Add asset kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0
Browse files
.gitattributes
CHANGED
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@@ -7450,3 +7450,4 @@ dataset/kitchen_supplies/utensils/75e51431688453608266514452060233/affordance/me
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| 7450 |
dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7451 |
dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7452 |
dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7450 |
dataset/kitchen_supplies/utensils/780bff5eb6e8548b9798e07bfbe61736/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7451 |
dataset/kitchen_supplies/utensils/7860de426f4654639a1e6f4af7812091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7452 |
dataset/kitchen_supplies/utensils/788ef35c14875a0899d7e201ab23fd00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7453 |
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dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "tray rim",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the raised rim from opposite sides to pick up the tray",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the rim to stabilize or reposition the tray on a surface",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the rim while tilting the tray to pour out contents",
|
| 18 |
+
"confidence": 0.72
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a lifting edge",
|
| 23 |
+
"retain items inside the tray",
|
| 24 |
+
"define the tray boundary",
|
| 25 |
+
"support tilting and carrying"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Raised oval orange-brown wooden rim with a smooth semi-matte finish and visible wood grain, hard and slightly rounded, running around the tray perimeter as a medium-width border.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "tray interior",
|
| 33 |
+
"mask_color": "Green",
|
| 34 |
+
"graspable": false,
|
| 35 |
+
"grasp_scenarios": [],
|
| 36 |
+
"functional_labels": [
|
| 37 |
+
"support placed items",
|
| 38 |
+
"contain small objects within the rim",
|
| 39 |
+
"provide a flat serving surface"
|
| 40 |
+
],
|
| 41 |
+
"semantic_description": "Shallow oval interior surface in warm orange-brown wood with a smooth semi-matte finish, fine wood grain, and a broad flat recessed area at the top opening of the tray.",
|
| 42 |
+
"id": 1,
|
| 43 |
+
"grasp_group": {}
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"part_name": "tray base",
|
| 47 |
+
"mask_color": "Blue",
|
| 48 |
+
"graspable": true,
|
| 49 |
+
"grasp_scenarios": [
|
| 50 |
+
{
|
| 51 |
+
"scenario": "grasp the underside base to lift the tray when approached from below",
|
| 52 |
+
"confidence": 0.58
|
| 53 |
+
},
|
| 54 |
+
{
|
| 55 |
+
"scenario": "hold the base to stabilize the tray during placement or inspection",
|
| 56 |
+
"confidence": 0.52
|
| 57 |
+
}
|
| 58 |
+
],
|
| 59 |
+
"functional_labels": [
|
| 60 |
+
"support the tray structure",
|
| 61 |
+
"provide bottom contact surface",
|
| 62 |
+
"stabilize items above"
|
| 63 |
+
],
|
| 64 |
+
"semantic_description": "Flat oval underside panel of orange-brown wood with a smooth semi-matte finish, subtle wood grain, and a broad hard surface forming the bottom of the tray.",
|
| 65 |
+
"id": 2,
|
| 66 |
+
"grasp_group": {
|
| 67 |
+
"grasp_22": {
|
| 68 |
+
"confidence": 0.9863718152046204,
|
| 69 |
+
"position": [
|
| 70 |
+
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|
| 71 |
+
0.12422469421289861,
|
| 72 |
+
-0.02838080225046724
|
| 73 |
+
],
|
| 74 |
+
"orientation": {
|
| 75 |
+
"w": 0.2626836589537314,
|
| 76 |
+
"xyz": [
|
| 77 |
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|
| 78 |
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|
| 79 |
+
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|
| 80 |
+
]
|
| 81 |
+
}
|
| 82 |
+
},
|
| 83 |
+
"grasp_23": {
|
| 84 |
+
"confidence": 0.9860692024230957,
|
| 85 |
+
"position": [
|
| 86 |
+
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|
| 87 |
+
0.17645646794699132,
|
| 88 |
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-0.006091458140872419
|
| 89 |
+
],
|
| 90 |
+
"orientation": {
|
| 91 |
+
"w": 0.36492282720802227,
|
| 92 |
+
"xyz": [
|
| 93 |
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|
| 94 |
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|
| 95 |
+
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|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
+
"grasp_24": {
|
| 100 |
+
"confidence": 0.9856420159339905,
|
| 101 |
+
"position": [
|
| 102 |
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|
| 103 |
+
0.17293718620203435,
|
| 104 |
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-0.004896052530966699
|
| 105 |
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],
|
| 106 |
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"orientation": {
|
| 107 |
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"w": 0.35563133899312876,
|
| 108 |
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"xyz": [
|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
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"grasp_25": {
|
| 116 |
+
"confidence": 0.9854750633239746,
|
| 117 |
+
"position": [
|
| 118 |
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|
| 119 |
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0.1371000127401203,
|
| 120 |
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|
| 121 |
+
],
|
| 122 |
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"orientation": {
|
| 123 |
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"w": 0.2750995979731952,
|
| 124 |
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"xyz": [
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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]
|
| 129 |
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}
|
| 130 |
+
},
|
| 131 |
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"grasp_26": {
|
| 132 |
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"confidence": 0.9851877689361572,
|
| 133 |
+
"position": [
|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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],
|
| 138 |
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"orientation": {
|
| 139 |
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"w": 0.38865162745354975,
|
| 140 |
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"xyz": [
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|
| 142 |
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|
| 143 |
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|
| 144 |
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]
|
| 145 |
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}
|
| 146 |
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},
|
| 147 |
+
"grasp_27": {
|
| 148 |
+
"confidence": 0.9851309657096863,
|
| 149 |
+
"position": [
|
| 150 |
+
0.11541577312164009,
|
| 151 |
+
0.17196761234663427,
|
| 152 |
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-0.006930655217729509
|
| 153 |
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],
|
| 154 |
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"orientation": {
|
| 155 |
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"w": 0.6367354672518135,
|
| 156 |
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"xyz": [
|
| 157 |
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0.32496926451375197,
|
| 158 |
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-0.6160175260225141,
|
| 159 |
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|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
+
},
|
| 163 |
+
"grasp_28": {
|
| 164 |
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"confidence": 0.9850370287895203,
|
| 165 |
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"position": [
|
| 166 |
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0.1669185373466462,
|
| 167 |
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0.12835359736345708,
|
| 168 |
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|
| 169 |
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],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.6828937267244855,
|
| 172 |
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"xyz": [
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| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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]
|
| 177 |
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}
|
| 178 |
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},
|
| 179 |
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"grasp_29": {
|
| 180 |
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"confidence": 0.9849669337272644,
|
| 181 |
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"position": [
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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],
|
| 186 |
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"orientation": {
|
| 187 |
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"w": 0.25977123663539914,
|
| 188 |
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"xyz": [
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|
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|
| 191 |
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|
| 192 |
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]
|
| 193 |
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}
|
| 194 |
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},
|
| 195 |
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"grasp_30": {
|
| 196 |
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"confidence": 0.9849275350570679,
|
| 197 |
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"position": [
|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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],
|
| 202 |
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"orientation": {
|
| 203 |
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"w": 0.6103228582856225,
|
| 204 |
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"xyz": [
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|
| 208 |
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]
|
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}
|
| 210 |
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},
|
| 211 |
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"grasp_32": {
|
| 212 |
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"confidence": 0.9845321774482727,
|
| 213 |
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"position": [
|
| 214 |
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|
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|
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|
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],
|
| 218 |
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dataset/kitchen_supplies/utensils/79cfd180fe805aa392ccf65a62c0b6c0/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 897700
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