Add asset kitchen_supplies/utensils/5cf324be19e850ce8a7e8052bb98f045
Browse files
.gitattributes
CHANGED
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@@ -8670,3 +8670,4 @@ dataset/kitchen_supplies/utensils/54f7bd178e1054749453ac47c71750a4/affordance/me
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| 8670 |
dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8671 |
dataset/kitchen_supplies/utensils/578f69c29d15566e99bba0bbc2ae3739/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8672 |
dataset/kitchen_supplies/utensils/5c0a6e409c425f1fb5a459bd31de50f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8670 |
dataset/kitchen_supplies/utensils/5583edd10280581d96feaab4701e4fb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8671 |
dataset/kitchen_supplies/utensils/578f69c29d15566e99bba0bbc2ae3739/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8672 |
dataset/kitchen_supplies/utensils/5c0a6e409c425f1fb5a459bd31de50f5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8673 |
+
dataset/kitchen_supplies/utensils/5cf324be19e850ce8a7e8052bb98f045/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/5cf324be19e850ce8a7e8052bb98f045/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,332 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and carry the spatula",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to manipulate the spatula during flipping or scraping",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to hang or reposition the utensil by the end hole area",
|
| 18 |
+
"confidence": 0.58
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide primary grip",
|
| 23 |
+
"enable tool manipulation",
|
| 24 |
+
"keep hand away from hot food",
|
| 25 |
+
"support hanging storage"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A long light blue-gray handle, likely plastic or silicone over a rigid core, with a matte smooth surface, rounded elongated shape, and a small hanging hole at the rear end.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_4": {
|
| 31 |
+
"confidence": 0.9771190285682678,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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0.10193623579107225,
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| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.47944422191435454,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_6": {
|
| 47 |
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"confidence": 0.9769281148910522,
|
| 48 |
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"position": [
|
| 49 |
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|
| 50 |
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| 51 |
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|
| 52 |
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],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.5176973795425013,
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| 55 |
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"xyz": [
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| 57 |
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| 58 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_9": {
|
| 63 |
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"confidence": 0.9761217832565308,
|
| 64 |
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"position": [
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| 65 |
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| 66 |
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| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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"w": 0.4895797935261544,
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| 71 |
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"xyz": [
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| 72 |
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| 73 |
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| 74 |
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|
| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_10": {
|
| 79 |
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"confidence": 0.9756754636764526,
|
| 80 |
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"position": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.4993480382387866,
|
| 87 |
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"xyz": [
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| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
+
]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_12": {
|
| 95 |
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"confidence": 0.9749530553817749,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.4920465320239249,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_13": {
|
| 111 |
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"confidence": 0.9748358726501465,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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0.10209628171287477,
|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.5361037894139293,
|
| 119 |
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"xyz": [
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| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_15": {
|
| 127 |
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"confidence": 0.9747152328491211,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.5328356642934977,
|
| 135 |
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"xyz": [
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
+
}
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
{
|
| 145 |
+
"part_name": "neck",
|
| 146 |
+
"mask_color": "Blue",
|
| 147 |
+
"graspable": true,
|
| 148 |
+
"grasp_scenarios": [
|
| 149 |
+
{
|
| 150 |
+
"scenario": "pinch the neck to briefly lift or reposition the spatula",
|
| 151 |
+
"confidence": 0.52
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"scenario": "hold the neck to stabilize the utensil during precise placement",
|
| 155 |
+
"confidence": 0.47
|
| 156 |
+
}
|
| 157 |
+
],
|
| 158 |
+
"functional_labels": [
|
| 159 |
+
"connect handle to blade",
|
| 160 |
+
"transmit force to blade",
|
| 161 |
+
"provide slight flex transition"
|
| 162 |
+
],
|
| 163 |
+
"semantic_description": "A short narrow white connector section with a smooth slightly glossy finish, hard appearance, and slim tapered shape located between the handle and the spatula head.",
|
| 164 |
+
"id": 2,
|
| 165 |
+
"grasp_group": {
|
| 166 |
+
"grasp_21": {
|
| 167 |
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"confidence": 0.8888293504714966,
|
| 168 |
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"position": [
|
| 169 |
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0.06563454307615757,
|
| 170 |
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0.03550631529651582,
|
| 171 |
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0.08804696146398783
|
| 172 |
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],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.06340428445396572,
|
| 175 |
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"xyz": [
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| 176 |
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| 177 |
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| 178 |
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|
| 179 |
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]
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"grasp_23": {
|
| 183 |
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"confidence": 0.7415304780006409,
|
| 184 |
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"position": [
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| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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],
|
| 189 |
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"orientation": {
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| 190 |
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"w": 0.6063387180685618,
|
| 191 |
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"xyz": [
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| 192 |
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| 194 |
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|
| 195 |
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]
|
| 196 |
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}
|
| 197 |
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},
|
| 198 |
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"grasp_24": {
|
| 199 |
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"confidence": 0.6906664371490479,
|
| 200 |
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"position": [
|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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],
|
| 205 |
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"orientation": {
|
| 206 |
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"w": 0.42073973160867506,
|
| 207 |
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"xyz": [
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| 210 |
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|
| 211 |
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]
|
| 212 |
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}
|
| 213 |
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},
|
| 214 |
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"grasp_25": {
|
| 215 |
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"confidence": 0.4599074423313141,
|
| 216 |
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"position": [
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| 217 |
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],
|
| 221 |
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"orientation": {
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"w": 0.6701991096212381,
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"xyz": [
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| 226 |
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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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}
|
| 310 |
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}
|
| 311 |
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},
|
| 312 |
+
{
|
| 313 |
+
"part_name": "spatula head",
|
| 314 |
+
"mask_color": "Green",
|
| 315 |
+
"graspable": false,
|
| 316 |
+
"grasp_scenarios": [],
|
| 317 |
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"functional_labels": [
|
| 318 |
+
"flip food",
|
| 319 |
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"slide under food",
|
| 320 |
+
"scrape surfaces",
|
| 321 |
+
"lift and turn ingredients"
|
| 322 |
+
],
|
| 323 |
+
"semantic_description": "A broad flat light blue-gray spatula head, likely silicone or nylon, with a matte smooth surface, thin slightly curved rectangular shape, and the largest working end of the utensil.",
|
| 324 |
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"id": 1,
|
| 325 |
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"grasp_group": {}
|
| 326 |
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}
|
| 327 |
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],
|
| 328 |
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"quality_check": {
|
| 329 |
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"success": true,
|
| 330 |
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"message": "YES"
|
| 331 |
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}
|
| 332 |
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}
|
dataset/kitchen_supplies/utensils/5cf324be19e850ce8a7e8052bb98f045/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7bfad02da9b96e067e1cc13366aa424f0f0804eea7432a4e88ebf0a8faeedb09
|
| 3 |
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size 3779632
|