Add asset kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/affordance/affordance_annot.json +309 -0
- dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/fork_017.urdf +1 -0
.gitattributes
CHANGED
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@@ -7210,3 +7210,4 @@ dataset/kitchen_supplies/tableware/310b0000b20253338c793282cecc0907/affordance/m
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| 7210 |
dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7211 |
dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7212 |
dataset/kitchen_supplies/tableware/348d3939a12f56379526cdbedc134ff4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7210 |
dataset/kitchen_supplies/tableware/33292919909f584b994399d806e7386f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7211 |
dataset/kitchen_supplies/tableware/33ed4f69cf9d5b8e887ee08b7cec9c20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7212 |
dataset/kitchen_supplies/tableware/348d3939a12f56379526cdbedc134ff4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork body",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the handle to pick up and use the fork",
|
| 10 |
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"confidence": 0.97
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the neck or lower head to reposition or place the fork",
|
| 14 |
+
"confidence": 0.7
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "grasp the utensil from a drawer, tray, or table surface",
|
| 18 |
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"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"provide the main gripping surface",
|
| 23 |
+
"support spearing food with the tines",
|
| 24 |
+
"transfer food",
|
| 25 |
+
"provide structural rigidity",
|
| 26 |
+
"enable utensil orientation during use"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Small one-piece disposable plastic fork with a smooth slightly glossy surface, mostly white to translucent handle and a faint pale pink tint near the head, four short tines, a tapered handle, and a rounded handle end.",
|
| 29 |
+
"id": 3,
|
| 30 |
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"grasp_group": {
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| 31 |
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"grasp_0": {
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| 32 |
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"confidence": 0.9702365398406982,
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| 33 |
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"orientation": {
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"xyz": [
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| 45 |
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| 46 |
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},
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| 47 |
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"grasp_1": {
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"grasp_2": {
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"grasp_4": {
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| 96 |
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-0.005790625116787851
|
| 229 |
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],
|
| 230 |
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"orientation": {
|
| 231 |
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"w": 0.37061416295233096,
|
| 232 |
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"xyz": [
|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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]
|
| 237 |
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}
|
| 238 |
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},
|
| 239 |
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"grasp_14": {
|
| 240 |
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"confidence": 0.9422277212142944,
|
| 241 |
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"position": [
|
| 242 |
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|
| 243 |
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|
| 244 |
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-0.0030658760806545615
|
| 245 |
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],
|
| 246 |
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"orientation": {
|
| 247 |
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"w": 0.3860774946990684,
|
| 248 |
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"xyz": [
|
| 249 |
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|
| 250 |
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|
| 251 |
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0.60010200510251
|
| 252 |
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]
|
| 253 |
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}
|
| 254 |
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},
|
| 255 |
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"grasp_17": {
|
| 256 |
+
"confidence": 0.9384752511978149,
|
| 257 |
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"position": [
|
| 258 |
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-0.08332120254635811,
|
| 259 |
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|
| 260 |
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|
| 261 |
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],
|
| 262 |
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"orientation": {
|
| 263 |
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"w": 0.34515097808938233,
|
| 264 |
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"xyz": [
|
| 265 |
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|
| 266 |
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|
| 267 |
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|
| 268 |
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]
|
| 269 |
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}
|
| 270 |
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},
|
| 271 |
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"grasp_18": {
|
| 272 |
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"confidence": 0.9384501576423645,
|
| 273 |
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"position": [
|
| 274 |
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|
| 275 |
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0.08944289926148485,
|
| 276 |
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0.008086457499302924
|
| 277 |
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],
|
| 278 |
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"orientation": {
|
| 279 |
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"w": 0.3580595730732323,
|
| 280 |
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"xyz": [
|
| 281 |
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|
| 282 |
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|
| 283 |
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|
| 284 |
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]
|
| 285 |
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}
|
| 286 |
+
}
|
| 287 |
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}
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"part_name": "hanging hole",
|
| 291 |
+
"mask_color": "Green",
|
| 292 |
+
"graspable": false,
|
| 293 |
+
"grasp_scenarios": [],
|
| 294 |
+
"functional_labels": [
|
| 295 |
+
"enable hanging storage",
|
| 296 |
+
"provide an attachment point",
|
| 297 |
+
"reduce material at the handle tip",
|
| 298 |
+
"mark the handle end"
|
| 299 |
+
],
|
| 300 |
+
"semantic_description": "A tiny oval hole at the rounded end of the fork handle, appearing as an open cutout with smooth edges near the rear tip.",
|
| 301 |
+
"id": 1,
|
| 302 |
+
"grasp_group": {}
|
| 303 |
+
}
|
| 304 |
+
],
|
| 305 |
+
"quality_check": {
|
| 306 |
+
"success": true,
|
| 307 |
+
"message": "YES"
|
| 308 |
+
}
|
| 309 |
+
}
|
dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dec0d6caef8ec04531f5f279d7c036d98743744ca04d1f578b71edc00af9fb27
|
| 3 |
+
size 3786984
|
dataset/kitchen_supplies/tableware/3495c90ad8ad5433972f9742fbe7e4d9/fork_017.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>
|