Add asset kitchen_supplies/tableware/3cfba05326d2572f8d86c917bd464664
Browse files
.gitattributes
CHANGED
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@@ -7226,4 +7226,4 @@ dataset/kitchen_supplies/tableware/3b97adb9260c55fab0abdb52d2efeaeb/affordance/m
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| 7226 |
dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7227 |
dataset/kitchen_supplies/tableware/3be115aa83c45def8b804002b0765723/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7228 |
dataset/kitchen_supplies/tableware/3c1abed98182516d9ede2603312a2abb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7229 |
-
dataset/kitchen_supplies/tableware/
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| 7226 |
dataset/kitchen_supplies/tableware/3bc6b2237feb5262bf4c010eebdf2ccb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7227 |
dataset/kitchen_supplies/tableware/3be115aa83c45def8b804002b0765723/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7228 |
dataset/kitchen_supplies/tableware/3c1abed98182516d9ede2603312a2abb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7229 |
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dataset/kitchen_supplies/tableware/3cfba05326d2572f8d86c917bd464664/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/3cfba05326d2572f8d86c917bd464664/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,365 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tray side wall and rim",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the tray by opposite outer side walls to lift and carry it",
|
| 10 |
+
"confidence": 0.91
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the rim from the side to pull the tray across a surface",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the side wall to stabilize the tray while placing or unloading contents",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide side grip",
|
| 23 |
+
"retain items inside the tray",
|
| 24 |
+
"form the tray boundary",
|
| 25 |
+
"support lifting and carrying",
|
| 26 |
+
"help stabilize contents"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Raised rectangular orange plastic wall with a rounded rim, glossy smooth hard surface, medium thickness, wrapping around the tray perimeter and slightly taller than the base.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {}
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"part_name": "tray inner basin",
|
| 34 |
+
"mask_color": "Green",
|
| 35 |
+
"graspable": false,
|
| 36 |
+
"grasp_scenarios": [],
|
| 37 |
+
"functional_labels": [
|
| 38 |
+
"hold items",
|
| 39 |
+
"provide a placement surface",
|
| 40 |
+
"contain small objects",
|
| 41 |
+
"support sorting or serving"
|
| 42 |
+
],
|
| 43 |
+
"semantic_description": "Shallow recessed orange plastic interior with a glossy smooth hard finish, broad flat rounded-rectangle shape, and large central area for holding contents.",
|
| 44 |
+
"id": 1,
|
| 45 |
+
"grasp_group": {}
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"part_name": "tray bottom panel",
|
| 49 |
+
"mask_color": "Blue",
|
| 50 |
+
"graspable": true,
|
| 51 |
+
"grasp_scenarios": [
|
| 52 |
+
{
|
| 53 |
+
"scenario": "support the tray from underneath with a gripper or fingers during pickup",
|
| 54 |
+
"confidence": 0.56
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"scenario": "grasp an exposed bottom edge to flip or reorient the empty tray",
|
| 58 |
+
"confidence": 0.38
|
| 59 |
+
}
|
| 60 |
+
],
|
| 61 |
+
"functional_labels": [
|
| 62 |
+
"support contents from below",
|
| 63 |
+
"provide a resting base",
|
| 64 |
+
"contact tabletop",
|
| 65 |
+
"add structural stiffness"
|
| 66 |
+
],
|
| 67 |
+
"semantic_description": "Flat orange plastic underside with a smooth slightly glossy hard surface, rounded-rectangle shape, and large bottom area forming the tray's base.",
|
| 68 |
+
"id": 2,
|
| 69 |
+
"grasp_group": {
|
| 70 |
+
"grasp_20": {
|
| 71 |
+
"confidence": 0.012648693285882473,
|
| 72 |
+
"position": [
|
| 73 |
+
0.0006485423073172569,
|
| 74 |
+
0.06420305286883377,
|
| 75 |
+
-0.12560477247461677
|
| 76 |
+
],
|
| 77 |
+
"orientation": {
|
| 78 |
+
"w": 0.8883955022430081,
|
| 79 |
+
"xyz": [
|
| 80 |
+
-0.06591372613643158,
|
| 81 |
+
0.17048035857233435,
|
| 82 |
+
0.42112380559908213
|
| 83 |
+
]
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"grasp_21": {
|
| 87 |
+
"confidence": 0.03079621121287346,
|
| 88 |
+
"position": [
|
| 89 |
+
-0.08150197053328156,
|
| 90 |
+
0.10479458337067626,
|
| 91 |
+
-0.11517481645569205
|
| 92 |
+
],
|
| 93 |
+
"orientation": {
|
| 94 |
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"w": 0.7411474348567195,
|
| 95 |
+
"xyz": [
|
| 96 |
+
0.07792516251292422,
|
| 97 |
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0.11429348819306695,
|
| 98 |
+
0.6569361821435166
|
| 99 |
+
]
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"grasp_22": {
|
| 103 |
+
"confidence": 0.028728464618325233,
|
| 104 |
+
"position": [
|
| 105 |
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-0.09294720971956849,
|
| 106 |
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0.08866465007304214,
|
| 107 |
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-0.11642998596653342
|
| 108 |
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],
|
| 109 |
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"orientation": {
|
| 110 |
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"w": 0.5686606784828102,
|
| 111 |
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"xyz": [
|
| 112 |
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0.03408566987187949,
|
| 113 |
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0.1400623660473691,
|
| 114 |
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|
| 115 |
+
]
|
| 116 |
+
}
|
| 117 |
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},
|
| 118 |
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"grasp_24": {
|
| 119 |
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"confidence": 0.9441846013069153,
|
| 120 |
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"position": [
|
| 121 |
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0.05814067414030433,
|
| 122 |
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0.23012489741086029,
|
| 123 |
