Add asset kitchen_supplies/utensils/40c7e8fbaf235782aeb44ddd72713882
Browse files
.gitattributes
CHANGED
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@@ -8659,3 +8659,4 @@ dataset/kitchen_supplies/utensils/3e8da6ebf3f25525b57b15ac696631f9/affordance/me
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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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| 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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| 8662 |
+
dataset/kitchen_supplies/utensils/40c7e8fbaf235782aeb44ddd72713882/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/40c7e8fbaf235782aeb44ddd72713882/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,462 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spatula head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the spatula head to reposition or retrieve the utensil in a cluttered drawer",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the head to stabilize the utensil while another gripper manipulates the handle",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"slide under food",
|
| 19 |
+
"lift and turn food",
|
| 20 |
+
"support food during serving",
|
| 21 |
+
"drain oil through slots"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Broad light silver or gray slotted spatula head with a smooth slightly reflective finish, shaped as a gently curved rectangular paddle at the working end, with branding visible near the neck in some views.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9464256763458252,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.1810449343174696,
|
| 30 |
+
0.015826588700292632,
|
| 31 |
+
0.10419843578711152
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.1125762976484281,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.9400006263420889,
|
| 37 |
+
-0.015282635934997568,
|
| 38 |
+
0.3217014776514585
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.9417121410369873,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.18397190980613232,
|
| 46 |
+
0.0007837929006200284,
|
| 47 |
+
0.09818198764696717
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.10463309645813677,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.9273668941860099,
|
| 53 |
+
-0.016156760484316468,
|
| 54 |
+
0.3588614186340301
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_3": {
|
| 59 |
+
"confidence": 0.9395204782485962,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.1347408276051283,
|
| 62 |
+
0.12201203426229768,
|
| 63 |
+
0.03372269542887807
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.38124859562667934,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.3055338495562447,
|
| 69 |
+
0.6578362888973677,
|
| 70 |
+
-0.5731928053611325
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_5": {
|
| 75 |
+
"confidence": 0.9374487996101379,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.1634721141308546,
|
| 78 |
+
0.09704466929542832,
|
| 79 |
+
0.06413541221991181
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.44592903757437213,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.7924405440498969,
|
| 85 |
+
-0.17055224254488377,
|
| 86 |
+
0.3796013832387983
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_6": {
|
| 91 |
+
"confidence": 0.9356350302696228,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.17053781263530254,
|
| 94 |
+
0.09081110378610902,
|
| 95 |
+
0.06937278294935822
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.36108183341741334,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.8318338203271762,
|
| 101 |
+
-0.13699404503343238,
|
| 102 |
+
0.398628945965032
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_7": {
|
| 107 |
+
"confidence": 0.9301814436912537,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.14595418982207775,
|
| 110 |
+
0.11441377570736222,
|
| 111 |
+
0.05144286761060357
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.3756364405512234,
|
| 115 |
+
"xyz": [
|
| 116 |
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0.24861829722659523,
|
| 117 |
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0.7401540081170439,
|
| 118 |
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-0.49925770007324893
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_8": {
|
| 123 |
+
"confidence": 0.9299936890602112,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.19001205079257488,
|
| 126 |
+
0.0015139241877477616,
|
| 127 |
+
0.09502278501167893
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.09058162562912989,
|
| 131 |
+
"xyz": [
|
| 132 |
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0.9161870943795007,
|
| 133 |
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-0.012839040235033572,
|
| 134 |
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0.39016834345789075
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_9": {
|
| 139 |
+
"confidence": 0.9291653633117676,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.17008538357913494,
|
| 142 |
+
0.0922549294482451,
|
| 143 |
+
0.06700039887800813
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.4149737013819226,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.8055207886478232,
|
| 149 |
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-0.1383384108216792,
|
| 150 |
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0.3997443812099284
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_10": {
|
| 155 |
+
"confidence": 0.9269860982894897,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.13484650664031506,
|
| 158 |
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0.11611232926952653,
|
| 159 |
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0.06334046507254243
|
| 160 |
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],
|
| 161 |
+
"orientation": {
|
| 162 |
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"w": 0.506352170669807,
|
| 163 |
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"xyz": [
|
| 164 |
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0.7833409497962991,
|
| 165 |
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-0.23274239116886264,
|
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dataset/kitchen_supplies/utensils/40c7e8fbaf235782aeb44ddd72713882/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3778784
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