Add asset kitchen_supplies/utensils/3fa814c7d32d51a1ad02d4ae3f9044f0
Browse files
.gitattributes
CHANGED
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@@ -8658,3 +8658,4 @@ dataset/kitchen_supplies/utensils/3e74e2bb3e9e5b7385dbb10978e08813/affordance/me
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| 8658 |
dataset/kitchen_supplies/utensils/3e8da6ebf3f25525b57b15ac696631f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8659 |
dataset/kitchen_supplies/utensils/3e9ac10fb5d45bc1bbe36729036d09ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8660 |
dataset/kitchen_supplies/utensils/3ec550e386a856d4a21b7e80f69f750b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8658 |
dataset/kitchen_supplies/utensils/3e8da6ebf3f25525b57b15ac696631f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8659 |
dataset/kitchen_supplies/utensils/3e9ac10fb5d45bc1bbe36729036d09ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8660 |
dataset/kitchen_supplies/utensils/3ec550e386a856d4a21b7e80f69f750b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8661 |
+
dataset/kitchen_supplies/utensils/3fa814c7d32d51a1ad02d4ae3f9044f0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/3fa814c7d32d51a1ad02d4ae3f9044f0/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,258 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spatula head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"slide under food",
|
| 10 |
+
"lift and turn food",
|
| 11 |
+
"support food during serving",
|
| 12 |
+
"scrape cooking surfaces"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Broad silver-gray metal head with a satin reflective finish and smooth hard surface, thin and flat with rounded corners at the front of the spatula, with a small printed logo near one corner.",
|
| 15 |
+
"id": 0,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "handle",
|
| 20 |
+
"mask_color": "Green",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the handle to pick up and use the spatula",
|
| 25 |
+
"confidence": 0.97
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold the handle to flip or turn food while cooking",
|
| 29 |
+
"confidence": 0.96
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the handle to hang or reposition the utensil",
|
| 33 |
+
"confidence": 0.68
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"provide primary grip",
|
| 38 |
+
"control spatula orientation",
|
| 39 |
+
"keep hand away from hot surface",
|
| 40 |
+
"connect user to spatula head"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Long light gray handle, likely plastic or coated metal, with a matte smooth hard surface and slightly tapered cylindrical shape at the rear of the spatula.",
|
| 43 |
+
"id": 1,
|
| 44 |
+
"grasp_group": {
|
| 45 |
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"grasp_1": {
|
| 46 |
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"confidence": 0.9785082340240479,
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| 47 |
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"position": [
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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],
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| 52 |
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"orientation": {
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| 53 |
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"w": 0.5034958826447945,
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| 54 |
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"xyz": [
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| 55 |
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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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},
|
| 61 |
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"grasp_2": {
|
| 62 |
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"confidence": 0.9779554009437561,
|
| 63 |
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"position": [
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| 64 |
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| 65 |
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0.0968609107658267,
|
| 66 |
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0.007998651941306889
|
| 67 |
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],
|
| 68 |
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"orientation": {
|
| 69 |
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"w": 0.4821257623447477,
|
| 70 |
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"xyz": [
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| 71 |
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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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"grasp_3": {
|
| 78 |
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"confidence": 0.9777976274490356,
|
| 79 |
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"position": [
|
| 80 |
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|
| 81 |
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-0.0964335622265935,
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| 82 |
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-0.02442298352252692
|
| 83 |
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],
|
| 84 |
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"orientation": {
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| 85 |
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"w": 0.5372376999906415,
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| 86 |
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"xyz": [
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| 87 |
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| 88 |
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| 89 |
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| 90 |
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]
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| 91 |
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}
|
| 92 |
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},
|
| 93 |
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"grasp_4": {
|
| 94 |
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"confidence": 0.9775171279907227,
|
| 95 |
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"position": [
|
| 96 |
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|
| 97 |
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| 98 |
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|
| 99 |
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],
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"orientation": {
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"w": 0.4942335193321499,
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| 102 |
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"xyz": [
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| 105 |
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| 106 |
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]
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| 107 |
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}
|
| 108 |
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},
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| 109 |
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"grasp_5": {
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| 110 |
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"confidence": 0.9771738052368164,
|
| 111 |
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"position": [
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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],
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| 116 |
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"orientation": {
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| 117 |
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"w": 0.5221073912130997,
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| 118 |
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"xyz": [
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| 120 |
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| 121 |
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| 122 |
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]
|
| 123 |
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}
|
| 124 |
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},
|
