Add asset kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f
Browse files
.gitattributes
CHANGED
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@@ -7239,3 +7239,4 @@ dataset/kitchen_supplies/tableware/45da844f19165e7fb9744c087620b4d8/affordance/m
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| 7239 |
dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7240 |
dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7241 |
dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7239 |
dataset/kitchen_supplies/tableware/45ea580db9d85c4ab10b1261d4c5c0ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7240 |
dataset/kitchen_supplies/tableware/4604381c57625dec8bac1610fce9b0e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7241 |
dataset/kitchen_supplies/tableware/46a98dc71af35693a583a3b60e637bbb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7242 |
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dataset/kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,275 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "first chopstick",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the stick near its middle to pick up and reposition the chopstick pair",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the thicker blunt end to separate or align one chopstick from the pair",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "pinch the shaft to stabilize the pair during manipulation or packaging",
|
| 18 |
+
"confidence": 0.82
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"one half of the utensil pair",
|
| 24 |
+
"works with the other chopstick to pinch and lift food",
|
| 25 |
+
"supports alignment with the other stick"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A long slender white chopstick with a smooth hard surface and straight elongated profile, with a slightly thicker blunt end and small printed markings near that blunt end.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_4": {
|
| 31 |
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"confidence": 0.7716010808944702,
|
| 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": {
|
| 38 |
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"w": 0.7018029866932135,
|
| 39 |
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"xyz": [
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| 40 |
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|
| 41 |
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-0.7053884988382753,
|
| 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_7": {
|
| 47 |
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"confidence": 0.6686277389526367,
|
| 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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],
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| 53 |
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"orientation": {
|
| 54 |
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"w": 0.04190048240958778,
|
| 55 |
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"xyz": [
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| 56 |
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| 57 |
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| 58 |
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|
| 59 |
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]
|
| 60 |
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}
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| 61 |
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},
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| 62 |
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"grasp_11": {
|
| 63 |
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"confidence": 0.5928653478622437,
|
| 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": 0.68441463297128,
|
| 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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}
|
| 79 |
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},
|
| 80 |
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{
|
| 81 |
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"part_name": "second chopstick",
|
| 82 |
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"mask_color": "Green",
|
| 83 |
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"graspable": true,
|
| 84 |
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"grasp_scenarios": [
|
| 85 |
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{
|
| 86 |
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"scenario": "grasp the stick near its middle to pick up and reposition the chopstick pair",
|
| 87 |
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"confidence": 0.95
|
| 88 |
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},
|
| 89 |
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{
|
| 90 |
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"scenario": "hold the thicker blunt end to separate or align one chopstick from the pair",
|
| 91 |
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"confidence": 0.86
|
| 92 |
+
},
|
| 93 |
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{
|
| 94 |
+
"scenario": "pinch the shaft to stabilize the pair during manipulation or packaging",
|
| 95 |
+
"confidence": 0.82
|
| 96 |
+
}
|
| 97 |
+
],
|
| 98 |
+
"functional_labels": [
|
| 99 |
+
"main grasp surface",
|
| 100 |
+
"one half of the utensil pair",
|
| 101 |
+
"works with the other chopstick to pinch and lift food",
|
| 102 |
+
"supports alignment with the other stick"
|
| 103 |
+
],
|
| 104 |
+
"semantic_description": "A long slender white chopstick with a smooth hard surface and straight elongated profile, with a slightly thicker blunt end and small printed markings near that blunt end.",
|
| 105 |
+
"id": 1,
|
| 106 |
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"grasp_group": {
|
| 107 |
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"grasp_25": {
|
| 108 |
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"confidence": 0.7173832654953003,
|
| 109 |
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"position": [
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| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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],
|
| 114 |
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"orientation": {
|
| 115 |
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|
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| 119 |
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| 120 |
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]
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| 121 |
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}
|
| 122 |
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},
|
| 123 |
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"grasp_28": {
|
| 124 |
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"confidence": 0.6944293975830078,
|
| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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|
| 129 |
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],
|
| 130 |
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"orientation": {
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"w": 0.08736587584584242,
|
| 132 |
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"xyz": [
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| 136 |
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]
|
| 137 |
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}
|
| 138 |
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},
|
| 139 |
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"grasp_37": {
|
| 140 |
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"confidence": 0.7766857743263245,
|
| 141 |
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"position": [
