Add asset kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca
Browse files
.gitattributes
CHANGED
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@@ -7543,3 +7543,4 @@ dataset/kitchen_supplies/ware/3a764f033c025111b945dfe981353c5c/affordance/mesh_p
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| 7543 |
dataset/kitchen_supplies/ware/3ac06fd007aa5bcfbb2691926831cd05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7544 |
dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7545 |
dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7543 |
dataset/kitchen_supplies/ware/3ac06fd007aa5bcfbb2691926831cd05/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7544 |
dataset/kitchen_supplies/ware/3b6919428a145cc0a774a86a861f9af6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7545 |
dataset/kitchen_supplies/ware/3b7f8c823a045dd1a4f0253b0dbd40bb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7546 |
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dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,559 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup opening interior",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"form the top opening",
|
| 10 |
+
"provide access for filling and drinking",
|
| 11 |
+
"define the vessel mouth"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "Oval opening at the top of the goblet, showing a bright pink/red tinted interior area due to the glass appearance and reflections.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "bowl/body",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the sides of the bowl/body to pick up and move the glass",
|
| 24 |
+
"confidence": 0.9
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the body to stabilize the glass during placement",
|
| 28 |
+
"confidence": 0.83
|
| 29 |
+
},
|
| 30 |
+
{
|
| 31 |
+
"scenario": "grasp the body when loading or unloading it from storage",
|
| 32 |
+
"confidence": 0.79
|
| 33 |
+
}
|
| 34 |
+
],
|
| 35 |
+
"functional_labels": [
|
| 36 |
+
"contain liquid",
|
| 37 |
+
"provide the main vessel volume",
|
| 38 |
+
"support drinking use"
|
| 39 |
+
],
|
| 40 |
+
"semantic_description": "Large rounded goblet bowl with smooth glossy translucent white-to-clear glass appearance, widest around the middle and narrowing toward the rim and stem.",
|
| 41 |
+
"id": 1,
|
| 42 |
+
"grasp_group": {
|
| 43 |
+
"grasp_0": {
|
| 44 |
+
"confidence": 0.9175816178321838,
|
| 45 |
+
"position": [
|
| 46 |
+
-0.07881248992634937,
|
| 47 |
+
-0.07030950271291658,
|
| 48 |
+
-0.013847284018993378
|
| 49 |
+
],
|
| 50 |
+
"orientation": {
|
| 51 |
+
"w": 0.6575076424667309,
|
| 52 |
+
"xyz": [
|
| 53 |
+
-0.6284624280168696,
|
| 54 |
+
0.2644188902242517,
|
| 55 |
+
-0.32062646048253407
|
| 56 |
+
]
|
| 57 |
+
}
|
| 58 |
+
},
|
| 59 |
+
"grasp_1": {
|
| 60 |
+
"confidence": 0.9162868857383728,
|
| 61 |
+
"position": [
|
| 62 |
+
0.04269478592323139,
|
| 63 |
+
-0.0966991760651581,
|
| 64 |
+
0.019537997897714376
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.6965091321097985,
|
| 68 |
+
"xyz": [
|
| 69 |
+
-0.6872466201380636,
|
| 70 |
+
-0.14206303269967357,
|
| 71 |
+
0.14961686648448208
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_2": {
|
| 76 |
+
"confidence": 0.9161604642868042,
|
| 77 |
+
"position": [
|
| 78 |
+
0.04262409853981808,
|
| 79 |
+
-0.09829638683004305,
|
| 80 |
+
0.017780147725716233
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.6993630540981297,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.6874010489848348,
|
| 86 |
+
-0.14752072008394168,
|
| 87 |
+
0.12887495320270853
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_3": {
|
| 92 |
+
"confidence": 0.9157871007919312,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.0994202594156377,
|
| 95 |
+
-0.03433313377900049,
|
| 96 |
+
-0.011825155466794968
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.5823195747690812,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.5614730106840353,
|
| 102 |
+
0.3801715473863857,
|
| 103 |
+
-0.4484657909718449
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_4": {
|
| 108 |
+
"confidence": 0.9137716293334961,
|
| 109 |
+
"position": [
|
| 110 |
+
0.03326970461057499,
|
| 111 |
+
-0.10097585403127596,
|
| 112 |
+
0.022931840270757675
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.6991812906499812,
|
| 116 |
+
"xyz": [
|
| 117 |
+
-0.6964766645678512,
|
| 118 |
+
-0.12772454929079813,
|
| 119 |
+
0.09875331906285695
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_5": {
|
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+
]
|
| 534 |
+
}
|
| 535 |
+
},
|
| 536 |
+
"grasp_39": {
|
| 537 |
+
"confidence": 0.9108706712722778,
|
| 538 |
+
"position": [
|
| 539 |
+
-0.008849564648699015,
|
| 540 |
+
0.006769345898646861,
|
| 541 |
+
-0.13324263133108616
|
| 542 |
+
],
|
| 543 |
+
"orientation": {
|
| 544 |
+
"w": 0.6623076533870449,
|
| 545 |
+
"xyz": [
|
| 546 |
+
0.037325871072440106,
|
| 547 |
+
0.0035805771478683024,
|
| 548 |
+
0.7482930783328935
|
| 549 |
+
]
|
| 550 |
+
}
|
| 551 |
+
}
|
| 552 |
+
}
|
| 553 |
+
}
|
| 554 |
+
],
|
| 555 |
+
"quality_check": {
|
| 556 |
+
"success": false,
|
| 557 |
+
"message": "Body color/material description is inaccurate; cup is opaque white with reflective metallic stem/foot, not translucent clear glass."
|
| 558 |
+
}
|
| 559 |
+
}
|
dataset/kitchen_supplies/ware/3bd74be3321b5d5ea51ab78f86aa30ca/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c27652406b6a2cac740f7f167d1e45bb19c93738a199320eb64de372dd616edb
|
| 3 |
+
size 3780336
|