Add asset kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296
Browse files
.gitattributes
CHANGED
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@@ -7529,3 +7529,4 @@ dataset/kitchen_supplies/ware/29f5c30ddb105b468cc97db4665ee58b/affordance/mesh_p
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| 7529 |
dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7530 |
dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7531 |
dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7529 |
dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7530 |
dataset/kitchen_supplies/ware/2cebfef66ea557fe84085fd5b2bb5123/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7531 |
dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7532 |
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dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the circular foot from the sides to lift or reposition the glass",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "stabilize the object by holding the base during placement on a surface",
|
| 14 |
+
"confidence": 0.63
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support the glass upright",
|
| 19 |
+
"provide stability on flat surfaces",
|
| 20 |
+
"distribute load at the bottom"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Flat circular foot at the very bottom of the glass, smooth and glossy with a light cyan or pale blue translucent appearance, wider than the stem and centrally located under the bowl.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {}
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"part_name": "stem",
|
| 28 |
+
"mask_color": "Red",
|
| 29 |
+
"graspable": true,
|
| 30 |
+
"grasp_scenarios": [
|
| 31 |
+
{
|
| 32 |
+
"scenario": "grasp the narrow stem to lift and carry the glass",
|
| 33 |
+
"confidence": 0.86
|
| 34 |
+
},
|
| 35 |
+
{
|
| 36 |
+
"scenario": "hold the stem to stabilize and reorient the glass without touching the bowl",
|
| 37 |
+
"confidence": 0.81
|
| 38 |
+
}
|
| 39 |
+
],
|
| 40 |
+
"functional_labels": [
|
| 41 |
+
"connect bowl to base",
|
| 42 |
+
"provide a handling area",
|
| 43 |
+
"elevate the bowl above the supporting surface"
|
| 44 |
+
],
|
| 45 |
+
"semantic_description": "Thin vertical rod between the bowl and base, smooth glossy and light cyan or pale blue, slender and centrally located beneath the bowl.",
|
| 46 |
+
"id": 0,
|
| 47 |
+
"grasp_group": {}
|
| 48 |
+
},
|
| 49 |
+
{
|
| 50 |
+
"part_name": "rim",
|
| 51 |
+
"mask_color": "Green",
|
| 52 |
+
"graspable": false,
|
| 53 |
+
"grasp_scenarios": [],
|
| 54 |
+
"functional_labels": [
|
| 55 |
+
"provide drinking edge",
|
| 56 |
+
"define the opening of the bowl",
|
| 57 |
+
"receive poured liquid"
|
| 58 |
+
],
|
| 59 |
+
"semantic_description": "Thin circular top edge around the opening of the bowl, appearing light cyan or pale blue translucent like the rest of the glass, with a smooth glossy finish.",
|
| 60 |
+
"id": 1,
|
| 61 |
+
"grasp_group": {}
|
| 62 |
+
},
|
| 63 |
+
{
|
| 64 |
+
"part_name": "bowl",
|
| 65 |
+
"mask_color": "Blue",
|
| 66 |
+
"graspable": true,
|
| 67 |
+
"grasp_scenarios": [
|
| 68 |
+
{
|
| 69 |
+
"scenario": "grasp the bowl sides to pick up or move the glass",
|
| 70 |
+
"confidence": 0.64
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"scenario": "hold the bowl to reorient the empty glass during handling",
|
| 74 |
+
"confidence": 0.57
|
| 75 |
+
}
|
| 76 |
+
],
|
| 77 |
+
"functional_labels": [
|
| 78 |
+
"contain liquid",
|
| 79 |
+
"provide the main vessel volume",
|
| 80 |
+
"present the beverage"
|
| 81 |
+
],
|
| 82 |
+
"semantic_description": "Main cup-shaped upper vessel of the wine glass, rounded and slightly tapering toward the top, with a smooth glossy pale cyan or blue translucent appearance and no visible markings.",
|
| 83 |
+
"id": 2,
|
| 84 |
+
"grasp_group": {
|
| 85 |
+
"grasp_22": {
|
| 86 |
+
"confidence": 0.9713645577430725,
|
| 87 |
+
"position": [
|
| 88 |
+
0.02754453865054529,
|
| 89 |
+
-0.09633874302380718,
|
| 90 |
+
-0.009232192300260067
|
| 91 |
+
],
|
| 92 |
+
"orientation": {
|
| 93 |
+
"w": 0.12861948969394182,
|
| 94 |
+
"xyz": [
|
| 95 |
+
0.09284521557255623,
|
| 96 |
+
-0.6717658273672863,
|
| 97 |
+
-0.7235796196671801
|
| 98 |
+
]
|
| 99 |
+
}
|
| 100 |
+
},
|
| 101 |
+
"grasp_23": {
|
| 102 |
+
"confidence": 0.969611644744873,
|
| 103 |
+
"position": [
|
| 104 |
+
0.035072828803095035,
|
| 105 |
+
-0.10056456332677044,
|
| 106 |
+
0.01535545289516449
|
| 107 |
+
],
|
| 108 |
+
"orientation": {
|
| 109 |
+
"w": 0.13627829086473373,
|
| 110 |
+
"xyz": [
|
| 111 |
+
0.12015130795247328,
|
| 112 |
+
-0.681314961085529,
|
| 113 |
+
-0.7090851954718285
|
| 114 |
+
]
|
| 115 |
+
}
|
| 116 |
+
},
|
| 117 |
+
"grasp_24": {
|
| 118 |
+
"confidence": 0.9694294929504395,
|
