Add asset kitchen_supplies/utensils/4b7a0c12c19b59a9916c31cec19d7f20
Browse files
.gitattributes
CHANGED
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@@ -8663,3 +8663,4 @@ dataset/kitchen_supplies/utensils/40c7e8fbaf235782aeb44ddd72713882/affordance/me
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| 8663 |
dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8664 |
dataset/kitchen_supplies/utensils/479f8139ddd6500c8c36ce7a4607ca33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8665 |
dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8663 |
dataset/kitchen_supplies/utensils/4696ff2995935c79a6e36dc6f1cb7aca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8664 |
dataset/kitchen_supplies/utensils/479f8139ddd6500c8c36ce7a4607ca33/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8665 |
dataset/kitchen_supplies/utensils/49e21daef9505912a92eceebff4840e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8666 |
+
dataset/kitchen_supplies/utensils/4b7a0c12c19b59a9916c31cec19d7f20/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/4b7a0c12c19b59a9916c31cec19d7f20/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,410 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "slotted spatula head",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the spatula head to pick up or reposition the utensil when the handle is inaccessible",
|
| 10 |
+
"confidence": 0.41
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the head to stabilize the spatula during tool handoff or inspection",
|
| 14 |
+
"confidence": 0.36
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"slide under food",
|
| 19 |
+
"lift food",
|
| 20 |
+
"flip food",
|
| 21 |
+
"provide broad contact surface",
|
| 22 |
+
"drain oil through slots"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Broad light gray slotted head with a smooth matte finish, thin slightly curved rectangular shape, and several long slots at the working end of the spatula.",
|
| 25 |
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"id": 0,
|
| 26 |
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"grasp_group": {
|
| 27 |
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"grasp_1": {
|
| 28 |
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"confidence": 0.9587245583534241,
|
| 29 |
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"position": [
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| 30 |
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| 31 |
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|
| 32 |
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| 33 |
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],
|
| 34 |
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"orientation": {
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| 35 |
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"w": 0.0558092867995578,
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| 36 |
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"xyz": [
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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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},
|
| 43 |
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"grasp_5": {
|
| 44 |
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"confidence": 0.9560511708259583,
|
| 45 |
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"position": [
|
| 46 |
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|
| 47 |
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| 48 |
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|
| 49 |
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],
|
| 50 |
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"orientation": {
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| 51 |
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"w": 0.6664099273049223,
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| 52 |
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"xyz": [
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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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},
|
| 59 |
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"grasp_6": {
|
| 60 |
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"confidence": 0.9558271765708923,
|
| 61 |
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"position": [
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| 62 |
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| 63 |
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| 64 |
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|
| 65 |
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],
|
| 66 |
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"orientation": {
|
| 67 |
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| 68 |
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"xyz": [
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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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},
|
| 75 |
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"grasp_10": {
|
| 76 |
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"confidence": 0.9551493525505066,
|
| 77 |
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"position": [
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| 78 |
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| 79 |
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| 80 |
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|
| 81 |
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],
|
| 82 |
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"orientation": {
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| 83 |
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"w": 0.5403694799278381,
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| 84 |
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"xyz": [
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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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},
|
| 91 |
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"grasp_11": {
|
| 92 |
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"confidence": 0.9549942016601562,
|
| 93 |
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"position": [
|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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],
|
| 98 |
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"orientation": {
|
| 99 |
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"w": 0.17082559617084486,
|
| 100 |
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"xyz": [
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|
| 103 |
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| 104 |
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]
|
| 105 |
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}
|
| 106 |
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},
|
| 107 |
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"grasp_13": {
|
| 108 |
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"confidence": 0.95332932472229,
|
| 109 |
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"position": [
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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],
|
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"orientation": {
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"w": 0.6442892416736814,
|
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"xyz": [
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| 119 |
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|
| 120 |
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]
|
| 121 |
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}
|
| 122 |
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},
|
| 123 |
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"grasp_14": {
|
| 124 |
