Add asset kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962
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/516869a2dd2651b39281aa7bc2389962/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
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"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
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"scenario": "grasp the cup body from the sides to pick up the coffee cup",
|
| 10 |
+
"confidence": 0.86
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the cup body to stabilize it while placing or repositioning it",
|
| 14 |
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"confidence": 0.82
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "grasp the body near the rim to pour out liquid",
|
| 18 |
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"confidence": 0.63
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"support the handle",
|
| 24 |
+
"provide main structure",
|
| 25 |
+
"support tabletop placement",
|
| 26 |
+
"main grasp surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Tapered cylindrical ceramic cup body with a hard smooth mostly glossy off-white surface, brown dripped lower band, fine speckles, and a dark circular base at the bottom.",
|
| 29 |
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"id": 0,
|
| 30 |
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"grasp_group": {
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| 31 |
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| 32 |
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| 46 |
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}
|
| 238 |
+
}
|
| 239 |
+
}
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"part_name": "cup interior",
|
| 243 |
+
"mask_color": "Green",
|
| 244 |
+
"graspable": false,
|
| 245 |
+
"grasp_scenarios": [],
|
| 246 |
+
"functional_labels": [
|
| 247 |
+
"hold beverage",
|
| 248 |
+
"provide liquid cavity",
|
| 249 |
+
"define fill volume",
|
| 250 |
+
"expose drinking opening"
|
| 251 |
+
],
|
| 252 |
+
"semantic_description": "Rounded interior cavity with a smooth glazed ceramic surface appearing dark because it is filled with coffee, located inside the top opening beneath the slightly thick rim.",
|
| 253 |
+
"id": 1,
|
| 254 |
+
"grasp_group": {}
|
| 255 |
+
},
|
| 256 |
+
{
|
| 257 |
+
"part_name": "mug handle",
|
| 258 |
+
"mask_color": "Blue",
|
| 259 |
+
"graspable": true,
|
| 260 |
+
"grasp_scenarios": [
|
| 261 |
+
{
|
| 262 |
+
"scenario": "grasp the handle to lift the coffee cup",
|
| 263 |
+
"confidence": 0.94
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"scenario": "hold the handle to stabilize the cup while pouring",
|
| 267 |
+
"confidence": 0.88
|
| 268 |
+
},
|
| 269 |
+
{
|
| 270 |
+
"scenario": "hook a finger-like gripper through the handle for retrieval or reorientation",
|
| 271 |
+
"confidence": 0.74
|
| 272 |
+
}
|
| 273 |
+
],
|
| 274 |
+
"functional_labels": [
|
| 275 |
+
"provide side grip",
|
| 276 |
+
"lift without squeezing the body",
|
| 277 |
+
"stabilize during pouring",
|
| 278 |
+
"aid orientation"
|
| 279 |
+
],
|
| 280 |
+
"semantic_description": "Small curved loop handle made of ceramic, matching the cup's off-white speckled glossy finish with brown edging, hard smooth texture, and attached to the cup's side near the rim and mid-body.",
|
| 281 |
+
"id": 2,
|
| 282 |
+
"grasp_group": {
|
| 283 |
+
"grasp_39": {
|
| 284 |
+
"confidence": 0.909641444683075,
|
| 285 |
+
"position": [
|
| 286 |
+
0.12829523324035108,
|
| 287 |
+
-0.03844441548062605,
|
| 288 |
+
0.018930323771201074
|
| 289 |
+
],
|
| 290 |
+
"orientation": {
|
| 291 |
+
"w": 0.14280416503099297,
|
| 292 |
+
"xyz": [
|
| 293 |
+
-0.732572292934826,
|
| 294 |
+
0.15524555149989183,
|
| 295 |
+
0.6471812920762676
|
| 296 |
+
]
|
| 297 |
+
}
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
}
|
| 301 |
+
],
|
| 302 |
+
"quality_check": {
|
| 303 |
+
"success": true,
|
| 304 |
+
"message": "YES"
|
| 305 |
+
}
|
| 306 |
+
}
|
dataset/kitchen_supplies/ware/516869a2dd2651b39281aa7bc2389962/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6fa8129fd5a0fd62c15caf0b7af884908a3bac8f55b944ed9aa3c7cba3a6b165
|
| 3 |
+
size 3780276
|