Add asset kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065
Browse files
.gitattributes
CHANGED
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@@ -8419,3 +8419,4 @@ dataset/kitchen_supplies/tableware/091e5edbe6f459a58361e01c34992bcc/affordance/m
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| 8419 |
dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8420 |
dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8421 |
dataset/kitchen_supplies/tableware/0c98fc3ed471550b95714cd5089ed701/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8419 |
dataset/kitchen_supplies/tableware/0b53d2e60953566db785b78cd6062171/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8420 |
dataset/kitchen_supplies/tableware/0b9cf4ad25cc559ab85a3a0e89644a89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8421 |
dataset/kitchen_supplies/tableware/0c98fc3ed471550b95714cd5089ed701/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8422 |
+
dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,374 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottom base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bowl from the underside base to lift or reposition it",
|
| 10 |
+
"confidence": 0.56
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the bowl while another tool interacts with the rim",
|
| 14 |
+
"confidence": 0.48
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support the bowl on flat surfaces",
|
| 19 |
+
"provide a stable resting surface",
|
| 20 |
+
"close the bottom of the container",
|
| 21 |
+
"help distribute load"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Flat circular brown-orange metal base with a dark oxidized mottled finish, hard smooth feel, and broad bottom placement forming the bowl's stable underside.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.029619934037327766,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.04251797660253942,
|
| 30 |
+
0.009026453597471118,
|
| 31 |
+
-0.13957789819687605
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6769184238565369,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.0001166470147814707,
|
| 37 |
+
0.28209918236417486,
|
| 38 |
+
-0.6798540175262036
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_2": {
|
| 43 |
+
"confidence": 0.02811509184539318,
|
| 44 |
+
"position": [
|
| 45 |
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-0.01924556656740606,
|
| 46 |
+
0.05795638612471521,
|
| 47 |
+
-0.1548455087468028
|
| 48 |
+
],
|
| 49 |
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"orientation": {
|
| 50 |
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"w": 0.9880345259445037,
|
| 51 |
+
"xyz": [
|
| 52 |
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0.09604580278061708,
|
| 53 |
+
0.11553918703689003,
|
| 54 |
+
-0.0348378467862333
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_4": {
|
| 59 |
+
"confidence": 0.02336214855313301,
|
| 60 |
+
"position": [
|
| 61 |
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-0.05327530368231237,
|
| 62 |
+
0.0362433900590986,
|
| 63 |
+
-0.15157152991741896
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.8637725804449041,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.06470685388987246,
|
| 69 |
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0.18725373578218618,
|
| 70 |
+
-0.4632990295336712
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_6": {
|
| 75 |
+
"confidence": 0.01916458085179329,
|
| 76 |
+
"position": [
|
| 77 |
+
0.04760270402766764,
|
| 78 |
+
-0.05265931808389723,
|
| 79 |
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-0.14492672961205244
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.41927573484720065,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.01848821786600211,
|
| 85 |
+
-0.21541727982666825,
|
| 86 |
+
-0.8817377385144396
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_8": {
|
| 91 |
+
"confidence": 0.016596492379903793,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.08036760776303709,
|
| 94 |
+
0.044832043116912246,
|
| 95 |
+
-0.12711945455521345
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.7263589258795102,
|
| 99 |
+
"xyz": [
|
| 100 |
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-0.014244856673058458,
|
| 101 |
+
0.36850791235785263,
|
| 102 |
+
-0.5800014770525891
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_9": {
|
| 107 |
+
"confidence": 0.01522458903491497,
|
| 108 |
+
"position": [
|
| 109 |
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-0.059264363488182425,
|
| 110 |
+
0.04253280512057245,
|
| 111 |
+
-0.13909890037029982
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.30318645878822176,
|
| 115 |
+
"xyz": [
|
| 116 |
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-0.13158002065971958,
|
| 117 |
+
0.23716913967480124,
|
| 118 |
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-0.9135181818423541
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_12": {
|
| 123 |
+
"confidence": 0.054693881422281265,
|
| 124 |
+
"position": [
|
| 125 |
+
-0.01211745641194284,
|
| 126 |
+
0.03715987107716501,
|
| 127 |
+
-0.14711165707558393
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.6767869821302184,
|
| 131 |
+
"xyz": [
|
| 132 |
+
-0.17451383143366717,
|
| 133 |
+
0.0311590461898682,
|
| 134 |
+
-0.7145162120609658
|
| 135 |
+
]
|
| 136 |
+
}
|
| 137 |
+
},
|
| 138 |
+
"grasp_14": {
|
| 139 |
+
"confidence": 0.033690061420202255,
|
| 140 |
+
"position": [
|
| 141 |
