Add asset kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23
Browse files
.gitattributes
CHANGED
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@@ -7635,3 +7635,4 @@ dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/affordance/mesh_p
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| 7635 |
dataset/kitchen_supplies/ware/bd9e2fc91a5e5c6f8b9239860a1e4582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7636 |
dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7637 |
dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7635 |
dataset/kitchen_supplies/ware/bd9e2fc91a5e5c6f8b9239860a1e4582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7636 |
dataset/kitchen_supplies/ware/be68eae04a8b59d296c84863eb158ea7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7637 |
dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7638 |
+
dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,695 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "carry loop",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the loop to lift and carry the thermos",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hook or pinch the loop to pull the thermos from a holder or bag",
|
| 14 |
+
"confidence": 0.86
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the loop to stabilize the bottle while twisting the lid with another gripper",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a carrying grip",
|
| 23 |
+
"enable hanging",
|
| 24 |
+
"assist retrieval from a bag",
|
| 25 |
+
"stabilize during lid manipulation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A pink rubber or silicone loop with a matte smooth surface arches over the lid, medium-sized and flexible, attached at the top for carrying and hanging.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_2": {
|
| 31 |
+
"confidence": 0.8890773057937622,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.010804220131831244,
|
| 34 |
+
-0.08114684838801622,
|
| 35 |
+
0.09518294245935977
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.47558763907802043,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.8732433489286905,
|
| 41 |
+
0.10528823190729003,
|
| 42 |
+
-0.013298094970210396
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_3": {
|
| 47 |
+
"confidence": 0.7461615800857544,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.0070426771708298475,
|
| 50 |
+
0.05368273984640837,
|
| 51 |
+
0.12497446150518954
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.281672953477947,
|
| 55 |
+
"xyz": [
|
| 56 |
+
0.9572203768654918,
|
| 57 |
+
0.06140993597177302,
|
| 58 |
+
0.024865983922601684
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_4": {
|
| 63 |
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{
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"part_name": "thermos body",
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{
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{
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"scenario": "grasp the body to place or reorient the thermos upright",
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],
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}
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},
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|
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],
|
| 651 |
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"orientation": {
|
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|
| 653 |
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|
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0.47497525741928914,
|
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]
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}
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| 659 |
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}
|
| 660 |
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}
|
| 661 |
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},
|
| 662 |
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{
|
| 663 |
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"part_name": "bottom rim",
|
| 664 |
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"mask_color": "Yellow",
|
| 665 |
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"graspable": false,
|
| 666 |
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"grasp_scenarios": [],
|
| 667 |
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"functional_labels": [
|
| 668 |
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"support upright standing",
|
| 669 |
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"protect the base edge",
|
| 670 |
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"provide contact ring with surfaces"
|
| 671 |
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],
|
| 672 |
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"semantic_description": "A narrow rose-gold ring around the lower edge, matching the metal body with a smooth satin finish, forming a small circular support rim near the bottom.",
|
| 673 |
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"id": 3,
|
| 674 |
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"grasp_group": {}
|
| 675 |
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},
|
| 676 |
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{
|
| 677 |
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"part_name": "base",
|
| 678 |
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"mask_color": "Orange",
|
| 679 |
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"graspable": false,
|
| 680 |
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"grasp_scenarios": [],
|
| 681 |
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"functional_labels": [
|
| 682 |
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"support the thermos on flat surfaces",
|
| 683 |
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"close the bottom of the vessel",
|
| 684 |
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"provide a resting surface"
|
| 685 |
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],
|
| 686 |
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"semantic_description": "The bottom face is a circular rose-gold metal base with a smooth slightly reflective finish, broad and flat relative to the bottle, positioned underneath as the resting surface.",
|
| 687 |
+
"id": 4,
|
| 688 |
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"grasp_group": {}
|
| 689 |
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}
|
| 690 |
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],
|
| 691 |
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"quality_check": {
|
| 692 |
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"success": true,
|
| 693 |
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"message": "YES"
|
| 694 |
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}
|
| 695 |
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}
|
dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:daf07dbeb633f5d35426c22f6b0ee09232abef8b00a350d31ee0ab5627fb9a82
|
| 3 |
+
size 3783984
|