Add asset kitchen_supplies/cutting_tools/ccb10511f602560eb0e980d78be81978
Browse files
.gitattributes
CHANGED
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@@ -7046,4 +7046,4 @@ dataset/kitchen_supplies/cutting_tools/c4ab5b550965584085a829e7e4424bd0/affordan
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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 |
dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7048 |
dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7049 |
-
dataset/kitchen_supplies/cutting_tools/
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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 |
dataset/kitchen_supplies/cutting_tools/ca9e4f1fffde5e47bd7fce1107a993eb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7048 |
dataset/kitchen_supplies/cutting_tools/c77a4271329d59f290798df2b6edef78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7049 |
+
dataset/kitchen_supplies/cutting_tools/ccb10511f602560eb0e980d78be81978/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/cutting_tools/ccb10511f602560eb0e980d78be81978/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,576 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle of knife",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and control the fruit knife",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to stabilize the knife while cutting fruit",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to reorient or place the knife safely",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary grip",
|
| 23 |
+
"control cutting motions",
|
| 24 |
+
"support safe handling",
|
| 25 |
+
"balance the knife",
|
| 26 |
+
"provide hand placement"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Short brown wooden handle with visible wood-grain rings, a mostly matte smooth hard surface, and a slightly contoured rounded shape at the rear of the knife for secure gripping.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9909919500350952,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.002744767814874649,
|
| 35 |
+
0.020746912225149572,
|
| 36 |
+
0.09885695837874664
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.07869069970950268,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.7208497289033987,
|
| 42 |
+
0.6859807734271184,
|
| 43 |
+
-0.060115061402766796
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.989927351474762,
|
| 49 |
+
"position": [
|
| 50 |
+
0.01967564783990383,
|
| 51 |
+
0.014240526943467557,
|
| 52 |
+
0.09964694343943847
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.05998103976062939,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.705014561603748,
|
| 58 |
+
0.7049883312722351,
|
| 59 |
+
-0.048458183683437295
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9898099899291992,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.003742808476090431,
|
| 67 |
+
-0.019034894765354693,
|
| 68 |
+
0.09998543821711792
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.06343366320891981,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.7124738862450417,
|
| 74 |
+
-0.6966672083076338,
|
| 75 |
+
-0.054881077427768835
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9895429611206055,
|
| 81 |
+
"position": [
|
| 82 |
+
0.005520546808838844,
|
| 83 |
+
-0.02345791889820248,
|
| 84 |
+
0.10126394294638885
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.07290263529771653,
|
| 88 |
+
"xyz": [
|
| 89 |
+
-0.7175927919636573,
|
| 90 |
+
-0.6865878473013037,
|
| 91 |
+
-0.09133957864263241
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9895262718200684,
|
| 97 |
+
"position": [
|
| 98 |
+
0.027482280507683754,
|
| 99 |
+
0.0037344408920034766,
|
| 100 |
+
0.0989544268741156
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
+
"w": 0.011028380455687997,
|
| 104 |
+
"xyz": [
|
| 105 |
+
-0.6898560170575386,
|
| 106 |
+
0.7235416594695596,
|
| 107 |
+
-0.02155266958104387
|
| 108 |
+
]
|
| 109 |
+
}
|
| 110 |
+
},
|
| 111 |
+
"grasp_5": {
|
| 112 |
+
"confidence": 0.9895076155662537,
|
| 113 |
+
"position": [
|
| 114 |
+
0.005859149619936943,
|
| 115 |
+
0.09722123050596565,
|
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dataset/kitchen_supplies/cutting_tools/ccb10511f602560eb0e980d78be81978/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:236b397e94a95f71e4b5fc01ff2452dd46913691645b83995e441d6ea4cec639
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| 3 |
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size 3779264
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