Add asset kitchen_supplies/tableware/584919261f1d5bab920e378e1d5636f6
Browse files
.gitattributes
CHANGED
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@@ -7250,3 +7250,4 @@ dataset/kitchen_supplies/tableware/531b6c64c7e355f7b6f51679fd9c4963/affordance/m
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| 7250 |
dataset/kitchen_supplies/tableware/53efc4c260d95a0c8dbae75fd25a7dcc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7251 |
dataset/kitchen_supplies/tableware/57692ee37dd15809998ed350a2cfd3a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7252 |
dataset/kitchen_supplies/tableware/57bf72d87cce5c8684c8e217df6cb481/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7250 |
dataset/kitchen_supplies/tableware/53efc4c260d95a0c8dbae75fd25a7dcc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7251 |
dataset/kitchen_supplies/tableware/57692ee37dd15809998ed350a2cfd3a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7252 |
dataset/kitchen_supplies/tableware/57bf72d87cce5c8684c8e217df6cb481/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7253 |
+
dataset/kitchen_supplies/tableware/584919261f1d5bab920e378e1d5636f6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/584919261f1d5bab920e378e1d5636f6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,349 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
+
"scenario": "grasp the handle to pick up and move the fork",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the handle to orient the fork for serving or eating",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "clamp the handle to stabilize the fork during manipulation",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip area",
|
| 23 |
+
"support holding and control",
|
| 24 |
+
"provide leverage",
|
| 25 |
+
"position the fork during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long narrow silver metal handle with a reflective glossy finish, hard smooth texture, and a slightly tapered rounded shape forming the rear portion of the fork.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_20": {
|
| 31 |
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"confidence": 0.9850563406944275,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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0.09368333869497292,
|
| 35 |
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-0.005916435969993472
|
| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.5902519323265036,
|
| 39 |
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"xyz": [
|
| 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_25": {
|
| 47 |
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"confidence": 0.9816208481788635,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
|
| 54 |
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"w": 0.4836061545177225,
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| 55 |
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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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},
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| 62 |
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"grasp_27": {
|
| 63 |
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"confidence": 0.9806766510009766,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.5020982416053439,
|
| 71 |
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"xyz": [
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| 72 |
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| 73 |
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| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_29": {
|
| 79 |
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"confidence": 0.9791103005409241,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.5073422892667858,
|
| 87 |
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"xyz": [
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_31": {
|
| 95 |
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"confidence": 0.975757896900177,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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0.0981384655169677,
|
| 99 |
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0.005172882461920381
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.4987027237246863,
|
| 103 |
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"xyz": [
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| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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}
|
| 110 |
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}
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"part_name": "neck of fork",
|
| 114 |
+
"mask_color": "Red",
|
| 115 |
+
"graspable": true,
|
| 116 |
+
"grasp_scenarios": [
|
| 117 |
+
{
|
| 118 |
+
"scenario": "grasp near the neck for short-range repositioning",
|
| 119 |
+
"confidence": 0.48
|
| 120 |
+
},
|
| 121 |
+
{
|
| 122 |
+
"scenario": "pinch the neck to stabilize the fork while another tool engages the tines",
|
| 123 |
+
"confidence": 0.42
|
| 124 |
+
}
|
| 125 |
+
],
|
| 126 |
+
"functional_labels": [
|
| 127 |
+
"connect handle to head",
|
| 128 |
+
"transfer force to the tines",
|
| 129 |
+
"support structural rigidity",
|
| 130 |
+
"guide orientation between grip and tip"
|
| 131 |
+
],
|
| 132 |
+
"semantic_description": "Small silver metal transition section with a glossy reflective surface and hard smooth feel, flaring between the handle and the fork head near the front.",
|
| 133 |
+
"id": 0,
|
| 134 |
+
"grasp_group": {
|
| 135 |
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"grasp_1": {
|
| 136 |
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"confidence": 0.9656047224998474,
|
| 137 |
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"position": [
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| 138 |
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0.021214528940618038,
|
| 139 |
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0.09581457727472298,
|
| 140 |
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|
| 141 |
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],
|
| 142 |
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"orientation": {
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| 143 |
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"w": 0.520819339229622,
|
| 144 |
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"xyz": [
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| 145 |
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0.49340608950256243,
|
| 146 |
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|
| 147 |
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|
| 148 |
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]
|
| 149 |
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}
|
| 150 |
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},
|
| 151 |
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"grasp_2": {
|
| 152 |
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"confidence": 0.9645925164222717,
|
| 153 |
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"position": [
|
| 154 |
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0.002202855423092842,
|
| 155 |
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-0.09712107575614937,
|
| 156 |
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-0.00024582634796388447
|
| 157 |
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],
|
| 158 |
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"orientation": {
|
| 159 |
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"w": 0.5568464360853568,
|
| 160 |
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"xyz": [
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| 161 |
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|
| 162 |
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| 163 |
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|
| 164 |
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]
|
| 165 |
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}
|
| 166 |
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},
|
| 167 |
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"grasp_3": {
|
| 168 |
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"confidence": 0.9641130566596985,
|
| 169 |
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"position": [
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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],
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| 174 |
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"orientation": {
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| 175 |
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"w": 0.48987527611272663,
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| 176 |
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"xyz": [
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| 177 |
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| 179 |
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| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
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"grasp_4": {
|
| 184 |
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"confidence": 0.9637580513954163,
|
| 185 |
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"position": [
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| 188 |
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| 189 |
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],
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| 190 |
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"orientation": {
|
| 191 |
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"w": 0.4616354378770509,
|
| 192 |
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"xyz": [
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| 195 |
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|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_5": {
|
| 200 |
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"confidence": 0.9619926810264587,
|
| 201 |
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"position": [
|
| 202 |
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0.014191039372235537,
|
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| 204 |
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| 205 |
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],
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"orientation": {
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| 207 |
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"w": 0.5396221861049124,
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"xyz": [
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]
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}
|
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},
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"grasp_6": {
|
| 216 |
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"confidence": 0.9584298133850098,
|
| 217 |
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"position": [
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},
|
| 329 |
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{
|
| 330 |
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"part_name": "tines",
|
| 331 |
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|
| 332 |
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|
| 333 |
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|
| 334 |
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|
| 335 |
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"pierce food",
|
| 336 |
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|
| 337 |
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|
| 338 |
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|
| 339 |
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|
| 340 |
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"semantic_description": "Four short silver metal prongs with a glossy reflective finish, hard smooth texture, and slender parallel shape at the front tip of the fork.",
|
| 341 |
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|
| 342 |
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|
| 343 |
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],
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| 345 |
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"quality_check": {
|
| 346 |
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"success": true,
|
| 347 |
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"message": "YES"
|
| 348 |
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}
|
| 349 |
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}
|
dataset/kitchen_supplies/tableware/584919261f1d5bab920e378e1d5636f6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:0cd918a6a59a4be532a85b16e246cb231f6b124663ef2c5735cd6e2e17636d64
|
| 3 |
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size 383136
|