Add asset kitchen_supplies/ware/e94f934712195839925367ccdb860b4d
Browse files
.gitattributes
CHANGED
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@@ -8508,3 +8508,4 @@ dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/affordance/mesh_p
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| 8508 |
dataset/kitchen_supplies/ware/e7485b0e9eb95779b77d4466a677d9d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8509 |
dataset/kitchen_supplies/ware/e8095d99eb2e5ea180dd99a6329e071d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8510 |
dataset/kitchen_supplies/ware/e86686a3f5ad5dda95c1e1c09235a4ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8508 |
dataset/kitchen_supplies/ware/e7485b0e9eb95779b77d4466a677d9d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8509 |
dataset/kitchen_supplies/ware/e8095d99eb2e5ea180dd99a6329e071d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8510 |
dataset/kitchen_supplies/ware/e86686a3f5ad5dda95c1e1c09235a4ac/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8511 |
+
dataset/kitchen_supplies/ware/e94f934712195839925367ccdb860b4d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/e94f934712195839925367ccdb860b4d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1427 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "thermos body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body to pick up and carry the thermos",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the thermos while opening or closing the lid",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition the thermos on a surface",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain insulated liquid chamber",
|
| 24 |
+
"support the overall structure",
|
| 25 |
+
"stabilize during lid operation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large dark navy cylindrical body with a smooth matte-finished surface, likely painted metal, occupying most of the thermos and showing a small blue logo and white vertical text on the side.",
|
| 28 |
+
"id": 2,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9778941869735718,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.10674546333029866,
|
| 34 |
+
-0.008080790983512998,
|
| 35 |
+
-0.013319773832336068
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.4969324781503389,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.5253857927428973,
|
| 41 |
+
0.48849188381176023,
|
| 42 |
+
-0.48826587060055493
|
| 43 |
+
]
|
| 44 |
+
}
|
| 45 |
+
},
|
| 46 |
+
"grasp_1": {
|
| 47 |
+
"confidence": 0.9760309457778931,
|
| 48 |
+
"position": [
|
| 49 |
+
0.10610369173809886,
|
| 50 |
+
-0.017459375550970435,
|
| 51 |
+
-0.02827580296434462
|
| 52 |
+
],
|
| 53 |
+
"orientation": {
|
| 54 |
+
"w": 0.5275794055904074,
|
| 55 |
+
"xyz": [
|
| 56 |
+
-0.536306282013551,
|
| 57 |
+
-0.4480256874155597,
|
| 58 |
+
0.4830202129160735
|
| 59 |
+
]
|
| 60 |
+
}
|
| 61 |
+
},
|
| 62 |
+
"grasp_2": {
|
| 63 |
+
"confidence": 0.9758820533752441,
|
| 64 |
+
"position": [
|
| 65 |
+
-0.10680430801585317,
|
| 66 |
+
-0.021370341768488288,
|
| 67 |
+
-0.0107504075858742
|
| 68 |
+
],
|
| 69 |
+
"orientation": {
|
| 70 |
+
"w": 0.45083305867057366,
|
| 71 |
+
"xyz": [
|
| 72 |
+
0.4657483789395829,
|
| 73 |
+
0.5423673493797523,
|
| 74 |
+
0.5344769958114826
|
| 75 |
+
]
|
| 76 |
+
}
|
| 77 |
+
},
|
| 78 |
+
"grasp_3": {
|
| 79 |
+
"confidence": 0.9755654335021973,
|
| 80 |
+
"position": [
|
| 81 |
+
-0.10628633620217443,
|
| 82 |
+
-0.020854351809248328,
|
| 83 |
+
-0.009486094349995255
|
| 84 |
+
],
|
| 85 |
+
"orientation": {
|
| 86 |
+
"w": 0.44874017668783944,
|
| 87 |
+
"xyz": [
|
| 88 |
+
0.46785286511547586,
|
| 89 |
+
0.5438472583059155,
|
| 90 |
+
0.5328940889731717
|
| 91 |
+
]
|
| 92 |
+
}
|
| 93 |
+
},
|
| 94 |
+
"grasp_4": {
|
| 95 |
+
"confidence": 0.975538969039917,
|
| 96 |
+
"position": [
|
| 97 |
+
-0.10980921657755971,
|
| 98 |
+
-0.011949685169383883,
|
| 99 |
+
-0.017577439779415727
|
| 100 |
+
],
|
| 101 |
+
"orientation": {
|
| 102 |
+
"w": 0.5075522110180114,
|
| 103 |
+
"xyz": [
|
| 104 |
+
-0.5297071495242591,
|
| 105 |
+
0.4802740586923828,
|
| 106 |
+
-0.4807680494591517
|
| 107 |
+
]
|
| 108 |
+
}
|
| 109 |
+
},
|
| 110 |
+
"grasp_5": {
|
| 111 |
+
"confidence": 0.9755043983459473,
|
| 112 |
+
"position": [
|
| 113 |
+
-0.1099189412780106,
|
| 114 |
+
-0.008522824617102742,
|
| 115 |
