Add asset kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5
Browse files
.gitattributes
CHANGED
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@@ -7614,3 +7614,4 @@ dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/affordance/mesh_p
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dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7614 |
dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7615 |
dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7616 |
dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7617 |
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dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/affordance/affordance_annot.json
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spout",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the spout tip lightly to orient the teapot during inspection or placement",
|
| 10 |
+
"confidence": 0.24
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the spout to stabilize the teapot while another gripper opens the lid",
|
| 14 |
+
"confidence": 0.19
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"pour liquid",
|
| 19 |
+
"direct the stream",
|
| 20 |
+
"indicate pouring direction",
|
| 21 |
+
"help orient the teapot"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Short tapered white ceramic spout with a glossy smooth hard surface, projecting from the upper side of the teapot and ending in a small pouring lip.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {}
|
| 26 |
+
},
|
| 27 |
+
{
|
| 28 |
+
"part_name": "handle",
|
| 29 |
+
"mask_color": "Green",
|
| 30 |
+
"graspable": true,
|
| 31 |
+
"grasp_scenarios": [
|
| 32 |
+
{
|
| 33 |
+
"scenario": "grasp the handle to lift and carry the teapot",
|
| 34 |
+
"confidence": 0.94
|
| 35 |
+
},
|
| 36 |
+
{
|
| 37 |
+
"scenario": "hold the handle to tilt the teapot for pouring",
|
| 38 |
+
"confidence": 0.91
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "grasp the handle to reposition the teapot on a surface",
|
| 42 |
+
"confidence": 0.9
|
| 43 |
+
}
|
| 44 |
+
],
|
| 45 |
+
"functional_labels": [
|
| 46 |
+
"provide a side grip",
|
| 47 |
+
"lift the teapot",
|
| 48 |
+
"stabilize while pouring",
|
| 49 |
+
"control tilt orientation"
|
| 50 |
+
],
|
| 51 |
+
"semantic_description": "Looped white ceramic handle with a glossy smooth hard surface, medium-sized and attached to the side opposite the spout for secure gripping.",
|
| 52 |
+
"id": 1,
|
| 53 |
+
"grasp_group": {}
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"part_name": "teapot body",
|
| 57 |
+
"mask_color": "Blue",
|
| 58 |
+
"graspable": true,
|
| 59 |
+
"grasp_scenarios": [
|
| 60 |
+
{
|
| 61 |
+
"scenario": "grasp the body from the sides to pick up the teapot when the handle is inaccessible",
|
| 62 |
+
"confidence": 0.67
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"scenario": "hold the body to stabilize the teapot while manipulating the lid",
|
| 66 |
+
"confidence": 0.62
|
| 67 |
+
}
|
| 68 |
+
],
|
| 69 |
+
"functional_labels": [
|
| 70 |
+
"contain liquid",
|
| 71 |
+
"support all attached parts",
|
| 72 |
+
"provide main structure",
|
| 73 |
+
"rest on a surface"
|
| 74 |
+
],
|
| 75 |
+
"semantic_description": "Bulbous rounded white ceramic body with a glossy smooth hard surface, forming the largest central volume and showing a plain unmarked exterior.",
|
| 76 |
+
"id": 2,
|
| 77 |
+
"grasp_group": {}
|
| 78 |
+
},
|
| 79 |
+
{
|
| 80 |
+
"part_name": "lid",
|
| 81 |
+
"mask_color": "Yellow",
|
| 82 |
+
"graspable": true,
|
| 83 |
+
"grasp_scenarios": [
|
| 84 |
+
{
|
| 85 |
+
"scenario": "grasp the lid edge or top area to remove the lid for filling or cleaning",
|
| 86 |
+
"confidence": 0.79
|
| 87 |
+
},
|
| 88 |
+
{
|
| 89 |
+
"scenario": "hold the lid to place it back onto the teapot opening",
|
| 90 |
+
"confidence": 0.77
|
| 91 |
+
}
|
| 92 |
+
],
|
| 93 |
+
"functional_labels": [
|
| 94 |
+
"cover the opening",
|
| 95 |
+
"retain heat",
|
| 96 |
+
"reduce spilling",
|
| 97 |
+
"allow access for filling"
|
| 98 |
+
],
|
| 99 |
+
"semantic_description": "Circular white ceramic lid with a glossy smooth hard surface, sized to fit the top opening and outlined by a thin brownish rim line.",
|
| 100 |
+
"id": 3,
|
| 101 |
+
"grasp_group": {}
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"part_name": "lid knob",
|
| 105 |
+
"mask_color": "Purple",
|
| 106 |
+
"graspable": true,
|
| 107 |
+
"grasp_scenarios": [
|
| 108 |
+
{
|
| 109 |
+
"scenario": "pinch the knob to lift off the lid",
|
| 110 |
+
"confidence": 0.93
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"scenario": "grasp the knob to reposition and seat the lid",
|
| 114 |
+
"confidence": 0.88
|
| 115 |
+
}
|
| 116 |
+
],
|
| 117 |
+
"functional_labels": [
|
| 118 |
+
"provide a small top grip",
|
| 119 |
+
"lift the lid",
|
| 120 |
+
"guide lid placement"
|
| 121 |
+
],
|
| 122 |
+
"semantic_description": "Small rounded white ceramic knob with a glossy smooth hard surface, centered on top of the lid as the primary lid-handling feature.",
|
| 123 |
+
"id": 5,
|
| 124 |
+
"grasp_group": {
|
| 125 |
+
"grasp_80": {
|
| 126 |
+
"confidence": 0.49643900990486145,
|
| 127 |
+
"position": [
|
| 128 |
+
0.006807312136515975,
|
| 129 |
+
0.029376045800745487,
|
| 130 |
+
0.1868450976908207
|
| 131 |
+
],
|
| 132 |
+
"orientation": {
|
| 133 |
+
"w": 0.13858825853798845,
|
| 134 |
+
"xyz": [
