Add asset kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59
Browse files
.gitattributes
CHANGED
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@@ -8405,3 +8405,4 @@ dataset/kitchen_supplies/tableware/01dbfbb228385981a0d162f2ac7664be/affordance/m
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| 8405 |
dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8406 |
dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8407 |
dataset/kitchen_supplies/tableware/0391f552c5255069909b0db6e5e48c50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8405 |
dataset/kitchen_supplies/tableware/0444f6811bb55bbe9983638c7d295365/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8406 |
dataset/kitchen_supplies/tableware/04b6ef3b6a98553bb46a820100c807be/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8407 |
dataset/kitchen_supplies/tableware/0391f552c5255069909b0db6e5e48c50/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8408 |
+
dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,509 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "left chopstick shaft",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the thicker rear half to pick up and reposition the chopsticks",
|
| 10 |
+
"confidence": 0.84
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold this stick against the other chopstick to form a pinching pair",
|
| 14 |
+
"confidence": 0.8
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the chopstick pair during placement or storage",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"form one half of the chopstick pair",
|
| 24 |
+
"enable pinching food with the mate stick",
|
| 25 |
+
"provide structural stiffness"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Long dark brown wooden shaft with a matte slightly worn finish, hard fine-grained texture, tapered rectangular profile, and carved ring bands along much of its length.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.5231444835662842,
|
| 32 |
+
"position": [
|
| 33 |
+
0.12289600539952517,
|
| 34 |
+
-0.04986734887233979,
|
| 35 |
+
0.02462199345609406
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.613875227751342,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.2850134039151197,
|
| 41 |
+
-0.7317003684431823,
|
| 42 |
+
-0.08086491922995195
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.20971712470054626,
|
| 48 |
+
"position": [
|
| 49 |
+
0.10744641441851854,
|
| 50 |
+
-0.040540872268593375,
|
| 51 |
+
0.037279268879501615
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5725865909887095,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.38549744444148953,
|
| 57 |
+
-0.7229530222831476,
|
| 58 |
+
0.029584518259933367
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.800570011138916,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.06483864318579435,
|
| 66 |
+
-0.06075244223347909,
|
| 67 |
+
0.02600053713103989
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.6080982795392293,
|
| 71 |
+
"xyz": [
|
| 72 |
+
-0.32205555769267064,
|
| 73 |
+
0.7141717442269087,
|
| 74 |
+
0.1282786807251592
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_6": {
|
| 79 |
+
"confidence": 0.47757256031036377,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.11178949754685163,
|
| 82 |
+
-0.058411335699474876,
|
| 83 |
+
-0.005780797298939433
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.6963358198041484,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.16075137912681597,
|
| 89 |
+
0.6503461491725598,
|
| 90 |
+
0.2575370001047108
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_8": {
|
| 95 |
+
"confidence": 0.43565696477890015,
|
| 96 |
+
"position": [
|
| 97 |
+
0.07342057395726442,
|
| 98 |
+
-0.06130542805067307,
|
| 99 |
+
-0.011942470293433871
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.6766396159281148,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.15943965480400246,
|
| 105 |
+
-0.6631675222192052,
|
| 106 |
+
-0.27739261725264763
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_9": {
|
| 111 |
+
"confidence": 0.4264892339706421,
|
| 112 |
+
"position": [
|
| 113 |
+
0.12254818249493837,
|
| 114 |
+
0.049990491814696725,
|
| 115 |
+
-0.004309944190026727
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.22550712999284564,
|
| 119 |
+
"xyz": [
|
| 120 |
+
0.6715126330089075,
|
| 121 |
+
0.1606238930853835,
|
| 122 |
+
-0.6873261838471819
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_10": {
|
| 127 |
+
"confidence": 0.4074212610721588,
|
| 128 |
+
"position": [
|
| 129 |
+
0.04541675839573145,
|
| 130 |
+
-0.05302793359032876,
|
| 131 |
+
0.026352612454502378
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5970864038386318,
|
| 135 |
+
"xyz": [
|
| 136 |
+
-0.32946613501372,
|
| 137 |
+
-0.7274745444203977,
|
| 138 |
+
-0.07563517336864929
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_13": {
|
| 143 |
+
"confidence": 0.33180591464042664,
|
| 144 |
+
"position": [
|
| 145 |
+
0.12764314282685518,
|
| 146 |
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{
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"part_name": "right chopstick shaft",
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| 213 |
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{
|
| 214 |
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"scenario": "grasp the thicker rear half to pick up and reposition the chopsticks",
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},
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{
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"scenario": "hold this stick against the other chopstick to form a pinching pair",
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{
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"scenario": "stabilize the chopstick pair during placement or storage",
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],
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"main grasp surface",
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"form one half of the chopstick pair",
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"enable pinching food with the mate stick",
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"provide structural stiffness"
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],
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"semantic_description": "Long dark brown wooden shaft with a matte slightly worn finish, hard fine-grained texture, tapered rectangular profile, and carved ring bands along much of its length.",
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}
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}
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},
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| 333 |
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{
|
| 334 |
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"part_name": "tip of left chopstick",
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| 335 |
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"mask_color": "Yellow",
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| 336 |
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| 337 |
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| 338 |