+
-0.01994259492494166
|
| 116 |
+
],
|
| 117 |
+
"orientation": {
|
| 118 |
+
"w": 0.5067144386177183,
|
| 119 |
+
"xyz": [
|
| 120 |
+
-0.5132861936266571,
|
| 121 |
+
0.49030987499636536,
|
| 122 |
+
-0.489258610153809
|
| 123 |
+
]
|
| 124 |
+
}
|
| 125 |
+
},
|
| 126 |
+
"grasp_6": {
|
| 127 |
+
"confidence": 0.9751267433166504,
|
| 128 |
+
"position": [
|
| 129 |
+
-0.10974744381383061,
|
| 130 |
+
-0.00455204863101244,
|
| 131 |
+
-0.02449666359461844
|
| 132 |
+
],
|
| 133 |
+
"orientation": {
|
| 134 |
+
"w": 0.5018398781756787,
|
| 135 |
+
"xyz": [
|
| 136 |
+
0.4971444898189145,
|
| 137 |
+
0.5052868109439687,
|
| 138 |
+
0.4956705877913124
|
| 139 |
+
]
|
| 140 |
+
}
|
| 141 |
+
},
|
| 142 |
+
"grasp_7": {
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| 1341 |
+
0.008524747798219323,
|
| 1342 |
+
0.0459910926874727
|
| 1343 |
+
],
|
| 1344 |
+
"orientation": {
|
| 1345 |
+
"w": 0.5169516520346832,
|
| 1346 |
+
"xyz": [
|
| 1347 |
+
0.5140237254977269,
|
| 1348 |
+
-0.4634901397523068,
|
| 1349 |
+
-0.503703771513016
|
| 1350 |
+
]
|
| 1351 |
+
}
|
| 1352 |
+
}
|
| 1353 |
+
}
|
| 1354 |
+
},
|
| 1355 |
+
{
|
| 1356 |
+
"part_name": "sliding drink cover",
|
| 1357 |
+
"mask_color": "Red",
|
| 1358 |
+
"graspable": true,
|
| 1359 |
+
"grasp_scenarios": [
|
| 1360 |
+
{
|
| 1361 |
+
"scenario": "pinch or push the slider to open or close the sip opening",
|
| 1362 |
+
"confidence": 0.73
|
| 1363 |
+
}
|
| 1364 |
+
],
|
| 1365 |
+
"functional_labels": [
|
| 1366 |
+
"open the drinking port",
|
| 1367 |
+
"close the drinking port",
|
| 1368 |
+
"control liquid access",
|
| 1369 |
+
"help prevent spills"
|
| 1370 |
+
],
|
| 1371 |
+
"semantic_description": "Small dark plastic rectangular slider on the lid top with a hard smooth finish, slightly raised profile, and compact size near the sipping area.",
|
| 1372 |
+
"id": 0,
|
| 1373 |
+
"grasp_group": {}
|
| 1374 |
+
},
|
| 1375 |
+
{
|
| 1376 |
+
"part_name": "sip opening",
|
| 1377 |
+
"mask_color": "Green",
|
| 1378 |
+
"graspable": false,
|
| 1379 |
+
"grasp_scenarios": [],
|
| 1380 |
+
"functional_labels": [
|
| 1381 |
+
"allow drinking flow",
|
| 1382 |
+
"dispense liquid from the thermos",
|
| 1383 |
+
"define the mouth contact area"
|
| 1384 |
+
],
|
| 1385 |
+
"semantic_description": "Small recessed opening in the lid near the slider, appearing as a dark narrow port in the hard plastic top where liquid exits for drinking.",
|
| 1386 |
+
"id": 1,
|
| 1387 |
+
"grasp_group": {}
|
| 1388 |
+
},
|
| 1389 |
+
{
|
| 1390 |
+
"part_name": "thumb tab",
|
| 1391 |
+
"mask_color": "Magenta",
|
| 1392 |
+
"graspable": true,
|
| 1393 |
+
"grasp_scenarios": [
|
| 1394 |
+
{
|
| 1395 |
+
"scenario": "press or push the small raised tab during lid operation",
|
| 1396 |
+
"confidence": 0.58
|
| 1397 |
+
}
|
| 1398 |
+
],
|
| 1399 |
+
"functional_labels": [
|
| 1400 |
+
"provide finger contact for lid operation",
|
| 1401 |
+
"assist manipulation of the drinking mechanism",
|
| 1402 |
+
"improve control on the lid top"
|
| 1403 |
+
],
|
| 1404 |
+
"semantic_description": "Small raised dark plastic tab on the lid top with a smooth hard surface and rounded shape adjacent to the drink opening controls.",
|
| 1405 |
+
"id": 7,
|
| 1406 |
+
"grasp_group": {}
|
| 1407 |
+
},
|
| 1408 |
+
{
|
| 1409 |
+
"part_name": "lid edge cutout",
|
| 1410 |
+
"mask_color": "Yellow",
|
| 1411 |
+
"graspable": false,
|
| 1412 |
+
"grasp_scenarios": [],
|
| 1413 |
+
"functional_labels": [
|
| 1414 |
+
"form a molded clearance feature on the lid rim",
|
| 1415 |
+
"define lid-side geometry",
|
| 1416 |
+
"part of the lid edge detail"
|
| 1417 |
+
],
|
| 1418 |
+
"semantic_description": "Small dark cutout-like feature on the outer side of the lid near the rim, with a hard plastic surface and minimal protrusion.",
|
| 1419 |
+
"id": 3,
|
| 1420 |
+
"grasp_group": {}
|
| 1421 |
+
}
|
| 1422 |
+
],
|
| 1423 |
+
"quality_check": {
|
| 1424 |
+
"success": false,
|
| 1425 |
+
"message": "Several small lid parts are misidentified or overinterpreted; magenta is not a thumb tab and yellow cutout description is unreliable."
|
| 1426 |
+
}
|
| 1427 |
+
}
|
dataset/kitchen_supplies/ware/e94f934712195839925367ccdb860b4d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:98129ffdc0995c68df855bad1e0a5c08f4823cc382be4ae51403db8592ccae85
|
| 3 |
+
size 3787580
|