Add asset kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84
Browse files
.gitattributes
CHANGED
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@@ -7560,4 +7560,4 @@ dataset/kitchen_supplies/ware/4b2f84fb58c0593896621e76e1a84edf/affordance/mesh_p
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| 7560 |
dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7561 |
dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7562 |
dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7563 |
-
dataset/kitchen_supplies/ware/
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| 7560 |
dataset/kitchen_supplies/ware/4c5408c550e05b1da7a692cdc8d4c583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7561 |
dataset/kitchen_supplies/ware/4d54cc2b2cc25578a7aaf1a58f8643e3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7562 |
dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7563 |
+
dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,475 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup rim",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the rim to lift or reposition the lightweight empty cup",
|
| 10 |
+
"confidence": 0.56
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the rim to stabilize the cup during placement",
|
| 14 |
+
"confidence": 0.6
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"define the drinking edge",
|
| 19 |
+
"provide top opening boundary",
|
| 20 |
+
"support stacking or sealing contact",
|
| 21 |
+
"offer a pinch point for light handling"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Thick circular orange to yellow-orange plastic rim with a smooth slightly glossy surface, forming the widest top edge around the opening.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_45": {
|
| 27 |
+
"confidence": 0.7794898152351379,
|
| 28 |
+
"position": [
|
| 29 |
+
0.0561502494092565,
|
| 30 |
+
0.08676401044067461,
|
| 31 |
+
0.11301695625297725
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.42608250647283813,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.7230875657163738,
|
| 37 |
+
-0.5063588228049298,
|
| 38 |
+
-0.19798689994996702
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_46": {
|
| 43 |
+
"confidence": 0.7715737819671631,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.07679558990639634,
|
| 46 |
+
0.07744329686101992,
|
| 47 |
+
0.11374836484901607
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.4056942573175853,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.6390585173114987,
|
| 53 |
+
0.6118847623199996,
|
| 54 |
+
0.22937615105271794
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
}
|
| 58 |
+
}
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"part_name": "upper cup wall",
|
| 62 |
+
"mask_color": "Green",
|
| 63 |
+
"graspable": true,
|
| 64 |
+
"grasp_scenarios": [
|
| 65 |
+
{
|
| 66 |
+
"scenario": "grasp the upper sidewall to pick up the cup",
|
| 67 |
+
"confidence": 0.86
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"scenario": "hold the upper wall to stabilize the cup while moving it",
|
| 71 |
+
"confidence": 0.82
|
| 72 |
+
}
|
| 73 |
+
],
|
| 74 |
+
"functional_labels": [
|
| 75 |
+
"contain liquid",
|
| 76 |
+
"provide main side support",
|
| 77 |
+
"offer primary grasp surface",
|
| 78 |
+
"form the upper vessel wall"
|
| 79 |
+
],
|
| 80 |
+
"semantic_description": "Large tapered orange to yellow-orange plastic upper body with a mildly glossy smooth surface, occupying the wide top half of the cup and curving inward toward the middle.",
|
| 81 |
+
"id": 1,
|
| 82 |
+
"grasp_group": {
|
| 83 |
+
"grasp_0": {
|
| 84 |
+
"confidence": 0.9857869148254395,
|
| 85 |
+
"position": [
|
| 86 |
+
-0.01065849678707309,
|
| 87 |
+
0.09253496195015032,
|
| 88 |
+
0.12604313413612545
|
| 89 |
+
],
|
| 90 |
+
"orientation": {
|
| 91 |
+
"w": 0.27460170698441105,
|
| 92 |
+
"xyz": [
|
| 93 |
+
0.6846557581157796,
|
| 94 |
+
0.6738198693954501,
|
| 95 |
+
-0.04251092810152219
|
| 96 |
+
]
|
| 97 |
+
}
|
| 98 |
+
},
|
| 99 |
+
"grasp_1": {
|
| 100 |
+
"confidence": 0.9847586154937744,
|
| 101 |
+
"position": [
|
| 102 |
+
0.015666469204006717,
|
| 103 |
+
0.06968733186658937,
|
| 104 |
+
0.13724348018877208
|
| 105 |
+
],
|
| 106 |
+
"orientation": {
|
| 107 |
+
"w": 0.054960989580501454,
|
| 108 |
+
"xyz": [
|
| 109 |
+
0.7840689921465959,
|
| 110 |
+
0.6161311819519453,
|
| 111 |
+
-0.05096539811531508
|
| 112 |
+
]
|
| 113 |
+
}
|
| 114 |
+
},
|
| 115 |
+
"grasp_2": {
|
| 116 |
+
"confidence": 0.9789071679115295,
|
| 117 |
+
"position": [
|
| 118 |
+
-0.013378611562075093,
|
| 119 |
+
0.08689909691747744,
|
| 120 |
+
0.13083921442739666
|
| 121 |
+
],
|
| 122 |
+
"orientation": {
|
| 123 |
+
"w": 0.18454771788200922,
|
| 124 |
+
"xyz": [
|
| 125 |
+
0.6787005974963397,
|
| 126 |
+
0.7064728207225925,
|
| 127 |
+
-0.07876415658735805
|
| 128 |
+
]
|
| 129 |
+
}
|
| 130 |
+
},
|
| 131 |
+
"grasp_3": {
|
| 132 |
+
"confidence": 0.9776419401168823,
|
| 133 |
+
"position": [
|
| 134 |
+
0.03978955672937445,
|
| 135 |
+
0.07628917957481463,
|
| 136 |
+
0.1333304203581065
|
| 137 |
+
],
|
| 138 |
+
"orientation": {
|
| 139 |
+
"w": 0.08828689078819989,
|
| 140 |
+
"xyz": [
|
| 141 |
+
0.8220108535528499,
|
| 142 |
+
0.5448927994580172,
|
| 143 |
+
-0.13998363709760014
|
| 144 |
+
]
|
| 145 |
+
}
|
| 146 |
+
},
|
| 147 |
+
"grasp_4": {
|
| 148 |
+
"confidence": 0.9776220321655273,
|
| 149 |
+
"position": [
|
| 150 |
+
-0.02327987810713239,
|
| 151 |
+
0.09639410937961657,
|
| 152 |
+
0.12445107917301357
|
| 153 |
+
],
|
| 154 |
+
"orientation": {
|
| 155 |
+
"w": 0.2773040724528526,
|
| 156 |
+
"xyz": [
|
| 157 |
+
0.8286838407431004,
|
| 158 |
+
-0.4745840962161145,
|
| 159 |
+
0.10561950156605046
|
| 160 |
+
]
|
| 161 |
+
}
|
| 162 |
+
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{
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|
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},
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|
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"semantic_description": "Flat circular orange to yellow-orange plastic bottom and very lowest base section with a smooth slightly glossy finish, forming the cup's supporting underside.",
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| 472 |
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"success": false,
|
| 473 |
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"message": "Base mask color mislabeled; red region is lower wall and bottom base is not separately segmented."
|
| 474 |
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}
|
| 475 |
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}
|
dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/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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oid sha256:f998c49e1b926f9b039f4481436496f7e94931e8632a0e5144317be0a8e49ee0
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| 3 |
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size 2929428
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