Add asset kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2
Browse files
.gitattributes
CHANGED
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@@ -7053,4 +7053,4 @@ dataset/kitchen_supplies/cutting_tools/da85e229c7bc5c2590341aadf06219d6/affordan
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| 7053 |
dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7054 |
dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7055 |
dataset/kitchen_supplies/cutting_tools/e2b7bbd670bc5533969440f1afcb397b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7056 |
-
dataset/kitchen_supplies/cutting_tools/
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| 7053 |
dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7054 |
dataset/kitchen_supplies/cutting_tools/db493fe029f25201b64ae08924e700aa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7055 |
dataset/kitchen_supplies/cutting_tools/e2b7bbd670bc5533969440f1afcb397b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7056 |
+
dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1100 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "blade cartridge",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the blade cartridge carefully at the blunt side ends to replace or clean the cutting head",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cartridge lightly to stabilize the peeler during maintenance",
|
| 14 |
+
"confidence": 0.2
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide cutting edge",
|
| 19 |
+
"contact produce surface",
|
| 20 |
+
"remove thin outer layers",
|
| 21 |
+
"peel vegetable skin"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rectangular silver metal blade unit with a reflective smooth finish and a straight cutting slot, mounted transversely across the peeler head.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_20": {
|
| 27 |
+
"confidence": 0.91649329662323,
|
| 28 |
+
"position": [
|
| 29 |
+
0.09091099258512259,
|
| 30 |
+
-0.09846007311716676,
|
| 31 |
+
0.001613259823898261
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.3590349633819621,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.6152895036255024,
|
| 37 |
+
0.3614349685284898,
|
| 38 |
+
0.6015625365017389
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_21": {
|
| 43 |
+
"confidence": 0.9013374447822571,
|
| 44 |
+
"position": [
|
| 45 |
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0.047608318738639355,
|
| 46 |
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0.11009415751323104,
|
| 47 |
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-0.0007441287316396483
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
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"w": 0.4925266957584629,
|
| 51 |
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"xyz": [
|
| 52 |
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0.5064822594115719,
|
| 53 |
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0.4911738917647036,
|
| 54 |
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|
| 55 |
+
]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_22": {
|
| 59 |
+
"confidence": 0.8946120142936707,
|
| 60 |
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"position": [
|
| 61 |
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0.04546578507870436,
|
| 62 |
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0.10836968338117003,
|
| 63 |
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|
| 64 |
+
],
|
| 65 |
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"orientation": {
|
| 66 |
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|
| 67 |
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|
| 68 |
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0.4716778172465194,
|
| 69 |
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|
| 70 |
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0.5046373835117762
|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_26": {
|
| 75 |
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"confidence": 0.8443978428840637,
|
| 76 |
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"position": [
|
| 77 |
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0.05163288023322821,
|
| 78 |
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-0.10815718257799745,
|
| 79 |
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0.0003765146966543398
|
| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.48329695630633807,
|
| 83 |
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"xyz": [
|
| 84 |
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-0.5234720104626314,
|
| 85 |
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0.4687923737769164,
|
| 86 |
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0.5221444403379628
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
}
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"part_name": "head frame",
|
| 94 |
+
"mask_color": "Orange",
|
| 95 |
+
"graspable": true,
|
| 96 |
+
"grasp_scenarios": [
|
| 97 |
+
{
|
| 98 |
+
"scenario": "grasp the head frame to reposition the peeler during cleaning or inspection",
|
| 99 |
+
"confidence": 0.4
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "hold the head frame to stabilize the tool while accessing the blade area",
|
| 103 |
+
"confidence": 0.33
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"support blade cartridge",
|
| 108 |
+
"connect blade to handle",
|
| 109 |
+
"protect blade mount",
|
| 110 |
+
"guide peeling angle"
|
| 111 |
+
],
|
| 112 |
+
"semantic_description": "U-shaped dark gray to black plastic frame with a matte smooth surface, surrounding the blade at the front of the peeler.",
|
| 113 |
+
"id": 4,
|
| 114 |
+
"grasp_group": {
|
| 115 |
+
"grasp_41": {
|
| 116 |
+
"confidence": 0.928914487361908,
|
| 117 |
+
"position": [
|
| 118 |
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0.12172821070998907,
|
| 119 |
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0.06681699818000197,
|
| 120 |
