Add asset kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5
Browse files
.gitattributes
CHANGED
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@@ -8428,3 +8428,4 @@ dataset/kitchen_supplies/tableware/0df6283ee18d524e94d09b8f069663dc/affordance/m
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| 8428 |
dataset/kitchen_supplies/tableware/0f296af3df66565c9e1a7c2bc7b35d72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8429 |
dataset/kitchen_supplies/tableware/0fd34e4211b1542d93b457b5651b2860/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8430 |
dataset/kitchen_supplies/tableware/10d76f5c458d5e80bd4d30ceedfdd28d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8428 |
dataset/kitchen_supplies/tableware/0f296af3df66565c9e1a7c2bc7b35d72/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8429 |
dataset/kitchen_supplies/tableware/0fd34e4211b1542d93b457b5651b2860/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8430 |
dataset/kitchen_supplies/tableware/10d76f5c458d5e80bd4d30ceedfdd28d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8431 |
+
dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,492 @@
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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 the utensil during sorting or placement",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the fork head to stabilize the fork while inserting or removing it from a tight holder",
|
| 14 |
+
"confidence": 0.29
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pierce food",
|
| 19 |
+
"hold food on tines",
|
| 20 |
+
"scoop small bites",
|
| 21 |
+
"contact food during eating"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small silver metal fork head with a smooth reflective surface, including a narrow neck leading to four slim slightly curved tines at the eating end.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.9861264824867249,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.024663387797772884,
|
| 30 |
+
-0.09152950157658779,
|
| 31 |
+
0.016811810492072254
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.41409539028281467,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.5725637037471342,
|
| 37 |
+
0.508531749285465,
|
| 38 |
+
0.4920277155471556
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.9857425689697266,
|
| 44 |
+
"position": [
|
| 45 |
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-0.02872834075242281,
|
| 46 |
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-0.09578326155678951,
|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.45781639689113085,
|
| 51 |
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"xyz": [
|
| 52 |
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-0.5239855244607571,
|
| 53 |
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0.49575858078015733,
|
| 54 |
+
0.5196794651283158
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_4": {
|
| 59 |
+
"confidence": 0.9851595759391785,
|
| 60 |
+
"position": [
|
| 61 |
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-0.030815492384135723,
|
| 62 |
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-0.0960804726673814,
|
| 63 |
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-0.007102148083504289
|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.49376512058171984,
|
| 67 |
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"xyz": [
|
| 68 |
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-0.4952569258184595,
|
| 69 |
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|
| 70 |
+
0.5253271456772911
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_5": {
|
| 75 |
+
"confidence": 0.9842979907989502,
|
| 76 |
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"position": [
|
| 77 |
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-0.04080879595130682,
|
| 78 |
+
-0.09460701604621136,
|
| 79 |
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0.0001445271773263812
|
| 80 |
+
],
|
| 81 |
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"orientation": {
|
| 82 |
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"w": 0.4887000980783,
|
| 83 |
+
"xyz": [
|
| 84 |
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-0.4902693850387825,
|
| 85 |
+
0.5089774408307701,
|
| 86 |
+
0.511615196175127
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_6": {
|
| 91 |
+
"confidence": 0.9842701554298401,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.031866670586168766,
|
| 94 |
+
-0.09778237899081432,
|
| 95 |
+
-0.004665334185119718
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
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"w": 0.43641389087358373,
|
| 99 |
+
"xyz": [
|
| 100 |
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-0.4875839416407666,
|
| 101 |
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0.5052512831041301,
|
| 102 |
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|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_9": {
|
| 107 |
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"confidence": 0.9813780784606934,
|
| 108 |
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"position": [
|
| 109 |
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0.0003182133659720421,
|
| 110 |
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-0.08652534147040569,
|
| 111 |
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0.008851438818965107
|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.570010515091879,
|
| 115 |
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"xyz": [
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| 116 |
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-0.4534287184383145,
|
| 117 |
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-0.5961177141358456,
|
| 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_10": {
|
| 123 |
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"confidence": 0.9797012805938721,
|
| 124 |
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"position": [
|
| 125 |
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-0.04887304734438658,
|
| 126 |
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-0.09658236612813198,
|
| 127 |
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|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.5087031190230755,
|
| 131 |
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"xyz": [
|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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]
|
| 136 |
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}
|
| 137 |
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},
|
| 138 |
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"grasp_11": {
|
| 139 |
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"confidence": 0.9795010685920715,
|
| 140 |
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"position": [
|
| 141 |
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-0.038142635487020016,
|
| 142 |
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-0.09483788718716823,
|
| 143 |
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0.011404309479985386
|
| 144 |
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],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.48649544020328,
|
| 147 |
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"xyz": [
|
| 148 |
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-0.5893147292869917,
|
| 149 |
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|
| 150 |
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|
| 151 |
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]
|
| 152 |
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}
|
| 153 |
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},
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{
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| 474 |
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|
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|
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| 479 |
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|
| 480 |
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|
| 481 |
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|
| 482 |
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],
|
| 483 |
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"semantic_description": "Very small light cream to off-white spacer at the junction between the gray handle and the metal fork head, with a smooth hard finish and short ring-like shape.",
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| 484 |
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],
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| 489 |
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"success": true,
|
| 490 |
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"message": "YES"
|
| 491 |
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}
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| 492 |
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}
|
dataset/kitchen_supplies/tableware/0fd01187e2af5fa5a921b8b20ef092a5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
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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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oid sha256:603038c8170bfca122ab0eaf3314abea907b8639cbf2257244ff41944b16044a
|
| 3 |
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size 111293888
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