Add asset kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254
Browse files
.gitattributes
CHANGED
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@@ -7471,4 +7471,4 @@ dataset/kitchen_supplies/utensils/a9305e466662566c9455d51151c40a01/affordance/me
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| 7471 |
dataset/kitchen_supplies/utensils/abe0590f88e0560eb9331ff0c1bf6d54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7472 |
dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7473 |
dataset/kitchen_supplies/utensils/abe0db9c621052d2a26299d8cc3ef544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7474 |
-
dataset/kitchen_supplies/utensils/
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| 7471 |
dataset/kitchen_supplies/utensils/abe0590f88e0560eb9331ff0c1bf6d54/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7472 |
dataset/kitchen_supplies/utensils/af7ce718c7d05ea2976f6551ea6fc808/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7473 |
dataset/kitchen_supplies/utensils/abe0db9c621052d2a26299d8cc3ef544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7474 |
+
dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,398 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main wooden handle",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the wooden handle to rotate the corkscrew into a cork",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pick up and carry the corkscrew by the wooden handle",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the wooden handle to stabilize the tool while positioning it over a bottle",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide primary handhold",
|
| 23 |
+
"apply turning torque",
|
| 24 |
+
"support tool manipulation",
|
| 25 |
+
"stabilize the opener during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large brown wooden handle with visible wood grain, a smooth finished surface, rounded bar-like shape with flared ends, and dark printed markings, positioned opposite the T-shaped handle as the primary grip.",
|
| 28 |
+
"id": 4,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_21": {
|
| 31 |
+
"confidence": 0.9679082036018372,
|
| 32 |
+
"position": [
|
| 33 |
+
0.1240808735092287,
|
| 34 |
+
0.009777192753972486,
|
| 35 |
+
0.01626841707911808
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
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"w": 0.6462013173025718,
|
| 39 |
+
"xyz": [
|
| 40 |
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-0.020354032025056378,
|
| 41 |
+
-0.7627043053491038,
|
| 42 |
+
0.017079622322648754
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_23": {
|
| 47 |
+
"confidence": 0.9663376212120056,
|
| 48 |
+
"position": [
|
| 49 |
+
0.1122904042204027,
|
| 50 |
+
0.06649494430166669,
|
| 51 |
+
-0.001663474176893942
|
| 52 |
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],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.6823873176415195,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.18331162140146526,
|
| 57 |
+
-0.6798994778578618,
|
| 58 |
+
0.1961659965177046
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_24": {
|
| 63 |
+
"confidence": 0.9663278460502625,
|
| 64 |
+
"position": [
|
| 65 |
+
0.11369501747685717,
|
| 66 |
+
0.061424731073202565,
|
| 67 |
+
0.0027282131632091478
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6618429398707911,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.1374515725630793,
|
| 73 |
+
-0.7045679694665206,
|
| 74 |
+
0.21599760310000896
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_30": {
|
| 79 |
+
"confidence": 0.9629548788070679,
|
| 80 |
+
"position": [
|
| 81 |
+
0.11410757847625064,
|
| 82 |
+
0.05990249550086446,
|
| 83 |
+
0.010994558993843384
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6357004148753962,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.1705260641843643,
|
| 89 |
+
-0.7234746429046234,
|
| 90 |
+
0.20830334859302482
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_31": {
|
| 95 |
+
"confidence": 0.9626904129981995,
|
| 96 |
+
"position": [
|
| 97 |
+
0.10995909519988345,
|
| 98 |
+
0.06585777064901777,
|
| 99 |
+
-0.004374722178908996
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.2028916863749112,
|
| 103 |
+
"xyz": [
|
| 104 |
+
0.6764794581143778,
|
| 105 |
+
0.20416027651409685,
|
| 106 |
+
-0.6778857483698195
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_32": {
|
| 111 |
+
"confidence": 0.9626325368881226,
|
| 112 |
+
"position": [
|
| 113 |
+
0.11072792061168002,
|
| 114 |
+
0.060252568480791524,
|
| 115 |
+
0.007487249866244383
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.6479730882902837,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.1768945013470662,
|
| 121 |
+
-0.7102918541928435,
|
| 122 |
+
0.2105343062591399
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_35": {
|
| 127 |
+
"confidence": 0.9615998864173889,
|
| 128 |
+
"position": [
|
| 129 |
+
0.12513504870730685,
|
| 130 |
+
0.02727942427736707,
|
| 131 |
+
-0.004506718527409248
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.11989701927164038,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.70193223512176,
|
| 137 |
+
0.0979979103241424,
|
| 138 |
+
-0.6952066251402151
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"part_name": "T-handle",
|
| 146 |
+
"mask_color": "Red",
|
| 147 |
+
"graspable": true,
|
| 148 |
+
"grasp_scenarios": [
|
| 149 |
+
{
|
| 150 |
+
"scenario": "grasp the T-shaped handle to help twist and control the tool during insertion",
|
| 151 |
+
"confidence": 0.88
