Add asset kitchen_supplies/ware/03a3daec03c85f45852bd5f8281fadec
Browse files
.gitattributes
CHANGED
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@@ -7497,3 +7497,4 @@ dataset/kitchen_supplies/utensils/f65a130f3c5854328df0d3af81a1cc82/affordance/me
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| 7497 |
dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7498 |
dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7499 |
dataset/kitchen_supplies/ware/02700b1627945131982209b15ea7a87c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7497 |
dataset/kitchen_supplies/utensils/f728bf0359d250d19f5120de33cefe69/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7498 |
dataset/kitchen_supplies/utensils/fcf659def3ef50d390174a7255c39691/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7499 |
dataset/kitchen_supplies/ware/02700b1627945131982209b15ea7a87c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7500 |
+
dataset/kitchen_supplies/ware/03a3daec03c85f45852bd5f8281fadec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/03a3daec03c85f45852bd5f8281fadec/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,449 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle neck",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the neck to pick up and reposition the bottle",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the neck to tilt and pour from the bottle",
|
| 14 |
+
"confidence": 0.83
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the bottle by pinching the neck during manipulation",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a narrow grip area",
|
| 23 |
+
"support pouring control",
|
| 24 |
+
"connect the opening to the body",
|
| 25 |
+
"guide access to the mouth"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Narrow cylindrical neck at the top of the bottle, appearing dark black with a smooth slightly glossy surface, smaller in diameter than the body and surrounding the open mouth.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9800795912742615,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.02298257121583447,
|
| 34 |
+
0.09876891149906442,
|
| 35 |
+
0.15069803968071938
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.07291702324538192,
|
| 39 |
+
"xyz": [
|
| 40 |
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-0.10405116291476929,
|
| 41 |
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0.6951403650616876,
|
| 42 |
+
-0.7075565956720492
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9775221347808838,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.04288884619018063,
|
| 50 |
+
0.09265511407284066,
|
| 51 |
+
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|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
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"w": 0.14076185533854424,
|
| 55 |
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"xyz": [
|
| 56 |
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-0.18371412187923164,
|
| 57 |
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|
| 58 |
+
-0.6885883020609334
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9753153324127197,
|
| 64 |
+
"position": [
|
| 65 |
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-0.012939208128955215,
|
| 66 |
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|
| 67 |
+
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|
| 68 |
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],
|
| 69 |
+
"orientation": {
|
| 70 |
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"w": 0.5138337177512936,
|
| 71 |
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"xyz": [
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9752980470657349,
|
| 80 |
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"position": [
|
| 81 |
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-0.01377222774317488,
|
| 82 |
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|
| 83 |
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|
| 84 |
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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.047877075124814844,
|
| 87 |
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"xyz": [
|
| 88 |
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-0.08015411850880119,
|
| 89 |
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|
| 90 |
+
-0.708079435448829
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.9749899506568909,
|
| 96 |
+
"position": [
|
| 97 |
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0.023374393640551716,
|
| 98 |
+
0.09170406236080453,
|
| 99 |
+
0.16835089400410652
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
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"w": 0.6381956982761791,
|
| 103 |
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"xyz": [
|
| 104 |
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|
| 105 |
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-0.07541992526974817,
|
| 106 |
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-0.08534175934313289
|
| 107 |
+
]
|
| 108 |
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}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9732379913330078,
|
| 112 |
+
"position": [
|
| 113 |
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0.03787800675490871,
|
| 114 |
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0.09166016353992745,
|
| 115 |
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0.14527935162186623
|
| 116 |
+
],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.16125165196509916,
|
| 119 |
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"xyz": [
|
| 120 |
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-0.13070156971320646,
|
| 121 |
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|
| 122 |
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|
| 123 |
+
]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_6": {
|
| 127 |
+
"confidence": 0.9729312062263489,
|
| 128 |
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"position": [
|
| 129 |
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-0.002563703281339258,
|
| 130 |
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|
| 131 |
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|
| 132 |
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],
|
| 133 |
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"orientation": {
|
| 134 |
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"w": 0.7248399859232747,
|
| 135 |
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"xyz": [
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|
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|
| 138 |
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|
| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.9722306132316589,
|
| 144 |
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"position": [
|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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"w": 0.5172871037764795,
|
| 151 |
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"xyz": [
|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_8": {
|
| 159 |
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"confidence": 0.9721974730491638,
|
| 160 |
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"position": [
|
| 161 |
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-0.0337583496584557,
|
| 162 |
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0.08023643417982385,
|
| 163 |
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|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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"w": 0.5076339503729939,
|
| 167 |
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"xyz": [
|
| 168 |
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|
| 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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},
|
| 174 |
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"grasp_9": {
|
| 175 |
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"confidence": 0.9718538522720337,
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"semantic_description": "Large bottle body with a dark nearly black glass surface and a prominent red rectangular label band around the middle, with rounded shoulders and a cylindrical lower section.",
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}
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},
|
| 429 |
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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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],
|
| 440 |
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"semantic_description": "Small circular bottle mouth at the top, appearing as a dark recessed opening with a hard smooth rim and tiny size relative to the neck.",
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| 442 |
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],
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| 445 |
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"quality_check": {
|
| 446 |
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"success": false,
|
| 447 |
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"message": "Neck color description is wrong; neck is red, not black."
|
| 448 |
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}
|
| 449 |
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}
|
dataset/kitchen_supplies/ware/03a3daec03c85f45852bd5f8281fadec/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
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|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:8152502a20376a533a9981fe68f73d676b81e7a95b3903a6cbed145637e33476
|
| 3 |
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size 1116504
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