Add asset kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf
Browse files
.gitattributes
CHANGED
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@@ -7440,3 +7440,4 @@ dataset/kitchen_supplies/tableware/f436abb312125fbc899ddd71ceb6ce77/affordance/m
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| 7440 |
dataset/kitchen_supplies/tableware/f501153b7be45030b28a064ad47df542/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7441 |
dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7442 |
dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7440 |
dataset/kitchen_supplies/tableware/f501153b7be45030b28a064ad47df542/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7441 |
dataset/kitchen_supplies/utensils/615595662bfd5a1b994538982f5d5d57/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7442 |
dataset/kitchen_supplies/utensils/5e3d4390a76c5405b5a499cbb64ea788/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7443 |
+
dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,570 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base of pepper grinder",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the wide base to pick up and relocate the grinder",
|
| 10 |
+
"confidence": 0.8
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the grinder while twisting the upper section",
|
| 14 |
+
"confidence": 0.84
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support upright standing",
|
| 19 |
+
"provide a stable gripping area",
|
| 20 |
+
"stabilize during grinding",
|
| 21 |
+
"form the bottom enclosure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Wide circular orange-brown wooden base with a smooth polished surface and visible wood grain, forming the largest lower section at the bottom of the grinder.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "body of pepper grinder",
|
| 29 |
+
"mask_color": "Blue",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the narrow waist/body to lift the grinder",
|
| 34 |
+
"confidence": 0.93
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "hold the body while rotating the top section for grinding",
|
| 38 |
+
"confidence": 0.88
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"functional_labels": [
|
| 42 |
+
"main grasp surface",
|
| 43 |
+
"house grinding mechanism",
|
| 44 |
+
"connect top and base",
|
| 45 |
+
"support controlled twisting"
|
| 46 |
+
],
|
| 47 |
+
"semantic_description": "Tall hourglass-shaped orange-brown wooden body with a smooth polished finish and visible vertical wood grain, occupying the central middle section of the grinder.",
|
| 48 |
+
"id": 2,
|
| 49 |
+
"grasp_group": {
|
| 50 |
+
"grasp_38": {
|
| 51 |
+
"confidence": 0.9165293574333191,
|
| 52 |
+
"position": [
|
| 53 |
+
0.05162670719437301,
|
| 54 |
+
0.09828013449441642,
|
| 55 |
+
0.002668222412467003
|
| 56 |
+
],
|
| 57 |
+
"orientation": {
|
| 58 |
+
"w": 0.14929190694533814,
|
| 59 |
+
"xyz": [
|
| 60 |
+
-0.15930592666809326,
|
| 61 |
+
-0.6935372384970245,
|
| 62 |
+
0.6865418028546882
|
| 63 |
+
]
|
| 64 |
+
}
|
| 65 |
+
},
|
| 66 |
+
"grasp_39": {
|
| 67 |
+
"confidence": 0.9164407849311829,
|
| 68 |
+
"position": [
|
| 69 |
+
0.04170621815137565,
|
| 70 |
+
-0.10339072078932077,
|
| 71 |
+
-0.0181345553137362
|
| 72 |
+
],
|
| 73 |
+
"orientation": {
|
| 74 |
+
"w": 0.678724238946629,
|
| 75 |
+
"xyz": [
|
| 76 |
+
-0.7062170078987642,
|
| 77 |
+
-0.14601285900596506,
|
| 78 |
+
0.1388207125242494
|
| 79 |
+
]
|
| 80 |
+
}
|
| 81 |
+
},
|
| 82 |
+
"grasp_40": {
|
| 83 |
+
"confidence": 0.9156805276870728,
|
| 84 |
+
"position": [
|
| 85 |
+
0.024280815152451396,
|
| 86 |
+
0.10843843489419669,
|
| 87 |
+
-0.020893073175102472
|
| 88 |
+
],
|
| 89 |
+
"orientation": {
|
| 90 |
+
"w": 0.705594699686473,
|
| 91 |
+
"xyz": [
|
| 92 |
+
0.7029733220378422,
|
| 93 |
+
-0.05384209020450248,
|
| 94 |
+
-0.07117343324476365
|
| 95 |
+
]
|
| 96 |
+
}
|
| 97 |
+
},
|
| 98 |
+
"grasp_41": {
|
| 99 |
+
"confidence": 0.9146453142166138,
|
| 100 |
+
"position": [
|
| 101 |
+
0.04404498892836273,
|
| 102 |
+
-0.1010458740638569,
|
| 103 |
+
-0.016885328572243452
|
| 104 |
+
],
|
| 105 |
+
"orientation": {
|
| 106 |
+
"w": 0.671879165815928,
|
| 107 |
+
"xyz": [
|
| 108 |
+
-0.7064050684944313,
|
| 109 |
+
-0.16394060724542658,
|
| 110 |
+
0.150644425863924
|
| 111 |
+
]
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"grasp_42": {
|
| 115 |
+
"confidence": 0.9134868383407593,
|
| 116 |
+
"position": [
|
| 117 |
+
0.06440045568160713,
|
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| 530 |
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| 566 |
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| 567 |
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|
| 568 |
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|
| 569 |
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|
dataset/kitchen_supplies/utensils/5f1c5b3dfe9556359778c21f2a53aecf/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:f42cd3cf5af22cca2d8b9459081ec79f86b2a574841a399335dc9cfce439bca7
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| 3 |
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size 2165956
|