Add asset kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86
Browse files
.gitattributes
CHANGED
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@@ -8474,4 +8474,4 @@ dataset/kitchen_supplies/tableware/f7096c69c7135c668a08feff582342b0/affordance/m
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| 8474 |
dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8475 |
dataset/kitchen_supplies/tableware/fad51194511e561b99d880af1deabc73/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8476 |
dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8477 |
-
dataset/kitchen_supplies/tableware/
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| 8474 |
dataset/kitchen_supplies/tableware/f9e2751ec09a5d4dac818e058dda7d8c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8475 |
dataset/kitchen_supplies/tableware/fad51194511e561b99d880af1deabc73/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8476 |
dataset/kitchen_supplies/tableware/fb268ce5099b5236b904de1c733b61d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8477 |
+
dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,396 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spoon bowl",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the bowl to reorient the spoon during sorting or placement",
|
| 10 |
+
"confidence": 0.31
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bowl to stabilize the spoon while another tool manipulates the handle",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop soft food",
|
| 19 |
+
"hold a small food portion",
|
| 20 |
+
"transfer food to mouth",
|
| 21 |
+
"provide the main utensil working surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded shallow turquoise plastic bowl with a smooth slightly glossy hard surface, forming the larger front end of the spoon and blending into the neck.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_2": {
|
| 27 |
+
"confidence": 0.9808098673820496,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.02668304741382599,
|
| 30 |
+
-0.09679960573339486,
|
| 31 |
+
-0.00337226310512051
|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.44815500664908486,
|
| 35 |
+
"xyz": [
|
| 36 |
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-0.5087508888360219,
|
| 37 |
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0.48316142606312085,
|
| 38 |
+
0.553971713617733
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_5": {
|
| 43 |
+
"confidence": 0.979880154132843,
|
| 44 |
+
"position": [
|
| 45 |
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-0.02714216522872448,
|
| 46 |
+
-0.09599091226482415,
|
| 47 |
+
0.006529321020934731
|
| 48 |
+
],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.545776245299057,
|
| 51 |
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"xyz": [
|
| 52 |
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-0.5014267189922424,
|
| 53 |
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-0.5317074265022457,
|
| 54 |
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-0.4098618647182208
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_6": {
|
| 59 |
+
"confidence": 0.9797496795654297,
|
| 60 |
+
"position": [
|
| 61 |
+
0.002673666924238205,
|
| 62 |
+
-0.09133922422552132,
|
| 63 |
+
0.004449662810657173
|
| 64 |
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],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.35206920764203237,
|
| 67 |
+
"xyz": [
|
| 68 |
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-0.6123422398097932,
|
| 69 |
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0.3822084455387784,
|
| 70 |
+
0.5958195687738593
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_7": {
|
| 75 |
+
"confidence": 0.9794384241104126,
|
| 76 |
+
"position": [
|
| 77 |
+
0.002563685178756714,
|
| 78 |
+
-0.09360572064542794,
|
| 79 |
+
7.980893133208156e-05
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
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"w": 0.3809195833731771,
|
| 83 |
+
"xyz": [
|
| 84 |
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-0.5820987706836668,
|
| 85 |
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0.4018344822547767,
|
| 86 |
+
0.5954748869955854
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_8": {
|
| 91 |
+
"confidence": 0.9790088534355164,
|
| 92 |
+
"position": [
|
| 93 |
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-0.009807849768549204,
|
| 94 |
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-0.09424430245780968,
|
| 95 |
+
-0.011339317017700523
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.4598747848691616,
|
| 99 |
+
"xyz": [
|
| 100 |
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-0.513003008529523,
|
| 101 |
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0.4372323306550777,
|
| 102 |
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0.5780752412196266
|
| 103 |
+
]
|
| 104 |
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}
|
| 105 |
+
},
|
| 106 |
+
"grasp_10": {
|
| 107 |
