Add asset kitchen_supplies/tableware/25524d7173225190b5163941aa4540d8
Browse files
.gitattributes
CHANGED
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@@ -8463,3 +8463,4 @@ dataset/kitchen_supplies/tableware/2207bc19555b5462a493c791be749e7c/affordance/m
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| 8463 |
dataset/kitchen_supplies/tableware/238cd705ea7b5c0b9f3c9ab16c94cf45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8464 |
dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8465 |
dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8463 |
dataset/kitchen_supplies/tableware/238cd705ea7b5c0b9f3c9ab16c94cf45/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8464 |
dataset/kitchen_supplies/tableware/250dc64d4209585d9098dff857b93038/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8465 |
dataset/kitchen_supplies/tableware/253b0841c7115a77be690df0fb5b6074/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8466 |
+
dataset/kitchen_supplies/tableware/25524d7173225190b5163941aa4540d8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/25524d7173225190b5163941aa4540d8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,604 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "ladle bowl",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bowl edge or cup area to reposition the ladle from a flat surface when the handle is inaccessible",
|
| 10 |
+
"confidence": 0.38
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bowl to stabilize the ladle briefly during inspection or handoff",
|
| 14 |
+
"confidence": 0.34
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"scoop food or liquid",
|
| 19 |
+
"hold a portion for serving",
|
| 20 |
+
"transfer contents",
|
| 21 |
+
"contact food contents"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Deep round silver metal bowl with a smooth reflective hard surface, forming the large cupped serving end of the ladle and noticeably wider than the handle.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9803479313850403,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.10657790675759315,
|
| 30 |
+
0.11973699781810865,
|
| 31 |
+
0.056921012699604034
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.5440696025094393,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.7745929116810503,
|
| 37 |
+
-0.2755986402170937,
|
| 38 |
+
0.16744992776702536
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.9795284271240234,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.09652766585350037,
|
| 46 |
+
0.123861356114503,
|
| 47 |
+
0.04402660205960274
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.600844841751207,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.740910682212756,
|
| 53 |
+
-0.267253176982329,
|
| 54 |
+
0.13642791692629286
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9790961742401123,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.1438351795077324,
|
| 62 |
+
0.0509037472656928,
|
| 63 |
+
0.11696620658040047
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.19137058954868164,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.13079712541039773,
|
| 69 |
+
0.964274485184181,
|
| 70 |
+
-0.12823465468799555
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.97749263048172,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.14184296876192093,
|
| 78 |
+
0.07946414354955778,
|
| 79 |
+
0.09853754565119743
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.28385142934533564,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.9139862012372394,
|
| 85 |
+
-0.1950397421364356,
|
| 86 |
+
0.21451594111833117
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.9764657020568848,
|
| 92 |
+
"position": [
|
| 93 |
+
-0.12734096497297287,
|
| 94 |
+
0.07579241547500715,
|
| 95 |
+
0.10712993517518044
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.16121318586698408,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.18254212581087653,
|
| 101 |
+
0.9367141777299336,
|
| 102 |
+
-0.25150592487414214
|
| 103 |
+
]
|
| 104 |
+
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| 517 |
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}
|
| 518 |
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},
|
| 519 |
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"grasp_34": {
|
| 520 |
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"confidence": 0.9791203737258911,
|
| 521 |
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|
| 522 |
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|
| 523 |
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-0.10093923058593646,
|
| 524 |
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-0.0007168909069150686
|
| 525 |
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],
|
| 526 |
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"orientation": {
|
| 527 |
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|
| 528 |
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|
| 529 |
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|
| 530 |
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|
| 531 |
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|
| 532 |
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]
|
| 533 |
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}
|
| 534 |
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},
|
| 535 |
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"grasp_37": {
|
| 536 |
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"confidence": 0.9785104990005493,
|
| 537 |
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"position": [
|
| 538 |
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|
| 539 |
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0.09384371939813718,
|
| 540 |
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|
| 541 |
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],
|
| 542 |
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"orientation": {
|
| 543 |
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|
| 544 |
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"xyz": [
|
| 545 |
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|
| 546 |
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|
| 547 |
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-0.5229919645110533
|
| 548 |
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]
|
| 549 |
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}
|
| 550 |
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},
|
| 551 |
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"grasp_38": {
|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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-0.01390492171049118
|
| 557 |
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],
|
| 558 |
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"orientation": {
|
| 559 |
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"w": 0.48562653488214186,
|
| 560 |
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"xyz": [
|
| 561 |
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|
| 562 |
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|
| 563 |
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-0.5680988831265782
|
| 564 |
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]
|
| 565 |
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}
|
| 566 |
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},
|
| 567 |
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"grasp_39": {
|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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-0.0971096470602788,
|
| 572 |
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0.00123245466966182
|
| 573 |
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],
|
| 574 |
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"orientation": {
|
| 575 |
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"w": 0.42874146250314493,
|
| 576 |
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"xyz": [
|
| 577 |
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|
| 578 |
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|
| 579 |
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-0.526218294858902
|
| 580 |
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]
|
| 581 |
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}
|
| 582 |
+
}
|
| 583 |
+
}
|
| 584 |
+
},
|
| 585 |
+
{
|
| 586 |
+
"part_name": "neck",
|
| 587 |
+
"mask_color": "Blue",
|
| 588 |
+
"graspable": false,
|
| 589 |
+
"grasp_scenarios": [],
|
| 590 |
+
"functional_labels": [
|
| 591 |
+
"connect bowl to handle",
|
| 592 |
+
"transfer force between parts",
|
| 593 |
+
"set angle between bowl and handle"
|
| 594 |
+
],
|
| 595 |
+
"semantic_description": "Small silver metal neck with a smooth reflective hard surface, forming the narrow transition section between the bowl and handle near the ladle center.",
|
| 596 |
+
"id": 2,
|
| 597 |
+
"grasp_group": {}
|
| 598 |
+
}
|
| 599 |
+
],
|
| 600 |
+
"quality_check": {
|
| 601 |
+
"success": true,
|
| 602 |
+
"message": "YES"
|
| 603 |
+
}
|
| 604 |
+
}
|
dataset/kitchen_supplies/tableware/25524d7173225190b5163941aa4540d8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d7da780de4b64893a8ed541aac453c65ad1ed8e838dc948ecca88b3ede6b42e7
|
| 3 |
+
size 3778916
|