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| 142 |
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| 143 |
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|
| 145 |
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],
|
| 146 |
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"orientation": {
|
| 147 |
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"w": 0.6502245419052708,
|
| 148 |
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"xyz": [
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| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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]
|
| 153 |
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}
|
| 154 |
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},
|
| 155 |
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"grasp_38": {
|
| 156 |
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"confidence": 0.6224954724311829,
|
| 157 |
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"position": [
|
| 158 |
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|
| 159 |
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|
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|
| 161 |
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],
|
| 162 |
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"orientation": {
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| 163 |
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"w": 0.6295554093715332,
|
| 164 |
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"xyz": [
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| 165 |
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|
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|
| 167 |
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|
| 168 |
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]
|
| 169 |
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}
|
| 170 |
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},
|
| 171 |
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"grasp_39": {
|
| 172 |
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"confidence": 0.8484141826629639,
|
| 173 |
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"position": [
|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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],
|
| 178 |
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"orientation": {
|
| 179 |
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"w": 0.6916004165055263,
|
| 180 |
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"xyz": [
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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]
|
| 185 |
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}
|
| 186 |
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}
|
| 187 |
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}
|
| 188 |
+
},
|
| 189 |
+
{
|
| 190 |
+
"part_name": "tip section of first chopstick",
|
| 191 |
+
"mask_color": "Blue",
|
| 192 |
+
"graspable": true,
|
| 193 |
+
"grasp_scenarios": [
|
| 194 |
+
{
|
| 195 |
+
"scenario": "pinch the narrow tip section to reorient a single chopstick during sorting or placement",
|
| 196 |
+
"confidence": 0.48
|
| 197 |
+
},
|
| 198 |
+
{
|
| 199 |
+
"scenario": "lightly hold the tip end to stabilize the paired chopsticks while another gripper acts on the opposite end",
|
| 200 |
+
"confidence": 0.42
|
| 201 |
+
}
|
| 202 |
+
],
|
| 203 |
+
"functional_labels": [
|
| 204 |
+
"food-contact end",
|
| 205 |
+
"precise working end",
|
| 206 |
+
"narrow tip for controlled pinching with the paired chopstick",
|
| 207 |
+
"indicates the active end"
|
| 208 |
+
],
|
| 209 |
+
"semantic_description": "A small tapered tip section of a white chopstick with a smooth hard finish and narrow rounded end, appearing plain and unmarked.",
|
| 210 |
+
"id": 2,
|
| 211 |
+
"grasp_group": {
|
| 212 |
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"grasp_52": {
|
| 213 |
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"confidence": 0.36390945315361023,
|
| 214 |
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"position": [
|
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|
| 216 |
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0.0055221802031155676,
|
| 217 |
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|
| 218 |
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],
|
| 219 |
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"orientation": {
|
| 220 |
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"w": 0.7017211900506732,
|
| 221 |
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"xyz": [
|
| 222 |
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|
| 223 |
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|
| 224 |
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|
| 225 |
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]
|
| 226 |
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}
|
| 227 |
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},
|
| 228 |
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"grasp_59": {
|
| 229 |
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"confidence": 0.3413357138633728,
|
| 230 |
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"position": [
|
| 231 |
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|
| 232 |
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-0.0055675731564406306,
|
| 233 |
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0.0007380494098470081
|
| 234 |
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],
|
| 235 |
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"orientation": {
|
| 236 |
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"w": 0.7107216255653137,
|
| 237 |
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"xyz": [
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| 238 |
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|
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|
| 240 |
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|
| 241 |
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]
|
| 242 |
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}
|
| 243 |
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}
|
| 244 |
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}
|
| 245 |
+
},
|
| 246 |
+
{
|
| 247 |
+
"part_name": "tip section of second chopstick",
|
| 248 |
+
"mask_color": "Yellow",
|
| 249 |
+
"graspable": true,
|
| 250 |
+
"grasp_scenarios": [
|
| 251 |
+
{
|
| 252 |
+
"scenario": "pinch the narrow tip section to reorient a single chopstick during sorting or placement",
|
| 253 |
+
"confidence": 0.48
|
| 254 |
+
},
|
| 255 |
+
{
|
| 256 |
+
"scenario": "lightly hold the tip end to stabilize the paired chopsticks while another gripper acts on the opposite end",
|
| 257 |
+
"confidence": 0.42
|
| 258 |
+
}
|
| 259 |
+
],
|
| 260 |
+
"functional_labels": [
|
| 261 |
+
"food-contact end",
|
| 262 |
+
"precise working end",
|
| 263 |
+
"narrow tip for controlled pinching with the paired chopstick",
|
| 264 |
+
"indicates the active end"
|
| 265 |
+
],
|
| 266 |
+
"semantic_description": "A small tapered tip section of a white chopstick with a smooth hard finish and narrow rounded end, appearing plain and unmarked.",
|
| 267 |
+
"id": 3,
|
| 268 |
+
"grasp_group": {}
|
| 269 |
+
}
|
| 270 |
+
],
|
| 271 |
+
"quality_check": {
|
| 272 |
+
"success": false,
|
| 273 |
+
"message": "Tip colors/functions are swapped; blue/yellow mark blunt handle ends, not food-contact tips."
|
| 274 |
+
}
|
| 275 |
+
}
|
dataset/kitchen_supplies/tableware/46dba97a4f095c8aab8a3732c942ad3f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:83c19a0e0b530ba1e78798e89d5aa5a7ab9eca9e4d0d8dae497f251355284ccb
|
| 3 |
+
size 3783576
|