Add asset kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f
Browse files
.gitattributes
CHANGED
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@@ -7203,4 +7203,4 @@ dataset/kitchen_supplies/tableware/297491499a4154dd995aef31cf8d36d7/affordance/m
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| 7203 |
dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7204 |
dataset/kitchen_supplies/tableware/2ee7d6837e7f5057b418b5ed708efd6a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7205 |
dataset/kitchen_supplies/tableware/2f1c3077a8d954e58fc0bf75cf35e849/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7206 |
-
dataset/kitchen_supplies/tableware/
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| 7203 |
dataset/kitchen_supplies/tableware/2ae82982e882561d8109c598ca09bb00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7204 |
dataset/kitchen_supplies/tableware/2ee7d6837e7f5057b418b5ed708efd6a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7205 |
dataset/kitchen_supplies/tableware/2f1c3077a8d954e58fc0bf75cf35e849/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7206 |
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dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tray basin",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"contain items",
|
| 10 |
+
"provide a flat carrying surface",
|
| 11 |
+
"support food or objects",
|
| 12 |
+
"define the interior of the tray"
|
| 13 |
+
],
|
| 14 |
+
"semantic_description": "Large shallow light gray plastic basin with a matte smooth hard surface, rectangular with rounded corners and slightly tapered walls forming the tray's interior.",
|
| 15 |
+
"id": 2,
|
| 16 |
+
"grasp_group": {}
|
| 17 |
+
},
|
| 18 |
+
{
|
| 19 |
+
"part_name": "tray base",
|
| 20 |
+
"mask_color": "Green",
|
| 21 |
+
"graspable": true,
|
| 22 |
+
"grasp_scenarios": [
|
| 23 |
+
{
|
| 24 |
+
"scenario": "grasp the underside base from opposite sides to pick up the tray when empty",
|
| 25 |
+
"confidence": 0.72
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"scenario": "support and stabilize the tray by clamping the lower body during manipulation",
|
| 29 |
+
"confidence": 0.63
|
| 30 |
+
}
|
| 31 |
+
],
|
| 32 |
+
"functional_labels": [
|
| 33 |
+
"support the tray from below",
|
| 34 |
+
"rest on a table",
|
| 35 |
+
"provide structural stiffness",
|
| 36 |
+
"stabilize carried contents"
|
| 37 |
+
],
|
| 38 |
+
"semantic_description": "Broad dark gray to black plastic bottom panel with a matte smooth hard finish, flat and slightly inset on the underside of the rectangular tray.",
|
| 39 |
+
"id": 1,
|
| 40 |
+
"grasp_group": {
|
| 41 |
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"grasp_24": {
|
| 42 |
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"confidence": 0.9321122765541077,
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| 43 |
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"position": [
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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],
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| 48 |
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"orientation": {
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| 49 |
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"w": 0.5132583237776351,
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| 50 |
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"xyz": [
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| 52 |
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| 53 |
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| 54 |
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]
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| 55 |
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}
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| 56 |
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},
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| 57 |
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"grasp_25": {
|
| 58 |
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"confidence": 0.9258266687393188,
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| 59 |
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"position": [
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| 62 |
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| 63 |
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],
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| 64 |
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"orientation": {
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"w": 0.4921793177656409,
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"xyz": [
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| 69 |
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]
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| 71 |
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}
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| 72 |
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},
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| 73 |
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"grasp_27": {
|
| 74 |
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"confidence": 0.9218465089797974,
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| 75 |
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| 79 |
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],
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"orientation": {
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"w": 0.49992556904021396,
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| 85 |
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| 86 |
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]
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| 87 |
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}
|
| 88 |
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},
|
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"grasp_29": {
|
| 90 |
