Add asset kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6
Browse files- .gitattributes +1 -0
- dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/affordance/affordance_annot.json +238 -0
- dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/affordance/mesh_part_seg.glb +3 -0
- dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/bowl_031.urdf +1 -0
.gitattributes
CHANGED
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@@ -8455,3 +8455,4 @@ dataset/kitchen_supplies/tableware/1beaf7b30f695ff89475b0e1ddff6441/affordance/m
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| 8455 |
dataset/kitchen_supplies/tableware/1d571c7d6111543c946c8b15c920c916/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8456 |
dataset/kitchen_supplies/tableware/200521cfb54c59799efc51ffd95f9f42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8457 |
dataset/kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8455 |
dataset/kitchen_supplies/tableware/1d571c7d6111543c946c8b15c920c916/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8456 |
dataset/kitchen_supplies/tableware/200521cfb54c59799efc51ffd95f9f42/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8457 |
dataset/kitchen_supplies/tableware/20d047546b6259dfa08eb92c4dd6ca41/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8458 |
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dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,238 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
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| 4 |
+
"part_name": "bowl body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bowl body from opposite outer sides to lift and carry the bowl",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the rim and outer wall to reposition the bowl on a surface",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the side wall to stabilize the bowl while another tool interacts with the contents",
|
| 18 |
+
"confidence": 0.78
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain food or liquid",
|
| 23 |
+
"provide the main vessel structure",
|
| 24 |
+
"support pouring from the rim",
|
| 25 |
+
"offer main grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large round white-and-pink bowl body, likely plastic, with a smooth semi-gloss hard surface, deep concave interior, slightly flared rim, small side tabs, and printed decorative graphics on the exterior.",
|
| 28 |
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"id": 1,
|
| 29 |
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"grasp_group": {
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"grasp_21": {
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"confidence": 0.9775017499923706,
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],
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"orientation": {
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"w": 0.18162444197261365,
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},
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"confidence": 0.9745600819587708,
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"position": [
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],
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"orientation": {
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"grasp_32": {
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"confidence": 0.9719498157501221,
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],
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"orientation": {
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},
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"grasp_38": {
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"confidence": 0.971707284450531,
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"position": [
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],
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"orientation": {
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"w": 0.15894399590904712,
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]
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}
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}
|
| 158 |
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}
|
| 159 |
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},
|
| 160 |
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{
|
| 161 |
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"part_name": "base pad",
|
| 162 |
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"mask_color": "Red",
|
| 163 |
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"graspable": true,
|
| 164 |
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"grasp_scenarios": [
|
| 165 |
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{
|
| 166 |
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"scenario": "grasp the protruding bottom pad to pick up or flip the empty bowl from below",
|
| 167 |
+
"confidence": 0.48
|
| 168 |
+
},
|
| 169 |
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{
|
| 170 |
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"scenario": "pinch the base edge to stabilize the bowl during placement",
|
| 171 |
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"confidence": 0.42
|
| 172 |
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}
|
| 173 |
+
],
|
| 174 |
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"functional_labels": [
|
| 175 |
+
"support the bowl on a table",
|
| 176 |
+
"stabilize against tipping",
|
| 177 |
+
"provide a non-slip contact area",
|
| 178 |
+
"elevate the vessel slightly above the surface"
|
| 179 |
+
],
|
| 180 |
+
"semantic_description": "Broad pink flower-shaped bottom pad with a matte soft-looking finish and smooth rounded lobes, attached under the bowl as a wide stable base.",
|
| 181 |
+
"id": 0,
|
| 182 |
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"grasp_group": {
|
| 183 |
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"grasp_1": {
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"confidence": 0.1388964205980301,
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"grasp_14": {
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"confidence": 0.11312569677829742,
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"position": [
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],
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"grasp_16": {
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"confidence": 0.08612915873527527,
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| 232 |
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}
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| 233 |
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],
|
| 234 |
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"quality_check": {
|
| 235 |
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"success": true,
|
| 236 |
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"message": "YES"
|
| 237 |
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}
|
| 238 |
+
}
|
dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
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|
|
|
|
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b54799a3ef3ef954f5747938ee422c5c616c3d5a4630d80d5935b080c4342608
|
| 3 |
+
size 3778592
|
dataset/kitchen_supplies/tableware/2133fa3dd13e58be9688acd33ac4e0b6/bowl_031.urdf
CHANGED
|
@@ -57,6 +57,7 @@
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
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|
| 60 |
</affordance>
|
| 61 |
<quality>
|
| 62 |
<PartSegChecker>YES</PartSegChecker>
|
|
|
|
| 57 |
<mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
|
| 58 |
</geometry>
|
| 59 |
</visual_seg>
|
| 60 |
+
<affordance_annot>affordance/affordance_annot.json</affordance_annot>
|
| 61 |
</affordance>
|
| 62 |
<quality>
|
| 63 |
<PartSegChecker>YES</PartSegChecker>
|