Add asset kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8
Browse files- .gitattributes +1 -1
- dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/affordance/affordance_annot.json +275 -0
- dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.urdf +1 -0
.gitattributes
CHANGED
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@@ -7029,4 +7029,4 @@ dataset/kitchen_supplies/cutting_tools/9e09da6301c05ef1b4759bd2e57f0291/affordan
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| 7029 |
dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7030 |
dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7031 |
dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7032 |
-
dataset/kitchen_supplies/cutting_tools/
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| 7029 |
dataset/kitchen_supplies/cutting_tools/9eaa9260bd2b5ed19159274b5dcb4dfa/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7030 |
dataset/kitchen_supplies/cutting_tools/a3899e7b138457b79d2da6f02a1132ad/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7031 |
dataset/kitchen_supplies/cutting_tools/a54cc94d8f255182b9ea3b53a86e3d33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7032 |
+
dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/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 |
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"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"cut food",
|
| 10 |
+
"slice ingredients",
|
| 11 |
+
"pierce soft items",
|
| 12 |
+
"provide the main cutting edge"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Long silver metal blade with a smooth reflective finish, broad profile, and pointed tip, with printed branding near the base.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
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{
|
| 19 |
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"part_name": "knife handle",
|
| 20 |
+
"mask_color": "Green",
|
| 21 |
+
"graspable": true,
|
| 22 |
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"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
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"scenario": "grasp the handle to pick up and use the knife",
|
| 25 |
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"confidence": 0.98
|
| 26 |
+
},
|
| 27 |
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{
|
| 28 |
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"scenario": "hold the handle to control blade orientation during cutting",
|
| 29 |
+
"confidence": 0.97
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
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"scenario": "grasp the handle to move or place the knife into storage",
|
| 33 |
+
"confidence": 0.9
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"provide the main grip",
|
| 38 |
+
"control the blade",
|
| 39 |
+
"stabilize the knife during use",
|
| 40 |
+
"keep the hand away from the cutting edge"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Curved black handle made of smooth hard material, medium length, attached at the rear of the knife, with visible metal rivets and a metal butt/end cap.",
|
| 43 |
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"id": 1,
|
| 44 |
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"grasp_group": {
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| 45 |
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| 46 |
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| 47 |
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| 51 |
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| 59 |
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}
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| 60 |
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},
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"grasp_2": {
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],
|
| 244 |
+
"orientation": {
|
| 245 |
+
"w": 0.523132948312543,
|
| 246 |
+
"xyz": [
|
| 247 |
+
0.49123894771258997,
|
| 248 |
+
-0.5482754059845246,
|
| 249 |
+
0.42943019669389576
|
| 250 |
+
]
|
| 251 |
+
}
|
| 252 |
+
}
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"part_name": "bolster",
|
| 257 |
+
"mask_color": "Purple",
|
| 258 |
+
"graspable": false,
|
| 259 |
+
"grasp_scenarios": [],
|
| 260 |
+
"functional_labels": [
|
| 261 |
+
"connect blade to handle",
|
| 262 |
+
"reinforce the blade-handle joint",
|
| 263 |
+
"act as a finger stop",
|
| 264 |
+
"aid balance near the grip"
|
| 265 |
+
],
|
| 266 |
+
"semantic_description": "Small silver-gray metal section between the blade and handle, smooth and slightly reflective, forming the transition at the knife joint.",
|
| 267 |
+
"id": 5,
|
| 268 |
+
"grasp_group": {}
|
| 269 |
+
}
|
| 270 |
+
],
|
| 271 |
+
"quality_check": {
|
| 272 |
+
"success": true,
|
| 273 |
+
"message": "YES"
|
| 274 |
+
}
|
| 275 |
+
}
|
dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ee67618b05345589096ba096fe274145c4dcf25c24b7c14bb960d6ac34dcab78
|
| 3 |
+
size 3780220
|
dataset/kitchen_supplies/cutting_tools/a9d10facb8375ad5af2cfdf9f1cdc6b8/fruit_knife_023.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>
|
|
|
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 58 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 59 |
</geometry>
|
| 60 |
</visual_seg>
|
| 61 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 62 |
</affordance>
|
| 63 |
<quality>
|
| 64 |
<PartSegChecker>YES</PartSegChecker>
|