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"scenario": "hold the T-handle to steady the upper part while manipulating the corkscrew",
|
| 155 |
+
"confidence": 0.8
|
| 156 |
+
},
|
| 157 |
+
{
|
| 158 |
+
"scenario": "pick up the tool by the T-handle for repositioning",
|
| 159 |
+
"confidence": 0.67
|
| 160 |
+
}
|
| 161 |
+
],
|
| 162 |
+
"functional_labels": [
|
| 163 |
+
"provide secondary grip",
|
| 164 |
+
"assist torque application",
|
| 165 |
+
"stabilize the upper mechanism",
|
| 166 |
+
"support two-handed manipulation"
|
| 167 |
+
],
|
| 168 |
+
"semantic_description": "Light gray T-shaped handle with a smooth hard surface and rounded ends, medium-sized and mounted above the central shaft opposite the wooden handle.",
|
| 169 |
+
"id": 0,
|
| 170 |
+
"grasp_group": {
|
| 171 |
+
"grasp_2": {
|
| 172 |
+
"confidence": 0.9549026489257812,
|
| 173 |
+
"position": [
|
| 174 |
+
-0.13661633483570768,
|
| 175 |
+
-0.04159040862577967,
|
| 176 |
+
0.0007523698295699432
|
| 177 |
+
],
|
| 178 |
+
"orientation": {
|
| 179 |
+
"w": 0.6906480861494123,
|
| 180 |
+
"xyz": [
|
| 181 |
+
-0.19358223230952198,
|
| 182 |
+
0.6741658716751218,
|
| 183 |
+
0.17615765070169256
|
| 184 |
+
]
|
| 185 |
+
}
|
| 186 |
+
},
|
| 187 |
+
"grasp_4": {
|
| 188 |
+
"confidence": 0.9518452286720276,
|
| 189 |
+
"position": [
|
| 190 |
+
-0.14608047954243375,
|
| 191 |
+
-0.0105197562079411,
|
| 192 |
+
-0.025428123932215385
|
| 193 |
+
],
|
| 194 |
+
"orientation": {
|
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}
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},
|
| 349 |
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{
|
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"part_name": "corkscrew worm",
|
| 351 |
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"mask_color": "Lime Green",
|
| 352 |
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"graspable": false,
|
| 353 |
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"grasp_scenarios": [],
|
| 354 |
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"functional_labels": [
|
| 355 |
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"pierce the cork",
|
| 356 |
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"thread into the cork",
|
| 357 |
+
"enable cork extraction",
|
| 358 |
+
"engage bottle closure"
|
| 359 |
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],
|
| 360 |
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"semantic_description": "Helical silver-gray metal screw with a reflective hard surface and pointed tip, narrow and positioned centrally between the two handles as the cork-engaging working element.",
|
| 361 |
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"id": 9,
|
| 362 |
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"grasp_group": {}
|
| 363 |
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},
|
| 364 |
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{
|
| 365 |
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"part_name": "shaft",
|
| 366 |
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"mask_color": "Brown",
|
| 367 |
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"graspable": false,
|
| 368 |
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|
| 369 |
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"functional_labels": [
|
| 370 |
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"connect T-handle to worm",
|
| 371 |
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|
| 372 |
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"support the rotating screw",
|
| 373 |
+
"align the mechanism"
|
| 374 |
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],
|
| 375 |
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"semantic_description": "Short straight brown cylindrical connector section located between the T-handle and the corkscrew worm, appearing as a small hard shaft segment.",
|
| 376 |
+
"id": 11,
|
| 377 |
+
"grasp_group": {}
|
| 378 |
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},
|
| 379 |
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{
|
| 380 |
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"part_name": "brass end inserts",
|
| 381 |
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"mask_color": "Yellow",
|
| 382 |
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"graspable": false,
|
| 383 |
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"grasp_scenarios": [],
|
| 384 |
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"functional_labels": [
|
| 385 |
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"finish handle ends",
|
| 386 |
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"cover fastener or insert points",
|
| 387 |
+
"provide decorative accents"
|
| 388 |
+
],
|
| 389 |
+
"semantic_description": "Small round brass-colored circular inserts with a slightly glossy metallic appearance, embedded at the ends of both handles.",
|
| 390 |
+
"id": 3,
|
| 391 |
+
"grasp_group": {}
|
| 392 |
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}
|
| 393 |
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],
|
| 394 |
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"quality_check": {
|
| 395 |
+
"success": true,
|
| 396 |
+
"message": "YES"
|
| 397 |
+
}
|
| 398 |
+
}
|
dataset/kitchen_supplies/utensils/b1cd453721fa540f85fce2d5dd80b254/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:53265ec7b17c52683a1c4da81fa2620e4ac911803089c62653228dee767000f5
|
| 3 |
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size 3784360
|