Add asset kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a
Browse files
.gitattributes
CHANGED
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@@ -8504,3 +8504,4 @@ dataset/kitchen_supplies/ware/e3773d4bb6d7560dbaf13662c78f679a/affordance/mesh_p
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| 8504 |
dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8505 |
dataset/kitchen_supplies/ware/e5c173eabae85464821fecd849953021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8506 |
dataset/kitchen_supplies/ware/e5c7f8c6511c530e8d45fbb0601d993a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8504 |
dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8505 |
dataset/kitchen_supplies/ware/e5c173eabae85464821fecd849953021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8506 |
dataset/kitchen_supplies/ware/e5c7f8c6511c530e8d45fbb0601d993a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8507 |
+
dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,356 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup interior",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"contain beverages",
|
| 10 |
+
"provide drinking cavity",
|
| 11 |
+
"hold liquid volume"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "White glazed ceramic inner cavity with a glossy smooth hard surface, occupying the open top interior of the cup and appearing plain without visible markings.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "cup body",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the cup body from the sides to pick up the cup",
|
| 24 |
+
"confidence": 0.78
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the cup body to stabilize it while placing or rotating it",
|
| 28 |
+
"confidence": 0.73
|
| 29 |
+
}
|
| 30 |
+
],
|
| 31 |
+
"functional_labels": [
|
| 32 |
+
"contain beverage",
|
| 33 |
+
"support the cup structure",
|
| 34 |
+
"provide main exterior grasp surface",
|
| 35 |
+
"support printed decoration"
|
| 36 |
+
],
|
| 37 |
+
"semantic_description": "Tapered white ceramic body with a glossy smooth hard surface, medium-sized and forming most of the cup, decorated with blue floral vine patterns and thin gold bands around the rim and lower edge.",
|
| 38 |
+
"id": 1,
|
| 39 |
+
"grasp_group": {
|
| 40 |
+
"grasp_4": {
|
| 41 |
+
"confidence": 0.9810969829559326,
|
| 42 |
+
"position": [
|
| 43 |
+
-0.0014013712643645704,
|
| 44 |
+
0.0034260203246958554,
|
| 45 |
+
-0.11858211469370872
|
| 46 |
+
],
|
| 47 |
+
"orientation": {
|
| 48 |
+
"w": 0.6752802586045608,
|
| 49 |
+
"xyz": [
|
| 50 |
+
0.01632298361132402,
|
| 51 |
+
-0.009979254156951445,
|
| 52 |
+
0.7373130590403594
|
| 53 |
+
]
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"grasp_6": {
|
| 57 |
+
"confidence": 0.9801768064498901,
|
| 58 |
+
"position": [
|
| 59 |
+
-0.014274260844103992,
|
| 60 |
+
-0.0019573436002247036,
|
| 61 |
+
-0.116445213672705
|
| 62 |
+
],
|
| 63 |
+
"orientation": {
|
| 64 |
+
"w": 0.6752538994691878,
|
| 65 |
+
"xyz": [
|
| 66 |
+
0.03663019036516691,
|
| 67 |
+
0.03204240169046613,
|
| 68 |
+
0.7359780464792237
|
| 69 |
+
]
|
| 70 |
+
}
|
| 71 |
+
},
|
| 72 |
+
"grasp_9": {
|
| 73 |
+
"confidence": 0.9798399806022644,
|
| 74 |
+
"position": [
|
| 75 |
+
-0.005260975449346006,
|
| 76 |
+
0.0007055595051497221,
|
| 77 |
+
-0.11701488506514579
|
| 78 |
+
],
|
| 79 |
+
"orientation": {
|
| 80 |
+
"w": 0.7503456854279555,
|
| 81 |
+
"xyz": [
|
| 82 |
+
-0.016434457017540042,
|
| 83 |
+
0.012826418339433654,
|
| 84 |
+
-0.6607168409952726
|
| 85 |
+
]
|
| 86 |
+
}
|
| 87 |
+
},
|
| 88 |
+
"grasp_10": {
|
| 89 |
+
"confidence": 0.979796826839447,
|
| 90 |
+
"position": [
|
| 91 |
+
-0.006691209855489433,
|
| 92 |
+
0.0027374066994525492,
|
| 93 |
+
-0.11720456194598228
|
| 94 |
+
],
|
| 95 |
+
"orientation": {
|
| 96 |
+
"w": 0.793848367662991,
|
| 97 |
+
"xyz": [
|
| 98 |
+
-0.0026071194726104527,
|
| 99 |
+
0.028414238776658052,
|
| 100 |
+
-0.6074459672444974
|
| 101 |
+
]
|
| 102 |
+
}
|
| 103 |
+
},
|
| 104 |
+
"grasp_11": {
