Add asset kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631
Browse files
.gitattributes
CHANGED
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@@ -8446,3 +8446,4 @@ dataset/kitchen_supplies/tableware/181a276df94958698e3ed0e2548ef55c/affordance/m
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| 8446 |
dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8447 |
dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8448 |
dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8446 |
dataset/kitchen_supplies/tableware/18ad99251308580299f7cbd4bfb9e5d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8447 |
dataset/kitchen_supplies/tableware/1a4a73f09a275c47b91e6ca389d65aba/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8448 |
dataset/kitchen_supplies/tableware/1a50568c5df955c5b6bc392a08ee8309/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8449 |
+
dataset/kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,366 @@
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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 reposition the fork on a surface",
|
| 10 |
+
"confidence": 0.31
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the neck and fork head to stabilize the utensil during handoff",
|
| 14 |
+
"confidence": 0.27
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pierce food",
|
| 19 |
+
"separate small bites",
|
| 20 |
+
"spear and lift food",
|
| 21 |
+
"define the working end"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small silver metal fork head with a reflective smooth hard surface, featuring four slender tapered tines at one end of the utensil.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.8339701294898987,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.05078243601019494,
|
| 30 |
+
0.10303341946564615,
|
| 31 |
+
-0.0096735138722579
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6555017177267836,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.37509680392992484,
|
| 37 |
+
0.5658952317330656,
|
| 38 |
+
-0.3307302109583762
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.8276704549789429,
|
| 44 |
+
"position": [
|
| 45 |
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-0.050970522192073986,
|
| 46 |
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0.1066946794744581,
|
| 47 |
+
-0.006055276775441598
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
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"w": 0.6396100638363738,
|
| 51 |
+
"xyz": [
|
| 52 |
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0.3625184703488371,
|
| 53 |
+
0.5833596545211359,
|
| 54 |
+
-0.34521129525574584
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_5": {
|
| 59 |
+
"confidence": 0.8038665652275085,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.04926161977346055,
|
| 62 |
+
0.11105072102509439,
|
| 63 |
+
-0.011495916573039722
|
| 64 |
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],
|
| 65 |
+
"orientation": {
|
| 66 |
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"w": 0.6546424790189578,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.3575491321099795,
|
| 69 |
+
0.5641844514180212,
|
| 70 |
+
-0.3539742187920756
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_6": {
|
| 75 |
+
"confidence": 0.793948769569397,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.04498528080875985,
|
| 78 |
+
0.1097452079411596,
|
| 79 |
+
0.013671131404407788
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.39035325691610745,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.6416790092153627,
|
| 85 |
+
-0.3449141195385109,
|
| 86 |
+
0.562944610144153
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_9": {
|
| 91 |
+
"confidence": 0.7892548441886902,
|
| 92 |
+
"position": [
|
| 93 |
+
0.004548364813672379,
|
| 94 |
+
0.12415575585328043,
|
| 95 |
+
0.0037408807038445957
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.4794713180557428,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.5123349580715288,
|
| 101 |
+
0.5061033271283562,
|
| 102 |
+
-0.5014773855014226
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_13": {
|
| 107 |
+
"confidence": 0.7856557369232178,
|
| 108 |
+
"position": [
|
| 109 |
+
0.002217091416241601,
|
| 110 |
+
0.12329773209057748,
|
| 111 |
+
0.0040992531648953445
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.4822658167693424,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.5077360143133126,
|
| 117 |
+
0.5118190022334271,
|
| 118 |
+
-0.49765965347595675
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_18": {
|
| 123 |
+
"confidence": 0.7653300166130066,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.006337057304335758,
|
| 126 |
+
0.12906008563004434,
|
| 127 |
+
0.0010633837737259455
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.48293890146687535,
|
| 131 |
+
"xyz": [
|
| 132 |
+
0.4669641035499537,
|
| 133 |
+
0.5406918506153746,
|
| 134 |
+
-0.5063268372542348
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_19": {
|
| 139 |
+
"confidence": 0.7642049193382263,
|
| 140 |
+
"position": [
|
| 141 |
+
0.0024354229972232133,
|
| 142 |
+
0.12516006431542337,
|
| 143 |
+
0.006825885800935794
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.5310164040623123,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.5570528349621469,
|
| 149 |
+
0.4515621651125741,
|
| 150 |
+
-0.45144803545503487
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
}
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"part_name": "fork handle",
|
| 158 |
+
"mask_color": "Green",
|
| 159 |
+
"graspable": true,
|
| 160 |
+
"grasp_scenarios": [
|
| 161 |
+
{
|
| 162 |
+
"scenario": "grasp the handle to pick up and manipulate the fork for use",
|
| 163 |
+
"confidence": 0.97
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"scenario": "hold the handle to place or retrieve the fork from a table or tray",
|
| 167 |
+
"confidence": 0.95
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"scenario": "grasp the handle to stabilize the fork while loading food",
|
| 171 |
+
"confidence": 0.9
|
| 172 |
+
}
|
| 173 |
+
],
|
| 174 |
+
"functional_labels": [
|
| 175 |
+
"provide the main grip",
|
| 176 |
+
"enable utensil manipulation",
|
| 177 |
+
"keep hand away from food end",
|
| 178 |
+
"support orientation and control"
|
| 179 |
+
],
|
| 180 |
+
"semantic_description": "Long dark reddish-brown handle, likely wood or wood-patterned material, with a glossy smooth hard finish, tapered rounded shape, gold floral decoration, and larger size at the rear of the fork.",
|
| 181 |
+
"id": 1,
|
| 182 |
+
"grasp_group": {
|
| 183 |
+
"grasp_26": {
|
| 184 |
+
"confidence": 0.8385081887245178,
|
| 185 |
+
"position": [
|
| 186 |
+
-0.010608312179101631,
|
| 187 |
+
-0.12743654497899115,
|
| 188 |
+
-1.4919591194484383e-05
|
| 189 |
+
],
|
| 190 |
+
"orientation": {
|
| 191 |
+
"w": 0.5265373320493747,
|
| 192 |
+
"xyz": [
|
| 193 |
+
-0.4829247421071332,
|
| 194 |
+
0.5140328333635238,
|
| 195 |
+
0.4746708097654143
|
| 196 |
+
]
|
| 197 |
+
}
|
| 198 |
+
},
|
| 199 |
+
"grasp_27": {
|
| 200 |
+
"confidence": 0.8369060158729553,
|
| 201 |
+
"position": [
|
| 202 |
+
0.04701944303815253,
|
| 203 |
+
-0.11952697881497443,
|
| 204 |
+
0.00044399032049113885
|
| 205 |
+
],
|
| 206 |
+
"orientation": {
|
| 207 |
+
"w": 0.3676755141326546,
|
| 208 |
+
"xyz": [
|
| 209 |
+
-0.6161306355861121,
|
| 210 |
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dataset/kitchen_supplies/tableware/1ad89a48b7895f06a2e9ce1650048631/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3789560
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