Add asset kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7
Browse files
.gitattributes
CHANGED
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@@ -7044,3 +7044,4 @@ dataset/kitchen_supplies/cutting_tools/bd5f944388ca514b9ef000b2c84481d8/affordan
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| 7044 |
dataset/kitchen_supplies/cutting_tools/c2ef6437baa45d449e506dc48428e224/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7045 |
dataset/kitchen_supplies/cutting_tools/c4ab5b550965584085a829e7e4424bd0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7046 |
dataset/kitchen_supplies/cutting_tools/c99e1f702ed85812b059bbb05ba14850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7044 |
dataset/kitchen_supplies/cutting_tools/c2ef6437baa45d449e506dc48428e224/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7045 |
dataset/kitchen_supplies/cutting_tools/c4ab5b550965584085a829e7e4424bd0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7046 |
dataset/kitchen_supplies/cutting_tools/c99e1f702ed85812b059bbb05ba14850/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7047 |
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dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,384 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "blade of knife",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "carefully pinch the dull spine area to reorient the knife during sorting or placement",
|
| 10 |
+
"confidence": 0.22
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the blade near the base with a protected gripper to stabilize the knife while inspecting the handle",
|
| 14 |
+
"confidence": 0.18
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cut fruit",
|
| 19 |
+
"slice soft food",
|
| 20 |
+
"pierce food surface",
|
| 21 |
+
"provide cutting edge",
|
| 22 |
+
"guide tip-first entry"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Short silver metal blade with a smooth reflective finish and hard surface, tapering to a pointed tip at the front of the small knife and appearing clean and unmarked.",
|
| 25 |
+
"id": 0,
|
| 26 |
+
"grasp_group": {
|
| 27 |
+
"grasp_0": {
|
| 28 |
+
"confidence": 0.9895980358123779,
|
| 29 |
+
"position": [
|
| 30 |
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-0.047103799879550934,
|
| 31 |
+
-0.09629628603579476,
|
| 32 |
+
-0.00046825044773868285
|
| 33 |
+
],
|
| 34 |
+
"orientation": {
|
| 35 |
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"w": 0.5136768171786625,
|
| 36 |
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"xyz": [
|
| 37 |
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|
| 38 |
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|
| 39 |
+
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|
| 40 |
+
]
|
| 41 |
+
}
|
| 42 |
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},
|
| 43 |
+
"grasp_3": {
|
| 44 |
+
"confidence": 0.9891828894615173,
|
| 45 |
+
"position": [
|
| 46 |
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-0.04976287856698036,
|
| 47 |
+
-0.09585107659222558,
|
| 48 |
+
-0.0019826580210065003
|
| 49 |
+
],
|
| 50 |
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"orientation": {
|
| 51 |
+
"w": 0.5355364986300246,
|
| 52 |
+
"xyz": [
|
| 53 |
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-0.45748939952735873,
|
| 54 |
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|
| 55 |
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|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"grasp_5": {
|
| 60 |
+
"confidence": 0.9891486763954163,
|
| 61 |
+
"position": [
|
| 62 |
+
-0.04712609946727753,
|
| 63 |
+
-0.09614935313584283,
|
| 64 |
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-0.00717356343739084
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.5497959263529366,
|
| 68 |
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"xyz": [
|
| 69 |
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-0.4439143808127384,
|
| 70 |
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0.5240350322784635,
|
| 71 |
+
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|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_6": {
|
| 76 |
+
"confidence": 0.9891178011894226,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.0478663370013237,
|
| 79 |
+
-0.09801240806700662,
|
| 80 |
+
0.0006048524846846703
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
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"w": 0.5028067852050473,
|
| 84 |
+
"xyz": [
|
| 85 |
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-0.49824496907659627,
|
| 86 |
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0.5109765491526146,
|
| 87 |
+
0.4876886852877692
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_8": {
|
| 92 |
+
"confidence": 0.9888384342193604,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.023245036602020264,
|
| 95 |
+
-0.09635950421215966,
|
| 96 |
+
-0.0018896039946412202
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
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"w": 0.4174292360545965,
|
| 100 |
+
"xyz": [
|
| 101 |
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-0.5591424526697312,
|
| 102 |
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0.4381322854920865,
|
| 103 |
+
0.5667033182528877
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_9": {
|
| 108 |
+
"confidence": 0.9887650012969971,
|
| 109 |
+
"position": [
|
| 110 |
