Add asset kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17
Browse files
.gitattributes
CHANGED
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@@ -7271,3 +7271,4 @@ dataset/kitchen_supplies/tableware/66c54631f4e0507abe6bdb7b9ad7e0f8/affordance/m
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| 7271 |
dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7272 |
dataset/kitchen_supplies/tableware/66f30bf042db52c0aaa4727ce4dc7be0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7273 |
dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7271 |
dataset/kitchen_supplies/tableware/66d595f121f25084859493d7f001053b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7272 |
dataset/kitchen_supplies/tableware/66f30bf042db52c0aaa4727ce4dc7be0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7273 |
dataset/kitchen_supplies/tableware/6765f277e1c557e9860eeda5eddb94c7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7274 |
+
dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,274 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "napkin body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the folded body from the sides to pick it up",
|
| 10 |
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"confidence": 0.91
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "pinch the body to unfold or reposition it on a surface",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "hold the folded body to place or store the sheet",
|
| 18 |
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"confidence": 0.83
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main sheet area",
|
| 23 |
+
"cover a small area",
|
| 24 |
+
"fold for storage",
|
| 25 |
+
"provide the primary grasp area"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large folded bright green sheet body with a smooth matte-to-satin finish, flexible thin material, broad rectangular form, and layered thickness visible in the folded stack.",
|
| 28 |
+
"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_2": {
|
| 31 |
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"confidence": 0.9886162877082825,
|
| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.4747844793251367,
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"xyz": [
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| 42 |
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| 43 |
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]
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| 44 |
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}
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| 45 |
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},
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| 46 |
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| 47 |
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| 50 |
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| 52 |
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],
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"orientation": {
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},
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"grasp_7": {
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| 63 |
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]
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}
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},
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| 142 |
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"grasp_12": {
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"confidence": 0.9879661202430725,
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],
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"confidence": 0.9879037737846375,
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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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},
|
| 190 |
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"grasp_17": {
|
| 191 |
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"confidence": 0.9877220988273621,
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"position": [
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],
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"orientation": {
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"w": 0.5485781573460181,
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]
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}
|
| 205 |
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},
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"grasp_19": {
|
| 207 |
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"confidence": 0.9877191781997681,
|
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"position": [
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|
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],
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"orientation": {
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"w": 0.09803351077416704,
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"xyz": [
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| 219 |
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]
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| 220 |
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}
|
| 221 |
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}
|
| 222 |
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}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"part_name": "folded edge",
|
| 226 |
+
"mask_color": "Green",
|
| 227 |
+
"graspable": true,
|
| 228 |
+
"grasp_scenarios": [
|
| 229 |
+
{
|
| 230 |
+
"scenario": "pinch the folded edge to start unfolding the sheet",
|
| 231 |
+
"confidence": 0.93
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"scenario": "grasp the edge to lift one side for placement or adjustment",
|
| 235 |
+
"confidence": 0.82
|
| 236 |
+
},
|
| 237 |
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{
|
| 238 |
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"scenario": "hold the edge to separate folded layers",
|
| 239 |
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"confidence": 0.89
|
| 240 |
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}
|
| 241 |
+
],
|
| 242 |
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"functional_labels": [
|
| 243 |
+
"enable unfolding",
|
| 244 |
+
"provide an edge grip",
|
| 245 |
+
"define boundary of the sheet",
|
| 246 |
+
"separate folded layers"
|
| 247 |
+
],
|
| 248 |
+
"semantic_description": "Thin bright green folded edge with a smooth finish and narrow layered profile, visible along the perimeter as the exposed folded boundary of the rectangular sheet.",
|
| 249 |
+
"id": 1,
|
| 250 |
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"grasp_group": {
|
| 251 |
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"grasp_21": {
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| 252 |
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"confidence": 0.020246058702468872,
|
| 253 |
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"position": [
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| 254 |
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0.011170352809131145,
|
| 255 |
+
0.025089448899962008,
|
| 256 |
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-0.09482171147828922
|
| 257 |
+
],
|
| 258 |
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"orientation": {
|
| 259 |
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"w": 0.07582718438666623,
|
| 260 |
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"xyz": [
|
| 261 |
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|
| 262 |
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|
| 263 |
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-0.992923545860833
|
| 264 |
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|
| 265 |
+
}
|
| 266 |
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}
|
| 267 |
+
}
|
| 268 |
+
}
|
| 269 |
+
],
|
| 270 |
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"quality_check": {
|
| 271 |
+
"success": true,
|
| 272 |
+
"message": "YES"
|
| 273 |
+
}
|
| 274 |
+
}
|
dataset/kitchen_supplies/tableware/67fec24a267c5278b557aa3723a70c17/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:42bb8fc584389b4968270c1c4951831671b29481abb92a2aa7b2fb596a01baa9
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| 3 |
+
size 2507820
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