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0.008165391554030066
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
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"w": 0.6313066685068123,
|
| 124 |
+
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|
| 125 |
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0.08495715124801992,
|
| 126 |
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-0.7292598464078981,
|
| 127 |
+
0.24982843946952682
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
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},
|
| 131 |
+
"grasp_42": {
|
| 132 |
+
"confidence": 0.9168114066123962,
|
| 133 |
+
"position": [
|
| 134 |
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0.03258188348263502,
|
| 135 |
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0.11107656126841903,
|
| 136 |
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0.022454400007518416
|
| 137 |
+
],
|
| 138 |
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"orientation": {
|
| 139 |
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"w": 0.4434182849186817,
|
| 140 |
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|
| 141 |
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0.5824453419612384,
|
| 142 |
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0.5131795482288205,
|
| 143 |
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-0.4480897226082008
|
| 144 |
+
]
|
| 145 |
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}
|
| 146 |
+
},
|
| 147 |
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"grasp_43": {
|
| 148 |
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"confidence": 0.9070845246315002,
|
| 149 |
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"position": [
|
| 150 |
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0.018882018513977528,
|
| 151 |
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-0.10712617123499513,
|
| 152 |
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0.00048503508060093736
|
| 153 |
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],
|
| 154 |
+
"orientation": {
|
| 155 |
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"w": 0.47285000675930716,
|
| 156 |
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|
| 157 |
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-0.508240022472822,
|
| 158 |
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-0.501156917886284,
|
| 159 |
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|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
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},
|
| 163 |
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"grasp_45": {
|
| 164 |
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"confidence": 0.8929067254066467,
|
| 165 |
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"position": [
|
| 166 |
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0.02689208183437586,
|
| 167 |
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-0.1080281981267035,
|
| 168 |
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0.0023742084586046985
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
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"w": 0.49753230017070404,
|
| 172 |
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"xyz": [
|
| 173 |
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-0.5011133320829443,
|
| 174 |
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-0.513721737746945,
|
| 175 |
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-0.4872750915672134
|
| 176 |
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]
|
| 177 |
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}
|
| 178 |
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},
|
| 179 |
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"grasp_47": {
|
| 180 |
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"confidence": 0.855954647064209,
|
| 181 |
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"position": [
|
| 182 |
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0.0678081763908267,
|
| 183 |
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-0.10590849304571748,
|
| 184 |
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-0.006605003102777118
|
| 185 |
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],
|
| 186 |
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"orientation": {
|
| 187 |
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"w": 0.39577277678798767,
|
| 188 |
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"xyz": [
|
| 189 |
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-0.5836625213059139,
|
| 190 |
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0.3679828428360048,
|
| 191 |
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0.6060450459781695
|
| 192 |
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]
|
| 193 |
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}
|
| 194 |
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},
|
| 195 |
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"grasp_59": {
|
| 196 |
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"confidence": 0.5363145470619202,
|
| 197 |
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"position": [
|
| 198 |
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0.02743400726467371,
|
| 199 |
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0.09716203575953841,
|
| 200 |
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0.00029967517093609786
|
| 201 |
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],
|
| 202 |
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"orientation": {
|
| 203 |
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"w": 0.48942900304799125,
|
| 204 |
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"xyz": [
|
| 205 |
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0.514660547402157,
|
| 206 |
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0.4821995186195538,
|
| 207 |
