Add asset kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2
Browse files
.gitattributes
CHANGED
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@@ -7514,3 +7514,4 @@ dataset/kitchen_supplies/ware/156e2a830a4b534bbf7ab746dccfdc91/affordance/mesh_p
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| 7514 |
dataset/kitchen_supplies/ware/16146ca2c91d5e3c9fa6a55037aff66a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7515 |
dataset/kitchen_supplies/ware/16b9341a67255472bcbea21939cd0931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7516 |
dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7514 |
dataset/kitchen_supplies/ware/16146ca2c91d5e3c9fa6a55037aff66a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7515 |
dataset/kitchen_supplies/ware/16b9341a67255472bcbea21939cd0931/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7516 |
dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7517 |
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dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cup body from the sides to pick up the cup",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the cup body to place or reposition it on a surface",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "stabilize the cup by clamping the body during manipulation",
|
| 18 |
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"confidence": 0.81
|
| 19 |
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}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquids",
|
| 23 |
+
"provide the main vessel",
|
| 24 |
+
"support drinking from the rim",
|
| 25 |
+
"provide a main grasp surface",
|
| 26 |
+
"support placement on a table"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered brown wooden cup body with a hard smooth polished finish, visible wood grain and darker knots, rounded walls, and an open top forming the main container.",
|
| 29 |
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"id": 1,
|
| 30 |
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"grasp_group": {
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| 31 |
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| 32 |
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"confidence": 0.9577758312225342,
|
| 241 |
+
"position": [
|
| 242 |
+
0.004813414067029953,
|
| 243 |
+
-0.11333775892853737,
|
| 244 |
+
0.13397661392809823
|
| 245 |
+
],
|
| 246 |
+
"orientation": {
|
| 247 |
+
"w": 0.21675666165992474,
|
| 248 |
+
"xyz": [
|
| 249 |
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-0.8432397567785581,
|
| 250 |
+
0.4918976001766834,
|
| 251 |
+
-0.00011469307988405154
|
| 252 |
+
]
|
| 253 |
+
}
|
| 254 |
+
},
|
| 255 |
+
"grasp_39": {
|
| 256 |
+
"confidence": 0.9576647877693176,
|
| 257 |
+
"position": [
|
| 258 |
+
-0.01159967528656125,
|
| 259 |
+
-0.10591699555516243,
|
| 260 |
+
0.13861083035590127
|
| 261 |
+
],
|
| 262 |
+
"orientation": {
|
| 263 |
+
"w": 0.09709055425312735,
|
| 264 |
+
"xyz": [
|
| 265 |
+
-0.6520359476810109,
|
| 266 |
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0.7467210011964263,
|
| 267 |
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0.08848894608228579
|
| 268 |
+
]
|
| 269 |
+
}
|
| 270 |
+
}
|
| 271 |
+
}
|
| 272 |
+
},
|
| 273 |
+
{
|
| 274 |
+
"part_name": "mug handle",
|
| 275 |
+
"mask_color": "Red",
|
| 276 |
+
"graspable": true,
|
| 277 |
+
"grasp_scenarios": [
|
| 278 |
+
{
|
| 279 |
+
"scenario": "grasp the handle to lift the cup",
|
| 280 |
+
"confidence": 0.84
|
| 281 |
+
},
|
| 282 |
+
{
|
| 283 |
+
"scenario": "hold the handle to stabilize the cup while pouring",
|
| 284 |
+
"confidence": 0.79
|
| 285 |
+
},
|
| 286 |
+
{
|
| 287 |
+
"scenario": "hook a finger-like gripper through the handle opening for retrieval",
|
| 288 |
+
"confidence": 0.68
|
| 289 |
+
}
|
| 290 |
+
],
|
| 291 |
+
"functional_labels": [
|
| 292 |
+
"provide a side grip",
|
| 293 |
+
"lift the cup without enclosing the body",
|
| 294 |
+
"stabilize the cup while pouring",
|
| 295 |
+
"help orient the cup"
|
| 296 |
+
],
|
| 297 |
+
"semantic_description": "Curved brown wooden handle with a hard smooth polished surface and visible grain, medium-sized and attached to the cup side, forming an open loop for gripping.",
|
| 298 |
+
"id": 0,
|
| 299 |
+
"grasp_group": {}
|
| 300 |
+
}
|
| 301 |
+
],
|
| 302 |
+
"quality_check": {
|
| 303 |
+
"success": true,
|
| 304 |
+
"message": "YES"
|
| 305 |
+
}
|
| 306 |
+
}
|
dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9efd724347265ae56392bc9b40f64a59a9aa5c0da57621716b126f0aed2aa24f
|
| 3 |
+
size 2156600
|