Add asset kitchen_supplies/utensils/dddf879d9f3b5d88935528a479ab6db7
Browse files
.gitattributes
CHANGED
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@@ -7484,4 +7484,4 @@ dataset/kitchen_supplies/utensils/c83d29863c9e54be8b9e2af360597bf5/affordance/me
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| 7484 |
dataset/kitchen_supplies/utensils/c9f7cf49490e5f16ac60f9b9eb7760e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7485 |
dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7486 |
dataset/kitchen_supplies/utensils/d4f361d29dae5f93a9bd3ee50471bb0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7487 |
-
dataset/kitchen_supplies/utensils/
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| 7484 |
dataset/kitchen_supplies/utensils/c9f7cf49490e5f16ac60f9b9eb7760e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7485 |
dataset/kitchen_supplies/utensils/cf5bf93ee6cd527ca819981085031b5c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7486 |
dataset/kitchen_supplies/utensils/d4f361d29dae5f93a9bd3ee50471bb0d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7487 |
+
dataset/kitchen_supplies/utensils/dddf879d9f3b5d88935528a479ab6db7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/dddf879d9f3b5d88935528a479ab6db7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,284 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "top cap",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top cap to pick up and reposition the pepper grinder",
|
| 10 |
+
"confidence": 0.75
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the top cap to stabilize the grinder while the base is manipulated",
|
| 14 |
+
"confidence": 0.68
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide upper grip surface",
|
| 19 |
+
"cover the top mechanism",
|
| 20 |
+
"support twisting during grinding",
|
| 21 |
+
"indicate top orientation"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded orange-brown wooden top cap with a semi-gloss smooth hard surface and visible fine wood grain, forming the larger upper section around the small top fitting.",
|
| 24 |
+
"id": 2,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
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"confidence": 0.8182269334793091,
|
| 28 |
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"position": [
|
| 29 |
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-0.0585330623871414,
|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.6811450868634042,
|
| 35 |
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"xyz": [
|
| 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_2": {
|
| 43 |
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"confidence": 0.7258329391479492,
|
| 44 |
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"position": [
|
| 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": 0.23489082482090556,
|
| 51 |
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"xyz": [
|
| 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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}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "grind adjustment knob",
|
| 62 |
+
"mask_color": "Green",
|
| 63 |
+
"graspable": false,
|
| 64 |
+
"grasp_scenarios": [],
|
| 65 |
+
"functional_labels": [
|
| 66 |
+
"adjust grind coarseness",
|
| 67 |
+
"secure the top assembly",
|
| 68 |
+
"provide rotational control point",
|
| 69 |
+
"indicate top center"
|
| 70 |
+
],
|
| 71 |
+
"semantic_description": "Small dark gray to black metal knob with a slightly reflective smooth hard surface, centered at the very top and shaped like a short tapered finial.",
|
| 72 |
+
"id": 1,
|
| 73 |
+
"grasp_group": {}
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"part_name": "body",
|
| 77 |
+
"mask_color": "Yellow",
|
| 78 |
+
"graspable": true,
|
| 79 |
+
"grasp_scenarios": [
|
| 80 |
+
{
|
| 81 |
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"scenario": "grasp the body at the narrow waist to lift the pepper grinder",
|
| 82 |
+
"confidence": 0.95
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"scenario": "hold the body while twisting the top during grinding",
|
| 86 |
+
"confidence": 0.91
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"scenario": "grasp the lower body to place or reposition the grinder on a table",
|
| 90 |
+
"confidence": 0.83
|
| 91 |
+
}
|
| 92 |
+
],
|
| 93 |
+
"functional_labels": [
|
| 94 |
+
"main grasp surface",
|
| 95 |
+
"contain peppercorns and grinding mechanism",
|
| 96 |
+
"support twisting during use",
|
| 97 |
+
"provide stable standing structure"
|
| 98 |
+
],
|
| 99 |
+
"semantic_description": "Tall orange-brown wooden body with a semi-gloss smooth hard finish and subtle vertical wood grain, featuring a narrow waist and wider ends that define most of the grinder.",
|
| 100 |
+
"id": 3,
|
| 101 |
+
"grasp_group": {
|
| 102 |
+
"grasp_24": {
|
| 103 |
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"confidence": 0.9484426379203796,
|
| 104 |
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"position": [
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| 105 |
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-0.07405669351282995,
|
| 106 |
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|
| 107 |
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|
| 108 |
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],
|
| 109 |
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"orientation": {
|
| 110 |
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"w": 0.6838593024228808,
|
| 111 |
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"xyz": [
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| 114 |
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| 115 |
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]
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| 116 |
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}
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| 117 |
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},
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"grasp_25": {
|
| 119 |
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"confidence": 0.948435366153717,
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| 122 |
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| 123 |
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|
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],
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| 131 |
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"grasp_29": {
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| 135 |
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"confidence": 0.9448108673095703,
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],
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]
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}
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| 149 |
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},
|
| 150 |
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|
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"confidence": 0.9407637715339661,
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|
| 246 |
+
"grasp_39": {
|
| 247 |
+
"confidence": 0.9380480051040649,
|
| 248 |
+
"position": [
|
| 249 |
+
0.07057269553479273,
|
| 250 |
+
-0.08796449820874841,
|
| 251 |
+
-0.042481182143092155
|
| 252 |
+
],
|
| 253 |
+
"orientation": {
|
| 254 |
+
"w": 0.25107027926074393,
|
| 255 |
+
"xyz": [
|
| 256 |
+
0.2210357226752313,
|
| 257 |
+
-0.6826665570339844,
|
| 258 |
+
-0.6496716832991386
|
| 259 |
+
]
|
| 260 |
+
}
|
| 261 |
+
}
|
| 262 |
+
}
|
| 263 |
+
},
|
| 264 |
+
{
|
| 265 |
+
"part_name": "base plate",
|
| 266 |
+
"mask_color": "Red",
|
| 267 |
+
"graspable": false,
|
| 268 |
+
"grasp_scenarios": [],
|
| 269 |
+
"functional_labels": [
|
| 270 |
+
"support standing",
|
| 271 |
+
"cover the bottom opening",
|
| 272 |
+
"interface with dispensing end",
|
| 273 |
+
"protect the table-facing underside"
|
| 274 |
+
],
|
| 275 |
+
"semantic_description": "Flat circular dark gray underside plate, likely metal or plastic, with a matte smooth hard surface set into the wider bottom of the wooden grinder.",
|
| 276 |
+
"id": 0,
|
| 277 |
+
"grasp_group": {}
|
| 278 |
+
}
|
| 279 |
+
],
|
| 280 |
+
"quality_check": {
|
| 281 |
+
"success": true,
|
| 282 |
+
"message": "YES"
|
| 283 |
+
}
|
| 284 |
+
}
|
dataset/kitchen_supplies/utensils/dddf879d9f3b5d88935528a479ab6db7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1e4abf308951ccc9bbffc5910b725f7e6b2ddc2607157d6bc683cdf00966286c
|
| 3 |
+
size 1553208
|