Add asset kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74
Browse files
.gitattributes
CHANGED
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@@ -7279,4 +7279,4 @@ dataset/kitchen_supplies/tableware/6b4c4c4158e8578ca4a8cec4569bd368/affordance/m
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| 7279 |
dataset/kitchen_supplies/tableware/6bd05d9276515f619d4d77f2faa7ca35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7280 |
dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7281 |
dataset/kitchen_supplies/tableware/6d759d8af86d56548fcb3b4a529e03d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7282 |
-
dataset/kitchen_supplies/tableware/
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| 7279 |
dataset/kitchen_supplies/tableware/6bd05d9276515f619d4d77f2faa7ca35/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7280 |
dataset/kitchen_supplies/tableware/6d34ad0c38805d90a8a188414ad2e413/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7281 |
dataset/kitchen_supplies/tableware/6d759d8af86d56548fcb3b4a529e03d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7282 |
+
dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tray basin",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"hold items",
|
| 10 |
+
"provide a flat support surface",
|
| 11 |
+
"contain small spills",
|
| 12 |
+
"organize contents"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Large square interior basin in light gray metal with a smooth matte finish and hard surface, forming the main recessed area at the top center of the tray.",
|
| 15 |
+
"id": 1,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "tray side wall",
|
| 20 |
+
"mask_color": "Red",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp opposing side walls to lift the tray",
|
| 25 |
+
"confidence": 0.84
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "hold one side wall to pull or reposition the tray on a surface",
|
| 29 |
+
"confidence": 0.7
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"scenario": "pinch a side wall to stabilize the tray while loading or unloading items",
|
| 33 |
+
"confidence": 0.66
|
| 34 |
+
}
|
| 35 |
+
],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"retain contents",
|
| 38 |
+
"provide lifting surface",
|
| 39 |
+
"protect items from sliding out",
|
| 40 |
+
"define tray depth"
|
| 41 |
+
],
|
| 42 |
+
"semantic_description": "Medium-sized dark gray metal outer wall with a smooth slightly matte hard surface, wrapping around the tray perimeter with gently rounded corners and sloped vertical faces.",
|
| 43 |
+
"id": 0,
|
| 44 |
+
"grasp_group": {
|
| 45 |
+
"grasp_10": {
|
| 46 |
+
"confidence": 0.048538938164711,
|
| 47 |
+
"position": [
|
| 48 |
+
-0.08281466766493395,
|
| 49 |
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0.0009230911964550614,
|
| 50 |
+
-0.10482432413846254
|
| 51 |
+
],
|
| 52 |
+
"orientation": {
|
| 53 |
+
"w": 0.9776061677069343,
|
| 54 |
+
"xyz": [
|
| 55 |
+
0.2084355196202384,
|
| 56 |
+
-0.002731543651888324,
|
| 57 |
+
0.028867866067309303
|
| 58 |
+
]
|
| 59 |
+
}
|
| 60 |
+
},
|
| 61 |
+
"grasp_12": {
|
| 62 |
+
"confidence": 0.9810549020767212,
|
| 63 |
+
"position": [
|
| 64 |
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0.0274328661034815,
|
| 65 |
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0.1627791642677039,
|
| 66 |
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|
| 67 |
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],
|
| 68 |
+
"orientation": {
|
| 69 |
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"w": 0.1672788054490374,
|
| 70 |
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"xyz": [
|
| 71 |
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|
| 72 |
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|
| 73 |
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-0.2181322819740861
|
| 74 |
+
]
|
| 75 |
+
}
|
| 76 |
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},
|
| 77 |
+
"grasp_13": {
|
| 78 |
+
"confidence": 0.9794653058052063,
|
| 79 |
+
"position": [
|
| 80 |
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0.011733564257156104,
|
| 81 |
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0.14505147631280124,
|
| 82 |
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0.09814417641609907
|
| 83 |
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],
|
| 84 |
+
"orientation": {
|
| 85 |
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"w": 0.18302416500371063,
|
| 86 |
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"xyz": [
|
| 87 |
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|
