Add asset kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89
Browse files
.gitattributes
CHANGED
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@@ -7503,3 +7503,4 @@ dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/affordance/me
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| 7503 |
dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7504 |
dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7505 |
dataset/kitchen_supplies/ware/0727424ca1fc5908ab68dcd325a19ced/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7503 |
dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7504 |
dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7505 |
dataset/kitchen_supplies/ware/0727424ca1fc5908ab68dcd325a19ced/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7506 |
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dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cup body from the sides to pick up the cup",
|
| 10 |
+
"confidence": 0.82
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the cup while placing it down",
|
| 14 |
+
"confidence": 0.79
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body for transport when the handle is inaccessible",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide the main drinking vessel",
|
| 24 |
+
"support the rim and handle",
|
| 25 |
+
"main grasp surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Cylindrical ceramic cup body with a glossy hard smooth surface, white exterior over a blue lower band, blue interior, medium size, and a drip-like glaze pattern around the outside.",
|
| 28 |
+
"id": 0,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9745803475379944,
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| 32 |
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"position": [
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| 36 |
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],
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"orientation": {
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| 39 |
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"xyz": [
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| 42 |
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| 43 |
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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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"grasp_1": {
|
| 47 |
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| 48 |
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"orientation": {
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"xyz": [
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"grasp_3": {
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| 63 |
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| 93 |
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"grasp_6": {
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"confidence": 0.9722842574119568,
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}
|
| 239 |
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},
|
| 240 |
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{
|
| 241 |
+
"part_name": "base of coffee cup",
|
| 242 |
+
"mask_color": "Green",
|
| 243 |
+
"graspable": false,
|
| 244 |
+
"grasp_scenarios": [],
|
| 245 |
+
"functional_labels": [
|
| 246 |
+
"support upright placement",
|
| 247 |
+
"provide a stable resting surface",
|
| 248 |
+
"distribute contact with the table"
|
| 249 |
+
],
|
| 250 |
+
"semantic_description": "Flat circular tan ceramic bottom with a smooth slightly matte hard surface, centered on the underside and sized as the cup's stable contact area.",
|
| 251 |
+
"id": 1,
|
| 252 |
+
"grasp_group": {}
|
| 253 |
+
},
|
| 254 |
+
{
|
| 255 |
+
"part_name": "mug handle",
|
| 256 |
+
"mask_color": "Blue",
|
| 257 |
+
"graspable": true,
|
| 258 |
+
"grasp_scenarios": [
|
| 259 |
+
{
|
| 260 |
+
"scenario": "grasp the handle to lift the cup",
|
| 261 |
+
"confidence": 0.94
|
| 262 |
+
},
|
| 263 |
+
{
|
| 264 |
+
"scenario": "hold the handle to stabilize and reorient the cup",
|
| 265 |
+
"confidence": 0.9
|
| 266 |
+
},
|
| 267 |
+
{
|
| 268 |
+
"scenario": "pull or slide the cup slightly by the handle",
|
| 269 |
+
"confidence": 0.71
|
| 270 |
+
}
|
| 271 |
+
],
|
| 272 |
+
"functional_labels": [
|
| 273 |
+
"provide a side grip",
|
| 274 |
+
"lift the cup without enclosing the body",
|
| 275 |
+
"stabilize the cup during movement",
|
| 276 |
+
"help orient the cup"
|
| 277 |
+
],
|
| 278 |
+
"semantic_description": "Curved loop handle made of glossy ceramic with a hard smooth surface, colored blue to match the cup interior and lower exterior, attached to the cup's side and sized for finger-like gripping.",
|
| 279 |
+
"id": 2,
|
| 280 |
+
"grasp_group": {
|
| 281 |
+
"grasp_20": {
|
| 282 |
+
"confidence": 0.8593100309371948,
|
| 283 |
+
"position": [
|
| 284 |
+
0.11962649552151561,
|
| 285 |
+
-0.04632955932174809,
|
| 286 |
+
-0.004685391555540264
|
| 287 |
+
],
|
| 288 |
+
"orientation": {
|
| 289 |
+
"w": 0.19880251902245133,
|
| 290 |
+
"xyz": [
|
| 291 |
+
-0.6741018383952677,
|
| 292 |
+
0.14516203632544877,
|
| 293 |
+
0.6964138518957657
|
| 294 |
+
]
|
| 295 |
+
}
|
| 296 |
+
}
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
],
|
| 300 |
+
"quality_check": {
|
| 301 |
+
"success": true,
|
| 302 |
+
"message": "YES"
|
| 303 |
+
}
|
| 304 |
+
}
|
dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d6edc6f0f2279249b7652e0813caa6c07b4cd7d865a439c3c5a23d9468392db3
|
| 3 |
+
size 3779736
|