Add asset kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c
Browse files
.gitattributes
CHANGED
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@@ -7234,3 +7234,4 @@ dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/affordance/m
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| 7234 |
dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7235 |
dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7236 |
dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7234 |
dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7235 |
dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7236 |
dataset/kitchen_supplies/tableware/4336853c986f54578a6bfc410562e16e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7237 |
+
dataset/kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tines and fork head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"pierce food",
|
| 10 |
+
"pick up bite-sized food",
|
| 11 |
+
"separate soft food",
|
| 12 |
+
"provide the eating end"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Narrow gold-toned metal fork head with four slender tines, a reflective smooth hard finish, and a small tapered shape at one end of the utensil.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "neck of fork",
|
| 20 |
+
"mask_color": "Green",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "pinch the narrow neck to reorient the fork during sorting or handoff",
|
| 25 |
+
"confidence": 0.41
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "briefly stabilize the fork at the neck while another gripper manipulates the handle",
|
| 29 |
+
"confidence": 0.34
|
| 30 |
+
}
|
| 31 |
+
],
|
| 32 |
+
"functional_labels": [
|
| 33 |
+
"connect handle to head",
|
| 34 |
+
"transfer force to tines",
|
| 35 |
+
"provide balance transition",
|
| 36 |
+
"indicate utensil center"
|
| 37 |
+
],
|
| 38 |
+
"semantic_description": "Small ringed gold-toned metal transition section with a reflective smooth hard surface, encircling the narrow middle between the handle and fork head.",
|
| 39 |
+
"id": 1,
|
| 40 |
+
"grasp_group": {
|
| 41 |
+
"grasp_2": {
|
| 42 |
+
"confidence": 0.3522893488407135,
|
| 43 |
+
"position": [
|
| 44 |
+
-0.009316045638115611,
|
| 45 |
+
-0.08179437275975943,
|
| 46 |
+
0.05435909429797903
|
| 47 |
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],
|
| 48 |
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"orientation": {
|
| 49 |
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"w": 0.46092923939981156,
|
| 50 |
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"xyz": [
|
| 51 |
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|
| 52 |
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-0.03111754396792743,
|
| 53 |
+
-0.06523150892613097
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_7": {
|
| 58 |
+
"confidence": 0.9780087471008301,
|
| 59 |
+
"position": [
|
| 60 |
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0.09300158281257609,
|
| 61 |
+
0.029994049109518528,
|
| 62 |
+
-0.005411684920545667
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
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"w": 0.7091553564042021,
|
| 66 |
+
"xyz": [
|
| 67 |
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0.12077671302941734,
|
| 68 |
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-0.6818455404272912,
|
| 69 |
+
0.13265867884331398
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
},
|
| 73 |
+
"grasp_9": {
|
| 74 |
+
"confidence": 0.9776806831359863,
|
| 75 |
+
"position": [
|
| 76 |
+
0.09794912595680216,
|
| 77 |
+
-0.0038682656595483422,
|
| 78 |
+
-0.00251674692844972
|
| 79 |
+
],
|
| 80 |
+
"orientation": {
|
| 81 |
+
"w": 0.7116328545724502,
|
| 82 |
+
"xyz": [
|
| 83 |
+
-0.001659138879581636,
|
| 84 |
+
-0.7024380351390259,
|
| 85 |
+
0.012519358660421373
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_14": {
|
| 90 |
+
"confidence": 0.9745645523071289,
|
| 91 |
+
"position": [
|
| 92 |
+
0.08497200269630412,
|
| 93 |
+
0.04731676075607538,
|
| 94 |
+
-0.0054901898256503046
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
+
"w": 0.20110689323309164,
|
| 98 |
+
"xyz": [
|
| 99 |
+
0.6580071582591902,
|
| 100 |
+
0.19978480839926382,
|
| 101 |
+
-0.6976163899355203
|
| 102 |
+
]
|
| 103 |
+
}
|
| 104 |
+
},
|
| 105 |
+
"grasp_16": {
|
| 106 |
+
"confidence": 0.9729621410369873,
|
| 107 |
+
"position": [
|
| 108 |
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-0.10129606615373632,
|
| 109 |
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-0.007518855622038245,
|
| 110 |
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-0.007552378752734512
|
| 111 |
+
],
|
| 112 |
+
"orientation": {
|
| 113 |
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"w": 0.7264543461457238,
|
| 114 |
+
"xyz": [
|
| 115 |
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-0.010151391642839664,
|
| 116 |
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0.6871230209247285,
|
| 117 |
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-0.004794406008799841
|
| 118 |
+
]
|
| 119 |
+
}
|
| 120 |
+
},
|
| 121 |
+
"grasp_17": {
|
| 122 |
+
"confidence": 0.9724510908126831,
|
| 123 |
+
"position": [
|
| 124 |
+
