Add asset kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55
Browse files
.gitattributes
CHANGED
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@@ -7613,3 +7613,4 @@ dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/affordance/mesh_p
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| 7613 |
dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7614 |
dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7615 |
dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7613 |
dataset/kitchen_supplies/ware/a4ab99abb8dd5231bc06214b1d545d86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7614 |
dataset/kitchen_supplies/ware/a73ea2cd1d11512e91d1abec172d0f00/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7615 |
dataset/kitchen_supplies/ware/a7db578a074952ec8ed167322abd303e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7616 |
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dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mug handle",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the handle to lift and carry the coffee cup",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to stabilize and reorient the cup while pouring",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hook or pinch the handle to pull the cup across a surface",
|
| 18 |
+
"confidence": 0.74
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide a side grip",
|
| 23 |
+
"lift the cup without touching the hot body",
|
| 24 |
+
"stabilize the cup while pouring",
|
| 25 |
+
"help reorient the cup"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Small curved white ceramic handle with a glossy smooth hard surface, attached at the side near the rim and upper body, sized for side gripping and matching the cup finish.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.727628767490387,
|
| 32 |
+
"position": [
|
| 33 |
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|
| 34 |
+
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.5778912736167143,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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|
| 42 |
+
-0.0008182744208997339
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.7415173649787903,
|
| 48 |
+
"position": [
|
| 49 |
+
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|
| 50 |
+
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|
| 51 |
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|
| 52 |
+
],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.5926971405577227,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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-0.8029725428823291,
|
| 58 |
+
-0.029008393557242742
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_3": {
|
| 63 |
+
"confidence": 0.6937049627304077,
|
| 64 |
+
"position": [
|
| 65 |
+
0.13287859712727368,
|
| 66 |
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-0.011037173680961132,
|
| 67 |
+
0.02508130657952279
|
| 68 |
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],
|
| 69 |
+
"orientation": {
|
| 70 |
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"w": 0.6385348572066418,
|
| 71 |
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"xyz": [
|
| 72 |
+
0.022358335702845473,
|
| 73 |
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-0.7611584641614308,
|
| 74 |
+
-0.11140526644689815
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_12": {
|
| 79 |
+
"confidence": 0.6361140608787537,
|
| 80 |
+
"position": [
|
| 81 |
+
0.11227274243719876,
|
| 82 |
+
0.045114352367818356,
|
| 83 |
+
0.051468724268488586
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.1266819902961222,
|
| 87 |
+
"xyz": [
|
| 88 |
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0.8067643710944248,
|
| 89 |
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0.2413525688635234,
|
| 90 |
+
-0.5242440847260067
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
}
|
| 94 |
+
}
|
| 95 |
+
},
|
| 96 |
+
{
|
| 97 |
+
"part_name": "cup body",
|
| 98 |
+
"mask_color": "Green",
|
| 99 |
+
"graspable": true,
|
| 100 |
+
"grasp_scenarios": [
|
| 101 |
+
{
|
| 102 |
+
"scenario": "grasp the cup body from the sides to pick up the empty or cool cup",
|
| 103 |
+
"confidence": 0.81
|
| 104 |
+
},
|
| 105 |
+
{
|
| 106 |
+
"scenario": "hold the body to place or reposition the cup on a surface",
|
| 107 |
+
"confidence": 0.76
|
| 108 |
+
},
|
| 109 |
+
{
|
| 110 |
+
"scenario": "stabilize the cup body while another gripper manipulates the handle",
|
| 111 |
+
"confidence": 0.68
|
| 112 |
+
}
|
| 113 |
+
],
|
| 114 |
+
"functional_labels": [
|
| 115 |
+
"contain liquid",
|
| 116 |
+
"provide the main drinking vessel",
|
| 117 |
+
"support pouring from the rim",
|
| 118 |
+
"present the exterior grasp surface"
|
| 119 |
+
],
|
| 120 |
+
"semantic_description": "Large white ceramic cup body with a glossy smooth hard surface, rounded and slightly tapered with subtle vertical fluting, forming the main hollow vessel above the foot ring.",
|
| 121 |
+
"id": 1,
|
| 122 |
+
"grasp_group": {
|
| 123 |
+
"grasp_20": {
|
| 124 |
+
"confidence": 0.9747272729873657,
|
| 125 |
+
"position": [
|
| 126 |
+
-0.10547855193726718,
|
| 127 |
+
-0.017991852946579456,
|
| 128 |
+
-0.021605638903565705
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.4757117198709104,
|
| 132 |
+
"xyz": [
|
| 133 |
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0.4286360395571967,
|
| 134 |
+
0.46400373413223706,
|
| 135 |
+
0.612102965097803
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_21": {
|
| 140 |
+
"confidence": 0.9691690802574158,
|
| 141 |
+
"position": [
|
| 142 |
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-0.10942540760152042,
|
| 143 |
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-0.007392169442027807,
|
| 144 |
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0.0051987896440550685
|
| 145 |
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],
|
| 146 |
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"orientation": {
|
| 147 |
+
"w": 0.5064772098204264,
|
| 148 |
+
"xyz": [
|
| 149 |
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-0.5213887336636859,
|
| 150 |
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0.47380068742561154,
|
| 151 |
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-0.49713934961548945
|
| 152 |
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]
|
| 153 |
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}
|
| 154 |
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},
|
| 155 |
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"grasp_23": {
|
| 156 |
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"confidence": 0.9689099192619324,
|
| 157 |
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"position": [
|
| 158 |
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-0.10854667122475803,
|
| 159 |
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-0.011149438098073006,
|
| 160 |
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0.010117298807017505
|
| 161 |
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],
|
| 162 |
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"orientation": {
|
| 163 |
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"w": 0.4550206587560062,
|
| 164 |
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"xyz": [
|
| 165 |
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0.49893006569409165,
|
| 166 |
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|
| 167 |
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|
| 168 |
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]
|
| 169 |
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}
|
| 170 |
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},
|
| 171 |
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"grasp_26": {
|
| 172 |
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"confidence": 0.9670654535293579,
|
| 173 |
+
"position": [
|
| 174 |
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-0.10442205215804279,
|
| 175 |
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-0.02179793920367956,
|
| 176 |
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0.010765978950075805
|
| 177 |
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],
|
| 178 |
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"orientation": {
|
| 179 |
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"w": 0.51914796030593,
|
| 180 |
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"xyz": [
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| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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]
|
| 185 |
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}
|
| 186 |
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},
|
| 187 |
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"grasp_27": {
|
| 188 |
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"confidence": 0.9669947624206543,
|
| 189 |
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"position": [
|
| 190 |
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|
| 191 |
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|
| 192 |
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|
| 193 |
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],
|
| 194 |
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"orientation": {
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| 195 |
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"w": 0.5077062456366958,
|
| 196 |
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"xyz": [
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| 197 |
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| 392 |
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"success": true,
|
| 393 |
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"message": "YES"
|
| 394 |
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}
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| 395 |
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|
dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:3b753784be7bc18c96233f94288d1d3459bd0f04cf1f0669f67ea039a97d8826
|
| 3 |
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size 3779184
|