Add asset kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918
Browse files
.gitattributes
CHANGED
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@@ -7625,3 +7625,4 @@ dataset/kitchen_supplies/ware/b1d9ab11484d566393201fd99eaf36fb/affordance/mesh_p
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| 7625 |
dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7626 |
dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7627 |
dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7625 |
dataset/kitchen_supplies/ware/b2ff685295985d57acc7e8796c157918/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7626 |
dataset/kitchen_supplies/ware/b35bb14a950b54c38f14b8a5d07fcfdf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7627 |
dataset/kitchen_supplies/ware/b3f89ee55ffe5bf0960ca8b3544a6f85/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7628 |
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dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mug interior",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"contain liquid",
|
| 10 |
+
"hold contents",
|
| 11 |
+
"provide drinking cavity"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "The inner cavity is a glossy orange-yellow ceramic surface with a hard smooth finish, bowl-like and recessed inside the mug opening, forming the main container volume.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "mug body",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the mug body from the side to pick up the mug",
|
| 24 |
+
"confidence": 0.78
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the mug body to stabilize it during placement",
|
| 28 |
+
"confidence": 0.74
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"scenario": "grasp the body while the handle is occluded or inaccessible",
|
| 32 |
+
"confidence": 0.69
|
| 33 |
+
}
|
| 34 |
+
],
|
| 35 |
+
"functional_labels": [
|
| 36 |
+
"contain liquid",
|
| 37 |
+
"support the mug structure",
|
| 38 |
+
"provide main grasp surface",
|
| 39 |
+
"support printed branding"
|
| 40 |
+
],
|
| 41 |
+
"semantic_description": "The main mug body is a light beige to pale orange ceramic shell with a glossy smooth hard surface, tapered cylindrical shape, medium size, and black printed text near one side.",
|
| 42 |
+
"id": 1,
|
| 43 |
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"grasp_group": {
|
| 44 |
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"grasp_1": {
|
| 45 |
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"confidence": 0.9031235575675964,
|
| 46 |
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"position": [
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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],
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| 51 |
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"orientation": {
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"w": 0.7427400855865599,
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"xyz": [
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| 56 |
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| 57 |
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| 58 |
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| 59 |
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},
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| 60 |
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|
| 61 |
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"confidence": 0.8993565440177917,
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| 66 |
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| 72 |
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| 73 |
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| 74 |
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}
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| 75 |
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},
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| 76 |
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"grasp_5": {
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| 77 |
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"confidence": 0.8973374962806702,
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}
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"grasp_6": {
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| 93 |
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"confidence": 0.8955151438713074,
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"grasp_7": {
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"confidence": 0.8907799124717712,
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"grasp_8": {
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| 205 |
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|
| 225 |
+
-0.1196860884083435
|
| 226 |
+
],
|
| 227 |
+
"orientation": {
|
| 228 |
+
"w": 0.7333177496015186,
|
| 229 |
+
"xyz": [
|
| 230 |
+
0.0036102691424742873,
|
| 231 |
+
-0.0015519294430395014,
|
| 232 |
+
-0.6798747205118657
|
| 233 |
+
]
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"part_name": "mug base",
|
| 240 |
+
"mask_color": "Blue",
|
| 241 |
+
"graspable": false,
|
| 242 |
+
"grasp_scenarios": [],
|
| 243 |
+
"functional_labels": [
|
| 244 |
+
"support upright standing",
|
| 245 |
+
"provide contact surface with table",
|
| 246 |
+
"stabilize the mug"
|
| 247 |
+
],
|
| 248 |
+
"semantic_description": "The bottom face is a flat circular orange-yellow ceramic base with a smooth glossy hard finish, located underneath the mug and sized to support stable placement.",
|
| 249 |
+
"id": 2,
|
| 250 |
+
"grasp_group": {}
|
| 251 |
+
},
|
| 252 |
+
{
|
| 253 |
+
"part_name": "mug handle",
|
| 254 |
+
"mask_color": "Yellow",
|
| 255 |
+
"graspable": true,
|
| 256 |
+
"grasp_scenarios": [
|
| 257 |
+
{
|
| 258 |
+
"scenario": "grasp the handle to lift the mug",
|
| 259 |
+
"confidence": 0.95
|
| 260 |
+
},
|
| 261 |
+
{
|
| 262 |
+
"scenario": "hold the handle to stabilize the mug while pouring",
|
| 263 |
+
"confidence": 0.9
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"scenario": "hook or pinch the handle to reorient the mug on a surface",
|
| 267 |
+
"confidence": 0.84
|
| 268 |
+
}
|
| 269 |
+
],
|
| 270 |
+
"functional_labels": [
|
| 271 |
+
"provide a side grip",
|
| 272 |
+
"lift the mug without touching the body",
|
| 273 |
+
"stabilize during pouring",
|
| 274 |
+
"help reorient the mug"
|
| 275 |
+
],
|
| 276 |
+
"semantic_description": "The handle is a curved loop of matching beige-orange glossy ceramic with a hard smooth surface, medium thickness, attached to the mug side and sized for side gripping.",
|
| 277 |
+
"id": 3,
|
| 278 |
+
"grasp_group": {
|
| 279 |
+
"grasp_20": {
|
| 280 |
+
"confidence": 0.9251241683959961,
|
| 281 |
+
"position": [
|
| 282 |
+
0.14180920971557498,
|
| 283 |
+
0.0023473502369597554,
|
| 284 |
+
0.03343110636342317
|
| 285 |
+
],
|
| 286 |
+
"orientation": {
|
| 287 |
+
"w": 0.4851967348494785,
|
| 288 |
+
"xyz": [
|
| 289 |
+
0.5305178896681071,
|
| 290 |
+
-0.49934172347268224,
|
| 291 |
+
-0.4835211892283881
|
| 292 |
+
]
|
| 293 |
+
}
|
| 294 |
+
},
|
| 295 |
+
"grasp_21": {
|
| 296 |
+
"confidence": 0.9168146252632141,
|
| 297 |
+
"position": [
|
| 298 |
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0.13855895353481174,
|
| 299 |
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0.014780042693018913,
|
| 300 |
+
0.03883122012484819
|
| 301 |
+
],
|
| 302 |
+
"orientation": {
|
| 303 |
+
"w": 0.5090963657318045,
|
| 304 |
+
"xyz": [
|
| 305 |
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0.5723172604294018,
|
| 306 |
+
-0.47128879056154693,
|
| 307 |
+
-0.43721930390170055
|
| 308 |
+
]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_33": {
|
| 312 |
+
"confidence": 0.8807257413864136,
|
| 313 |
+
"position": [
|
| 314 |
+
0.10287134302780032,
|
| 315 |
+
-0.008936196565628052,
|
| 316 |
+
0.10023051605094224
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.2655745989897767,
|
| 320 |
+
"xyz": [
|
| 321 |
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-0.7261133565042699,
|
| 322 |
+
-0.5798207600221004,
|
| 323 |
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0.25697745450703646
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
}
|
| 328 |
+
}
|
| 329 |
+
],
|
| 330 |
+
"quality_check": {
|
| 331 |
+
"success": true,
|
| 332 |
+
"message": "YES"
|
| 333 |
+
}
|
| 334 |
+
}
|
dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bd255e98c083e81c53c5991e2bff56d7d0ada0af84f06076d18489ea9e94087f
|
| 3 |
+
size 3780192
|