Add asset kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085
Browse files
.gitattributes
CHANGED
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@@ -7517,4 +7517,4 @@ dataset/kitchen_supplies/ware/16c7ab2df035574280dbc50018fcc77e/affordance/mesh_p
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| 7517 |
dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7518 |
dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7519 |
dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7520 |
-
dataset/kitchen_supplies/ware/
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| 7517 |
dataset/kitchen_supplies/ware/17a6647c041c5a2f995a0d99dbd1fec2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7518 |
dataset/kitchen_supplies/ware/19578fe7d18650438d1cc8eb17075080/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7519 |
dataset/kitchen_supplies/ware/198a6c3c3cf85151a3314488bb425f1e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7520 |
+
dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,449 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup rim",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top rim to pick up or reposition the empty cup",
|
| 10 |
+
"confidence": 0.62
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the rim to stabilize the cup during placement",
|
| 14 |
+
"confidence": 0.68
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"define the drinking edge",
|
| 19 |
+
"stiffen the opening",
|
| 20 |
+
"support top-edge gripping",
|
| 21 |
+
"guide pouring from the lip"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Thick rolled purple plastic rim with a slightly glossy smooth hard surface, circular and located around the top opening as a medium-width reinforcing edge.",
|
| 24 |
+
"id": 1,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_5": {
|
| 27 |
+
"confidence": 0.8904681205749512,
|
| 28 |
+
"position": [
|
| 29 |
+
0.10729999304749072,
|
| 30 |
+
-0.013442851428408176,
|
| 31 |
+
0.10959766386076808
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.3383344126133512,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.8143276309598444,
|
| 37 |
+
-0.32260506942636547,
|
| 38 |
+
-0.34398590650972305
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_6": {
|
| 43 |
+
"confidence": 0.8868937492370605,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.01709034270606935,
|
| 46 |
+
0.11049014813033864,
|
| 47 |
+
0.11780906794592738
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4498687605755192,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.8491456293660038,
|
| 53 |
+
-0.27402262919672693,
|
| 54 |
+
0.038488921457639345
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_9": {
|
| 59 |
+
"confidence": 0.8822928071022034,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.07087590335868299,
|
| 62 |
+
-0.08713761233957484,
|
| 63 |
+
0.11411577789112926
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.14449553729697728,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.6576087904395818,
|
| 69 |
+
0.6021461059284245,
|
| 70 |
+
0.42905918653850444
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"part_name": "cup body",
|
| 78 |
+
"mask_color": "Blue",
|
| 79 |
+
"graspable": true,
|
| 80 |
+
"grasp_scenarios": [
|
| 81 |
+
{
|
| 82 |
+
"scenario": "grasp the sidewall to pick up the cup",
|
| 83 |
+
"confidence": 0.9
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"scenario": "hold the body to stabilize the cup while moving it",
|
| 87 |
+
"confidence": 0.88
|
| 88 |
+
}
|
| 89 |
+
],
|
| 90 |
+
"functional_labels": [
|
| 91 |
+
"contain liquids",
|
| 92 |
+
"main grasp surface",
|
| 93 |
+
"form the side wall",
|
| 94 |
+
"support upright holding"
|
| 95 |
+
],
|
| 96 |
+
"semantic_description": "Tapered purple plastic cup body with a slightly glossy smooth hard surface, forming the large frustum-shaped side wall below the rim and above the base.",
|
| 97 |
+
"id": 2,
|
| 98 |
+
"grasp_group": {
|
| 99 |
+
"grasp_20": {
|
| 100 |
+
"confidence": 0.9453175663948059,
|
| 101 |
+
"position": [
|
| 102 |
+
-0.08632474183104932,
|
| 103 |
+
-0.04702166357310489,
|
| 104 |
+
0.11838348535820842
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.16508766741106595,
|
| 108 |
+
"xyz": [
|
| 109 |
+
-0.9561942680395047,
|
| 110 |
+
-0.10532770072434883,
|
| 111 |
+
-0.2175882793196612
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_21": {
|
| 116 |
+
"confidence": 0.9432497620582581,
|
| 117 |
+
"position": [
|
| 118 |
+
0.020873923087492585,
|
| 119 |
+
-0.09901381545932963,
|
| 120 |
+
0.11865386692807078
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.22553069464945558,
|
| 124 |
+
"xyz": [
|
| 125 |
+
-0.5984825837864827,
|
| 126 |
+
-0.7551723187714421,
|
| 127 |
+
-0.14376811759410685
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_22": {
|
| 132 |
+
"confidence": 0.9432439208030701,
|
| 133 |
+
"position": [
|
| 134 |
+
0.013671612599864602,
|
| 135 |
+
0.07880978769389912,
|
| 136 |
+
0.12704333988949656
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.13711484251137068,
|
| 140 |
+
"xyz": [
|
| 141 |
+
0.781733429668654,
|
| 142 |
+
0.5962494098073802,
|
| 143 |
+
-0.12074355554611209
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_23": {
|
| 148 |
+
"confidence": 0.9423094987869263,
|
| 149 |
+
"position": [
|
| 150 |
+
-0.017382820835337043,
|
| 151 |
+
0.08873032516567037,
|
| 152 |
+
0.12319201556965709
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.25819805607272406,
|
| 156 |
+
"xyz": [
|
| 157 |
+
0.7022942027426536,
|
| 158 |
+
0.6592861065707356,
|
| 159 |
+
-0.07388129883216575
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
},
|
| 163 |
+
"grasp_24": {
|
| 164 |
+
"confidence": 0.9422610402107239,
|
| 165 |
+
"position": [
|
| 166 |
+
-0.08384142606519163,
|
| 167 |
+
-0.006045784160960466,
|
| 168 |
+
0.12764722434803843
|
| 169 |
+
],
|
| 170 |
+
"orientation": {
|
| 171 |
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"w": 0.2086098206177074,
|
| 172 |
+
"xyz": [
|
| 173 |
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0.05178839022824634,
|
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{
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"part_name": "base ring",
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|
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|
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"semantic_description": "Narrow purple plastic ring around the bottom perimeter with a smooth slightly glossy hard finish, encircling the underside as a small supporting foot.",
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|
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| 446 |
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"success": true,
|
| 447 |
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"message": "YES"
|
| 448 |
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}
|
| 449 |
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}
|
dataset/kitchen_supplies/ware/1ee67f9304355ffab2fd5d831ad75085/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:ec717767a1eb9914c65f1e538b416c39a03ecd38ede3cfbfd7e74b0fd16a6a8b
|
| 3 |
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size 2063884
|