Add asset kitchen_supplies/ware/bdd8fd916b165a22b77493fa8a7fcc84
Browse files
.gitattributes
CHANGED
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@@ -7633,3 +7633,4 @@ dataset/kitchen_supplies/ware/baeb4443712f5363bde4b87c92e97296/affordance/mesh_p
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| 7633 |
dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7634 |
dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7635 |
dataset/kitchen_supplies/ware/bd9e2fc91a5e5c6f8b9239860a1e4582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7633 |
dataset/kitchen_supplies/ware/bc557e92e8c25eeaa14b703b31fd5e2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7634 |
dataset/kitchen_supplies/ware/b88043d6dce052c4a620a167a687d29e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7635 |
dataset/kitchen_supplies/ware/bd9e2fc91a5e5c6f8b9239860a1e4582/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7636 |
+
dataset/kitchen_supplies/ware/bdd8fd916b165a22b77493fa8a7fcc84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/bdd8fd916b165a22b77493fa8a7fcc84/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1563 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "thermos body",
|
| 5 |
+
"mask_color": "Red",
|
| 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 unscrewing the lid",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition or place the thermos upright",
|
| 18 |
+
"confidence": 0.94
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain insulated contents",
|
| 24 |
+
"support carrying",
|
| 25 |
+
"support pouring",
|
| 26 |
+
"provide structural shell"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered cylindrical stainless-steel body with a glossy reflective silver finish fading to pink near the bottom, a smooth hard surface, and small white branding on one side.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9904077649116516,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.09823221818078309,
|
| 35 |
+
-0.017520995519589633,
|
| 36 |
+
-0.06663668109104037
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.5094410971061848,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.40719257331576725,
|
| 42 |
+
0.48013935478047276,
|
| 43 |
+
0.5866260962544382
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_3": {
|
| 48 |
+
"confidence": 0.9899790287017822,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.0798049207078293,
|
| 51 |
+
-0.03725990996463224,
|
| 52 |
+
-0.0941167282871902
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.7134360209144495,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.4350975497729432,
|
| 58 |
+
0.2630790487844983,
|
| 59 |
+
-0.4821706962622072
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_4": {
|
| 64 |
+
"confidence": 0.9895381927490234,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.10447371110785753,
|
| 67 |
+
-0.014309325895737857,
|
| 68 |
+
-0.042237899731844664
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.47270520451980685,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.460950712111746,
|
| 74 |
+
0.5373092354439792,
|
| 75 |
+
0.5247599604868572
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_5": {
|
| 80 |
+
"confidence": 0.9894323348999023,
|
| 81 |
+
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| 891 |
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"provide top surface",
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| 892 |
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"finish lid assembly"
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| 893 |
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],
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"semantic_description": "Flat circular pink top cap made of smooth matte plastic, broad and slightly recessed within the lid rim at the very top of the thermos.",
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},
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{
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"part_name": "lid rim",
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{
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"scenario": "grip the raised lid rim to help twist the lid open or closed",
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},
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{
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"scenario": "pinch the rim lightly to steady the top during manipulation",
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}
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| 911 |
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],
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"protect lid edge",
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"retain top cap",
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"finish top perimeter",
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| 916 |
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"stiffen lid",
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| 917 |
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"provide twisting edge"
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| 918 |
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],
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"semantic_description": "Thin raised pink ring around the top perimeter, likely plastic, with a smooth matte finish and a rounded edge framing the lid top.",
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}
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},
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{
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| 1197 |
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"part_name": "carrying strap",
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{
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| 1202 |
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"scenario": "hook or pinch the strap to lift the thermos briefly",
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| 1203 |
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"confidence": 0.68
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},
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| 1205 |
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{
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| 1206 |
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"scenario": "grasp the strap to pull the thermos from a bag or holder",
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},
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{
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"scenario": "hold the strap to orient the thermos before placing it down",
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}
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],
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"enable hanging",
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"provide carry loop",
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"assist retrieval",
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| 1218 |
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"aid orientation"
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| 1219 |
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],
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| 1220 |
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"semantic_description": "Small flexible pink loop strap attached near the lid, likely silicone or soft plastic, with a smooth matte surface and a narrow elongated loop shape.",
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"id": 2,
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| 1527 |
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| 1529 |
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{
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| 1530 |
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|
| 1531 |
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"mask_color": "Green",
|
| 1532 |
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|
| 1533 |
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|
| 1534 |
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"functional_labels": [
|
| 1535 |
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|
| 1536 |
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"anchor carry loop",
|
| 1537 |
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"transfer pulling force"
|
| 1538 |
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],
|
| 1539 |
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"semantic_description": "Tiny attachment nub at the lid side where the strap joins the lid, likely hard plastic, with a smooth finish connecting the flexible strap to the upper thermos.",
|
| 1540 |
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"id": 1,
|
| 1541 |
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|
| 1542 |
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|
| 1543 |
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{
|
| 1544 |
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"part_name": "bottom pad",
|
| 1545 |
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|
| 1546 |
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|
| 1547 |
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|
| 1548 |
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| 1549 |
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| 1550 |
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| 1551 |
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|
| 1552 |
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"stabilize standing"
|
| 1553 |
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],
|
| 1554 |
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"semantic_description": "Circular pale pink underside pad at the center of the base, likely plastic or silicone, with a smooth slightly matte finish and a flat disk shape.",
|
| 1555 |
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"id": 8,
|
| 1556 |
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"grasp_group": {}
|
| 1557 |
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],
|
| 1559 |
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"quality_check": {
|
| 1560 |
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"success": true,
|
| 1561 |
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"message": "YES"
|
| 1562 |
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}
|
| 1563 |
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}
|
dataset/kitchen_supplies/ware/bdd8fd916b165a22b77493fa8a7fcc84/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a60ff2a0bd1be2ae37aa4b05bd116174f6ecd7bdee3e6154ea08ffd02a8d4c8f
|
| 3 |
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size 3786868
|