Add asset kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8
Browse files
.gitattributes
CHANGED
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@@ -7502,3 +7502,4 @@ dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/affordance/mesh_p
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| 7502 |
dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/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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| 7502 |
dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/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/06d1cf85ad30553f851a1a025239ecb8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,449 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "footed base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the base to pick up or reposition the cup from below",
|
| 10 |
+
"confidence": 0.58
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the base to stabilize the cup during placement",
|
| 14 |
+
"confidence": 0.62
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support the cup upright",
|
| 19 |
+
"elevate the cup body",
|
| 20 |
+
"provide a stable resting surface",
|
| 21 |
+
"help stabilize placement"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A small white ceramic pedestal base with a glossy smooth hard surface, circular and slightly flared at the bottom beneath the cup body.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9063363671302795,
|
| 28 |
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"position": [
|
| 29 |
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|
| 30 |
+
-0.09916777815669775,
|
| 31 |
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-0.03541888960171491
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.15220919371618083,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.13724002578814834,
|
| 37 |
+
-0.6994601974063979,
|
| 38 |
+
-0.6846553650663532
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_9": {
|
| 43 |
+
"confidence": 0.8772062659263611,
|
| 44 |
+
"position": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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-0.09438319050241262
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.8774657163588314,
|
| 51 |
+
"xyz": [
|
| 52 |
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|
| 53 |
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|
| 54 |
+
-0.035245999611791
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_11": {
|
| 59 |
+
"confidence": 0.8706591129302979,
|
| 60 |
+
"position": [
|
| 61 |
+
0.024009539221879095,
|
| 62 |
+
0.07680457178503275,
|
| 63 |
+
-0.10348724864888936
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.8935951909967976,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.4291095138455991,
|
| 69 |
+
-0.07716903839593792,
|
| 70 |
+
-0.10675953946901656
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_18": {
|
| 75 |
+
"confidence": 0.860162615776062,
|
| 76 |
+
"position": [
|
| 77 |
+
0.03410949039971456,
|
| 78 |
+
0.10380610171705484,
|
| 79 |
+
-0.04315018199849874
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
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"w": 0.7211765311242881,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.6776240415132501,
|
| 85 |
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-0.1072946204867945,
|
| 86 |
+
-0.0960100709997812
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
}
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"part_name": "cup body",
|
| 94 |
+
"mask_color": "Green",
|
| 95 |
+
"graspable": true,
|
| 96 |
+
"grasp_scenarios": [
|
| 97 |
+
{
|
| 98 |
+
"scenario": "grasp the cup body around the side wall to lift the cup",
|
| 99 |
+
"confidence": 0.86
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"scenario": "hold the body to stabilize the cup while setting it down",
|
| 103 |
+
"confidence": 0.83
|
| 104 |
+
}
|
| 105 |
+
],
|
| 106 |
+
"functional_labels": [
|
| 107 |
+
"contain the beverage",
|
| 108 |
+
"form the main structure",
|
| 109 |
+
"provide sidewall support",
|
| 110 |
+
"present exterior for holding and decoration"
|
| 111 |
+
],
|
| 112 |
+
"semantic_description": "The main white ceramic cup body has a glossy smooth hard finish, tall slightly tapered cylindrical walls, printed caf\u00e9-style graphics on one side, and occupies most of the object above the base.",
|
| 113 |
+
"id": 1,
|
| 114 |
+
"grasp_group": {
|
| 115 |
+
"grasp_20": {
|
| 116 |
+
"confidence": 0.9680570363998413,
|
| 117 |
+
"position": [
|
| 118 |
+
0.020057395508047193,
|
| 119 |
+
-0.048770188353955746,
|
| 120 |
+
0.11040106124710292
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.2505319558137294,
|
| 124 |
+
"xyz": [
|
| 125 |
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-0.95402357928273,
|
| 126 |
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-0.15634730021378562,
|
| 127 |
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0.051266665627642365
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_21": {
|
| 132 |
+
"confidence": 0.9663770794868469,
|
| 133 |
+
"position": [
|
| 134 |
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0.0225606657913886,
|
| 135 |
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-0.04657659959048033,
|
| 136 |
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0.11165908433031291
|
| 137 |
+
],
|
| 138 |
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"orientation": {
|
| 139 |
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"w": 0.2388351152271108,
|
| 140 |
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"xyz": [
|
| 141 |
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-0.9579304367567648,
|
| 142 |
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|
| 143 |
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0.05501435362951368
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_22": {
|
| 148 |
+
"confidence": 0.9657467007637024,
|
| 149 |
+
"position": [
|
| 150 |
+
0.0456479400745593,
|
| 151 |
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-0.09632561262696981,
|
| 152 |
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-0.0026342282071709633
|
| 153 |
+
],
|
| 154 |
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"orientation": {
|
| 155 |
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"w": 0.1626389353591907,
|
| 156 |
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"xyz": [
|
| 157 |
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0.14115722767915573,
|
| 158 |
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|
| 159 |
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|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
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},
|
| 163 |
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"grasp_23": {
|
| 164 |
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"confidence": 0.9653791189193726,
|
| 165 |
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"position": [
|
| 166 |
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0.02300227474188432,
|
| 167 |
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-0.04945749323815107,
|
| 168 |
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0.11086532182525843
|
| 169 |
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],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.24923639264624903,
|
| 172 |
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"xyz": [
|
| 173 |
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}
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}
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| 404 |
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},
|
| 405 |
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{
|
| 406 |
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"part_name": "mug handle",
|
| 407 |
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"mask_color": "Blue",
|
| 408 |
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"graspable": true,
|
| 409 |
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"grasp_scenarios": [
|
| 410 |
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{
|
| 411 |
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"scenario": "grasp the handle to lift and carry the cup",
|
| 412 |
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{
|
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"scenario": "hold the handle to stabilize and orient the cup while pouring or repositioning",
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],
|
| 419 |
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"functional_labels": [
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| 420 |
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"provide a side grip",
|
| 421 |
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|
| 422 |
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"help orient the cup",
|
| 423 |
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"keep hand away from the hot sidewall"
|
| 424 |
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],
|
| 425 |
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"semantic_description": "A white ceramic handle with a glossy smooth hard surface, forming a curved loop attached to the side of the cup and sized for secure side gripping.",
|
| 426 |
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|
| 427 |
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"grasp_group": {}
|
| 428 |
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},
|
| 429 |
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{
|
| 430 |
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"part_name": "coffee surface",
|
| 431 |
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"mask_color": "Yellow",
|
| 432 |
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"graspable": false,
|
| 433 |
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"grasp_scenarios": [],
|
| 434 |
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"functional_labels": [
|
| 435 |
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"hold the drink contents",
|
| 436 |
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"provide drinking surface at the rim",
|
| 437 |
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"indicate fill level",
|
| 438 |
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"present latte art"
|
| 439 |
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],
|
| 440 |
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"semantic_description": "The exposed beverage appears light brown and creamy with white latte-art patterns on a smooth liquid surface recessed inside the cup opening.",
|
| 441 |
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"id": 3,
|
| 442 |
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|
| 443 |
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}
|
| 444 |
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],
|
| 445 |
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"quality_check": {
|
| 446 |
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"success": true,
|
| 447 |
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"message": "YES"
|
| 448 |
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}
|
| 449 |
+
}
|
dataset/kitchen_supplies/ware/06d1cf85ad30553f851a1a025239ecb8/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:37c09ae0fd639da79cad3f225c5d225ed0d5258c0ec16ac4dec4dff9eb3c3083
|
| 3 |
+
size 3780684
|