| 125 |
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"grasp_8": {
|
| 126 |
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"confidence": 0.9759116768836975,
|
| 127 |
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"position": [
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| 129 |
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| 130 |
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|
| 131 |
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],
|
| 132 |
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"orientation": {
|
| 133 |
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"w": 0.5154512049466612,
|
| 134 |
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"xyz": [
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| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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]
|
| 139 |
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}
|
| 140 |
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},
|
| 141 |
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"grasp_9": {
|
| 142 |
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"confidence": 0.9758901000022888,
|
| 143 |
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"position": [
|
| 144 |
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0.10621516406536102,
|
| 145 |
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0.09944871347397566,
|
| 146 |
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|
| 147 |
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],
|
| 148 |
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"orientation": {
|
| 149 |
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"w": 0.5120101335684022,
|
| 150 |
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"xyz": [
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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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}
|
| 156 |
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},
|
| 157 |
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"grasp_10": {
|
| 158 |
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"confidence": 0.9757451415061951,
|
| 159 |
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"position": [
|
| 160 |
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|
| 161 |
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|
| 162 |
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|
| 163 |
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],
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| 164 |
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"orientation": {
|
| 165 |
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"w": 0.10628596906451544,
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| 166 |
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"xyz": [
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| 169 |
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|
| 170 |
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]
|
| 171 |
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}
|
| 172 |
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},
|
| 173 |
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"grasp_11": {
|
| 174 |
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"confidence": 0.9755698442459106,
|
| 175 |
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"position": [
|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
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],
|
| 180 |
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"orientation": {
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| 181 |
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"w": 0.5624701844618248,
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| 182 |
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"xyz": [
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| 185 |
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|
| 186 |
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]
|
| 187 |
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}
|
| 188 |
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},
|
| 189 |
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"grasp_15": {
|
| 190 |
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"confidence": 0.9742285013198853,
|
| 191 |
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"position": [
|
| 192 |
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0.049749910831451416,
|
| 193 |
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|
| 194 |
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0.09583977528382093
|
| 195 |
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],
|
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"orientation": {
|
| 197 |
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"w": 0.10586860044843688,
|
| 198 |
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"xyz": [
|
| 199 |
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|
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|
| 201 |
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|
| 202 |
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]
|
| 203 |
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}
|
| 204 |
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},
|
| 205 |
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"grasp_16": {
|
| 206 |
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"confidence": 0.9738911986351013,
|
| 207 |
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"position": [
|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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],
|
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"orientation": {
|
| 213 |
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"w": 0.38789017216439475,
|
| 214 |
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"xyz": [
|
| 215 |
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0.6116368090082079,
|
| 216 |
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|
| 217 |
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0.3953139302189779
|
| 218 |
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]
|
| 219 |
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}
|
| 220 |
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},
|
| 221 |
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"grasp_18": {
|
| 222 |
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"confidence": 0.973556399345398,
|
| 223 |
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"position": [
|
| 224 |
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0.037242814898490906,
|
| 225 |
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0.008186315186321735,
|
| 226 |
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0.09498425491619855
|
| 227 |
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],
|
| 228 |
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"orientation": {
|
| 229 |
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"w": 0.0920605157485277,
|
| 230 |
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"xyz": [
|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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]
|
| 235 |
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}
|
| 236 |
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}
|
| 237 |
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}
|
| 238 |
+
},
|
| 239 |
+
{
|
| 240 |
+
"part_name": "hanging hole",
|
| 241 |
+
"mask_color": "Blue",
|
| 242 |
+
"graspable": false,
|
| 243 |
+
"grasp_scenarios": [],
|
| 244 |
+
"functional_labels": [
|
| 245 |
+
"enable hanging storage",
|
| 246 |
+
"provide attachment point",
|
| 247 |
+
"indicate handle end"
|
| 248 |
+
],
|
| 249 |
+
"semantic_description": "Small oval opening at the tip of the handle, appearing as a recessed hole through the light gray handle for hanging or tethering.",
|
| 250 |
+
"id": 2,
|
| 251 |
+
"grasp_group": {}
|
| 252 |
+
}
|
| 253 |
+
],
|
| 254 |
+
"quality_check": {
|
| 255 |
+
"success": true,
|
| 256 |
+
"message": "YES"
|
| 257 |
+
}
|
| 258 |
+
}
|
dataset/kitchen_supplies/utensils/3fa814c7d32d51a1ad02d4ae3f9044f0/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
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|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:88e36c5105def946a207f452f9e9678ced8012aefa42c4548001b8c75c2f7727
|
| 3 |
+
size 3779672
|