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"contact food",
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"provide precise picking point",
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"enable pinching at the front end",
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| 342 |
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"indicate use orientation"
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| 343 |
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],
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"semantic_description": "Small narrow tapered wooden tip at the front end, dark brown with a matte finish and smooth hard texture for precise contact.",
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| 345 |
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"id": 3,
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| 346 |
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|
| 347 |
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},
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| 348 |
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{
|
| 349 |
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"part_name": "tip of right chopstick",
|
| 350 |
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"mask_color": "Purple",
|
| 351 |
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"graspable": false,
|
| 352 |
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"grasp_scenarios": [],
|
| 353 |
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| 354 |
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"contact food",
|
| 355 |
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"provide precise picking point",
|
| 356 |
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"enable pinching at the front end",
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| 357 |
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"indicate use orientation"
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| 358 |
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],
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"semantic_description": "Small narrow tapered wooden tip at the front end, dark brown with a matte finish and smooth hard texture for precise contact.",
|
| 360 |
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"id": 5,
|
| 361 |
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|
| 362 |
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},
|
| 363 |
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{
|
| 364 |
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"part_name": "left chopstick butt end",
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| 365 |
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"mask_color": "Blue",
|
| 366 |
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"graspable": true,
|
| 367 |
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|
| 368 |
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{
|
| 369 |
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"scenario": "grasp the blunt rear end to lift or reposition the left chopstick",
|
| 370 |
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"confidence": 0.46
|
| 371 |
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},
|
| 372 |
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{
|
| 373 |
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"scenario": "use the rear end as a stabilizing contact point while aligning the pair",
|
| 374 |
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"confidence": 0.42
|
| 375 |
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}
|
| 376 |
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],
|
| 377 |
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"functional_labels": [
|
| 378 |
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"finish the rear end",
|
| 379 |
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"provide end stop",
|
| 380 |
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"indicate rear orientation"
|
| 381 |
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],
|
| 382 |
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"semantic_description": "Small blunt rear-end section of dark brown wood with a matte finish, hard smooth texture, and a flat squared-off shape at the thick end.",
|
| 383 |
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"id": 2,
|
| 384 |
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|
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|
| 386 |
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},
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],
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},
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]
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}
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},
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],
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]
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}
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},
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],
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]
|
| 463 |
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}
|
| 464 |
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}
|
| 465 |
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}
|
| 466 |
+
},
|
| 467 |
+
{
|
| 468 |
+
"part_name": "engraved medallion on right chopstick end",
|
| 469 |
+
"mask_color": "Orange",
|
| 470 |
+
"graspable": false,
|
| 471 |
+
"grasp_scenarios": [],
|
| 472 |
+
"functional_labels": [
|
| 473 |
+
"decorative detail",
|
| 474 |
+
"brand or style marker",
|
| 475 |
+
"indicate rear end"
|
| 476 |
+
],
|
| 477 |
+
"semantic_description": "Tiny circular carved detail inset on the thick rear end of the right chopstick, appearing darker brown with a matte finish and shallow engraved pattern on hard wood.",
|
| 478 |
+
"id": 4,
|
| 479 |
+
"grasp_group": {}
|
| 480 |
+
},
|
| 481 |
+
{
|
| 482 |
+
"part_name": "right chopstick butt end",
|
| 483 |
+
"mask_color": "Cyan",
|
| 484 |
+
"graspable": true,
|
| 485 |
+
"grasp_scenarios": [
|
| 486 |
+
{
|
| 487 |
+
"scenario": "grasp the blunt rear end to lift or reposition the right chopstick",
|
| 488 |
+
"confidence": 0.46
|
| 489 |
+
},
|
| 490 |
+
{
|
| 491 |
+
"scenario": "use the rear end as a stabilizing contact point while aligning the pair",
|
| 492 |
+
"confidence": 0.42
|
| 493 |
+
}
|
| 494 |
+
],
|
| 495 |
+
"functional_labels": [
|
| 496 |
+
"finish the rear end",
|
| 497 |
+
"provide end stop",
|
| 498 |
+
"indicate rear orientation"
|
| 499 |
+
],
|
| 500 |
+
"semantic_description": "Small blunt rear-end section of dark brown wood with a matte finish, hard smooth texture, and a flat squared-off shape at the thick end.",
|
| 501 |
+
"id": 6,
|
| 502 |
+
"grasp_group": {}
|
| 503 |
+
}
|
| 504 |
+
],
|
| 505 |
+
"quality_check": {
|
| 506 |
+
"success": true,
|
| 507 |
+
"message": "YES"
|
| 508 |
+
}
|
| 509 |
+
}
|
dataset/kitchen_supplies/tableware/04fa042f30b555d2927d3a00264dbf59/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:136cf52300e708228afca011b7bbda412bf3c0bfc2738df7927ba807650bc806
|
| 3 |
+
size 1848772
|