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-0.512900961362164
|
| 208 |
+
]
|
| 209 |
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}
|
| 210 |
+
}
|
| 211 |
+
}
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"part_name": "main handle body",
|
| 215 |
+
"mask_color": "Pink",
|
| 216 |
+
"graspable": true,
|
| 217 |
+
"grasp_scenarios": [
|
| 218 |
+
{
|
| 219 |
+
"scenario": "grasp the handle body to pick up and use the peeler",
|
| 220 |
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"confidence": 0.97
|
| 221 |
+
},
|
| 222 |
+
{
|
| 223 |
+
"scenario": "hold the handle to orient the blade for peeling",
|
| 224 |
+
"confidence": 0.96
|
| 225 |
+
},
|
| 226 |
+
{
|
| 227 |
+
"scenario": "grasp the handle to store or relocate the tool",
|
| 228 |
+
"confidence": 0.94
|
| 229 |
+
}
|
| 230 |
+
],
|
| 231 |
+
"functional_labels": [
|
| 232 |
+
"main grip",
|
| 233 |
+
"support manipulation",
|
| 234 |
+
"transmit hand force to blade",
|
| 235 |
+
"provide overall structure"
|
| 236 |
+
],
|
| 237 |
+
"semantic_description": "Elongated light gray to white plastic handle body with a mostly matte hard surface, gently curved tapered shape, medium size, and printed branding near the center.",
|
| 238 |
+
"id": 8,
|
| 239 |
+
"grasp_group": {
|
| 240 |
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"grasp_100": {
|
| 241 |
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"confidence": 0.9661259651184082,
|
| 242 |
+
"position": [
|
| 243 |
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-0.07027768436819315,
|
| 244 |
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0.09143336629495025,
|
| 245 |
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-0.009940325821844453
|
| 246 |
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],
|
| 247 |
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"orientation": {
|
| 248 |
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"w": 0.6009023895605797,
|
| 249 |
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|
| 250 |
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0.388458887393983,
|
| 251 |
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0.5649685169421594,
|
| 252 |
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|
| 253 |
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]
|
| 254 |
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}
|
| 255 |
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},
|
| 256 |
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"grasp_104": {
|
| 257 |
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"confidence": 0.9613291621208191,
|
| 258 |
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|
| 259 |
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|
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|
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0.0124677414269172
|
| 262 |
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],
|
| 263 |
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"orientation": {
|
| 264 |
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|
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|
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|
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0.7079317215509933,
|
| 268 |
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0.16469589519234734
|
| 269 |
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]
|
| 270 |
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}
|
| 271 |
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},
|
| 272 |
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"grasp_105": {
|
| 273 |
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"confidence": 0.9603525996208191,
|
| 274 |
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"position": [
|
| 275 |
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|
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0.08646165346726775,
|
| 277 |
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|
| 278 |
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],
|
| 279 |
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"orientation": {
|
| 280 |
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|
| 281 |
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|
| 282 |
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0.3423311134996646,
|
| 283 |
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0.6074200267103007,
|
| 284 |
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|
| 285 |
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]
|
| 286 |
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}
|
| 287 |
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},
|
| 288 |
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"grasp_106": {
|
| 289 |
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"confidence": 0.9600546360015869,
|
| 290 |
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"position": [
|
| 291 |
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],
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],
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{
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"retain blade assembly",
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| 1088 |
+
"act as axle or stop",
|
| 1089 |
+
"support head structure"
|
| 1090 |
+
],
|
| 1091 |
+
"semantic_description": "Tiny cylindrical light gray projection with a smooth hard surface, protruding from the opposite side of the head near the blade mount.",
|
| 1092 |
+
"id": 0,
|
| 1093 |
+
"grasp_group": {}
|
| 1094 |
+
}
|
| 1095 |
+
],
|
| 1096 |
+
"quality_check": {
|
| 1097 |
+
"success": false,
|
| 1098 |
+
"message": "Thumb rest, hanging hole rim, and side nub descriptions/functions mismatch visible parts and colors."
|
| 1099 |
+
}
|
| 1100 |
+
}
|
dataset/kitchen_supplies/cutting_tools/e3f69af1e63e51f09c475df34cbf64e2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e376896b638abb6a32c712102df1254a94f621e38c6333039dd30461f59424b6
|
| 3 |
+
size 3786160
|