Add asset kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5
Browse files- .gitattributes +1 -1
- dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordance/affordance_annot.json +637 -0
- dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/fruit_knife_024.urdf +1 -0
.gitattributes
CHANGED
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@@ -8375,4 +8375,4 @@ dataset/kitchen_supplies/cookware/c6d21b856a1c5efc8d9e60ef27c73803/affordance/me
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| 8375 |
dataset/kitchen_supplies/cookware/fe20d183322d54fa93fc1aac42ec50b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8376 |
dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8377 |
dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8378 |
-
dataset/kitchen_supplies/cutting_tools/
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| 8375 |
dataset/kitchen_supplies/cookware/fe20d183322d54fa93fc1aac42ec50b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8376 |
dataset/kitchen_supplies/cutting_tools/0b6b5b1b65ab5647a1c8cf368244d8e4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8377 |
dataset/kitchen_supplies/cutting_tools/0b5ffe4c8d355756a8b94dfc0bb830a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8378 |
+
dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,637 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "blade of knife",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"cut fruit",
|
| 10 |
+
"slice soft food",
|
| 11 |
+
"pierce food",
|
| 12 |
+
"provide the sharp working edge"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Small silver metal blade with a reflective smooth finish and engraved ornamental patterning, tapering to a pointed tip at the front of the knife.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "handle",
|
| 20 |
+
"mask_color": "Purple",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the handle to pick up and control the fruit knife",
|
| 25 |
+
"confidence": 0.98
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the handle while slicing fruit on a surface",
|
| 29 |
+
"confidence": 0.97
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the handle to reposition or pass the knife safely",
|
| 33 |
+
"confidence": 0.94
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"provide a safe grip",
|
| 38 |
+
"control cutting direction",
|
| 39 |
+
"stabilize the knife during slicing",
|
| 40 |
+
"keep the hand away from the blade"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Curved silver-toned handle, likely metal, with a smooth hard finish and dense engraved floral patterning, medium-sized and located at the rear for gripping.",
|
| 43 |
+
"id": 5,
|
| 44 |
+
"grasp_group": {
|
| 45 |
+
"grasp_20": {
|
| 46 |
+
"confidence": 0.9933783411979675,
|
| 47 |
+
"position": [
|
| 48 |
+
0.03277626261115074,
|
| 49 |
+
0.09955709509085864,
|
| 50 |
+
-1.0460222256369889e-05
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.4912720854469817,
|
| 54 |
+
"xyz": [
|
| 55 |
+
0.49256749977852887,
|
| 56 |
+
-0.5087952618248746,
|
| 57 |
+
0.5071058841771214
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_21": {
|
| 62 |
+
"confidence": 0.9932833909988403,
|
| 63 |
+
"position": [
|
| 64 |
+
0.03315288946032524,
|
| 65 |
+
0.09947320155333728,
|
| 66 |
+
-0.001528008680907078
|
| 67 |
+
],
|
| 68 |
+
"orientation": {
|
| 69 |
+
"w": 0.5016291054740116,
|
| 70 |
+
"xyz": [
|
| 71 |
+
0.49015599084759326,
|
| 72 |
+
-0.505087100031567,
|
| 73 |
+
0.5029934060793032
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
+
},
|
| 77 |
+
"grasp_23": {
|
| 78 |
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dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:c28f08d86e8dcca90504abead72d278e322c32234af93b693f0389471fb157a4
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| 3 |
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size 3778880
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dataset/kitchen_supplies/cutting_tools/11c1cc9a1acb5c19b5255ed49fdf9cf5/fruit_knife_024.urdf
CHANGED
|
@@ -58,6 +58,7 @@
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
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|
|
|
| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 59 |
</geometry>
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| 60 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 62 |
</affordance>
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| 63 |
<quality>
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| 64 |
<PartSegChecker>YES</PartSegChecker>
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