Add asset kitchen_supplies/cutting_tools/ed8a8cec4aa55c38b10b1dae53afe97e
Browse files
.gitattributes
CHANGED
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@@ -7054,3 +7054,4 @@ dataset/kitchen_supplies/cutting_tools/ddb30c644de453c98f37fee537825b9f/affordan
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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/eba1fcfcd3e95716aa9f15e29646d04c/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/eba1fcfcd3e95716aa9f15e29646d04c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7057 |
+
dataset/kitchen_supplies/cutting_tools/ed8a8cec4aa55c38b10b1dae53afe97e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/ed8a8cec4aa55c38b10b1dae53afe97e/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 |
+
{
|
| 9 |
+
"scenario": "avoid grasping the blade during pickup because it is the cutting edge and unsafe for stable robotic handling",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "contact only incidentally near the dull spine or blade base during constrained reorientation, not as a primary grasp",
|
| 14 |
+
"confidence": 0.22
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cut",
|
| 19 |
+
"slice",
|
| 20 |
+
"pierce",
|
| 21 |
+
"provide the sharpened working edge",
|
| 22 |
+
"separate material"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Long silver metal blade with a reflective smooth finish and hard surface, tapering to a pointed tip at the front of the knife, with a narrow flat profile and faint visible markings near the base.",
|
| 25 |
+
"id": 0,
|
| 26 |
+
"grasp_group": {}
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"part_name": "knife handle",
|
| 30 |
+
"mask_color": "Green",
|
| 31 |
+
"graspable": true,
|
| 32 |
+
"grasp_scenarios": [
|
| 33 |
+
{
|
| 34 |
+
"scenario": "grasp the handle to pick up and wield the knife safely",
|
| 35 |
+
"confidence": 0.98
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"scenario": "hold the handle to stabilize and orient the knife for cutting",
|
| 39 |
+
"confidence": 0.97
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"scenario": "grasp the handle to place the knife into storage or a holder",
|
| 43 |
+
"confidence": 0.94
|
| 44 |
+
}
|
| 45 |
+
],
|
| 46 |
+
"functional_labels": [
|
| 47 |
+
"provide a safe grip",
|
| 48 |
+
"support controlled cutting",
|
| 49 |
+
"stabilize the knife",
|
| 50 |
+
"connect hand or gripper to blade"
|
| 51 |
+
],
|
| 52 |
+
"semantic_description": "Rounded black handle, likely plastic or composite, with a smooth slightly glossy hard surface, elongated ergonomic shape at the rear of the knife, and visible metal rivets.",
|
| 53 |
+
"id": 1,
|
| 54 |
+
"grasp_group": {
|
| 55 |
+
"grasp_0": {
|
| 56 |
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"confidence": 0.9898430705070496,
|
| 57 |
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"position": [
|
| 58 |
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0.10256120702251792,
|
| 59 |
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| 60 |
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|
| 61 |
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],
|
| 62 |
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"orientation": {
|
| 63 |
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"w": 0.011267618727844608,
|
| 64 |
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"xyz": [
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| 65 |
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| 66 |
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-0.026036965604934403,
|
| 67 |
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|
| 68 |
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]
|
| 69 |
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}
|
| 70 |
+
},
|
| 71 |
+
"grasp_1": {
|
| 72 |
+
"confidence": 0.9897565245628357,
|
| 73 |
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"position": [
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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],
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| 78 |
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"orientation": {
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"w": 0.010285271553670343,
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"xyz": [
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| 83 |
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| 84 |
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]
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| 85 |
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}
|
| 86 |
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},
|
| 87 |
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"grasp_2": {
|
| 88 |
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"confidence": 0.9886172413825989,
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| 89 |
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"position": [
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| 90 |
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| 91 |
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| 92 |
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|
| 93 |
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],
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| 94 |
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"orientation": {
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"w": 0.5912007374059091,
|
| 96 |
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"xyz": [
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| 100 |
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]
|
| 101 |
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}
|
| 102 |
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},
|
| 103 |
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"grasp_3": {
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| 104 |
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"confidence": 0.9877190589904785,
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| 105 |
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"position": [
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"grasp_5": {
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"confidence": 0.9874048829078674,
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"grasp_6": {
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],
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| 264 |
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| 280 |
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| 281 |
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| 282 |
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| 283 |
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|
| 284 |
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|
| 285 |
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| 286 |
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|
dataset/kitchen_supplies/cutting_tools/ed8a8cec4aa55c38b10b1dae53afe97e/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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| 2 |
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oid sha256:001e6a92cc9032d3c0506a7181725af3b5595018201d310dc491da2aae773be4
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| 3 |
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size 233532
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