Add asset kitchen_supplies/tableware/0cbec0d87af15c6ab6bc773534150f22
Browse files
.gitattributes
CHANGED
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@@ -8421,3 +8421,4 @@ dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/affordance/m
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| 8421 |
dataset/kitchen_supplies/tableware/0c98fc3ed471550b95714cd5089ed701/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8422 |
dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8423 |
dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8421 |
dataset/kitchen_supplies/tableware/0c98fc3ed471550b95714cd5089ed701/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8422 |
dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8423 |
dataset/kitchen_supplies/tableware/0cba227e931e5559a8fc0f246cd970fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8424 |
+
dataset/kitchen_supplies/tableware/0cbec0d87af15c6ab6bc773534150f22/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/0cbec0d87af15c6ab6bc773534150f22/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,597 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spoon head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the broad head to reposition the utensil when the handle is obstructed",
|
| 10 |
+
"confidence": 0.38
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the head gently to stabilize the utensil during inspection or handoff",
|
| 14 |
+
"confidence": 0.33
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop soft food",
|
| 19 |
+
"serve small portions",
|
| 20 |
+
"spread or press food lightly",
|
| 21 |
+
"present the working end"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Broad rounded spoon head in light beige wood or bamboo with a matte smooth finish, shallow or nearly flat profile, visible wood grain, and located at the working end.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9813466668128967,
|
| 28 |
+
"position": [
|
| 29 |
+
0.007915019057691097,
|
| 30 |
+
-0.09006854691688204,
|
| 31 |
+
-0.010638324194587767
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.44306150008200135,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.5669284092037262,
|
| 37 |
+
0.3404388700940081,
|
| 38 |
+
0.6053016287041808
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9806833863258362,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.02310989797115326,
|
| 46 |
+
-0.09655027636472369,
|
| 47 |
+
0.005099980975501239
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.5018301589143555,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.5364841813168139,
|
| 53 |
+
0.4904909104133286,
|
| 54 |
+
0.4687962047657001
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9796655774116516,
|
| 60 |
+
"position": [
|
| 61 |
+
0.012962990440428257,
|
| 62 |
+
-0.08974039354507113,
|
| 63 |
+
0.015350575908087194
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.3553908882303698,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.652819326844506,
|
| 69 |
+
0.39922455879077823,
|
| 70 |
+
0.5367904569936234
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_4": {
|
| 75 |
+
"confidence": 0.9790215492248535,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.02958474215120077,
|
| 78 |
+
-0.09745960482541705,
|
| 79 |
+
-0.01810481830034405
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.5676642403317139,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.4497936977060504,
|
| 85 |
+
0.458620218596411,
|
| 86 |
+
0.5148887596822405
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_5": {
|
| 91 |
+
"confidence": 0.9786846041679382,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.03179918322712183,
|
| 94 |
+
-0.09792955764714861,
|
| 95 |
+
-0.004975063377059996
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.47756611289699497,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.5079515397794705,
|
| 101 |
+
-0.46603045553300315,
|
| 102 |
+
-0.5447306266071525
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_7": {
|
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0.011897168471477926
|
| 518 |
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],
|
| 519 |
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"orientation": {
|
| 520 |
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"w": 0.6816104196848966,
|
| 521 |
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|
| 522 |
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| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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}
|
| 527 |
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},
|
| 528 |
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"grasp_27": {
|
| 529 |
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"confidence": 0.7938465476036072,
|
| 530 |
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|
| 531 |
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|
| 532 |
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0.04821500754769659,
|
| 533 |
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-0.0010347533388994634
|
| 534 |
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],
|
| 535 |
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"orientation": {
|
| 536 |
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|
| 537 |
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"xyz": [
|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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}
|
| 543 |
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},
|
| 544 |
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"grasp_31": {
|
| 545 |
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"confidence": 0.7807174324989319,
|
| 546 |
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|
| 547 |
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|
| 548 |
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|
| 549 |
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0.007997439592145383
|
| 550 |
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],
|
| 551 |
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"orientation": {
|
| 552 |
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"w": 0.6892695692675995,
|
| 553 |
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"xyz": [
|
| 554 |
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|
| 555 |
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|
| 556 |
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0.05464836015073358
|
| 557 |
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]
|
| 558 |
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}
|
| 559 |
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},
|
| 560 |
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"grasp_37": {
|
| 561 |
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|
| 562 |
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|
| 563 |
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0.14591509196907282,
|
| 564 |
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|
| 565 |
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0.010010377853177488
|
| 566 |
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],
|
| 567 |
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"orientation": {
|
| 568 |
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"w": 0.030894561702177827,
|
| 569 |
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"xyz": [
|
| 570 |
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|
| 571 |
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|
| 572 |
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|
| 573 |
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]
|
| 574 |
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}
|
| 575 |
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}
|
| 576 |
+
}
|
| 577 |
+
},
|
| 578 |
+
{
|
| 579 |
+
"part_name": "handle decoration",
|
| 580 |
+
"mask_color": "Yellow",
|
| 581 |
+
"graspable": false,
|
| 582 |
+
"grasp_scenarios": [],
|
| 583 |
+
"functional_labels": [
|
| 584 |
+
"decorate the handle",
|
| 585 |
+
"provide visual identification",
|
| 586 |
+
"show printed branding or product information"
|
| 587 |
+
],
|
| 588 |
+
"semantic_description": "Small printed marking area on the end portion of the handle, appearing as green decorative elements with darker text on the light beige wooden surface.",
|
| 589 |
+
"id": 3,
|
| 590 |
+
"grasp_group": {}
|
| 591 |
+
}
|
| 592 |
+
],
|
| 593 |
+
"quality_check": {
|
| 594 |
+
"success": true,
|
| 595 |
+
"message": "YES"
|
| 596 |
+
}
|
| 597 |
+
}
|
dataset/kitchen_supplies/tableware/0cbec0d87af15c6ab6bc773534150f22/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:87b02f19717968ff36ff2b7fded952970f6b2e6c9b87a612956b02da62686387
|
| 3 |
+
size 3781804
|