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-0.054961297661066055,
|
| 111 |
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-0.09386746381642297,
|
| 112 |
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-0.0036047558205609675
|
| 113 |
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],
|
| 114 |
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"orientation": {
|
| 115 |
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"w": 0.5540613330441164,
|
| 116 |
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"xyz": [
|
| 117 |
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-0.43993869464647734,
|
| 118 |
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0.5397456955578752,
|
| 119 |
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|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_10": {
|
| 124 |
+
"confidence": 0.9887464642524719,
|
| 125 |
+
"position": [
|
| 126 |
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-0.04097744822502136,
|
| 127 |
+
-0.09668108617188409,
|
| 128 |
+
0.00048279675320372917
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.5256938200439515,
|
| 132 |
+
"xyz": [
|
| 133 |
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-0.4576248837388246,
|
| 134 |
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0.5403154098554867,
|
| 135 |
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0.47147081693708476
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_14": {
|
| 140 |
+
"confidence": 0.9882882237434387,
|
| 141 |
+
"position": [
|
| 142 |
+
-0.036733830347657204,
|
| 143 |
+
-0.09669561480404809,
|
| 144 |
+
-0.0033147473259305116
|
| 145 |
+
],
|
| 146 |
+
"orientation": {
|
| 147 |
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"w": 0.5460809660567237,
|
| 148 |
+
"xyz": [
|
| 149 |
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-0.46515626778991176,
|
| 150 |
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0.5238282756949042,
|
| 151 |
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0.4593791055640417
|
| 152 |
+
]
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
"grasp_15": {
|
| 156 |
+
"confidence": 0.988210916519165,
|
| 157 |
+
"position": [
|
| 158 |
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-0.04073885828256607,
|
| 159 |
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0.09642090107081458,
|
| 160 |
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-0.001214085230458295
|
| 161 |
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],
|
| 162 |
+
"orientation": {
|
| 163 |
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"w": 0.507813655287848,
|
| 164 |
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"xyz": [
|
| 165 |
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0.5015748194681896,
|
| 166 |
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-0.48340672092099657,
|
| 167 |
+
0.5068194295279704
|
| 168 |
+
]
|
| 169 |
+
}
|
| 170 |
+
},
|
| 171 |
+
"grasp_17": {
|
| 172 |
+
"confidence": 0.9881226420402527,
|
| 173 |
+
"position": [
|
| 174 |
+
-0.06374992057681084,
|
| 175 |
+
-0.0943789089214988,
|
| 176 |
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-0.003028262024599826
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.4470934875036817,
|
| 180 |
+
"xyz": [
|
| 181 |
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-0.5479591382120159,
|
| 182 |
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-0.4369027666456107,
|
| 183 |
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-0.5558454540419941
|
| 184 |
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]
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"part_name": "knife handle",
|
| 191 |
+
"mask_color": "Green",
|
| 192 |
+
"graspable": true,
|
| 193 |
+
"grasp_scenarios": [
|
| 194 |
+
{
|
| 195 |
+
"scenario": "grasp the handle to pick up and manipulate the fruit knife safely",
|
| 196 |
+
"confidence": 0.97
|
| 197 |
+
},
|
| 198 |
+
{
|
| 199 |
+
"scenario": "hold the handle to orient the blade for cutting or placing into storage",
|
| 200 |
+
"confidence": 0.94
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"scenario": "grip the handle to stabilize the knife while performing a slicing motion",
|
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|
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|
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|
| 209 |
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| 210 |
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| 211 |
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"insulate hand from blade",
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| 212 |
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| 213 |
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|
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|
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| 380 |
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"quality_check": {
|
| 381 |
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"success": true,
|
| 382 |
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"message": "YES"
|
| 383 |
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}
|
| 384 |
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}
|
dataset/kitchen_supplies/cutting_tools/ca1ee49e099c5681ab0858584b3e98f7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3733fa8f61bed4d69be623f92c7767aa9ded9e8d05b47b7ca5284a92f383bfcb
|
| 3 |
+
size 3778832
|