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"confidence": 0.9198790788650513,
|
| 91 |
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"position": [
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| 93 |
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|
| 95 |
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],
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| 96 |
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"orientation": {
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"w": 0.5030292866542603,
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"xyz": [
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| 101 |
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|
| 102 |
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]
|
| 103 |
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}
|
| 104 |
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},
|
| 105 |
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"grasp_30": {
|
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"confidence": 0.9184464812278748,
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"position": [
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],
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},
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"grasp_31": {
|
| 122 |
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"confidence": 0.9175746440887451,
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| 123 |
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],
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"grasp_32": {
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],
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},
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"confidence": 0.9155227541923523,
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],
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"grasp_35": {
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"grasp_36": {
|
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| 222 |
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-0.009487970732152462
|
| 223 |
+
],
|
| 224 |
+
"orientation": {
|
| 225 |
+
"w": 0.505928152678994,
|
| 226 |
+
"xyz": [
|
| 227 |
+
0.494612810223774,
|
| 228 |
+
0.5022124644213944,
|
| 229 |
+
-0.49716950114538555
|
| 230 |
+
]
|
| 231 |
+
}
|
| 232 |
+
}
|
| 233 |
+
}
|
| 234 |
+
},
|
| 235 |
+
{
|
| 236 |
+
"part_name": "side wall of tray",
|
| 237 |
+
"mask_color": "Red",
|
| 238 |
+
"graspable": true,
|
| 239 |
+
"grasp_scenarios": [
|
| 240 |
+
{
|
| 241 |
+
"scenario": "pinch the side wall and nearby rim to lift or reposition the tray",
|
| 242 |
+
"confidence": 0.78
|
| 243 |
+
},
|
| 244 |
+
{
|
| 245 |
+
"scenario": "hold a side wall to stabilize the tray during placement",
|
| 246 |
+
"confidence": 0.69
|
| 247 |
+
}
|
| 248 |
+
],
|
| 249 |
+
"functional_labels": [
|
| 250 |
+
"retain items laterally",
|
| 251 |
+
"connect rim to base",
|
| 252 |
+
"provide side support",
|
| 253 |
+
"help guide placement"
|
| 254 |
+
],
|
| 255 |
+
"semantic_description": "Narrow light gray plastic side wall with a smooth matte hard surface, running around the tray perimeter between the rim and the darker bottom.",
|
| 256 |
+
"id": 0,
|
| 257 |
+
"grasp_group": {
|
| 258 |
+
"grasp_11": {
|
| 259 |
+
"confidence": 0.01152038760483265,
|
| 260 |
+
"position": [
|
| 261 |
+
0.019713758258149028,
|
| 262 |
+
0.10328213009051979,
|
| 263 |
+
-0.10629434697329998
|
| 264 |
+
],
|
| 265 |
+
"orientation": {
|
| 266 |
+
"w": 0.8915155870411432,
|
| 267 |
+
"xyz": [
|
| 268 |
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0.04773109070266354,
|
| 269 |
+
-0.03703789702052196,
|
| 270 |
+
-0.44894308684655887
|
| 271 |
+
]
|
| 272 |
+
}
|
| 273 |
+
},
|
| 274 |
+
"grasp_13": {
|
| 275 |
+
"confidence": 0.9700078964233398,
|
| 276 |
+
"position": [
|
| 277 |
+
0.04580148751847446,
|
| 278 |
+
0.19928297284059227,
|
| 279 |
+
0.04454590938985348
|
| 280 |
+
],
|
| 281 |
+
"orientation": {
|
| 282 |
+
"w": 0.39030283906538105,
|
| 283 |
+
"xyz": [
|
| 284 |
+
0.5748110481183226,
|
| 285 |
+
-0.6206332828989769,
|
| 286 |
+
0.3634147505766073
|
| 287 |
+
]
|
| 288 |
+
}
|
| 289 |
+
},
|
| 290 |
+
"grasp_19": {
|
| 291 |
+
"confidence": 0.9589270949363708,
|
| 292 |
+
"position": [
|
| 293 |
+
0.051578887505456805,
|
| 294 |
+
0.17383494856767356,
|
| 295 |
+
0.08323823846876621
|
| 296 |
+
],
|
| 297 |
+
"orientation": {
|
| 298 |
+
"w": 0.2622632079536392,
|
| 299 |
+
"xyz": [
|
| 300 |
+
0.6487372563600033,
|
| 301 |
+
-0.6944770155688317,
|
| 302 |
+
0.1675101692762876
|
| 303 |
+
]
|
| 304 |
+
}
|
| 305 |
+
}
|
| 306 |
+
}
|
| 307 |
+
},
|
| 308 |
+
{
|
| 309 |
+
"part_name": "tray rim",
|
| 310 |
+
"mask_color": "Yellow",
|
| 311 |
+
"graspable": true,
|
| 312 |
+
"grasp_scenarios": [
|
| 313 |
+
{
|
| 314 |
+
"scenario": "grasp the rim edge to lift the tray from a tabletop",
|
| 315 |
+
"confidence": 0.9
|
| 316 |
+
},
|
| 317 |
+
{
|
| 318 |
+
"scenario": "hold the rim to carry or reposition the tray",
|
| 319 |
+
"confidence": 0.86
|
| 320 |
+
},
|
| 321 |
+
{
|
| 322 |
+
"scenario": "pinch a corner of the rim to tilt the tray for pouring out contents",
|
| 323 |
+
"confidence": 0.74
|
| 324 |
+
}
|
| 325 |
+
],
|
| 326 |
+
"functional_labels": [
|
| 327 |
+
"provide a grasp edge",
|
| 328 |
+
"stiffen the perimeter",
|
| 329 |
+
"help retain contents",
|
| 330 |
+
"indicate tray boundary"
|
| 331 |
+
],
|
| 332 |
+
"semantic_description": "Thin raised light gray plastic rim with a rounded lip, smooth matte hard texture, tracing the tray perimeter and slightly proud of the inner basin.",
|
| 333 |
+
"id": 3,
|
| 334 |
+
"grasp_group": {}
|
| 335 |
+
}
|
| 336 |
+
],
|
| 337 |
+
"quality_check": {
|
| 338 |
+
"success": true,
|
| 339 |
+
"message": "YES"
|
| 340 |
+
}
|
| 341 |
+
}
|
dataset/kitchen_supplies/tableware/2f803c464abb5a658b303ca92aa44b2f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2ec00d6e8d3b5ff8d01295a9c47126930f34428bbc10b9a246f5fa250bb3ff3c
|
| 3 |
+
size 850872
|