Add asset kitchen_supplies/utensils/abe0db9c621052d2a26299d8cc3ef544
Browse files
.gitattributes
CHANGED
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@@ -7469,4 +7469,5 @@ dataset/kitchen_supplies/utensils/a242d69cd48155e0a0cd7ad5daa04d03/affordance/me
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| 7469 |
dataset/kitchen_supplies/utensils/a57d95d6fad95083a0d8d04467ae4640/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7470 |
dataset/kitchen_supplies/utensils/a9305e466662566c9455d51151c40a01/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7471 |
dataset/kitchen_supplies/utensils/abe0590f88e0560eb9331ff0c1bf6d54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7472 |
-
dataset/kitchen_supplies/utensils/
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| 7469 |
dataset/kitchen_supplies/utensils/a57d95d6fad95083a0d8d04467ae4640/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7470 |
dataset/kitchen_supplies/utensils/a9305e466662566c9455d51151c40a01/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7471 |
dataset/kitchen_supplies/utensils/abe0590f88e0560eb9331ff0c1bf6d54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7472 |
+
dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7473 |
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dataset/kitchen_supplies/utensils/abe0db9c621052d2a26299d8cc3ef544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/abe0db9c621052d2a26299d8cc3ef544/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spatula blade",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "lightly pinch the flat blade only for temporary stabilization during inspection or reorientation",
|
| 10 |
+
"confidence": 0.24
|
| 11 |
+
}
|
| 12 |
+
],
|
| 13 |
+
"functional_labels": [
|
| 14 |
+
"slide under food",
|
| 15 |
+
"lift and turn food",
|
| 16 |
+
"provide a flat working surface",
|
| 17 |
+
"scrape surfaces"
|
| 18 |
+
],
|
| 19 |
+
"semantic_description": "Broad rectangular silver-gray metal blade with a smooth matte hard surface, thin flat shape, and large front position at the working end of the spatula.",
|
| 20 |
+
"id": 0,
|
| 21 |
+
"grasp_group": {}
|
| 22 |
+
},
|
| 23 |
+
{
|
| 24 |
+
"part_name": "spatula neck joint",
|
| 25 |
+
"mask_color": "Green",
|
| 26 |
+
"graspable": false,
|
| 27 |
+
"grasp_scenarios": [
|
| 28 |
+
{
|
| 29 |
+
"scenario": "briefly pinch near the joint only to steady the tool while another gripper holds the handle",
|
| 30 |
+
"confidence": 0.18
|
| 31 |
+
}
|
| 32 |
+
],
|
| 33 |
+
"functional_labels": [
|
| 34 |
+
"connect handle to blade",
|
| 35 |
+
"transfer force between handle and blade",
|
| 36 |
+
"support the transition between parts"
|
| 37 |
+
],
|
| 38 |
+
"semantic_description": "Small silver-gray metal connector at the junction of the handle and blade, with a hard smooth slightly reflective finish and compact angled shape near the center of the tool.",
|
| 39 |
+
"id": 1,
|
| 40 |
+
"grasp_group": {}
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"part_name": "spatula handle",
|
| 44 |
+
"mask_color": "Blue",
|
| 45 |
+
"graspable": true,
|
| 46 |
+
"grasp_scenarios": [
|
| 47 |
+
{
|
| 48 |
+
"scenario": "grasp the handle to pick up and use the spatula",
|
| 49 |
+
"confidence": 0.97
|
| 50 |
+
},
|
| 51 |
+
{
|
| 52 |
+
"scenario": "hold the handle to flip or lift food with the blade",
|
| 53 |
+
"confidence": 0.95
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"scenario": "grasp the handle for placement, carrying, or storage",
|
| 57 |
+
"confidence": 0.82
|
| 58 |
+
}
|
| 59 |
+
],
|
| 60 |
+
"functional_labels": [
|
| 61 |
+
"provide primary grip",
|
| 62 |
+
"control tool orientation",
|
| 63 |
+
"apply leverage",
|
| 64 |
+
"keep hand away from hot surface"
|
| 65 |
+
],
|
| 66 |
+
"semantic_description": "Long rounded silver-gray handle with a smooth hard matte finish, slightly tapered cylindrical form, and rear placement for secure tool holding.",
|
| 67 |
+
"id": 2,
|
| 68 |
+
"grasp_group": {
|
| 69 |
+
"grasp_0": {
|
| 70 |
+
"confidence": 0.981513500213623,
|
| 71 |
+
"position": [
|
| 72 |
+
0.12350060045719147,
|
| 73 |
+
0.10725037968950346,
|
| 74 |
+
0.0013079647906124592
|
| 75 |
+
],
|
| 76 |
+
"orientation": {
|
| 77 |
+
"w": 0.5207723927032408,
|
| 78 |
+
"xyz": [
|
| 79 |
+
0.4361141640873779,
|
| 80 |
+
-0.5271613712034358,
|
| 81 |
+
0.5105893061859236
|
| 82 |
+
]
|
| 83 |
+
}
|
| 84 |
+
},
|
| 85 |
+
"grasp_1": {
|
| 86 |
+
"confidence": 0.9814977645874023,
|
| 87 |
+
"position": [
|
| 88 |
+
0.12323585152626038,
|
| 89 |
+
0.10502555436687544,
|
| 90 |
+
0.011434983927756548
|
| 91 |
+
],
|
| 92 |
+
"orientation": {
|
| 93 |
+
"w": 0.5132651862899127,
|
| 94 |
+
"xyz": [
|
| 95 |
+
