Add asset kitchen_supplies/ware/baeb4443712f5363bde4b87c92e97296
Browse files
.gitattributes
CHANGED
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@@ -7629,4 +7629,4 @@ dataset/kitchen_supplies/ware/b6856d6f97425859866e4e428a1c4918/affordance/mesh_p
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| 7629 |
dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7630 |
dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7631 |
dataset/kitchen_supplies/ware/b8ae0d4d84ee584280ebdd8b21437766/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7632 |
-
dataset/kitchen_supplies/ware/
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| 7629 |
dataset/kitchen_supplies/ware/b7d4785808a05fb0b72d3fadab562480/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7630 |
dataset/kitchen_supplies/ware/b7e9bab886945955a2c70a0ba812570b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7631 |
dataset/kitchen_supplies/ware/b8ae0d4d84ee584280ebdd8b21437766/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7632 |
+
dataset/kitchen_supplies/ware/baeb4443712f5363bde4b87c92e97296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/baeb4443712f5363bde4b87c92e97296/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1491 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid top",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top cap area to help twist and open or close the bottle",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid area to stabilize the bottle while operating the drinking mechanism",
|
| 14 |
+
"confidence": 0.6
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the opening",
|
| 19 |
+
"support opening and closing",
|
| 20 |
+
"seal the thermos top",
|
| 21 |
+
"house the drinking mechanism"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Dark navy blue plastic top lid with a matte finish and rounded oval shape, medium-sized at the bottle mouth, surrounding the drinking opening components.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.9731449484825134,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.046785950515186414,
|
| 30 |
+
-0.007761614617265877,
|
| 31 |
+
0.16236884472891688
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.15622443213601034,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.6028185466601884,
|
| 37 |
+
0.7558112309250675,
|
| 38 |
+
0.2023687471271541
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_1": {
|
| 43 |
+
"confidence": 0.96677565574646,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.0518889611994382,
|
| 46 |
+
0.010203347321294132,
|
| 47 |
+
0.15986801264807582
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.18782394254979645,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.5582404139693604,
|
| 53 |
+
0.7833911667443252,
|
| 54 |
+
-0.19846432093283928
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.964148759841919,
|
| 60 |
+
"position": [
|
| 61 |
+
0.00030956827686168253,
|
| 62 |
+
0.002929626743934932,
|
| 63 |
+
0.1761753219179809
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.0018934754839611673,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.5853105917180809,
|
| 69 |
+
0.8107830415035727,
|
| 70 |
+
-0.006227807273678627
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_3": {
|
| 75 |
+
"confidence": 0.9640637636184692,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.008254070620751008,
|
| 78 |
+
-0.0034062883223668905,
|
| 79 |
+
0.17375778732821345
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.0007653988327584127,
|
| 83 |
+
"xyz": [
|
| 84 |
+
0.6308625708835564,
|
| 85 |
+
0.7755394537110247,
|
| 86 |
+
0.023460318847409234
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_4": {
|
| 91 |
+
"confidence": 0.9635326862335205,
|
| 92 |
+
"position": [
|
| 93 |
+
0.005557588912779465,
|
| 94 |
+
0.00289675641215581,
|
| 95 |
+
0.1755325156264007
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.001223281814714619,
|
| 99 |
+
"xyz": [
|
| 100 |
+
0.8345946551893767,
|
| 101 |
+
0.5508631617703179,
|
| 102 |
+
0.00020522021304920557
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_5": {
|
| 107 |
+
"confidence": 0.9626348614692688,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.05179723337641917,
|
| 110 |
+
-0.002628042117066798,
|
| 111 |
+
0.15887616155669093
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
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"w": 0.034920104035312365,
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"xyz": [
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-0.03237819018520543,
