Add asset kitchen_supplies/utensils/eb41e6760b5252af91d77f3b25edd41a
Browse files
.gitattributes
CHANGED
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@@ -7489,3 +7489,4 @@ dataset/kitchen_supplies/utensils/e11c9198c2c95bb4955bcf8b2886ebc9/affordance/me
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| 7489 |
dataset/kitchen_supplies/utensils/e43887a22e52507299eb1367c0960421/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7490 |
dataset/kitchen_supplies/utensils/e8c2e3c2d08e5b79b2400d4545686d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7491 |
dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7489 |
dataset/kitchen_supplies/utensils/e43887a22e52507299eb1367c0960421/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7490 |
dataset/kitchen_supplies/utensils/e8c2e3c2d08e5b79b2400d4545686d3d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7491 |
dataset/kitchen_supplies/utensils/e9661e1c79735c2093d1aa29be33d9ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7492 |
+
dataset/kitchen_supplies/utensils/eb41e6760b5252af91d77f3b25edd41a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/eb41e6760b5252af91d77f3b25edd41a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,395 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the lid from the sides to twist it open or closed",
|
| 10 |
+
"confidence": 0.89
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid while aligning it onto the container opening",
|
| 14 |
+
"confidence": 0.77
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the container opening",
|
| 19 |
+
"enable opening and closing",
|
| 20 |
+
"help seal contents",
|
| 21 |
+
"provide a twisting surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Round light tan wooden lid with a smooth matte finish and visible wood grain, positioned at the top and slightly wider than the body.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.981691300868988,
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| 28 |
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"position": [
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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"orientation": {
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| 34 |
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"w": 0.03430499580764012,
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| 35 |
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"xyz": [
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| 37 |
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| 38 |
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| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
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| 43 |
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"confidence": 0.9803560972213745,
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| 44 |
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"position": [
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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],
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| 49 |
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"orientation": {
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| 50 |
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"w": 0.05028922614328076,
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| 51 |
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"xyz": [
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| 54 |
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| 55 |
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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_2": {
|
| 59 |
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"confidence": 0.9779778718948364,
|
| 60 |
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"position": [
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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"orientation": {
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| 67 |
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| 70 |
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| 71 |
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| 72 |
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| 73 |
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},
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| 74 |
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"grasp_3": {
|
| 75 |
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|
| 76 |
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"position": [
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"orientation": {
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| 86 |
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| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_4": {
|
| 91 |
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"confidence": 0.9739447832107544,
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| 92 |
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"position": [
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| 94 |
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|
| 96 |
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| 97 |
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"orientation": {
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| 103 |
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}
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| 105 |
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},
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"grasp_5": {
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| 107 |
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"confidence": 0.9730253219604492,
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},
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"grasp_6": {
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| 123 |
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"confidence": 0.9715281128883362,
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| 124 |
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| 128 |
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"grasp_7": {
|
| 139 |
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"confidence": 0.9687339067459106,
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| 140 |
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"grasp_9": {
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"grasp_10": {
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}
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| 330 |
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}
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},
|
| 332 |
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{
|
| 333 |
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"part_name": "jar body",
|
| 334 |
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"mask_color": "Green",
|
| 335 |
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"graspable": true,
|
| 336 |
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"grasp_scenarios": [
|
| 337 |
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{
|
| 338 |
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"scenario": "grasp the body around the sides to pick up the container",
|
| 339 |
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"confidence": 0.94
|
| 340 |
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},
|
| 341 |
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{
|
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"scenario": "hold the body to stabilize it while twisting the lid",
|
| 343 |
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"confidence": 0.91
|
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},
|
| 345 |
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{
|
| 346 |
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"scenario": "grasp the body to reposition or place it on a shelf or table",
|
| 347 |
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|
| 348 |
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}
|
| 349 |
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],
|
| 350 |
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"functional_labels": [
|
| 351 |
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"contain spices or other contents",
|
| 352 |
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"provide the main grasp surface",
|
| 353 |
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"support storage",
|
| 354 |
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"stabilize the container upright"
|
| 355 |
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],
|
| 356 |
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"semantic_description": "Tall slightly tapered white translucent body, likely glass or plastic, with a smooth hard surface forming the main container beneath the lid.",
|
| 357 |
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"id": 1,
|
| 358 |
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|
| 359 |
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| 373 |
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| 374 |
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}
|
| 375 |
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}
|
| 376 |
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},
|
| 377 |
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{
|
| 378 |
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"part_name": "top rim / thread line",
|
| 379 |
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"mask_color": "Blue",
|
| 380 |
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"graspable": false,
|
| 381 |
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"grasp_scenarios": [],
|
| 382 |
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"functional_labels": [
|
| 383 |
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"interface between lid and container opening",
|
| 384 |
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"indicate the lid seating or threading region"
|
| 385 |
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],
|
| 386 |
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"semantic_description": "Very thin narrow ring at the top edge of the white body just below the wooden lid, visible as a subtle seam line rather than a substantial separate component.",
|
| 387 |
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"id": 2,
|
| 388 |
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"grasp_group": {}
|
| 389 |
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}
|
| 390 |
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],
|
| 391 |
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"quality_check": {
|
| 392 |
+
"success": true,
|
| 393 |
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"message": "YES"
|
| 394 |
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}
|
| 395 |
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}
|
dataset/kitchen_supplies/utensils/eb41e6760b5252af91d77f3b25edd41a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4cd227287ea5464deb50f7cb8c7e8c5e0b1c00f483d890021ce996fe34a3ccc9
|
| 3 |
+
size 3780576
|