Add asset kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/affordance/affordance_annot.json +307 -0
- dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/fruit_knife_039.urdf +1 -0
.gitattributes
CHANGED
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@@ -7057,3 +7057,4 @@ dataset/kitchen_supplies/cutting_tools/eba1fcfcd3e95716aa9f15e29646d04c/affordan
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| 7057 |
dataset/kitchen_supplies/cutting_tools/ef490b5b26dc507f9e55dbb53a8f2e3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7058 |
dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7059 |
dataset/kitchen_supplies/cutting_tools/f0a38e858e795fbfb1f35a7fb93fd131/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7057 |
dataset/kitchen_supplies/cutting_tools/ef490b5b26dc507f9e55dbb53a8f2e3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7058 |
dataset/kitchen_supplies/cutting_tools/ef7c4755f27f51e4a52bcbd16a4e5b20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7059 |
dataset/kitchen_supplies/cutting_tools/f0a38e858e795fbfb1f35a7fb93fd131/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7060 |
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dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "knife blade",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"provide cutting edge",
|
| 10 |
+
"slice food",
|
| 11 |
+
"cut fruit and vegetables",
|
| 12 |
+
"pierce food"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Short silver stainless-steel blade with a smooth reflective finish, broad curved profile, pointed tip, and shallow granton-style hollows along one side. Dark printed branding is visible near the handle.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "knife bolster",
|
| 20 |
+
"mask_color": "Blue",
|
| 21 |
+
"graspable": false,
|
| 22 |
+
"grasp_scenarios": [],
|
| 23 |
+
"functional_labels": [
|
| 24 |
+
"connect blade to handle",
|
| 25 |
+
"reinforce blade-handle joint",
|
| 26 |
+
"provide finger stop",
|
| 27 |
+
"support load transfer"
|
| 28 |
+
],
|
| 29 |
+
"semantic_description": "Small silver metal transition section between the blade and handle, with a smooth reflective surface and narrow collar-like shape at the knife neck.",
|
| 30 |
+
"id": 2,
|
| 31 |
+
"grasp_group": {}
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"part_name": "knife handle",
|
| 35 |
+
"mask_color": "Yellow",
|
| 36 |
+
"graspable": true,
|
| 37 |
+
"grasp_scenarios": [
|
| 38 |
+
{
|
| 39 |
+
"scenario": "grasp the handle to pick up and use the knife safely",
|
| 40 |
+
"confidence": 0.98
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"scenario": "hold the handle to orient and control the blade during cutting",
|
| 44 |
+
"confidence": 0.97
|
| 45 |
+
},
|
| 46 |
+
{
|
| 47 |
+
"scenario": "grasp the handle to pass, store, or reposition the knife while avoiding the blade",
|
| 48 |
+
"confidence": 0.94
|
| 49 |
+
}
|
| 50 |
+
],
|
| 51 |
+
"functional_labels": [
|
| 52 |
+
"provide safe grip",
|
| 53 |
+
"control cutting direction",
|
| 54 |
+
"support manipulation",
|
| 55 |
+
"balance the knife"
|
| 56 |
+
],
|
| 57 |
+
"semantic_description": "Curved black handle with a smooth slightly glossy surface, ergonomic medium-size shape, two visible metal rivets, and a light-colored metal end cap or hook-like butt at the rear.",
|
| 58 |
+
"id": 3,
|
| 59 |
+
"grasp_group": {
|
| 60 |
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"grasp_0": {
|
| 61 |
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"confidence": 0.9823185205459595,
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| 62 |
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"position": [
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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],
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| 67 |
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"orientation": {
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"w": 0.35073286417515837,
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| 69 |
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"xyz": [
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| 71 |
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| 72 |
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| 73 |
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]
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| 74 |
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}
|
| 75 |
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},
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| 76 |
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"grasp_1": {
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| 77 |
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"confidence": 0.9821727871894836,
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"position": [
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],
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"orientation": {
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"xyz": [
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| 89 |
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]
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| 90 |
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}
|
| 91 |
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},
|
| 92 |
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"grasp_2": {
|
| 93 |
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"confidence": 0.9821256399154663,
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| 94 |
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"position": [
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| 95 |
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|
| 96 |
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| 97 |
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| 98 |
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],
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"orientation": {
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"grasp_5": {
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"confidence": 0.9811652898788452,
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"orientation": {
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]
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},
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"grasp_6": {
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| 125 |
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"confidence": 0.9811541438102722,
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"orientation": {
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},
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"grasp_7": {
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"confidence": 0.9798375964164734,
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"orientation": {
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"grasp_10": {
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"grasp_12": {
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| 205 |
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dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/affordance/mesh_part_seg.glb
ADDED
|
@@ -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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oid sha256:72c3183cc1d8ceca81adb1d503e2f085c5698a30482a8e32c0edc1b32a1198f8
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| 3 |
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size 3764312
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dataset/kitchen_supplies/cutting_tools/f0fabca37d6456178f293e238ea1dcb8/fruit_knife_039.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
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|
|
|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
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|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 58 |
</geometry>
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| 59 |
</visual_seg>
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<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 61 |
</affordance>
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| 62 |
<quality>
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| 63 |
<PartSegChecker>YES</PartSegChecker>
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