Add asset kitchen_supplies/tableware/7221b46038df557399dd65b3ce7aac7e
Browse files
.gitattributes
CHANGED
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@@ -7283,4 +7283,5 @@ dataset/kitchen_supplies/tableware/6dca185a8ead568bac0a8c5d16aed163/affordance/m
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| 7283 |
dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7284 |
dataset/kitchen_supplies/tableware/6f91cc1b63715573afee92f303a18662/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7285 |
dataset/kitchen_supplies/tableware/70ad9836919e5971946363179da1c199/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7286 |
-
dataset/kitchen_supplies/tableware/
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| 7283 |
dataset/kitchen_supplies/tableware/6f1cd111eb105b138177f4fb7ac5dd60/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7284 |
dataset/kitchen_supplies/tableware/6f91cc1b63715573afee92f303a18662/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7285 |
dataset/kitchen_supplies/tableware/70ad9836919e5971946363179da1c199/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7286 |
+
dataset/kitchen_supplies/tableware/7108aabc84d351d3a389077df2f84d15/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7287 |
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dataset/kitchen_supplies/tableware/7221b46038df557399dd65b3ce7aac7e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/7221b46038df557399dd65b3ce7aac7e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,489 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the fork head carefully to reorient the utensil during sorting or placement",
|
| 10 |
+
"confidence": 0.31
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the neck and head area to stabilize the fork while another tool manipulates the handle",
|
| 14 |
+
"confidence": 0.27
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pierce food",
|
| 19 |
+
"hold food on tines",
|
| 20 |
+
"provide the eating end"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Light silver or off-white fork head with a smooth slightly reflective surface, including a narrow neck and four straight tines at the front of the utensil.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.9813357591629028,
|
| 27 |
+
"position": [
|
| 28 |
+
-0.026854368043132126,
|
| 29 |
+
-0.089428514111205,
|
| 30 |
+
-0.016117712948471308
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.36901617478043625,
|
| 34 |
+
"xyz": [
|
| 35 |
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-0.5339570580644156,
|
| 36 |
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0.3710600058529169,
|
| 37 |
+
0.6641019462025707
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_1": {
|
| 42 |
+
"confidence": 0.9776564240455627,
|
| 43 |
+
"position": [
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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],
|
| 48 |
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"orientation": {
|
| 49 |
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"w": 0.6497617759736811,
|
| 50 |
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"xyz": [
|
| 51 |
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-0.37449524091550696,
|
| 52 |
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-0.5744577160546014,
|
| 53 |
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|
| 54 |
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]
|
| 55 |
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}
|
| 56 |
+
},
|
| 57 |
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"grasp_2": {
|
| 58 |
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"confidence": 0.9776351451873779,
|
| 59 |
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"position": [
|
| 60 |
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-0.01442409586161375,
|
| 61 |
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-0.09126429991738405,
|
| 62 |
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|
| 63 |
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],
|
| 64 |
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"orientation": {
|
| 65 |
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"w": 0.357827006830241,
|
| 66 |
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"xyz": [
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
+
]
|
| 71 |
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}
|
| 72 |
+
},
|
| 73 |
+
"grasp_3": {
|
| 74 |
+
"confidence": 0.9776173830032349,
|
| 75 |
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"position": [
|
| 76 |
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|
| 77 |
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|
| 78 |
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-0.005154821556061506
|
| 79 |
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],
|
| 80 |
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"orientation": {
|
| 81 |
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"w": 0.40441578115746063,
|
| 82 |
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"xyz": [
|
| 83 |
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-0.4908932519552899,
|
| 84 |
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0.469138635272773,
|
| 85 |
+
0.6126831416237604
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"grasp_5": {
|
| 90 |
+
"confidence": 0.9773253202438354,
|
| 91 |
+
"position": [
|
| 92 |
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-0.04230875428766012,
|
| 93 |
+
-0.09979952858702745,
|
| 94 |
+
-0.006867941934615374
|
| 95 |
+
],
|
| 96 |
+
"orientation": {
|
| 97 |
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"w": 0.4378716318828058,
|
| 98 |
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"xyz": [
|
| 99 |
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-0.4877100428641578,
|
| 100 |
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0.48668768514339467,
|
| 101 |
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|
| 102 |
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]
|
| 103 |
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}
|
| 104 |
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},
|
| 105 |
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"grasp_6": {
|
| 106 |
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"confidence": 0.9768169522285461,
|
| 107 |
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"position": [
|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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],
|
| 112 |
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"orientation": {
|
| 113 |
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"w": 0.3954151154726668,
|
| 114 |
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"xyz": [
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| 115 |
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| 116 |
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|
| 117 |
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|
| 118 |
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]
|
| 119 |
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}
|
| 120 |
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},
|
| 121 |
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"grasp_8": {
|
| 122 |
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"confidence": 0.9754010438919067,
|
| 123 |
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"position": [
|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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],
|
| 128 |
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"orientation": {
|
| 129 |
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"w": 0.5550359353554016,
|
| 130 |
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"xyz": [
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| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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]
|
| 135 |
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}
|
| 136 |
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},
|
| 137 |
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"grasp_9": {
|
| 138 |
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"confidence": 0.9753955006599426,
|
| 139 |
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"position": [
|
| 140 |
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-0.013423371128737926,
|
| 141 |
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-0.09062375115172472,
|
| 142 |
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0.0008253858686657622
|
| 143 |
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],
|
| 144 |
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"orientation": {
|
| 145 |
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"w": 0.3171610856369025,
|
| 146 |
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"xyz": [
|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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]
|
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},
|
| 456 |
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{
|
| 457 |
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|
| 458 |
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|
| 459 |
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|
| 460 |
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|
| 461 |
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|
| 462 |
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"connect handle to head",
|
| 463 |
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"reinforce the neck transition",
|
| 464 |
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"mark the boundary between handle and fork head"
|
| 465 |
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],
|
| 466 |
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"semantic_description": "A very thin narrow band at the junction between the handle and fork head, appearing light silver or off-white like the rest of the utensil with a smooth finish.",
|
| 467 |
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"id": 4,
|
| 468 |
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"grasp_group": {}
|
| 469 |
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},
|
| 470 |
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{
|
| 471 |
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"part_name": "handle emblem",
|
| 472 |
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"mask_color": "Yellow",
|
| 473 |
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"graspable": false,
|
| 474 |
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"grasp_scenarios": [],
|
| 475 |
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"functional_labels": [
|
| 476 |
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"decorate the handle",
|
| 477 |
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|
| 478 |
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"help visually identify handle orientation"
|
| 479 |
+
],
|
| 480 |
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"semantic_description": "Small shield-like emblem inset near the end of the handle, appearing as a subtle darker decorative marking against the light handle surface.",
|
| 481 |
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"id": 3,
|
| 482 |
+
"grasp_group": {}
|
| 483 |
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}
|
| 484 |
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],
|
| 485 |
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"quality_check": {
|
| 486 |
+
"success": false,
|
| 487 |
+
"message": "Handle mask color and visible color are wrong; utensil appears pink head with green/blue handle, not silver fork."
|
| 488 |
+
}
|
| 489 |
+
}
|
dataset/kitchen_supplies/tableware/7221b46038df557399dd65b3ce7aac7e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:a0fce1c179e328f27291a6bd197dfd8b66d928b0c0ee4e67674a4b2570400585
|
| 3 |
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size 3823172
|