Add asset kitchen_supplies/tableware/08bf7aa728e85252b5051cfc9ede36d5
Browse files
.gitattributes
CHANGED
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@@ -8410,3 +8410,4 @@ dataset/kitchen_supplies/tableware/04fb4c8ea9b15857ad3f22d9ab0acabd/affordance/m
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| 8410 |
dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8411 |
dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8412 |
dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8410 |
dataset/kitchen_supplies/tableware/054e5991850e5b7093728c802615e0a2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8411 |
dataset/kitchen_supplies/tableware/05af556ee022597784ecd3fb0d0e9219/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8412 |
dataset/kitchen_supplies/tableware/07369dcfb16756b7b30d12395ec3bc5a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8413 |
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dataset/kitchen_supplies/tableware/08bf7aa728e85252b5051cfc9ede36d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/08bf7aa728e85252b5051cfc9ede36d5/affordance/affordance_annot.json
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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 outer rim to pick up the tray from a table",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the rim to stabilize and reposition the tray",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "pinch the rim to rotate the tray for placement",
|
| 18 |
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"confidence": 0.77
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a gripping edge",
|
| 23 |
+
"retain items on the tray",
|
| 24 |
+
"define the tray boundary",
|
| 25 |
+
"help stabilize carried contents"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Raised dark brown rim, likely lacquered wood or ceramic, with a glossy smooth hard surface and an irregular organic outline running around the tray edge.",
|
| 28 |
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"id": 0,
|
| 29 |
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"grasp_group": {
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| 30 |
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"grasp_0": {
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],
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| 43 |
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| 44 |
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}
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| 45 |
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},
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| 46 |
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"grasp_1": {
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| 47 |
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},
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-0.2647122506168671,
|
| 243 |
+
6.339221727102995e-05
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.48015691534808863,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.5206061923802471,
|
| 249 |
+
0.460436520121271,
|
| 250 |
+
0.5351791662960775
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
},
|
| 254 |
+
"grasp_19": {
|
| 255 |
+
"confidence": 0.9662136435508728,
|
| 256 |
+
"position": [
|
| 257 |
+
0.06754451617598534,
|
| 258 |
+
-0.2776027683285065,
|
| 259 |
+
0.02197048277594149
|
| 260 |
+
],
|
| 261 |
+
"orientation": {
|
| 262 |
+
"w": 0.49926812231030665,
|
| 263 |
+
"xyz": [
|
| 264 |
+
-0.4434716258111701,
|
| 265 |
+
-0.6249325982983935,
|
| 266 |
+
-0.4043803985471563
|
| 267 |
+
]
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
},
|
| 272 |
+
{
|
| 273 |
+
"part_name": "tray surface",
|
| 274 |
+
"mask_color": "Green",
|
| 275 |
+
"graspable": true,
|
| 276 |
+
"grasp_scenarios": [
|
| 277 |
+
{
|
| 278 |
+
"scenario": "grasp the tray body across the broad surface when the rim is inaccessible",
|
| 279 |
+
"confidence": 0.42
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"scenario": "support the tray with a wide gripper on the underside area during pickup",
|
| 283 |
+
"confidence": 0.58
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"support placed items",
|
| 288 |
+
"provide a carrying platform",
|
| 289 |
+
"present or serve objects",
|
| 290 |
+
"form the main tray body"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "Broad shallow central surface with a glossy smooth hard finish, decorated in tan, gold, cream, black, and turquoise with an illustrated figure, occupying most of the tray interior.",
|
| 293 |
+
"id": 1,
|
| 294 |
+
"grasp_group": {}
|
| 295 |
+
}
|
| 296 |
+
],
|
| 297 |
+
"quality_check": {
|
| 298 |
+
"success": true,
|
| 299 |
+
"message": "YES"
|
| 300 |
+
}
|
| 301 |
+
}
|
dataset/kitchen_supplies/tableware/08bf7aa728e85252b5051cfc9ede36d5/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0d0482ff37bf79380553e7f49b72744a3a8931a8709cd330c69bf3ce5831c47d
|
| 3 |
+
size 5847740
|