-0.08494774143764516,
|
| 125 |
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-0.05449398513883352,
|
| 126 |
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0.0003831131034530699
|
| 127 |
+
],
|
| 128 |
+
"orientation": {
|
| 129 |
+
"w": 0.6824365487280916,
|
| 130 |
+
"xyz": [
|
| 131 |
+
-0.21354689168107494,
|
| 132 |
+
0.680339062492471,
|
| 133 |
+
0.1606762025326352
|
| 134 |
+
]
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"grasp_18": {
|
| 138 |
+
"confidence": 0.9719454050064087,
|
| 139 |
+
"position": [
|
| 140 |
+
0.09873180944850901,
|
| 141 |
+
-0.006251697952393442,
|
| 142 |
+
-0.000653889891509607
|
| 143 |
+
],
|
| 144 |
+
"orientation": {
|
| 145 |
+
"w": 0.02910934200907484,
|
| 146 |
+
"xyz": [
|
| 147 |
+
0.7054410422523418,
|
| 148 |
+
-0.017089315513124204,
|
| 149 |
+
-0.7079643616800361
|
| 150 |
+
]
|
| 151 |
+
}
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"part_name": "fork handle",
|
| 157 |
+
"mask_color": "Blue",
|
| 158 |
+
"graspable": true,
|
| 159 |
+
"grasp_scenarios": [
|
| 160 |
+
{
|
| 161 |
+
"scenario": "grasp the handle to pick up and carry the fork",
|
| 162 |
+
"confidence": 0.96
|
| 163 |
+
},
|
| 164 |
+
{
|
| 165 |
+
"scenario": "hold the handle to orient the tines toward food for use",
|
| 166 |
+
"confidence": 0.93
|
| 167 |
+
},
|
| 168 |
+
{
|
| 169 |
+
"scenario": "grasp the handle to place the fork into storage or a table setting",
|
| 170 |
+
"confidence": 0.9
|
| 171 |
+
}
|
| 172 |
+
],
|
| 173 |
+
"functional_labels": [
|
| 174 |
+
"provide primary grip",
|
| 175 |
+
"support manipulation",
|
| 176 |
+
"balance the utensil",
|
| 177 |
+
"keep hand away from food end"
|
| 178 |
+
],
|
| 179 |
+
"semantic_description": "Elongated gold-toned metal handle with a slightly flared rounded end, reflective smooth hard finish, and decorative contouring along the larger rear portion of the fork.",
|
| 180 |
+
"id": 2,
|
| 181 |
+
"grasp_group": {
|
| 182 |
+
"grasp_21": {
|
| 183 |
+
"confidence": 0.8412549495697021,
|
| 184 |
+
"position": [
|
| 185 |
+
-0.0511797059662058,
|
| 186 |
+
0.12661329004913568,
|
| 187 |
+
-0.003441328590270132
|
| 188 |
+
],
|
| 189 |
+
"orientation": {
|
| 190 |
+
"w": 0.6227064879912023,
|
| 191 |
+
"xyz": [
|
| 192 |
+
0.3768563558027135,
|
| 193 |
+
0.5948190062777049,
|
| 194 |
+
-0.3411836260367202
|
| 195 |
+
]
|
| 196 |
+
}
|
| 197 |
+
},
|
| 198 |
+
"grasp_22": {
|
| 199 |
+
"confidence": 0.841023325920105,
|
| 200 |
+
"position": [
|
| 201 |
+
0.0489818799906061,
|
| 202 |
+
0.12862582597881556,
|
| 203 |
+
-0.0044827230158261955
|
| 204 |
+
],
|
| 205 |
+
"orientation": {
|
| 206 |
+
"w": 0.36217025291013105,
|
| 207 |
+
"xyz": [
|
| 208 |
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0.5749751902271123,
|
| 209 |
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0.3704715750058002,
|
| 210 |
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-0.6332353832841546
|
| 211 |
+
]
|
| 212 |
+
}
|
| 213 |
+
},
|
| 214 |
+
"grasp_23": {
|
| 215 |
+
"confidence": 0.8361097574234009,
|
| 216 |
+
"position": [
|
| 217 |
+
0.007167775336711202,
|
| 218 |
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0.1459315875545144,
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| 219 |
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|
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|
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},
|
| 328 |
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{
|
| 329 |
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"part_name": "handle inlay",
|
| 330 |
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"mask_color": "Yellow",
|
| 331 |
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|
| 332 |
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|
| 333 |
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"functional_labels": [
|
| 334 |
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"provide decoration",
|
| 335 |
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"indicate handle face",
|
| 336 |
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"add surface detail"
|
| 337 |
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],
|
| 338 |
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"semantic_description": "Small teardrop-shaped inset on the handle face, appearing as a slightly darker gold decorative panel with a smooth hard reflective surface near the rounded handle end.",
|
| 339 |
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|
| 340 |
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| 341 |
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],
|
| 343 |
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"quality_check": {
|
| 344 |
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"success": true,
|
| 345 |
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"message": "YES"
|
| 346 |
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|
| 347 |
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}
|
dataset/kitchen_supplies/tableware/438e9604c6c656faad7165a0ac5aa83c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c7cc70d2563fe1ea9ecb2a6ae924116d5200592d350d897cfa5e1c61d03534a7
|
| 3 |
+
size 3820016
|