
+
-0.05741220307162457
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_25": {
|
| 95 |
+
"confidence": 0.9653283953666687,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.11805935902521014,
|
| 98 |
+
0.1408448112779297,
|
| 99 |
+
0.00013935558081357158
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.7002377381741919,
|
| 103 |
+
"xyz": [
|
| 104 |
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0.047936965227892536,
|
| 105 |
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0.7108252637595478,
|
| 106 |
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-0.04578866456450381
|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
+
"grasp_26": {
|
| 111 |
+
"confidence": 0.9645781517028809,
|
| 112 |
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"position": [
|
| 113 |
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-0.11773416353389621,
|
| 114 |
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0.1365401042276062,
|
| 115 |
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-0.003628368524459802
|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.7164581436978597,
|
| 119 |
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"xyz": [
|
| 120 |
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0.02587779779349502,
|
| 121 |
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0.6967930569551928,
|
| 122 |
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-0.02230479072784682
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
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"grasp_28": {
|
| 127 |
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"confidence": 0.964396059513092,
|
| 128 |
+
"position": [
|
| 129 |
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-0.11254383577033877,
|
| 130 |
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0.16602120228344575,
|
| 131 |
+
7.705287998760468e-05
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.19105631952008958,
|
| 135 |
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"xyz": [
|
| 136 |
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0.6785594050173112,
|
| 137 |
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-0.1748727922271046,
|
| 138 |
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0.6873675313634523
|
| 139 |
+
]
|
| 140 |
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}
|
| 141 |
+
},
|
| 142 |
+
"grasp_29": {
|
| 143 |
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"confidence": 0.9639588594436646,
|
| 144 |
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"position": [
|
| 145 |
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-0.11962596280500293,
|
| 146 |
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0.06730750628048554,
|
| 147 |
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-0.00017803304081098759
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.7057347128679421,
|
| 151 |
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"xyz": [
|
| 152 |
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0.01702353433664388,
|
| 153 |
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0.7082230072380906,
|
| 154 |
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-0.008299780149367657
|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
+
"grasp_30": {
|
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"message": "Part identities are swapped: green mask is blade, red mask is handle."
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| 477 |
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}
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}
|
dataset/kitchen_supplies/cutting_tools/35c1ed8fa9e552d59d9c9d5069496a61/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 |
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oid sha256:c016a4a4f6457927ac8b867ae95739f5a46daa38ae6009bbaa2b38ef2353ef32
|
| 3 |
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size 414052
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