+
"confidence": 0.9781928062438965,
|
| 108 |
+
"position": [
|
| 109 |
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-0.03295632265508175,
|
| 110 |
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-0.087775253898144,
|
| 111 |
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-0.044962916465010494
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
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"w": 0.630694682516312,
|
| 115 |
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"xyz": [
|
| 116 |
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-0.36218121637266665,
|
| 117 |
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-0.3829722046764795,
|
| 118 |
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-0.5695447957779096
|
| 119 |
+
]
|
| 120 |
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}
|
| 121 |
+
},
|
| 122 |
+
"grasp_11": {
|
| 123 |
+
"confidence": 0.9781161546707153,
|
| 124 |
+
"position": [
|
| 125 |
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-0.012880902271717787,
|
| 126 |
+
0.09339141731834388,
|
| 127 |
+
-0.001814340881537646
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.5713550853051638,
|
| 131 |
+
"xyz": [
|
| 132 |
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0.4532730141305018,
|
| 133 |
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-0.5397204967734305,
|
| 134 |
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0.42047440649773266
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_18": {
|
| 139 |
+
"confidence": 0.9771655797958374,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.012005950324237347,
|
| 142 |
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-0.09666388595724129,
|
| 143 |
+
-0.0026768906391225755
|
| 144 |
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],
|
| 145 |
+
"orientation": {
|
| 146 |
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"w": 0.39864621540283995,
|
| 147 |
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"xyz": [
|
| 148 |
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-0.5714769744868058,
|
| 149 |
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0.413518047744027,
|
| 150 |
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0.5860870982766703
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"part_name": "handle",
|
| 158 |
+
"mask_color": "Green",
|
| 159 |
+
"graspable": true,
|
| 160 |
+
"grasp_scenarios": [
|
| 161 |
+
{
|
| 162 |
+
"scenario": "grasp the handle to pick up and carry the spoon",
|
| 163 |
+
"confidence": 0.96
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"scenario": "hold the handle to position the spoon for scooping or feeding",
|
| 167 |
+
"confidence": 0.93
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"scenario": "grasp near the handle end to hang or retrieve the spoon through the hole area",
|
| 171 |
+
"confidence": 0.62
|
| 172 |
+
}
|
| 173 |
+
],
|
| 174 |
+
"functional_labels": [
|
| 175 |
+
"provide the main grip",
|
| 176 |
+
"control spoon orientation",
|
| 177 |
+
"keep hand away from food",
|
| 178 |
+
"support hanging storage"
|
| 179 |
+
],
|
| 180 |
+
"semantic_description": "Slim elongated turquoise plastic handle with a smooth slightly glossy hard finish, located at the rear and featuring printed cartoon graphics and a small hanging hole near the tip.",
|
| 181 |
+
"id": 1,
|
| 182 |
+
"grasp_group": {
|
| 183 |
+
"grasp_20": {
|
| 184 |
+
"confidence": 0.9643266201019287,
|
| 185 |
+
"position": [
|
| 186 |
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0.08308348804712296,
|
| 187 |
+
0.08671152477836586,
|
| 188 |
+
0.00499872030923143
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.32556500843753977,
|
| 192 |
+
"xyz": [
|
| 193 |
+
0.6167622998126058,
|
| 194 |
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0.3990183911610392,
|
| 195 |
+
-0.5953116951028148
|
| 196 |
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]
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},
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{
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|
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| 387 |
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"semantic_description": "Small oval blue insert or printed accent on the turquoise plastic handle, smooth and slightly glossy, positioned near the handle tip as a minor decorative feature.",
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"success": true,
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"message": "YES"
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| 395 |
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| 396 |
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}
|
dataset/kitchen_supplies/tableware/fb7123f28d2959e1824570f190310b86/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 sha256:8761832119e57d4d59da5903375a9323aa19b9c1e177c30b0f9e9b90e1000caa
|
| 3 |
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size 3781176
|