+
-0.0005211313255131245,
|
| 142 |
+
-0.00037400441942736506,
|
| 143 |
+
-0.15763429086655378
|
| 144 |
+
],
|
| 145 |
+
"orientation": {
|
| 146 |
+
"w": 0.9642368797941461,
|
| 147 |
+
"xyz": [
|
| 148 |
+
0.0690633683963199,
|
| 149 |
+
0.11256583860072988,
|
| 150 |
+
-0.22979648119742255
|
| 151 |
+
]
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"grasp_16": {
|
| 155 |
+
"confidence": 0.020738469436764717,
|
| 156 |
+
"position": [
|
| 157 |
+
-0.04463846771977842,
|
| 158 |
+
0.09537755302153528,
|
| 159 |
+
-0.12440965604037046
|
| 160 |
+
],
|
| 161 |
+
"orientation": {
|
| 162 |
+
"w": 0.9430835654265969,
|
| 163 |
+
"xyz": [
|
| 164 |
+
0.2779253295945329,
|
| 165 |
+
0.1478613752970399,
|
| 166 |
+
0.10718168447685293
|
| 167 |
+
]
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
}
|
| 171 |
+
},
|
| 172 |
+
{
|
| 173 |
+
"part_name": "bowl body",
|
| 174 |
+
"mask_color": "Green",
|
| 175 |
+
"graspable": true,
|
| 176 |
+
"grasp_scenarios": [
|
| 177 |
+
{
|
| 178 |
+
"scenario": "grasp the side wall of the bowl body to pick up the bowl",
|
| 179 |
+
"confidence": 0.82
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"scenario": "clamp the body from opposite sides to stabilize the bowl during transport",
|
| 183 |
+
"confidence": 0.79
|
| 184 |
+
}
|
| 185 |
+
],
|
| 186 |
+
"functional_labels": [
|
| 187 |
+
"contain contents",
|
| 188 |
+
"form the main vessel",
|
| 189 |
+
"provide side grasp surface",
|
| 190 |
+
"support and enclose stored items"
|
| 191 |
+
],
|
| 192 |
+
"semantic_description": "Large tapered brown-orange metal vessel wall with a hammered and oxidized mottled appearance, slightly reflective finish, hard smooth texture, and cylindrical position around the bowl's sides.",
|
| 193 |
+
"id": 1,
|
| 194 |
+
"grasp_group": {
|
| 195 |
+
"grasp_21": {
|
| 196 |
+
"confidence": 0.9885715842247009,
|
| 197 |
+
"position": [
|
| 198 |
+
-0.005276407347992063,
|
| 199 |
+
0.10969305387698114,
|
| 200 |
+
0.13150202948600054
|
| 201 |
+
],
|
| 202 |
+
"orientation": {
|
| 203 |
+
"w": 0.19981203827307992,
|
| 204 |
+
"xyz": [
|
| 205 |
+
0.7144764866274954,
|
| 206 |
+
0.6701928118599129,
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| 207 |
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| 340 |
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},
|
| 341 |
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{
|
| 342 |
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"part_name": "rim with side tabs",
|
| 343 |
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"mask_color": "Blue",
|
| 344 |
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"graspable": true,
|
| 345 |
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"grasp_scenarios": [
|
| 346 |
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{
|
| 347 |
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"scenario": "grasp opposite rim tabs to lift the bowl securely",
|
| 348 |
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"confidence": 0.89
|
| 349 |
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},
|
| 350 |
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{
|
| 351 |
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"scenario": "pinch a rim section or tab to rotate and reposition the bowl",
|
| 352 |
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|
| 353 |
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},
|
| 354 |
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{
|
| 355 |
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"scenario": "hold the rim to stabilize the bowl while pouring or emptying contents",
|
| 356 |
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|
| 357 |
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}
|
| 358 |
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],
|
| 359 |
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"functional_labels": [
|
| 360 |
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"provide lifting points",
|
| 361 |
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"support carrying",
|
| 362 |
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"stiffen the bowl opening",
|
| 363 |
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"aid pouring and repositioning"
|
| 364 |
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],
|
| 365 |
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"semantic_description": "Rolled upper metal rim with two small opposing ear-like tabs, brown-orange and darkened by patina, hard smooth and slightly reflective, encircling the opening at the top edge.",
|
| 366 |
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"id": 2,
|
| 367 |
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"grasp_group": {}
|
| 368 |
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}
|
| 369 |
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],
|
| 370 |
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"quality_check": {
|
| 371 |
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"success": true,
|
| 372 |
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"message": "YES"
|
| 373 |
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}
|
| 374 |
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}
|
dataset/kitchen_supplies/tableware/0ca4a834b2a6589594d16ffe11f61065/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aee51dbf7fb0b116ebb888982cfdae52201976047343f22d45c114f1e561c343
|
| 3 |
+
size 1914424
|