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"confidence": 0.9527565836906433,
|
| 125 |
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"position": [
|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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],
|
| 130 |
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"orientation": {
|
| 131 |
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"w": 0.17476689580724958,
|
| 132 |
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"xyz": [
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| 135 |
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| 136 |
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]
|
| 137 |
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}
|
| 138 |
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},
|
| 139 |
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"grasp_15": {
|
| 140 |
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"confidence": 0.9527337551116943,
|
| 141 |
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"position": [
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| 142 |
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| 144 |
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|
| 145 |
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],
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"orientation": {
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| 147 |
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"w": 0.6462316941866196,
|
| 148 |
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"xyz": [
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|
| 152 |
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]
|
| 153 |
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}
|
| 154 |
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},
|
| 155 |
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"grasp_17": {
|
| 156 |
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"confidence": 0.9516931772232056,
|
| 157 |
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"position": [
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| 158 |
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],
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| 162 |
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"orientation": {
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| 163 |
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"w": 0.26935024439894995,
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"xyz": [
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| 167 |
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|
| 168 |
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]
|
| 169 |
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}
|
| 170 |
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},
|
| 171 |
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"grasp_18": {
|
| 172 |
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"confidence": 0.9516255855560303,
|
| 173 |
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"position": [
|
| 174 |
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| 175 |
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| 177 |
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],
|
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"orientation": {
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| 179 |
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"w": 0.16118869929142995,
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| 180 |
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"xyz": [
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|
| 186 |
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}
|
| 187 |
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}
|
| 188 |
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},
|
| 189 |
+
{
|
| 190 |
+
"part_name": "handle grip",
|
| 191 |
+
"mask_color": "Green",
|
| 192 |
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"graspable": true,
|
| 193 |
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|
| 194 |
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{
|
| 195 |
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"scenario": "grasp the handle grip to pick up and manipulate the spatula",
|
| 196 |
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|
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},
|
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{
|
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"scenario": "hold the handle grip to flip or turn food during cooking",
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|
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{
|
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"scenario": "grasp the handle grip to pull or reposition the utensil",
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|
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"primary grip",
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"control orientation",
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"keep hand away from heat",
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"transmit force to head",
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"support hanging storage"
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],
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"semantic_description": "Long light gray handle with a smooth matte surface and slightly tapered form, attached to the spatula neck and ending in an oval hanging hole; a small dark printed brand mark appears near the upper section.",
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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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"grasp_37": {
|
| 362 |
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|
| 363 |
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|
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|
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],
|
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"orientation": {
|
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]
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}
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}
|
| 377 |
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}
|
| 378 |
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},
|
| 379 |
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{
|
| 380 |
+
"part_name": "hanging hole opening",
|
| 381 |
+
"mask_color": "Blue",
|
| 382 |
+
"graspable": false,
|
| 383 |
+
"grasp_scenarios": [],
|
| 384 |
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"functional_labels": [
|
| 385 |
+
"enable hanging storage",
|
| 386 |
+
"provide attachment point"
|
| 387 |
+
],
|
| 388 |
+
"semantic_description": "Small dark oval opening at the handle tip, passing through the end of the light gray handle as the hanging hole feature.",
|
| 389 |
+
"id": 2,
|
| 390 |
+
"grasp_group": {}
|
| 391 |
+
},
|
| 392 |
+
{
|
| 393 |
+
"part_name": "brand label on handle",
|
| 394 |
+
"mask_color": "Yellow",
|
| 395 |
+
"graspable": false,
|
| 396 |
+
"grasp_scenarios": [],
|
| 397 |
+
"functional_labels": [
|
| 398 |
+
"identify brand",
|
| 399 |
+
"provide visual marking"
|
| 400 |
+
],
|
| 401 |
+
"semantic_description": "Small dark printed logo or text marking on the light gray handle, flat and smooth, located near the upper handle as a branding detail.",
|
| 402 |
+
"id": 3,
|
| 403 |
+
"grasp_group": {}
|
| 404 |
+
}
|
| 405 |
+
],
|
| 406 |
+
"quality_check": {
|
| 407 |
+
"success": false,
|
| 408 |
+
"message": "Color/material descriptions are wrong; utensil has red head and green handle, not light gray throughout."
|
| 409 |
+
}
|
| 410 |
+
}
|
dataset/kitchen_supplies/utensils/4b7a0c12c19b59a9916c31cec19d7f20/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1a90e3ee3ff0735c656ec009aa1905054cee99f12af3a5dea2aa1a460bf7686a
|
| 3 |
+
size 3781192
|