Add asset kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4
Browse files
.gitattributes
CHANGED
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@@ -7360,3 +7360,4 @@ dataset/kitchen_supplies/tableware/b229e08a577257708ad239a5283dfa81/affordance/m
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| 7360 |
dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7361 |
dataset/kitchen_supplies/tableware/b36dd11340395cda824610743ff5740d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7362 |
dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7360 |
dataset/kitchen_supplies/tableware/b23691de27465fc09a5ae695d8d76084/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7361 |
dataset/kitchen_supplies/tableware/b36dd11340395cda824610743ff5740d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7362 |
dataset/kitchen_supplies/tableware/b39489cf47ae58dda87e25d90759a31f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7363 |
+
dataset/kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,543 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the fork head to reorient the utensil during sorting or placement",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the neck near the fork head to stabilize the utensil while another tool manipulates the handle",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pick up food",
|
| 19 |
+
"pierce food",
|
| 20 |
+
"support eating",
|
| 21 |
+
"provide the working end",
|
| 22 |
+
"indicate utensil orientation"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Silver metal fork head with a reflective smooth hard surface, formed as a slightly curved narrow neck leading to four slim tines at the front of the utensil.",
|
| 25 |
+
"id": 0,
|
| 26 |
+
"grasp_group": {
|
| 27 |
+
"grasp_0": {
|
| 28 |
+
"confidence": 0.9847555756568909,
|
| 29 |
+
"position": [
|
| 30 |
+
-0.026088647879078053,
|
| 31 |
+
-0.09284893666153948,
|
| 32 |
+
-0.001541928417282179
|
| 33 |
+
],
|
| 34 |
+
"orientation": {
|
| 35 |
+
"w": 0.43447279985655396,
|
| 36 |
+
"xyz": [
|
| 37 |
+
-0.5454518378251276,
|
| 38 |
+
0.44785366451638586,
|
| 39 |
+
0.559591613569433
|
| 40 |
+
]
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"grasp_1": {
|
| 44 |
+
"confidence": 0.9842496514320374,
|
| 45 |
+
"position": [
|
| 46 |
+
-0.02816543518565595,
|
| 47 |
+
-0.09413816277628939,
|
| 48 |
+
-0.0039693798462394625
|
| 49 |
+
],
|
| 50 |
+
"orientation": {
|
| 51 |
+
"w": 0.410079910153045,
|
| 52 |
+
"xyz": [
|
| 53 |
+
-0.5650524301861723,
|
| 54 |
+
0.4137278236962738,
|
| 55 |
+
0.5842769089473902
|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"grasp_2": {
|
| 60 |
+
"confidence": 0.984091579914093,
|
| 61 |
+
"position": [
|
| 62 |
+
-0.037154363468289375,
|
| 63 |
+
-0.09504511450177233,
|
| 64 |
+
0.006030018295859918
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.4496897763224661,
|
| 68 |
+
"xyz": [
|
| 69 |
+
-0.5397816299455533,
|
| 70 |
+
0.47798192852636445,
|
| 71 |
+
0.5272079030577883
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_3": {
|
| 76 |
+
"confidence": 0.9827852845191956,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.026058882067445666,
|
| 79 |
+
-0.09534571562653582,
|
| 80 |
+
-0.004330972355091944
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.3872169085054195,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.5694492275752117,
|
| 86 |
+
0.4009539266220167,
|
| 87 |
+
0.6041743057329458
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_4": {
|
| 92 |
+
"confidence": 0.982628583908081,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.03826272860169411,
|
| 95 |
+
-0.09736629073267977,
|
| 96 |
+
-0.0035047786368522793
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.5386741131666317,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.4882953887569713,
|
| 102 |
+
-0.5108162519764311,
|
| 103 |
+
-0.458764176717813
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_7": {
|
| 108 |
+
"confidence": 0.982181191444397,
|
| 109 |
+
"position": [
|
| 110 |
+
-0.02981380163691938,
|
| 111 |
+
-0.09085283671265643,
|
| 112 |
+
0.0007493551238439977
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.3925930990120057,
|
| 116 |
+
"xyz": [
|
| 117 |
+
-0.5743273895273839,
|
| 118 |
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0.4143850178839764,
|
| 119 |
+
0.5867740324861919
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_9": {
|
| 124 |
+
"confidence": 0.9816774725914001,
|
| 125 |
+
"position": [
|
| 126 |
+
-0.03653566725552082,
|
| 127 |
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-0.09796080981141131,
|
| 128 |
+
0.00266287088743411
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
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}
|
dataset/kitchen_supplies/tableware/b3e8b5861e1b5e70b59be17f2924dff4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9daae1d6e33edc7e3c3e5da21f81fceabbf404067470414358a42821111f5181
|
| 3 |
+
size 3797280
|