0.455931754030063,
|
| 96 |
+
-0.5550444426350065,
|
| 97 |
+
0.46969218740558827
|
| 98 |
+
]
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
"grasp_2": {
|
| 102 |
+
"confidence": 0.9809035658836365,
|
| 103 |
+
"position": [
|
| 104 |
+
0.11032909154891968,
|
| 105 |
+
0.1053727290709503,
|
| 106 |
+
0.01668436313048005
|
| 107 |
+
],
|
| 108 |
+
"orientation": {
|
| 109 |
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"w": 0.5044970746298723,
|
| 110 |
+
"xyz": [
|
| 111 |
+
0.5364544943862226,
|
| 112 |
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|
| 113 |
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-0.46343725990175094
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"grasp_3": {
|
| 118 |
+
"confidence": 0.9807521104812622,
|
| 119 |
+
"position": [
|
| 120 |
+
0.10959962010383606,
|
| 121 |
+
0.10715178615646437,
|
| 122 |
+
0.001380664762109518
|
| 123 |
+
],
|
| 124 |
+
"orientation": {
|
| 125 |
+
"w": 0.4885791203297574,
|
| 126 |
+
"xyz": [
|
| 127 |
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0.45799572288564366,
|
| 128 |
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-0.5088290482622667,
|
| 129 |
+
0.5409467262501666
|
| 130 |
+
]
|
| 131 |
+
}
|
| 132 |
+
},
|
| 133 |
+
"grasp_4": {
|
| 134 |
+
"confidence": 0.9795626401901245,
|
| 135 |
+
"position": [
|
| 136 |
+
0.10060638189315796,
|
| 137 |
+
0.10432257718639448,
|
| 138 |
+
0.03726744698360562
|
| 139 |
+
],
|
| 140 |
+
"orientation": {
|
| 141 |
+
"w": 0.39816782303443404,
|
| 142 |
+
"xyz": [
|
| 143 |
+
0.5587273555315926,
|
| 144 |
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-0.5739200246117473,
|
| 145 |
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|
| 146 |
+
]
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
"grasp_5": {
|
| 150 |
+
"confidence": 0.9794361591339111,
|
| 151 |
+
"position": [
|
| 152 |
+
0.10550530254840851,
|
| 153 |
+
0.10419523931341246,
|
| 154 |
+
0.00023139873519539833
|
| 155 |
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],
|
| 156 |
+
"orientation": {
|
| 157 |
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"w": 0.48974167621779335,
|
| 158 |
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"xyz": [
|
| 159 |
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0.4570243060385322,
|
| 160 |
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-0.507804608729703,
|
| 161 |
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|
| 162 |
+
]
|
| 163 |
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}
|
| 164 |
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},
|
| 165 |
+
"grasp_6": {
|
| 166 |
+
"confidence": 0.9793822765350342,
|
| 167 |
+
"position": [
|
| 168 |
+
0.11146225035190582,
|
| 169 |
+
0.105334693857003,
|
| 170 |
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0.02740100445225835
|
| 171 |
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],
|
| 172 |
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"orientation": {
|
| 173 |
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"w": 0.47053132414481785,
|
| 174 |
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"xyz": [
|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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]
|
| 179 |
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}
|
| 180 |
+
},
|
| 181 |
+
"grasp_7": {
|
| 182 |
+
"confidence": 0.978863537311554,
|
| 183 |
+
"position": [
|
| 184 |
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0.11415901780128479,
|
| 185 |
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0.1049062556703575,
|
| 186 |
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0.016636904794722795
|
| 187 |
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],
|
| 188 |
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"orientation": {
|
| 189 |
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"w": 0.5071851940957585,
|
| 190 |
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"xyz": [
|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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]
|
| 195 |
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}
|
| 196 |
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},
|
| 197 |
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"grasp_8": {
|
| 198 |
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"confidence": 0.9786252379417419,
|
| 199 |
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"position": [
|
| 200 |
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dataset/kitchen_supplies/utensils/abe0db9c621052d2a26299d8cc3ef544/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3781916
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