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-0.7027373154106011,
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| 1317 |
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0.7098538614841758
|
| 1318 |
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]
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| 1319 |
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}
|
| 1320 |
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},
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| 1321 |
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"grasp_38": {
|
| 1322 |
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"confidence": 0.8223155736923218,
|
| 1323 |
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"position": [
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| 1324 |
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0.015424184646690264,
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| 1325 |
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0.10012402549727994,
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| 1326 |
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-0.05459822015836835
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| 1327 |
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],
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| 1328 |
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"orientation": {
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| 1329 |
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"w": 0.7121622992893011,
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| 1330 |
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"xyz": [
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0.6985824460709859,
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| 1332 |
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-0.05915768773148877,
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| 1333 |
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-0.036163427585313296
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| 1334 |
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]
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| 1335 |
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}
|
| 1336 |
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},
|
| 1337 |
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"grasp_39": {
|
| 1338 |
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"confidence": 0.8051538467407227,
|
| 1339 |
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"position": [
|
| 1340 |
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0.008945054520154372,
|
| 1341 |
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0.10130290106280881,
|
| 1342 |
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-0.03981928201392293
|
| 1343 |
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],
|
| 1344 |
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"orientation": {
|
| 1345 |
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"w": 0.7074095077675676,
|
| 1346 |
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"xyz": [
|
| 1347 |
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0.7059985126514569,
|
| 1348 |
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-0.019510320067871234,
|
| 1349 |
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-0.02751791897704824
|
| 1350 |
+
]
|
| 1351 |
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}
|
| 1352 |
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}
|
| 1353 |
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}
|
| 1354 |
+
},
|
| 1355 |
+
{
|
| 1356 |
+
"part_name": "base",
|
| 1357 |
+
"mask_color": "Magenta",
|
| 1358 |
+
"graspable": false,
|
| 1359 |
+
"grasp_scenarios": [],
|
| 1360 |
+
"functional_labels": [
|
| 1361 |
+
"support upright standing",
|
| 1362 |
+
"protect the bottom",
|
| 1363 |
+
"stabilize placement"
|
| 1364 |
+
],
|
| 1365 |
+
"semantic_description": "Dark navy blue rounded bottom section with a smooth matte finish, circular and slightly thicker at the thermos base, forming the standing contact area.",
|
| 1366 |
+
"id": 7,
|
| 1367 |
+
"grasp_group": {}
|
| 1368 |
+
},
|
| 1369 |
+
{
|
| 1370 |
+
"part_name": "spout cover",
|
| 1371 |
+
"mask_color": "Yellow",
|
| 1372 |
+
"graspable": true,
|
| 1373 |
+
"grasp_scenarios": [
|
| 1374 |
+
{
|
| 1375 |
+
"scenario": "pinch or hook the raised cover piece to flip open the drinking spout",
|
| 1376 |
+
"confidence": 0.82