|
| 105 |
+
"confidence": 0.9796345829963684,
|
| 106 |
+
"position": [
|
| 107 |
+
-0.0065588055877014995,
|
| 108 |
+
0.000943451130297035,
|
| 109 |
+
-0.11910688143689185
|
| 110 |
+
],
|
| 111 |
+
"orientation": {
|
| 112 |
+
"w": 0.7257798849230865,
|
| 113 |
+
"xyz": [
|
| 114 |
+
-0.02004411792220171,
|
| 115 |
+
0.02107512224177921,
|
| 116 |
+
-0.6873118878647787
|
| 117 |
+
]
|
| 118 |
+
}
|
| 119 |
+
},
|
| 120 |
+
"grasp_13": {
|
| 121 |
+
"confidence": 0.9794937968254089,
|
| 122 |
+
"position": [
|
| 123 |
+
-0.006014351616613567,
|
| 124 |
+
-0.0010894368751905859,
|
| 125 |
+
-0.11991688620764762
|
| 126 |
+
],
|
| 127 |
+
"orientation": {
|
| 128 |
+
"w": 0.7535093369702092,
|
| 129 |
+
"xyz": [
|
| 130 |
+
-0.01119289823783542,
|
| 131 |
+
0.01976063538152728,
|
| 132 |
+
-0.6570448351650527
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
+
"grasp_17": {
|
| 137 |
+
"confidence": 0.9789590239524841,
|
| 138 |
+
"position": [
|
| 139 |
+
0.00336684996727854,
|
| 140 |
+
0.00736564613180235,
|
| 141 |
+
-0.1202274562092498
|
| 142 |
+
],
|
| 143 |
+
"orientation": {
|
| 144 |
+
"w": 0.6124630193873366,
|
| 145 |
+
"xyz": [
|
| 146 |
+
0.010710660262547137,
|
| 147 |
+
-0.02729757700483071,
|
| 148 |
+
0.7899551721011467
|
| 149 |
+
]
|
| 150 |
+
}
|
| 151 |
+
}
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"part_name": "mug handle",
|
| 156 |
+
"mask_color": "Blue",
|
| 157 |
+
"graspable": true,
|
| 158 |
+
"grasp_scenarios": [
|
| 159 |
+
{
|
| 160 |
+
"scenario": "grasp the handle to lift the cup",
|
| 161 |
+
"confidence": 0.93
|
| 162 |
+
},
|
| 163 |
+
{
|
| 164 |
+
"scenario": "hold the handle to stabilize the cup while pouring",
|
| 165 |
+
"confidence": 0.88
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"scenario": "hook a gripper through the handle opening to reorient the cup",
|
| 169 |
+
"confidence": 0.79
|
| 170 |
+
}
|
| 171 |
+
],
|
| 172 |
+
"functional_labels": [
|
| 173 |
+
"provide a side grip",
|
| 174 |
+
"lift the cup without squeezing the body",
|
| 175 |
+
"stabilize during pouring",
|
| 176 |
+
"help orient the cup"
|
| 177 |
+
],
|
| 178 |
+
"semantic_description": "Curved white ceramic handle with a glossy smooth hard surface, attached to the side near the rim and upper body, slender and loop-shaped with matching blue decoration visible near the attachment.",
|
| 179 |
+
"id": 2,
|
| 180 |
+
"grasp_group": {}
|
| 181 |
+
},
|
| 182 |
+
{
|
| 183 |
+
"part_name": "rim",
|
| 184 |
+
"mask_color": "Yellow",
|
| 185 |
+
"graspable": true,
|
| 186 |
+
"grasp_scenarios": [
|
| 187 |
+
{
|
| 188 |
+
"scenario": "pinch the rim to nudge or reposition the empty cup",
|
| 189 |
+
"confidence": 0.46
|
| 190 |
+
},
|
| 191 |
+
{
|
| 192 |
+
"scenario": "grasp near the rim to stabilize the cup during inspection",
|
| 193 |
+
"confidence": 0.39
|
| 194 |
+
}
|
| 195 |
+
],
|
| 196 |
+
"functional_labels": [
|
| 197 |
+
"form the drinking edge",
|
| 198 |
+
"bound the opening",
|
| 199 |
+
"help guide pouring",
|
| 200 |
+
"stiffen the cup mouth"
|
| 201 |
+
],
|
| 202 |
+
"semantic_description": "Thin circular ceramic lip at the top edge, white with a narrow gold-and-blue decorative band, glossy and smooth, encircling the opening as a small but distinct upper border.",
|
| 203 |
+
"id": 3,
|
| 204 |
+
"grasp_group": {
|
| 205 |
+
"grasp_40": {
|
| 206 |
+
"confidence": 0.4229062795639038,
|
| 207 |
+
"position": [
|
| 208 |
+
-0.048130929353646934,
|
| 209 |
+
0.09082504996331409,
|
| 210 |
+
0.026423748466186225
|
| 211 |
+
],
|
| 212 |
+
"orientation": {
|
| 213 |
+
"w": 0.6874562419033978,
|
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dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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oid sha256:777ff56cb4a4ba48fd0ca09d09906882eb71b2e2b509eed8aeb26f9f5a738ea1
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| 3 |
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size 3781948
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