Add asset kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.urdf +1 -0
- dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/affordance_annot.json +560 -0
- dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/mesh_part_seg.glb +3 -0
.gitattributes
CHANGED
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@@ -7232,3 +7232,4 @@ dataset/kitchen_supplies/tableware/3e589420fcd951cb8c5ab7d8e06a9410/affordance/m
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| 7232 |
dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7233 |
dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7234 |
dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7232 |
dataset/kitchen_supplies/tableware/40d8999cdd01536e957b48584816f518/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7233 |
dataset/kitchen_supplies/tableware/41595c16627f550ca1fb1b46f44ca836/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7234 |
dataset/kitchen_supplies/tableware/41e2003aa71c5410b4e233edd7a2c02e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7235 |
+
dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/4285923262625b18925a13c446d3f4cc.urdf
CHANGED
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@@ -52,6 +52,7 @@
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
</affordance>
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| 56 |
</custom_data>
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| 57 |
</robot>
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| 52 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
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| 53 |
</geometry>
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| 54 |
</visual_seg>
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| 55 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
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| 56 |
</affordance>
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| 57 |
</custom_data>
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| 58 |
</robot>
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dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,560 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to pick up and reposition the wooden spoon",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to manipulate the spoon during scooping or stirring",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the handle to stabilize the spoon while scraping or serving",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main grip",
|
| 23 |
+
"enable manipulation",
|
| 24 |
+
"support stirring motion",
|
| 25 |
+
"support scooping control",
|
| 26 |
+
"connect bowl to user grip"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Short brown wooden handle with a smooth polished finish, visible wood grain, slight taper, and rounded end extending from the spoon bowl as the primary grip section.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.981096088886261,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.0933842882514,
|
| 35 |
+
0.09886240432388149,
|
| 36 |
+
0.004633320088032633
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5103493504340547,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.5429931952359769,
|
| 42 |
+
0.49887332395672646,
|
| 43 |
+
-0.44252382657132655
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_1": {
|
| 48 |
+
"confidence": 0.9796653389930725,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.07118887454271317,
|
| 51 |
+
0.09998913327581249,
|
| 52 |
+
0.000789589888881892
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.45031029061859174,
|
| 56 |
+
"xyz": [
|
| 57 |
+
0.5559207400404043,
|
| 58 |
+
0.4541870723994792,
|
| 59 |
+
-0.5309301990103017
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_2": {
|
| 64 |
+
"confidence": 0.9784720540046692,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.08543752133846283,
|
| 67 |
+
0.10121291349059902,
|
| 68 |
+
-0.0006825754826422781
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5052576783636268,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.5044290066326791,
|
| 74 |
+
0.5098358072837896,
|
| 75 |
+
-0.47993072972404366
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_3": {
|
| 80 |
+
"confidence": 0.9771386384963989,
|
| 81 |
+
"position": [
|
| 82 |
+
-0.07523101568222046,
|
| 83 |
+
0.0965190775168594,
|
| 84 |
+
-0.020038646121975034
|
| 85 |
+
],
|
| 86 |
+
"orientation": {
|
| 87 |
+
"w": 0.5518118117561231,
|
| 88 |
+
"xyz": [
|
| 89 |
+
0.45790694166093304,
|
| 90 |
+
0.44874161007475843,
|
| 91 |
+
-0.5333440958449528
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_4": {
|
| 96 |
+
"confidence": 0.9769108295440674,
|
| 97 |
+
"position": [
|
| 98 |
+
-0.08818089962005615,
|
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| 553 |
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| 554 |
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| 555 |
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],
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| 556 |
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"quality_check": {
|
| 557 |
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"success": false,
|
| 558 |
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"message": "Blue/green part identities are swapped; handle and bowl mask colors and selected regions do not match images."
|
| 559 |
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}
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| 560 |
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|
dataset/kitchen_supplies/tableware/4285923262625b18925a13c446d3f4cc/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:e0249f8e44329f233f91726d558dfa5b46cb540107d15e4fe376426c2e03f269
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| 3 |
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size 1152324
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