Add asset kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6
Browse files
.gitattributes
CHANGED
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@@ -7522,3 +7522,4 @@ dataset/kitchen_supplies/ware/1f2830aa26c95ea593855c989c9997c3/affordance/mesh_p
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| 7522 |
dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7523 |
dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7524 |
dataset/kitchen_supplies/ware/25f8a45f693e5066917ba11ed7f6e4cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7522 |
dataset/kitchen_supplies/ware/214b5fc15d695b41abe842518ab577d5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7523 |
dataset/kitchen_supplies/ware/24320ba87e5e548f88893ad00a732ae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7524 |
dataset/kitchen_supplies/ware/25f8a45f693e5066917ba11ed7f6e4cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7525 |
+
dataset/kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,638 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "thermos body",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body to pick up the thermos",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the thermos while opening the lid",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition or place the thermos",
|
| 18 |
+
"confidence": 0.93
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain liquid",
|
| 24 |
+
"support insulated storage",
|
| 25 |
+
"provide structural shell"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered cylindrical body in dark bluish gray, likely painted metal with a matte smooth hard surface, forming most of the thermos height and showing a small warning-style sticker on one side.",
|
| 28 |
+
"id": 7,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_31": {
|
| 31 |
+
"confidence": 0.8654943108558655,
|
| 32 |
+
"position": [
|
| 33 |
+
0.10169507580576465,
|
| 34 |
+
0.03189690946601331,
|
| 35 |
+
0.06263553933240473
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.5666386681228252,
|
| 39 |
+
"xyz": [
|
| 40 |
+
0.5788093450421109,
|
| 41 |
+
-0.4117397995138161,
|
| 42 |
+
-0.4175771777483018
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_32": {
|
| 47 |
+
"confidence": 0.8649185299873352,
|
| 48 |
+
"position": [
|
| 49 |
+
-0.10562142712296918,
|
| 50 |
+
0.009061300894245505,
|
| 51 |
+
0.06452912674285471
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.4656524695306613,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.4897180574119414,
|
| 57 |
+
0.5241054550592579,
|
| 58 |
+
-0.5183217859995849
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_33": {
|
| 63 |
+
"confidence": 0.8603483438491821,
|
| 64 |
+
"position": [
|
| 65 |
+
0.10556723194895312,
|
| 66 |
+
0.012383844470605254,
|
| 67 |
+
0.060821457067504525
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.5296251980990146,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.523778733553797,
|
| 73 |
+
-0.4724974150984875,
|
| 74 |
+
-0.4710617587329792
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_34": {
|
| 79 |
+
"confidence": 0.8595441579818726,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.09180384111823514,
|
| 82 |
+
-0.05112221115268767,
|
| 83 |
+
0.06505446718074381
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.5953855755582227,
|
| 87 |
+
"xyz": [
|
| 88 |
+
-0.6140972298501473,
|
| 89 |
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{
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"scenario": "grasp the lid to twist or remove it for opening",
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},
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{
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"provide top interface for opening"
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],
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},
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},
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],
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},
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},
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],
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},
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},
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},
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],
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}
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}
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},
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{
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"part_name": "upper collar ring",
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"join lid to body",
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"reinforce top edge",
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| 433 |
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"provide sealing interface"
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],
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| 435 |
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"semantic_description": "Thin blue band below the lid, likely plastic or coated metal, with a smooth hard finish encircling the upper body as a narrow transition ring.",
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| 436 |
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},
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{
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"part_name": "base ring",
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| 443 |
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| 444 |
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| 445 |
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"protect the bottom edge",
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| 446 |
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"stabilize standing",
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| 447 |
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"reduce wear on base"
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| 448 |
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],
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| 449 |
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"semantic_description": "Thin light gray ring around the bottom perimeter, likely plastic or rubber, with a smooth hard appearance forming a narrow protective foot at the base.",
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| 450 |
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| 451 |
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},
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{
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| 454 |
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"part_name": "bottom surface",
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| 455 |
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| 457 |
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| 458 |
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| 459 |
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"support standing",
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| 460 |
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"contact tabletop",
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| 461 |
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"close the container base"
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| 462 |
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],
|
| 463 |
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"semantic_description": "Flat circular underside in gray-blue, likely hard plastic, with a smooth matte finish recessed within the bottom ring.",
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| 464 |
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"id": 6,
|
| 465 |
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},
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| 467 |
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{
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| 468 |
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"part_name": "drinking tab",
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| 469 |
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"mask_color": "Orange",
|
| 470 |
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|
| 471 |
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| 472 |
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{
|
| 473 |
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"scenario": "pinch the tab to flip or slide the sipping cover open",
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| 474 |
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| 475 |
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},
|
| 476 |
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{
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| 477 |
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"scenario": "grasp the tab to manipulate lid orientation during closing",
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| 478 |
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| 479 |
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}
|
| 480 |
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],
|
| 481 |
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"functional_labels": [
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| 482 |
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| 483 |
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"provide finger purchase",
|
| 484 |
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"assist lid manipulation"
|
| 485 |
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],
|
| 486 |
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"semantic_description": "Small dark top tab integrated into the lid, likely plastic, with a smooth hard surface and short raised lever-like shape near the drinking opening.",
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| 487 |
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"id": 4,
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| 488 |
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],
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},
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| 619 |
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{
|
| 620 |
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"part_name": "drinking spout",
|
| 621 |
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"mask_color": "Purple",
|
| 622 |
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|
| 623 |
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"grasp_scenarios": [],
|
| 624 |
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"functional_labels": [
|
| 625 |
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|
| 626 |
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|
| 627 |
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"indicate drinking side"
|
| 628 |
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],
|
| 629 |
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"semantic_description": "Very small raised feature on the lid near the tab, likely dark plastic with a smooth hard finish, forming the mouth-facing drinking outlet area.",
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| 630 |
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"id": 5,
|
| 631 |
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"grasp_group": {}
|
| 632 |
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],
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| 634 |
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"quality_check": {
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| 635 |
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"success": true,
|
| 636 |
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"message": "YES"
|
| 637 |
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}
|
| 638 |
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}
|
dataset/kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:27764716759c087fcf878b498eb9ab2342bb2f31909ea37e4fbbf566c0652089
|
| 3 |
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size 3790804
|