Add asset kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e
Browse files
.gitattributes
CHANGED
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@@ -8486,3 +8486,4 @@ dataset/kitchen_supplies/utensils/086f993c7ede51caa3c5933b241087f0/affordance/me
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| 8486 |
dataset/kitchen_supplies/utensils/097e8b15ba8a5cd489720f4cff17f795/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8487 |
dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8488 |
dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8486 |
dataset/kitchen_supplies/utensils/097e8b15ba8a5cd489720f4cff17f795/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8487 |
dataset/kitchen_supplies/utensils/0a4c4a7fb8a25a56a7381aac8a0f3436/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8488 |
dataset/kitchen_supplies/utensils/0b5b2352736c534cb6d52ab5dd0d43c1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8489 |
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dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,589 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spatula head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad head to pick up or reposition the spatula when the handle is obstructed",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the head to stabilize the tool during close-in manipulation or inspection",
|
| 14 |
+
"confidence": 0.36
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"lift food",
|
| 19 |
+
"slide under food",
|
| 20 |
+
"flip food",
|
| 21 |
+
"scrape cooking surfaces",
|
| 22 |
+
"transfer food"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Broad slightly curved white silicone or nylon head with a matte smooth surface, thin tapered edges, and a wide rectangular-trapezoidal shape at the working end with a small printed logo near the neck.",
|
| 25 |
+
"id": 0,
|
| 26 |
+
"grasp_group": {
|
| 27 |
+
"grasp_0": {
|
| 28 |
+
"confidence": 0.9618297815322876,
|
| 29 |
+
"position": [
|
| 30 |
+
-0.1167460847645998,
|
| 31 |
+
-0.1297463964438066,
|
| 32 |
+
0.024034547386690974
|
| 33 |
+
],
|
| 34 |
+
"orientation": {
|
| 35 |
+
"w": 0.5395964563410778,
|
| 36 |
+
"xyz": [
|
| 37 |
+
-0.6741395644967314,
|
| 38 |
+
-0.32491098092847726,
|
| 39 |
+
-0.3857516900240403
|
| 40 |
+
]
|
| 41 |
+
}
|
| 42 |
+
},
|
| 43 |
+
"grasp_1": {
|
| 44 |
+
"confidence": 0.9613949060440063,
|
| 45 |
+
"position": [
|
| 46 |
+
-0.15835736878216267,
|
| 47 |
+
-0.11089272459503263,
|
| 48 |
+
0.039349644212052226
|
| 49 |
+
],
|
| 50 |
+
"orientation": {
|
| 51 |
+
"w": 0.49086790973815436,
|
| 52 |
+
"xyz": [
|
| 53 |
+
-0.27646270724693295,
|
| 54 |
+
0.7393897826923772,
|
| 55 |
+
0.3686730474839616
|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"grasp_2": {
|
| 60 |
+
"confidence": 0.9608971476554871,
|
| 61 |
+
"position": [
|
| 62 |
+
-0.10961349494755268,
|
| 63 |
+
-0.1294440816855058,
|
| 64 |
+
0.01886855880729854
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.5523816529689586,
|
| 68 |
+
"xyz": [
|
| 69 |
+
-0.6440042748265872,
|
| 70 |
+
-0.3546516334818034,
|
| 71 |
+
-0.39288067188021664
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_3": {
|
| 76 |
+
"confidence": 0.958197295665741,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.1573170442134142,
|
| 79 |
+
-0.10745202412363142,
|
| 80 |
+
0.037892869440838695
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.4880365771139935,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.2582537310647962,
|
| 86 |
+
0.740597287743934,
|
| 87 |
+
0.38293728882977396
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_4": {
|
| 92 |
+
"confidence": 0.9568414688110352,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.1561411190778017,
|
| 95 |
+
-0.10957749595399946,
|
| 96 |
+
0.04085415857844055
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.36160673662948706,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.7467726701979386,
|
| 102 |
+
-0.2683329242392477,
|
| 103 |
+
-0.4894574433378529
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_5": {
|
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| 519 |
+
}
|
| 520 |
+
},
|
| 521 |
+
"grasp_38": {
|
| 522 |
+
"confidence": 0.9733020663261414,
|
| 523 |
+
"position": [
|
| 524 |
+
0.06145123206079006,
|
| 525 |
+
0.08613407204393297,
|
| 526 |
+
0.035102299181744456
|
| 527 |
+
],
|
| 528 |
+
"orientation": {
|
| 529 |
+
"w": 0.4115607658906105,
|
| 530 |
+
"xyz": [
|
| 531 |
+
0.5107789121465381,
|
| 532 |
+
0.6675016446338442,
|
| 533 |
+
-0.35236939892255953
|
| 534 |
+
]
|
| 535 |
+
}
|
| 536 |
+
},
|
| 537 |
+
"grasp_39": {
|
| 538 |
+
"confidence": 0.9732298851013184,
|
| 539 |
+
"position": [
|
| 540 |
+
0.10075402818620205,
|
| 541 |
+
-0.019142592675052583,
|
| 542 |
+
0.08969944599084556
|
| 543 |
+
],
|
| 544 |
+
"orientation": {
|
| 545 |
+
"w": 0.14120065097934226,
|
| 546 |
+
"xyz": [
|
| 547 |
+
-0.6737744107615321,
|
| 548 |
+
-0.7252774731044087,
|
| 549 |
+
0.007937667997889704
|
| 550 |
+
]
|
| 551 |
+
}
|
| 552 |
+
}
|
| 553 |
+
}
|
| 554 |
+
},
|
| 555 |
+
{
|
| 556 |
+
"part_name": "hanging hole",
|
| 557 |
+
"mask_color": "Blue",
|
| 558 |
+
"graspable": false,
|
| 559 |
+
"grasp_scenarios": [],
|
| 560 |
+
"functional_labels": [
|
| 561 |
+
"enable hanging storage",
|
| 562 |
+
"provide attachment point",
|
| 563 |
+
"reduce end weight",
|
| 564 |
+
"indicate handle end"
|
| 565 |
+
],
|
| 566 |
+
"semantic_description": "Small oval opening through the handle tip with smooth hard edges, positioned at the far end of the light gray handle for hanging or tethering.",
|
| 567 |
+
"id": 2,
|
| 568 |
+
"grasp_group": {}
|
| 569 |
+
},
|
| 570 |
+
{
|
| 571 |
+
"part_name": "grip perforations",
|
| 572 |
+
"mask_color": "Yellow",
|
| 573 |
+
"graspable": false,
|
| 574 |
+
"grasp_scenarios": [],
|
| 575 |
+
"functional_labels": [
|
| 576 |
+
"improve grip traction",
|
| 577 |
+
"provide finger indexing",
|
| 578 |
+
"add visual detail"
|
| 579 |
+
],
|
| 580 |
+
"semantic_description": "A short row of tiny elongated holes or recessed slots near the upper handle, matching the handle material appearance and adding slight texture to the otherwise smooth light gray grip area.",
|
| 581 |
+
"id": 3,
|
| 582 |
+
"grasp_group": {}
|
| 583 |
+
}
|
| 584 |
+
],
|
| 585 |
+
"quality_check": {
|
| 586 |
+
"success": true,
|
| 587 |
+
"message": "YES"
|
| 588 |
+
}
|
| 589 |
+
}
|
dataset/kitchen_supplies/utensils/0b6d5a4f191c5231a3c8afc0b6818c8e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:18bac08f4e6c2d472f3de04288af4bd19a09d6922babc5bfc2ee0db0760a826f
|
| 3 |
+
size 3781052
|