| 88 |
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-0.727552575285267,
|
| 89 |
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|
| 90 |
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]
|
| 91 |
+
}
|
| 92 |
+
},
|
| 93 |
+
"grasp_14": {
|
| 94 |
+
"confidence": 0.9774714112281799,
|
| 95 |
+
"position": [
|
| 96 |
+
-4.7597335651516914e-05,
|
| 97 |
+
0.16830534930340946,
|
| 98 |
+
0.08785275649279356
|
| 99 |
+
],
|
| 100 |
+
"orientation": {
|
| 101 |
+
"w": 0.22998270134784235,
|
| 102 |
+
"xyz": [
|
| 103 |
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0.6601479275403093,
|
| 104 |
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-0.6889046552147692,
|
| 105 |
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0.19163258300300504
|
| 106 |
+
]
|
| 107 |
+
}
|
| 108 |
+
},
|
| 109 |
+
"grasp_15": {
|
| 110 |
+
"confidence": 0.9770441651344299,
|
| 111 |
+
"position": [
|
| 112 |
+
-0.020881597243715078,
|
| 113 |
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0.14952400024048984,
|
| 114 |
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0.09959350805729628
|
| 115 |
+
],
|
| 116 |
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"orientation": {
|
| 117 |
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"w": 0.21452914983039084,
|
| 118 |
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"xyz": [
|
| 119 |
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|
| 120 |
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-0.6708726316894728,
|
| 121 |
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|
| 122 |
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]
|
| 123 |
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}
|
| 124 |
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},
|
| 125 |
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"grasp_16": {
|
| 126 |
+
"confidence": 0.976715624332428,
|
| 127 |
+
"position": [
|
| 128 |
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-0.005178067658562213,
|
| 129 |
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0.1409883468877524,
|
| 130 |
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0.10021366458386183
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
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"w": 0.11146266233630217,
|
| 134 |
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"xyz": [
|
| 135 |
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0.6987838574158446,
|
| 136 |
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-0.6939787027703286,
|
| 137 |
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0.1329313944151206
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_17": {
|
| 142 |
+
"confidence": 0.975247859954834,
|
| 143 |
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"position": [
|
| 144 |
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0.009075924463104457,
|
| 145 |
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0.1497006684076041,
|
| 146 |
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0.09822488855570555
|
| 147 |
+
],
|
| 148 |
+
"orientation": {
|
| 149 |
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"w": 0.1555517241656649,
|
| 150 |
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"xyz": [
|
| 151 |
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0.6698309178524371,
|
| 152 |
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0.7080053935934384,
|
| 153 |
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-0.16080598633337828
|
| 154 |
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]
|
| 155 |
+
}
|
| 156 |
+
},
|
| 157 |
+
"grasp_18": {
|
| 158 |
+
"confidence": 0.9748534560203552,
|
| 159 |
+
"position": [
|
| 160 |
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0.05604190722806379,
|
| 161 |
+
0.16227677161805332,
|
| 162 |
+
0.09182320814579725
|
| 163 |
+
],
|
| 164 |
+
"orientation": {
|
| 165 |
+
"w": 0.2512883876762441,
|
| 166 |
+
"xyz": [
|
| 167 |
+
0.6308652463456027,
|
| 168 |
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-0.7225461446807444,
|
| 169 |
+
0.12957722014060963
|
| 170 |
+
]
|
| 171 |
+
}
|
| 172 |
+
},
|
| 173 |
+
"grasp_19": {
|
| 174 |
+
"confidence": 0.9742688536643982,
|
| 175 |
+
"position": [
|
| 176 |
+
0.009683289274107665,
|
| 177 |
+
0.14423830504529178,
|
| 178 |
+
0.09716651123017073
|
| 179 |
+
],
|
| 180 |
+
"orientation": {
|
| 181 |
+
"w": 0.23903153702417218,
|
| 182 |
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"xyz": [
|
| 183 |
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0.7082704085281867,
