Add asset kitchen_supplies/tableware/291b35407cb0518eb536f43ccb5e9907
Browse files
.gitattributes
CHANGED
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@@ -8465,3 +8465,4 @@ dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/m
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| 8465 |
dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8466 |
dataset/kitchen_supplies/tableware/2656f6c2dd8e58af9a31ae47abf5c14e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8467 |
dataset/kitchen_supplies/tableware/28b78caba0455c25b0e3ac3df432c637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8465 |
dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8466 |
dataset/kitchen_supplies/tableware/2656f6c2dd8e58af9a31ae47abf5c14e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8467 |
dataset/kitchen_supplies/tableware/28b78caba0455c25b0e3ac3df432c637/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8468 |
+
dataset/kitchen_supplies/tableware/291b35407cb0518eb536f43ccb5e9907/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/291b35407cb0518eb536f43ccb5e9907/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,446 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "fork head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the fork head to reorient or transfer the utensil when the handle is obstructed",
|
| 10 |
+
"confidence": 0.31
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the neck and head to stabilize the fork during manipulation",
|
| 14 |
+
"confidence": 0.27
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pierce food",
|
| 19 |
+
"hold food on the tines",
|
| 20 |
+
"scoop small bites imperfectly",
|
| 21 |
+
"contact food during eating"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small silver-gray metal fork head with a reflective smooth hard surface, formed by four narrow tines at the front of the utensil and a slightly wider neck where it joins the handle.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_1": {
|
| 27 |
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"confidence": 0.9821488261222839,
|
| 28 |
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"position": [
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| 29 |
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|
| 30 |
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-0.09187585658219177,
|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.4216019781356253,
|
| 35 |
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"xyz": [
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| 36 |
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| 37 |
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|
| 38 |
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|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_3": {
|
| 43 |
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"confidence": 0.9809033274650574,
|
| 44 |
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"position": [
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| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.41193797722716374,
|
| 51 |
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"xyz": [
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| 52 |
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| 53 |
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|
| 54 |
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|
| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_5": {
|
| 59 |
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"confidence": 0.9797312617301941,
|
| 60 |
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"position": [
|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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],
|
| 65 |
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"orientation": {
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| 66 |
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"w": 0.4892922815858382,
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| 67 |
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"xyz": [
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| 68 |
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| 69 |
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|
| 70 |
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|
| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_8": {
|
| 75 |
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"confidence": 0.9783262014389038,
|
| 76 |
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"position": [
|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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],
|
| 81 |
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"orientation": {
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| 82 |
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"w": 0.6074319786926118,
|
| 83 |
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"xyz": [
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| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_9": {
|
| 91 |
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"confidence": 0.9774790406227112,
|
| 92 |
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"position": [
|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
|
| 98 |
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"w": 0.5052734013479786,
|
| 99 |
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"xyz": [
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| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_10": {
|
| 107 |
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"confidence": 0.9773154258728027,
|
| 108 |
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"position": [
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.620812202385557,
|
| 115 |
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"xyz": [
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| 118 |
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| 119 |
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]
|
| 120 |
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}
|
| 121 |
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},
|
| 122 |
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"grasp_13": {
|
| 123 |
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"confidence": 0.9766110181808472,
|
| 124 |
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"position": [
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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],
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| 129 |
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"orientation": {
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| 135 |
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]
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}
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| 137 |
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},
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| 138 |
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"grasp_15": {
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| 139 |
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"confidence": 0.9760762453079224,
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| 140 |
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"position": [
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| 143 |
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],
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"orientation": {
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"w": 0.5760190254001873,
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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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"grasp_18": {
|
| 155 |
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"confidence": 0.9755005240440369,
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| 156 |
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"position": [
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],
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"orientation": {
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"xyz": [
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| 169 |
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},
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"grasp_19": {
|
| 171 |
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"confidence": 0.9751377701759338,
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"position": [
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|
dataset/kitchen_supplies/tableware/291b35407cb0518eb536f43ccb5e9907/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
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|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:d6ffe0ae3e841dfc8d8f7276eb796493c2c40116b7955ec2b5db179df21efd76
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| 3 |
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size 3780196
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