Add asset kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e
Browse files
.gitattributes
CHANGED
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@@ -7544,3 +7544,4 @@ dataset/kitchen_supplies/ware/3ac06fd007aa5bcfbb2691926831cd05/affordance/mesh_p
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| 7544 |
dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7545 |
dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7546 |
dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7544 |
dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7545 |
dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7546 |
dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7547 |
+
dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mug handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to lift and carry the cup",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to stabilize or reorient the cup during placement",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hook or pinch the handle to pull the cup closer",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a side grip",
|
| 23 |
+
"lift the cup without contacting the hot body",
|
| 24 |
+
"stabilize the cup during movement",
|
| 25 |
+
"help orient the cup"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "An angular open side handle in white hard plastic or ceramic with a smooth matte finish, medium size and attached high on the cup wall, featuring multiple oval perforations for reduced weight and added finger clearance.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_12": {
|
| 31 |
+
"confidence": 0.8143051862716675,
|
| 32 |
+
"position": [
|
| 33 |
+
0.18201011064229533,
|
| 34 |
+
-0.015855432058742736,
|
| 35 |
+
0.03461568371858448
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.48045696019604206,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.3929749069810606,
|
| 41 |
+
-0.4933208377660768,
|
| 42 |
+
-0.609398377835207
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
}
|
| 46 |
+
}
|
| 47 |
+
},
|
| 48 |
+
{
|
| 49 |
+
"part_name": "cup body",
|
| 50 |
+
"mask_color": "Green",
|
| 51 |
+
"graspable": true,
|
| 52 |
+
"grasp_scenarios": [
|
| 53 |
+
{
|
| 54 |
+
"scenario": "grasp the cup body from the sides to pick up the empty or lightly filled cup",
|
| 55 |
+
"confidence": 0.78
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"scenario": "hold the body to stabilize the cup while another tool interacts with the handle or rim",
|
| 59 |
+
"confidence": 0.74
|
| 60 |
+
}
|
| 61 |
+
],
|
| 62 |
+
"functional_labels": [
|
| 63 |
+
"contain beverages",
|
| 64 |
+
"support the cup structure",
|
| 65 |
+
"provide the main exterior grasp surface",
|
| 66 |
+
"present the drinking opening"
|
| 67 |
+
],
|
| 68 |
+
"semantic_description": "The main tapered white cup body appears hard ceramic or plastic with a smooth mostly matte surface, medium size, cylindrical with a slightly wider rim, and shows a small printed logo and barcode on one side.",
|
| 69 |
+
"id": 1,
|
| 70 |
+
"grasp_group": {
|
| 71 |
+
"grasp_20": {
|
| 72 |
+
"confidence": 0.9786065816879272,
|
| 73 |
+
"position": [
|
| 74 |
+
-0.020572043780703098,
|
| 75 |
+
-0.09667570939200232,
|
| 76 |
+
0.14848720596637577
|
| 77 |
+
],
|
| 78 |
+
"orientation": {
|
| 79 |
+
"w": 0.14837137966641012,
|
| 80 |
+
"xyz": [
|
| 81 |
+
-0.7334739053893318,
|
| 82 |
+
-0.6518035127178423,
|
| 83 |
+
-0.12310217145724688
|
| 84 |
+
]
|
| 85 |
+
}
|
| 86 |
+
},
|
| 87 |
+
"grasp_21": {
|
| 88 |
+
"confidence": 0.9785639047622681,
|
| 89 |
+
"position": [
|
| 90 |
+
0.013222760695498437,
|
| 91 |
+
-0.07003963788883993,
|
| 92 |
+
0.15353855059947819
|
| 93 |
+
],
|
| 94 |
+
"orientation": {
|
| 95 |
+
"w": 0.1592472786167084,
|
| 96 |
+
"xyz": [
|
| 97 |
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-0.6795411668725672,
|
| 98 |
+
-0.7147410982101422,
|
| 99 |
+
0.044824873764484165
|
| 100 |
+
]
|
| 101 |
+
}
|
| 102 |
+
},
|
| 103 |
+
"grasp_22": {
|
| 104 |
+
"confidence": 0.9772893190383911,
|
| 105 |
+
"position": [
|
| 106 |
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-0.02372810972156003,
|
| 107 |
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-0.06689120879309485,
|
| 108 |
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0.1594586776336655
|
| 109 |
+
],
|
| 110 |
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"orientation": {
|
| 111 |
+
"w": 0.040474873002385524,
|
| 112 |
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"xyz": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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-0.04346450911828556
|
| 116 |
+
]
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"grasp_23": {
|
| 120 |
+
"confidence": 0.9757010340690613,
|
| 121 |
+
"position": [
|
| 122 |
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-0.021347343747038394,
|
| 123 |
+
-0.06632763197558234,
|
| 124 |
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0.1566537575563416
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.04194157294941367,
|
| 128 |
+
"xyz": [
|
| 129 |
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-0.7466257224459597,
|
| 130 |
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-0.6629494224204431,
|
| 131 |
+
-0.035902623204695956
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_24": {
|
| 136 |
+
"confidence": 0.972392201423645,
|
| 137 |
+
"position": [