|
| 184 |
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0.6641830167669547,
|
| 185 |
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0.008824565118190823
|
| 186 |
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]
|
| 187 |
+
}
|
| 188 |
+
}
|
| 189 |
+
}
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"part_name": "tray rim",
|
| 193 |
+
"mask_color": "Yellow",
|
| 194 |
+
"graspable": true,
|
| 195 |
+
"grasp_scenarios": [
|
| 196 |
+
{
|
| 197 |
+
"scenario": "grasp the rim edge to lift the tray",
|
| 198 |
+
"confidence": 0.88
|
| 199 |
+
},
|
| 200 |
+
{
|
| 201 |
+
"scenario": "pinch the rim to pull the tray from a shelf or oven rack",
|
| 202 |
+
"confidence": 0.82
|
| 203 |
+
},
|
| 204 |
+
{
|
| 205 |
+
"scenario": "hold the rim to stabilize the tray during placement",
|
| 206 |
+
"confidence": 0.76
|
| 207 |
+
}
|
| 208 |
+
],
|
| 209 |
+
"functional_labels": [
|
| 210 |
+
"provide an edge grip",
|
| 211 |
+
"stiffen the tray opening",
|
| 212 |
+
"outline the top boundary",
|
| 213 |
+
"help guide placement"
|
| 214 |
+
],
|
| 215 |
+
"semantic_description": "Thin silver-gray rolled metal lip with a slightly reflective smooth hard finish, running around the top edge as a narrow raised border larger in span than thickness.",
|
| 216 |
+
"id": 3,
|
| 217 |
+
"grasp_group": {
|
| 218 |
+
"grasp_55": {
|
| 219 |
+
"confidence": 0.7269630432128906,
|
| 220 |
+
"position": [
|
| 221 |
+
0.14554833219153807,
|
| 222 |
+
0.1769715219270438,
|
| 223 |
+
-0.008635767226223834
|
| 224 |
+
],
|
| 225 |
+
"orientation": {
|
| 226 |
+
"w": 0.3716318128565766,
|
| 227 |
+
"xyz": [
|
| 228 |
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0.6099166209808979,
|
| 229 |
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0.30439393542547444,
|
| 230 |
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-0.6302664858616321
|
| 231 |
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]
|
| 232 |
+
}
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
+
"part_name": "tray bottom",
|
| 238 |
+
"mask_color": "Blue",
|
| 239 |
+
"graspable": true,
|
| 240 |
+
"grasp_scenarios": [
|
| 241 |
+
{
|
| 242 |
+
"scenario": "support-grasp the underside to lift the empty tray from below",
|
| 243 |
+
"confidence": 0.57
|
| 244 |
+
},
|
| 245 |
+
{
|
| 246 |
+
"scenario": "hold the bottom while inverting or stacking the tray",
|
| 247 |
+
"confidence": 0.46
|
| 248 |
+
}
|
| 249 |
+
],
|
| 250 |
+
"functional_labels": [
|
| 251 |
+
"support contents from below",
|
| 252 |
+
"provide a stable resting base",
|
| 253 |
+
"transfer load to the surface",
|
| 254 |
+
"enable stacking contact"
|
| 255 |
+
],
|
| 256 |
+
"semantic_description": "Broad flat dark gray metal base with a smooth matte hard surface, occupying the underside of the tray and shaped as a rounded-corner square panel.",
|
| 257 |
+
"id": 2,
|
| 258 |
+
"grasp_group": {
|
| 259 |
+
"grasp_21": {
|
| 260 |
+
"confidence": 0.06298346817493439,
|
| 261 |
+
"position": [
|
| 262 |
+
-0.07103374256985262,
|
| 263 |
+
0.08035418088547885,
|
| 264 |
+
-0.11539409030228853
|
| 265 |
+
],
|
| 266 |
+
"orientation": {
|
| 267 |
+
"w": 0.7024673441765072,
|
| 268 |
+
"xyz": [
|
| 269 |
+
-0.2042550451841068,
|
| 270 |
+
0.11875981567233307,
|
| 271 |
+
-0.6713535678492494
|
| 272 |
+
]
|
| 273 |
+
}
|
| 274 |
+
},
|
| 275 |
+
"grasp_22": {
|
| 276 |
+
"confidence": 0.059497952461242676,
|
| 277 |
+
"position": [
|
| 278 |
+
-0.05691320850746706,
|
| 279 |
+
0.05874696443788707,
|
| 280 |
+
-0.1285779746249318
|
| 281 |
+
],
|
| 282 |
+
"orientation": {
|
| 283 |
+
"w": 0.5751036882854526,
|
| 284 |
+
"xyz": [
|
| 285 |
+
-0.06262350268486568,
|
| 286 |
+
0.04580110595323461,
|
| 287 |
+
0.8143932117382907
|
| 288 |
+
]
|
| 289 |
+
}
|
| 290 |
+
},
|
| 291 |
+
"grasp_23": {
|
| 292 |
+
"confidence": 0.05091293528676033,
|
| 293 |
+
"position": [
|
| 294 |
+
0.05737896979553625,
|
| 295 |
+
0.0645847290288657,
|
| 296 |
+
-0.12683012057095766
|
| 297 |
+
],
|
| 298 |
+
"orientation": {
|
| 299 |
+
"w": 0.9979554297965896,
|
| 300 |
+
"xyz": [
|
| 301 |
+
0.020344196765546295,
|
| 302 |
+
0.05223177341821028,
|
| 303 |
+
0.03070693151485289
|
| 304 |
+
]
|
| 305 |
+
}
|
| 306 |
+
}
|
| 307 |
+
}
|
| 308 |
+
}
|
| 309 |
+
],
|
| 310 |
+
"quality_check": {
|
| 311 |
+
"success": true,
|
| 312 |
+
"message": "YES"
|
| 313 |
+
}
|
| 314 |
+
}
|
dataset/kitchen_supplies/tableware/6e7e6684b40a5267b7375338d0cc6a74/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:59eb894ce39a0ab144e8eaba8c66270a256c499820868864786c19c560193039
|
| 3 |
+
size 1181584
|