Add asset kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/38c6945c09135ab4ae5e48be2f65ed35.urdf +1 -0
- dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/affordance/affordance_annot.json +414 -0
- dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -7216,3 +7216,4 @@ dataset/kitchen_supplies/tableware/35eec935d51b5bd9aeb596881c7aa720/affordance/m
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| 7216 |
dataset/kitchen_supplies/tableware/357a9057e4345e0ab99f5f5a3bb5e02f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7217 |
dataset/kitchen_supplies/tableware/364d0ff2e4dd5fb89ffd15c7b6113cba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7218 |
dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7216 |
dataset/kitchen_supplies/tableware/357a9057e4345e0ab99f5f5a3bb5e02f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7217 |
dataset/kitchen_supplies/tableware/364d0ff2e4dd5fb89ffd15c7b6113cba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7218 |
dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7219 |
+
dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/38c6945c09135ab4ae5e48be2f65ed35.urdf
CHANGED
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@@ -52,6 +52,7 @@
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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</geometry>
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</visual_seg>
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</affordance>
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</custom_data>
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</robot>
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<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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</geometry>
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</visual_seg>
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+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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</affordance>
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</custom_data>
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| 58 |
</robot>
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dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,414 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork handle",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and manipulate the fork",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the tines for spearing food",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grip the handle to place or retrieve the fork from a table setting",
|
| 18 |
+
"confidence": 0.88
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main grip",
|
| 23 |
+
"enable utensil manipulation",
|
| 24 |
+
"support carrying the fork",
|
| 25 |
+
"orient the working end"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long silver metal handle with a reflective smooth finish and hard surface, slender and slightly widening toward the rounded end at the rear of the fork.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_1": {
|
| 31 |
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"confidence": 0.9835012555122375,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.5023701629300589,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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|
| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_2": {
|
| 47 |
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"confidence": 0.9833697080612183,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
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"w": 0.5243732307073254,
|
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"xyz": [
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| 58 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_3": {
|
| 63 |
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"confidence": 0.98273104429245,
|
| 64 |
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"position": [
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| 66 |
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|
| 67 |
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|
| 68 |
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],
|
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"orientation": {
|
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"w": 0.49872835865591814,
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"xyz": [
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_5": {
|
| 79 |
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"confidence": 0.9823901653289795,
|
| 80 |
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"position": [
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|
| 83 |
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"orientation": {
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|
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]
|
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}
|
| 93 |
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},
|
| 94 |
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"grasp_7": {
|
| 95 |
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"confidence": 0.9817418456077576,
|
| 96 |
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"position": [
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| 97 |
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"orientation": {
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},
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"grasp_8": {
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"confidence": 0.9816941618919373,
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]
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},
|
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"grasp_10": {
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"confidence": 0.9815062284469604,
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"orientation": {
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|
dataset/kitchen_supplies/tableware/38c6945c09135ab4ae5e48be2f65ed35/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:6bcd921f359911a58e84c049c4a28f0cf4113c755b3c7db33c3cb587254f8f96
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| 3 |
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size 266432
|