Add asset kitchen_supplies/tableware/79eeb645ef425a8bb62e60e176cfb092
Browse files
.gitattributes
CHANGED
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@@ -7289,3 +7289,4 @@ dataset/kitchen_supplies/tableware/727914cb45f15c34be1451f2807c11b5/affordance/m
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| 7289 |
dataset/kitchen_supplies/tableware/73dd9b597d1059cfbe12aaf959759967/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7290 |
dataset/kitchen_supplies/tableware/7621a3f903ff5f948e7674e7dd4e8446/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7291 |
dataset/kitchen_supplies/tableware/77f5ecd740d05f53a1c89eba5ef55688/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7289 |
dataset/kitchen_supplies/tableware/73dd9b597d1059cfbe12aaf959759967/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7290 |
dataset/kitchen_supplies/tableware/7621a3f903ff5f948e7674e7dd4e8446/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7291 |
dataset/kitchen_supplies/tableware/77f5ecd740d05f53a1c89eba5ef55688/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7292 |
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dataset/kitchen_supplies/tableware/79eeb645ef425a8bb62e60e176cfb092/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/tableware/79eeb645ef425a8bb62e60e176cfb092/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "outer pouch body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the soft outer body to pick up and reposition the pouch",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the body to stabilize the pouch while accessing the opening",
|
| 14 |
+
"confidence": 0.88
|
| 15 |
+
},
|
| 16 |
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{
|
| 17 |
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"scenario": "squeeze the body lightly to inspect softness or empty contents",
|
| 18 |
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"confidence": 0.66
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"contain or cover an item",
|
| 23 |
+
"provide the main structural surface",
|
| 24 |
+
"protect enclosed contents",
|
| 25 |
+
"serve as the primary grasp area"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large orange soft-sided pouch body with a matte fabric-like surface, smooth texture, rounded rectangular shape, slightly tapered sides, and stitched edge seams visible near the top.",
|
| 28 |
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"id": 1,
|
| 29 |
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"grasp_group": {
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| 30 |
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"grasp_20": {
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| 31 |
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| 32 |
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| 36 |
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"grasp_26": {
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| 233 |
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-0.5017147731570026,
|
| 234 |
+
0.5044872260212199
|
| 235 |
+
]
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
"grasp_37": {
|
| 239 |
+
"confidence": 0.9766231775283813,
|
| 240 |
+
"position": [
|
| 241 |
+
0.009573852585162967,
|
| 242 |
+
-0.14991889731027186,
|
| 243 |
+
-0.004247996781487018
|
| 244 |
+
],
|
| 245 |
+
"orientation": {
|
| 246 |
+
"w": 0.49574240558971344,
|
| 247 |
+
"xyz": [
|
| 248 |
+
-0.49591257149315127,
|
| 249 |
+
-0.4844650290803544,
|
| 250 |
+
-0.5230715288881115
|
| 251 |
+
]
|
| 252 |
+
}
|
| 253 |
+
}
|
| 254 |
+
}
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"part_name": "open top rim",
|
| 258 |
+
"mask_color": "Red",
|
| 259 |
+
"graspable": true,
|
| 260 |
+
"grasp_scenarios": [
|
| 261 |
+
{
|
| 262 |
+
"scenario": "pinch the rim to open the pouch mouth wider",
|
| 263 |
+
"confidence": 0.92
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"scenario": "grasp the rim to pull, orient, or hold the pouch during insertion or removal of contents",
|
| 267 |
+
"confidence": 0.85
|
| 268 |
+
}
|
| 269 |
+
],
|
| 270 |
+
"functional_labels": [
|
| 271 |
+
"opening for access",
|
| 272 |
+
"allow insertion of contents",
|
| 273 |
+
"allow removal of contents",
|
| 274 |
+
"provide a pinchable edge for manipulation"
|
| 275 |
+
],
|
| 276 |
+
"semantic_description": "Narrow orange inner rim along the pouch opening, visible as a recessed band inside the top edge, with a matte soft surface and elongated oval opening.",
|
| 277 |
+
"id": 0,
|
| 278 |
+
"grasp_group": {
|
| 279 |
+
"grasp_2": {
|
| 280 |
+
"confidence": 0.5149568319320679,
|
| 281 |
+
"position": [
|
| 282 |
+
0.10555037384619936,
|
| 283 |
+
-0.09533758298493922,
|
| 284 |
+
0.06673039606539533
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.44950312952541704,
|
| 288 |
+
"xyz": [
|
| 289 |
+
-0.17552077555426157,
|
| 290 |
+
-0.8571873978604388,
|
| 291 |
+
-0.17991430972809422
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_5": {
|
| 296 |
+
"confidence": 0.4165689945220947,
|
| 297 |
+
"position": [
|
| 298 |
+
0.10522496228804812,
|
| 299 |
+
0.02524662367068231,
|
| 300 |
+
-0.08274640032323077
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.08213669876554812,
|
| 304 |
+
"xyz": [
|
| 305 |
+
-0.3817999957462672,
|
| 306 |
+
0.027670276433778174,
|
| 307 |
+
0.9201720935597463
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
}
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"quality_check": {
|
| 315 |
+
"success": true,
|
| 316 |
+
"message": "YES"
|
| 317 |
+
}
|
| 318 |
+
}
|
dataset/kitchen_supplies/tableware/79eeb645ef425a8bb62e60e176cfb092/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:62593f51413f0b6a88274f3dfd36345d33fe52cf4589282eeb2aa0c3acb290f6
|
| 3 |
+
size 1362664
|