Add asset kitchen_supplies/ware/506f94f34c815686902d6127d833173f
Browse files
.gitattributes
CHANGED
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@@ -7558,4 +7558,5 @@ dataset/kitchen_supplies/ware/4a14ea92f214557d8e33ea99d72d8d51/affordance/mesh_p
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dataset/kitchen_supplies/ware/4b2bd6998bcd577386fb9f69f393b2ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7559 |
dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7560 |
dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7561 |
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dataset/kitchen_supplies/ware/
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| 7558 |
dataset/kitchen_supplies/ware/4b2bd6998bcd577386fb9f69f393b2ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7559 |
dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7560 |
dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7561 |
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dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7562 |
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dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle neck and shoulder",
|
| 5 |
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"mask_color": "Red",
|
| 6 |
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"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the neck/shoulder area to pick up or reposition the bottle",
|
| 10 |
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"confidence": 0.72
|
| 11 |
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},
|
| 12 |
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{
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| 13 |
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"scenario": "grasp the neck to stabilize the bottle during pouring or while another tool interacts with the opening",
|
| 14 |
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"confidence": 0.76
|
| 15 |
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}
|
| 16 |
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],
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| 17 |
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"functional_labels": [
|
| 18 |
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"provide bottle opening",
|
| 19 |
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"support pouring from the top",
|
| 20 |
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"connect opening to main body",
|
| 21 |
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"offer a secondary grasp area"
|
| 22 |
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],
|
| 23 |
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"semantic_description": "Upper blue plastic neck-and-shoulder section with a slightly glossy smooth surface, rounded domed shoulder, ribbed band around the lower neck area, and a short cylindrical open mouth at the top.",
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| 24 |
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"id": 0,
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| 25 |
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0.7441252102328554,
|
| 229 |
+
0.5543536488612153,
|
| 230 |
+
0.21440684221495415
|
| 231 |
+
]
|
| 232 |
+
}
|
| 233 |
+
},
|
| 234 |
+
"grasp_17": {
|
| 235 |
+
"confidence": 0.8185292482376099,
|
| 236 |
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"position": [
|
| 237 |
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-0.056089663645252585,
|
| 238 |
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-0.00528986009885557,
|
| 239 |
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0.18232574127614498
|
| 240 |
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],
|
| 241 |
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"orientation": {
|
| 242 |
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"w": 0.21797748357670907,
|
| 243 |
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"xyz": [
|
| 244 |
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-0.6951434770712556,
|
| 245 |
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0.6589739469441716,
|
| 246 |
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-0.18712215311841288
|
| 247 |
+
]
|
| 248 |
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}
|
| 249 |
+
},
|
| 250 |
+
"grasp_18": {
|
| 251 |
+
"confidence": 0.8170052766799927,
|
| 252 |
+
"position": [
|
| 253 |
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-0.06763082160614431,
|
| 254 |
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0.0479935719340574,
|
| 255 |
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0.1600987073034048
|
| 256 |
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],
|
| 257 |
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"orientation": {
|
| 258 |
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"w": 0.4272993630920803,
|
| 259 |
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"xyz": [
|
| 260 |
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0.7646590248649997,
|
| 261 |
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0.4440039701161145,
|
| 262 |
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0.1886062154721809
|
| 263 |
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]
|
| 264 |
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}
|
| 265 |
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}
|
| 266 |
+
}
|
| 267 |
+
},
|
| 268 |
+
{
|
| 269 |
+
"part_name": "bottle body",
|
| 270 |
+
"mask_color": "Green",
|
| 271 |
+
"graspable": true,
|
| 272 |
+
"grasp_scenarios": [
|
| 273 |
+
{
|
| 274 |
+
"scenario": "grasp the bottle body to lift and carry the bottle",
|
| 275 |
+
"confidence": 0.95
|
| 276 |
+
},
|
| 277 |
+
{
|
| 278 |
+
"scenario": "grasp the mid-body to stabilize the bottle during pouring",
|
| 279 |
+
"confidence": 0.89
|
| 280 |
+
},
|
| 281 |
+
{
|
| 282 |
+
"scenario": "side-grasp the lower body to place or reposition the bottle",
|
| 283 |
+
"confidence": 0.86
|
| 284 |
+
}
|
| 285 |
+
],
|
| 286 |
+
"functional_labels": [
|
| 287 |
+
"contain liquid",
|
| 288 |
+
"main grasp surface",
|
| 289 |
+
"support carrying",
|
| 290 |
+
"stabilize during pouring"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "Large light-blue plastic bottle body with a semi-gloss finish, smooth hard surface, shallow circumferential contour grooves, and a rounded cylindrical shape forming most of the bottle below the neck.",
|
| 293 |
+
"id": 1,
|
| 294 |
+
"grasp_group": {
|
| 295 |
+
"grasp_29": {
|
| 296 |
+
"confidence": 0.5791708827018738,
|
| 297 |
+
"position": [
|
| 298 |
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-0.09786858572624624,
|
| 299 |
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0.07043472069199197,
|
| 300 |
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-0.03629498649388552
|
| 301 |
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],
|
| 302 |
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"orientation": {
|
| 303 |
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"w": 0.32791184359210607,
|
| 304 |
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"xyz": [
|
| 305 |
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-0.3307041813424329,
|
| 306 |
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|
| 307 |
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-0.6013235502375186
|
| 308 |
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]
|
| 309 |
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}
|
| 310 |
+
}
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"quality_check": {
|
| 315 |
+
"success": true,
|
| 316 |
+
"message": "YES"
|
| 317 |
+
}
|
| 318 |
+
}
|
dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca05337655a51ed8fb8ea45ba7c0913d51e5f7cfbcbd4c70ffbd35d5ffdb07c9
|
| 3 |
+
size 702424
|