Add asset kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217
Browse files
.gitattributes
CHANGED
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@@ -7567,3 +7567,4 @@ dataset/kitchen_supplies/ware/5c446c0ebe1b5b3bb6b2bb2000bdf962/affordance/mesh_p
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| 7567 |
dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7568 |
dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7569 |
dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7567 |
dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7568 |
dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7569 |
dataset/kitchen_supplies/ware/5e3f3b45299d5204aeea794409cf6091/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7570 |
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dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewall to pick up and move the cup",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the cup during placement",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body to tilt or pour the cup",
|
| 18 |
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"confidence": 0.78
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support drinking",
|
| 25 |
+
"support the base and sidewalls",
|
| 26 |
+
"stabilize the vessel upright"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered red cup body made of hard smooth glossy plastic or coated metal, with a cylindrical form narrowing slightly downward, a subtle mid-body contour, and a dark flat bottom.",
|
| 29 |
+
"id": 1,
|
| 30 |
+
"grasp_group": {
|
| 31 |
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| 32 |
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| 33 |
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| 37 |
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],
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| 38 |
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"orientation": {
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"w": 0.21630252080240783,
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| 44 |
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| 46 |
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},
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| 47 |
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"grasp_2": {
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| 48 |
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| 49 |
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}
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},
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"grasp_6": {
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-0.011239173651148699,
|
| 234 |
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0.03350190238779305,
|
| 235 |
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0.09627245098821237
|
| 236 |
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]
|
| 237 |
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}
|
| 238 |
+
},
|
| 239 |
+
"grasp_16": {
|
| 240 |
+
"confidence": 0.7263223528862,
|
| 241 |
+
"position": [
|
| 242 |
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0.043748072581365705,
|
| 243 |
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-0.10578204342164099,
|
| 244 |
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-0.07558532804250717
|
| 245 |
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],
|
| 246 |
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"orientation": {
|
| 247 |
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"w": 0.1661751152569813,
|
| 248 |
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"xyz": [
|
| 249 |
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0.13948186912907332,
|
| 250 |
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-0.6830946639132353,
|
| 251 |
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-0.6973609677827206
|
| 252 |
+
]
|
| 253 |
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}
|
| 254 |
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},
|
| 255 |
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"grasp_18": {
|
| 256 |
+
"confidence": 0.7261046171188354,
|
| 257 |
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"position": [
|
| 258 |
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|
| 259 |
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0.0013316607510205358,
|
| 260 |
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|
| 261 |
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],
|
| 262 |
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"orientation": {
|
| 263 |
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"w": 0.9991762012298129,
|
| 264 |
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"xyz": [
|
| 265 |
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|
| 266 |
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|
| 267 |
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0.011375442460478736
|
| 268 |
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]
|
| 269 |
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}
|
| 270 |
+
}
|
| 271 |
+
}
|
| 272 |
+
},
|
| 273 |
+
{
|
| 274 |
+
"part_name": "rim",
|
| 275 |
+
"mask_color": "Blue",
|
| 276 |
+
"graspable": true,
|
| 277 |
+
"grasp_scenarios": [
|
| 278 |
+
{
|
| 279 |
+
"scenario": "lightly pinch the top rim to reorient the cup",
|
| 280 |
+
"confidence": 0.56
|
| 281 |
+
},
|
| 282 |
+
{
|
| 283 |
+
"scenario": "grasp near the rim to lift an empty or lightly loaded cup",
|
| 284 |
+
"confidence": 0.48
|
| 285 |
+
}
|
| 286 |
+
],
|
| 287 |
+
"functional_labels": [
|
| 288 |
+
"provide drinking edge",
|
| 289 |
+
"define opening",
|
| 290 |
+
"stiffen the top edge",
|
| 291 |
+
"help guide pouring"
|
| 292 |
+
],
|
| 293 |
+
"semantic_description": "Thick rounded red top rim with a glossy smooth hard surface, forming the circular lip at the cup opening and bordered by a thin metallic silver accent band below it.",
|
| 294 |
+
"id": 2,
|
| 295 |
+
"grasp_group": {
|
| 296 |
+
"grasp_32": {
|
| 297 |
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"confidence": 0.6097388863563538,
|
| 298 |
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"position": [
|
| 299 |
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0.049714959459379315,
|
| 300 |
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|
| 301 |
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0.16566826403141022
|
| 302 |
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],
|
| 303 |
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"orientation": {
|
| 304 |
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"w": 0.19924189381605126,
|
| 305 |
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"xyz": [
|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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]
|
| 310 |
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}
|
| 311 |
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}
|
| 312 |
+
}
|
| 313 |
+
}
|
| 314 |
+
],
|
| 315 |
+
"quality_check": {
|
| 316 |
+
"success": true,
|
| 317 |
+
"message": "YES"
|
| 318 |
+
}
|
| 319 |
+
}
|
dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:20596b0497a5f5ae06daef69e6bd6ecfdd397e403cdabc422d2c63cf32e91f19
|
| 3 |
+
size 1630996
|