|
| 138 |
+
0.012745076965074986,
|
| 139 |
+
-0.07315471818583319,
|
| 140 |
+
0.15575986669864506
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.20438979947846428,
|
| 144 |
+
"xyz": [
|
| 145 |
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-0.7300045436718834,
|
| 146 |
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-0.6456731618404941,
|
| 147 |
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0.09178422613094955
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_25": {
|
| 152 |
+
"confidence": 0.9709277749061584,
|
| 153 |
+
"position": [
|
| 154 |
+
0.0004907186958007514,
|
| 155 |
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-0.0655269851340563,
|
| 156 |
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0.16050613985862583
|
| 157 |
+
],
|
| 158 |
+
"orientation": {
|
| 159 |
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"w": 0.056295845006268615,
|
| 160 |
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"xyz": [
|
| 161 |
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-0.6953753237797053,
|
| 162 |
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-0.7162000888976348,
|
| 163 |
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-0.018476189442640133
|
| 164 |
+
]
|
| 165 |
+
}
|
| 166 |
+
},
|
| 167 |
+
"grasp_26": {
|
| 168 |
+
"confidence": 0.9699752926826477,
|
| 169 |
+
"position": [
|
| 170 |
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-0.024469841097015887,
|
| 171 |
+
-0.06922214528458426,
|
| 172 |
+
0.15532892511691898
|
| 173 |
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],
|
| 174 |
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"orientation": {
|
| 175 |
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"w": 0.07607167711220073,
|
| 176 |
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"xyz": [
|
| 177 |
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-0.6374986519266055,
|
| 178 |
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0.7635559746597603,
|
| 179 |
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0.06921591070326114
|
| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
+
"grasp_27": {
|
| 184 |
+
"confidence": 0.9620664715766907,
|
| 185 |
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"position": [
|
| 186 |
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-0.032050002191681415,
|
| 187 |
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|
| 188 |
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|
| 189 |
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],
|
| 190 |
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"orientation": {
|
| 191 |
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"w": 0.14457105661513042,
|
| 192 |
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"xyz": [
|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
+
},
|
| 199 |
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{
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"part_name": "ribbed grip panel",
|
| 363 |
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"mask_color": "Blue",
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| 364 |
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| 365 |
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"grasp_scenarios": [
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| 366 |
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{
|
| 367 |
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"scenario": "grasp the ribbed side panel to improve friction when lifting the cup body",
|
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|
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|
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|
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"scenario": "use the ribbed area for non-slip stabilization during reorientation",
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| 378 |
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| 379 |
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|
| 380 |
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],
|
| 381 |
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"semantic_description": "A narrow vertical side panel on the cup exterior with white hard material, recessed ribbed grooves, a smooth-to-fine ridged texture, and a matte finish positioned opposite the handle as a localized grip area.",
|
| 382 |
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"id": 2,
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| 383 |
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| 385 |
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],
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| 386 |
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"quality_check": {
|
| 387 |
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"success": true,
|
| 388 |
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"message": "YES"
|
| 389 |
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}
|
| 390 |
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}
|
dataset/kitchen_supplies/ware/3c35f1938960555c88fbd976746ac30e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
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oid sha256:b77709c5b9ef9b6728871663eeb19f875b2b9b4c13620694d8459a3a13d21037
|
| 3 |
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size 3782016
|