|
| 135 |
+
0.9883659858495186,
|
| 136 |
+
-0.06264547740944312,
|
| 137 |
+
-0.0012315726774627229
|
| 138 |
+
]
|
| 139 |
+
}
|
| 140 |
+
},
|
| 141 |
+
"grasp_81": {
|
| 142 |
+
"confidence": 0.4907461106777191,
|
| 143 |
+
"position": [
|
| 144 |
+
-0.016087165335193276,
|
| 145 |
+
0.0015231897123157978,
|
| 146 |
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0.18669207766652107
|
| 147 |
+
],
|
| 148 |
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"orientation": {
|
| 149 |
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"w": 0.07078107461109881,
|
| 150 |
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|
| 151 |
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|
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|
| 153 |
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|
| 154 |
+
]
|
| 155 |
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}
|
| 156 |
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},
|
| 157 |
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"grasp_82": {
|
| 158 |
+
"confidence": 0.481377512216568,
|
| 159 |
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"position": [
|
| 160 |
+
0.00258753658272326,
|
| 161 |
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-0.019303721375763416,
|
| 162 |
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0.18649761751294136
|
| 163 |
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],
|
| 164 |
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"orientation": {
|
| 165 |
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"w": 0.10401909888915148,
|
| 166 |
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"xyz": [
|
| 167 |
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|
| 168 |
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0.008697712896317059,
|
| 169 |
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|
| 170 |
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]
|
| 171 |
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}
|
| 172 |
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},
|
| 173 |
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"grasp_83": {
|
| 174 |
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"confidence": 0.46955135464668274,
|
| 175 |
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"position": [
|
| 176 |
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0.02029122761450708,
|
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0.03080687765032053,
|
| 178 |
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|
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],
|
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"orientation": {
|
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"w": 0.06166187240874738,
|
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"xyz": [
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|
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|
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|
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]
|
| 187 |
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}
|
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},
|
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"grasp_86": {
|
| 190 |
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"confidence": 0.363749235868454,
|
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"position": [
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|
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|
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|
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"orientation": {
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|
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"xyz": [
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|
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]
|
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}
|
| 204 |
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},
|
| 205 |
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"grasp_89": {
|
| 206 |
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"confidence": 0.3105286955833435,
|
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"position": [
|
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|
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|
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|
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],
|
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"orientation": {
|
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|
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|
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|
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]
|
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|
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},
|
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|
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|
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"position": [
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|
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|
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dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/affordance/mesh_part_seg.glb
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 693224
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