Add asset kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015
Browse files
.gitattributes
CHANGED
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@@ -8495,4 +8495,4 @@ dataset/kitchen_supplies/utensils/12933e00b73b5579be40e6c586555d38/affordance/me
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| 8495 |
dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8496 |
dataset/kitchen_supplies/utensils/17f39a6e208e5f1dbfb33a4277e1c534/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8497 |
dataset/kitchen_supplies/utensils/14c74611ffd35a32af847a0f29e4a9ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8498 |
-
dataset/kitchen_supplies/utensils/
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| 8495 |
dataset/kitchen_supplies/utensils/173e053134c55545b8da2d9a4399fc34/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8496 |
dataset/kitchen_supplies/utensils/17f39a6e208e5f1dbfb33a4277e1c534/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8497 |
dataset/kitchen_supplies/utensils/14c74611ffd35a32af847a0f29e4a9ce/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8498 |
+
dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,239 @@
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| 1 |
+
{
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| 2 |
+
"affordances": [
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| 3 |
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{
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| 4 |
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"part_name": "spatula head",
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| 5 |
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"mask_color": "Red",
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| 6 |
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"graspable": true,
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| 7 |
+
"grasp_scenarios": [
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| 8 |
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{
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| 9 |
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"scenario": "grasp the spatula head to briefly reposition the utensil in clutter",
|
| 10 |
+
"confidence": 0.34
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the head to stabilize the spatula while another tool manipulates the handle",
|
| 14 |
+
"confidence": 0.28
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"flip food",
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| 19 |
+
"slide under food",
|
| 20 |
+
"scrape surfaces",
|
| 21 |
+
"transfer food",
|
| 22 |
+
"provide the working edge"
|
| 23 |
+
],
|
| 24 |
+
"semantic_description": "Broad gray spatula head with a smooth matte surface and a flat, slightly rounded rectangular shape at the working end.",
|
| 25 |
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"id": 0,
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| 26 |
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"grasp_group": {
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| 27 |
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"grasp_1": {
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| 28 |
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"confidence": 0.9752907156944275,
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"position": [
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],
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"orientation": {
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"w": 0.03476522663116986,
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| 36 |
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"xyz": [
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| 39 |
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| 40 |
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]
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| 41 |
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}
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| 42 |
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},
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| 43 |
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"grasp_5": {
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| 44 |
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"confidence": 0.9722540378570557,
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| 45 |
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| 46 |
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],
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"orientation": {
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"w": 0.5251712616156623,
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"xyz": [
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"grasp_7": {
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"confidence": 0.971589207649231,
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"grasp_12": {
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"confidence": 0.970881462097168,
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"position": [
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"w": 0.6986454051061088,
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| 123 |
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"grasp_16": {
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"confidence": 0.9706519246101379,
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],
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"orientation": {
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| 136 |
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]
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}
|
| 139 |
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}
|
| 140 |
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},
|
| 141 |
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{
|
| 142 |
+
"part_name": "handle",
|
| 143 |
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"mask_color": "Orange",
|
| 144 |
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"graspable": true,
|
| 145 |
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"grasp_scenarios": [
|
| 146 |
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{
|
| 147 |
+
"scenario": "grasp the handle to pick up and use the spatula",
|
| 148 |
+
"confidence": 0.97
|
| 149 |
+
},
|
| 150 |
+
{
|
| 151 |
+
"scenario": "hold the handle to orient the spatula for flipping or scraping",
|
| 152 |
+
"confidence": 0.95
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"scenario": "grasp the handle to pull the utensil from a drawer or hanging hook",
|
| 156 |
+
"confidence": 0.83
|
| 157 |
+
}
|
| 158 |
+
],
|
| 159 |
+
"functional_labels": [
|
| 160 |
+
"provide main grip",
|
| 161 |
+
"control orientation",
|
| 162 |
+
"support lifting and flipping",
|
| 163 |
+
"enable hanging storage"
|
| 164 |
+
],
|
| 165 |
+
"semantic_description": "Elongated light green handle with orange end cap and orange collar accents, likely plastic or rubber-coated, with a mostly matte smooth surface and a hanging hole at the tip.",
|
| 166 |
+
"id": 4,
|
| 167 |
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"grasp_group": {
|
| 168 |
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"grasp_23": {
|
| 169 |
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"confidence": 0.9812214970588684,
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| 170 |
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"position": [
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| 171 |
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| 172 |
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],
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"orientation": {
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"grasp_31": {
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"confidence": 0.9797667264938354,
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"orientation": {
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"grasp_39": {
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|
| 233 |
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}
|
| 234 |
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],
|
| 235 |
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"quality_check": {
|
| 236 |
+
"success": true,
|
| 237 |
+
"message": "YES"
|
| 238 |
+
}
|
| 239 |
+
}
|
dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:450f4613db2b0804139845815d9efcd896e1e36e21d329dd21d24cb7d6af9ef3
|
| 3 |
+
size 3778964
|