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-0.012050717137753963
|
| 124 |
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],
|
| 125 |
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"orientation": {
|
| 126 |
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"w": 0.5114671807220467,
|
| 127 |
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"xyz": [
|
| 128 |
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0.4813738532754053,
|
| 129 |
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-0.5073511068758703,
|
| 130 |
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|
| 131 |
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]
|
| 132 |
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}
|
| 133 |
+
},
|
| 134 |
+
"grasp_25": {
|
| 135 |
+
"confidence": 0.9425126910209656,
|
| 136 |
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"position": [
|
| 137 |
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0.0646395436488092,
|
| 138 |
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0.2283066726231482,
|
| 139 |
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-0.009089388535358012
|
| 140 |
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],
|
| 141 |
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"orientation": {
|
| 142 |
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"w": 0.5022773854798591,
|
| 143 |
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"xyz": [
|
| 144 |
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0.5143557154795244,
|
| 145 |
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0.4925595685380082,
|
| 146 |
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-0.4904494850957783
|
| 147 |
+
]
|
| 148 |
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}
|
| 149 |
+
},
|
| 150 |
+
"grasp_26": {
|
| 151 |
+
"confidence": 0.9378745555877686,
|
| 152 |
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"position": [
|
| 153 |
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0.06865483289584517,
|
| 154 |
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0.2266315585875418,
|
| 155 |
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-0.008319766959175467
|
| 156 |
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],
|
| 157 |
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"orientation": {
|
| 158 |
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"w": 0.509517510582949,
|
| 159 |
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"xyz": [
|
| 160 |
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0.5107423615250277,
|
| 161 |
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0.48857041511144983,
|
| 162 |
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-0.49074748703484833
|
| 163 |
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]
|
| 164 |
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}
|
| 165 |
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},
|
| 166 |
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"grasp_27": {
|
| 167 |
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"confidence": 0.9375571608543396,
|
| 168 |
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"position": [
|
| 169 |
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-0.031246660742908716,
|
| 170 |
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0.2283665007853415,
|
| 171 |
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-0.00037102680653333664
|
| 172 |
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],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.4873564247690012,
|
| 175 |
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"xyz": [
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| 176 |
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0.5038896904540872,
|
| 177 |
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|
| 178 |
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-0.47734026552179715
|
| 179 |
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]
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"grasp_28": {
|
| 183 |
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"confidence": 0.9155022501945496,
|
| 184 |
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"position": [
|
| 185 |
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0.18963891780003905,
|
| 186 |
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-0.06408214653492905,
|
| 187 |
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-0.027687357272952795
|
| 188 |
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],
|
| 189 |
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"orientation": {
|
| 190 |
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"w": 0.04895751275962598,
|
| 191 |
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"xyz": [
|
| 192 |
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|
| 193 |
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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_29": {
|
| 199 |
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"confidence": 0.9122620224952698,
|
| 200 |
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"position": [
|
| 201 |
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0.03144825389608741,
|
| 202 |
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0.22499855523346923,
|
| 203 |
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|
| 204 |
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],
|
| 205 |
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"orientation": {
|
| 206 |
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"w": 0.5648929036151449,
|
| 207 |
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"xyz": [
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| 208 |
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|
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|
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dataset/kitchen_supplies/tableware/3cfba05326d2572f8d86c917bd464664/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 sha256:4eefeb3e02551380382c482b548c885292b72a987d673e2a8460d1095cec4015
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| 3 |
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size 816124
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