| 119 |
+
"position": [
|
| 120 |
+
0.007775780904921703,
|
| 121 |
+
-0.10494166021817364,
|
| 122 |
+
0.012618998531252146
|
| 123 |
+
],
|
| 124 |
+
"orientation": {
|
| 125 |
+
"w": 0.7287904983987762,
|
| 126 |
+
"xyz": [
|
| 127 |
+
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|
| 128 |
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-0.04566389532488724,
|
| 129 |
+
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|
| 130 |
+
]
|
| 131 |
+
}
|
| 132 |
+
},
|
| 133 |
+
"grasp_25": {
|
| 134 |
+
"confidence": 0.9689355492591858,
|
| 135 |
+
"position": [
|
| 136 |
+
0.000852239245432429,
|
| 137 |
+
-0.10697984104626812,
|
| 138 |
+
0.011340660508722067
|
| 139 |
+
],
|
| 140 |
+
"orientation": {
|
| 141 |
+
"w": 0.7404332028609489,
|
| 142 |
+
"xyz": [
|
| 143 |
+
-0.6716737945542894,
|
| 144 |
+
-0.02125955834529647,
|
| 145 |
+
-0.01268924698642451
|
| 146 |
+
]
|
| 147 |
+
}
|
| 148 |
+
},
|
| 149 |
+
"grasp_26": {
|
| 150 |
+
"confidence": 0.9685339331626892,
|
| 151 |
+
"position": [
|
| 152 |
+
0.042889422897133045,
|
| 153 |
+
-0.09418481742613949,
|
| 154 |
+
0.004940424347296357
|
| 155 |
+
],
|
| 156 |
+
"orientation": {
|
| 157 |
+
"w": 0.7194299440230264,
|
| 158 |
+
"xyz": [
|
| 159 |
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-0.6588506948500953,
|
| 160 |
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-0.1980327387175348,
|
| 161 |
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|
| 162 |
+
]
|
| 163 |
+
}
|
| 164 |
+
},
|
| 165 |
+
"grasp_27": {
|
| 166 |
+
"confidence": 0.9679747819900513,
|
| 167 |
+
"position": [
|
| 168 |
+
0.0037018129805801436,
|
| 169 |
+
-0.10274131005280651,
|
| 170 |
+
0.005242885090410709
|
| 171 |
+
],
|
| 172 |
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"orientation": {
|
| 173 |
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"w": 0.7319275674488764,
|
| 174 |
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"xyz": [
|
| 175 |
+
-0.6769303532882929,
|
| 176 |
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-0.07184083405669273,
|
| 177 |
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-0.02976957116580719
|
| 178 |
+
]
|
| 179 |
+
}
|
| 180 |
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},
|
| 181 |
+
"grasp_28": {
|
| 182 |
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"confidence": 0.9675355553627014,
|
| 183 |
+
"position": [
|
| 184 |
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0.013965850856038742,
|
| 185 |
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|
| 186 |
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-0.001837066374719143
|
| 187 |
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],
|
| 188 |
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"orientation": {
|
| 189 |
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"w": 0.7345277701139148,
|
| 190 |
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"xyz": [
|
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|
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|
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|
| 194 |
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]
|
| 195 |
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}
|
| 196 |
+
},
|
| 197 |
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"grasp_29": {
|
| 198 |
+
"confidence": 0.9673587083816528,
|
| 199 |
+
"position": [
|
| 200 |
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|
| 201 |
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0.09661801005131565,
|
| 202 |
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|
| 203 |
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],
|
| 204 |
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"orientation": {
|
| 205 |
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"w": 0.1683146513181432,
|
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"xyz": [
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|
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|
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|
| 210 |
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]
|
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}
|
| 212 |
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},
|
| 213 |
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"grasp_31": {
|
| 214 |
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"confidence": 0.9665324687957764,
|
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"position": [
|
| 216 |
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|
| 217 |
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|
dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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size 3780072
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