|
| 1377 |
+
},
|
| 1378 |
+
{
|
| 1379 |
+
"scenario": "manipulate the cover to access or close the spout opening",
|
| 1380 |
+
"confidence": 0.74
|
| 1381 |
+
}
|
| 1382 |
+
],
|
| 1383 |
+
"functional_labels": [
|
| 1384 |
+
"cover the drinking spout",
|
| 1385 |
+
"open to allow drinking access",
|
| 1386 |
+
"protect the mouthpiece",
|
| 1387 |
+
"actuate the flip-top mechanism"
|
| 1388 |
+
],
|
| 1389 |
+
"semantic_description": "Small dark navy blue plastic flip cover on top of the lid, matte and wedge-shaped, sitting over the drinking opening as the movable spout cover.",
|
| 1390 |
+
"id": 3,
|
| 1391 |
+
"grasp_group": {}
|
| 1392 |
+
},
|
| 1393 |
+
{
|
| 1394 |
+
"part_name": "top trim piece",
|
| 1395 |
+
"mask_color": "Teal",
|
| 1396 |
+
"graspable": false,
|
| 1397 |
+
"grasp_scenarios": [],
|
| 1398 |
+
"functional_labels": [
|
| 1399 |
+
"border the spout cover area",
|
| 1400 |
+
"form part of the lid top geometry",
|
| 1401 |
+
"support the cover interface"
|
| 1402 |
+
],
|
| 1403 |
+
"semantic_description": "Small dark navy blue plastic trim area adjacent to the yellow spout cover on the lid top, matte and narrow, following the edge of the top mechanism.",
|
| 1404 |
+
"id": 10,
|
| 1405 |
+
"grasp_group": {}
|
| 1406 |
+
},
|
| 1407 |
+
{
|
| 1408 |
+
"part_name": "release latch",
|
| 1409 |
+
"mask_color": "Purple",
|
| 1410 |
+
"graspable": true,
|
| 1411 |
+
"grasp_scenarios": [
|
| 1412 |
+
{
|
| 1413 |
+
"scenario": "pinch or manipulate the latch area to unlock the drinking cover",
|
| 1414 |
+
"confidence": 0.7
|
| 1415 |
+
}
|
| 1416 |
+
],
|
| 1417 |
+
"functional_labels": [
|
| 1418 |
+
"lock the lid closed",
|
| 1419 |
+
"release the top mechanism",
|
| 1420 |
+
"prevent accidental opening"
|
| 1421 |
+
],
|
| 1422 |
+
"semantic_description": "Small dark navy blue side latch area with a matte finish, compact and slightly protruding near the front-side of the lid as the closure component.",
|
| 1423 |
+
"id": 5,
|
| 1424 |
+
"grasp_group": {
|
| 1425 |
+
"grasp_64": {
|
| 1426 |
+
"confidence": 0.7973366379737854,
|
| 1427 |
+
"position": [
|
| 1428 |
+
0.002719746349612251,
|
| 1429 |
+
-0.005280782223053393,
|
| 1430 |
+
0.16776914475485682
|
| 1431 |
+
],
|
| 1432 |
+
"orientation": {
|
| 1433 |
+
"w": 0.02175560363725997,
|
| 1434 |
+
"xyz": [
|
| 1435 |
+
-0.21763813508018898,
|
| 1436 |
+
0.9757264213167912,
|
| 1437 |
+
0.010875964946774137
|
| 1438 |
+
]
|
| 1439 |
+
}
|
| 1440 |
+
},
|
| 1441 |
+
"grasp_65": {
|
| 1442 |
+
"confidence": 0.7728404402732849,
|
| 1443 |
+
"position": [
|
| 1444 |
+
0.0006628107803408056,
|
| 1445 |
+
0.0005354494333005277,
|
| 1446 |
+
0.16683972952887416
|
| 1447 |
+
],
|
| 1448 |
+
"orientation": {
|
| 1449 |
+
"w": 0.02787570381197654,
|
| 1450 |
+
"xyz": [
|
| 1451 |
+
-0.1462211346518839,
|
| 1452 |
+
0.9888527831290745,
|
| 1453 |
+
0.003535281599256462
|
| 1454 |
+
]
|
| 1455 |
+
}
|
| 1456 |
+
}
|
| 1457 |
+
}
|
| 1458 |
+
},
|
| 1459 |
+
{
|
| 1460 |
+
"part_name": "release button",
|
| 1461 |
+
"mask_color": "Lime Green",
|
| 1462 |
+
"graspable": false,
|
| 1463 |
+
"grasp_scenarios": [],
|
| 1464 |
+
"functional_labels": [
|
| 1465 |
+
"trigger lid opening",
|
| 1466 |
+
"provide push input",
|
| 1467 |
+
"control the latch mechanism"
|
| 1468 |
+
],
|
| 1469 |
+
"semantic_description": "Small light gray or off-white plastic button with a smooth finish, oval and front-facing within the latch area, intended for finger pressing rather than grasping.",
|
| 1470 |
+
"id": 9,
|
| 1471 |
+
"grasp_group": {}
|
| 1472 |
+
},
|
| 1473 |
+
{
|
| 1474 |
+
"part_name": "logo marking",
|
| 1475 |
+
"mask_color": "Blue",
|
| 1476 |
+
"graspable": false,
|
| 1477 |
+
"grasp_scenarios": [],
|
| 1478 |
+
"functional_labels": [
|
| 1479 |
+
"brand identification",
|
| 1480 |
+
"provide visual marking"
|
| 1481 |
+
],
|
| 1482 |
+
"semantic_description": "Small printed light-colored logo or text marking on the lower bottle exterior, flat and non-structural, serving as branding rather than a graspable part.",
|
| 1483 |
+
"id": 2,
|
| 1484 |
+
"grasp_group": {}
|
| 1485 |
+
}
|
| 1486 |
+
],
|
| 1487 |
+
"quality_check": {
|
| 1488 |
+
"success": false,
|
| 1489 |
+
"message": "Top lid color/material description is wrong; lid is black/dark charcoal, not navy blue."
|
| 1490 |
+
}
|
| 1491 |
+
}
|
dataset/kitchen_supplies/ware/baeb4443712f5363bde4b87c92e97296/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7a7fefeb86f6c54e52dae6f69b6e46389aab1ea908458c4b4bf7aaa5736ef306
|
| 3 |
+
size 3791476
|