Add asset kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/38d395d5a51d50a69d8299b1578dbe7a.urdf +1 -0
- dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/affordance/affordance_annot.json +694 -0
- dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -7219,3 +7219,4 @@ dataset/kitchen_supplies/tableware/380b88b47fcb50dd8860727d96297505/affordance/m
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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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| 7220 |
dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7221 |
dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/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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| 7220 |
dataset/kitchen_supplies/tableware/383d0ef0b0be5883971dfdbb40e314d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7221 |
dataset/kitchen_supplies/tableware/3831dacac6ef557d8793c3f13d3aa79b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7222 |
+
dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/38d395d5a51d50a69d8299b1578dbe7a.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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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
</affordance>
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| 56 |
</custom_data>
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| 57 |
</robot>
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
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| 58 |
</robot>
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dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,694 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and move the fork",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to orient the fork for serving or eating motions",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the fork by clamping the handle during manipulation",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grip area",
|
| 23 |
+
"enable lifting and carrying",
|
| 24 |
+
"provide leverage for utensil use",
|
| 25 |
+
"support orientation control"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long gold-colored metal handle with a reflective glossy finish, smooth hard texture, and a gently tapering shape with a wider rounded end at the rear of the fork.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9834402799606323,
|
| 32 |
+
"position": [
|
| 33 |
+
0.1294052042067051,
|
| 34 |
+
0.1084500836150255,
|
| 35 |
+
0.009764637099578977
|
| 36 |
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},
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|
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| 641 |
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| 642 |
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],
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| 643 |
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"semantic_description": "Slender outer gold-colored metal prong with a glossy reflective finish, smooth hard texture, and straight narrow form along the left side of the fork tip.",
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| 644 |
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},
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|
| 652 |
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| 655 |
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"separate food items"
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| 656 |
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],
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| 657 |
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"semantic_description": "Thin inner gold-colored metal prong with a glossy reflective finish, smooth hard texture, and narrow straight shape near the center-left of the fork tip.",
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| 658 |
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|
| 659 |
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|
| 660 |
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},
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| 661 |
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{
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| 662 |
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"part_name": "right inner tine",
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| 663 |
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| 665 |
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| 669 |
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|
| 670 |
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],
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| 671 |
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"semantic_description": "Thin inner gold-colored metal prong with a glossy reflective finish, smooth hard texture, and narrow straight shape near the center-right of the fork tip.",
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| 672 |
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|
| 673 |
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|
| 674 |
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},
|
| 675 |
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{
|
| 676 |
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"part_name": "right outer tine",
|
| 677 |
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| 678 |
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|
| 679 |
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|
| 684 |
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| 685 |
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"semantic_description": "Slender outer gold-colored metal prong with a glossy reflective finish, smooth hard texture, and straight narrow form along the right side of the fork tip.",
|
| 686 |
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"id": 8,
|
| 687 |
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|
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}
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],
|
| 690 |
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"quality_check": {
|
| 691 |
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"success": true,
|
| 692 |
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"message": "YES"
|
| 693 |
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}
|
| 694 |
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}
|
dataset/kitchen_supplies/tableware/38d395d5a51d50a69d8299b1578dbe7a/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 sha256:7db96dd791846d06145019636b65da63329a9295a1fda343950826af07f913f5
|
| 3 |
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size 372424
|