Add asset livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c

.gitattributes

@@ -7771,3 +7771,4 @@ dataset/livingroom_supplies/ornaments/d421bb4443645bc39bff8942d7525aa4/affordanc
 dataset/livingroom_supplies/ornaments/d5c47fa3b6e35f80882e2c73a7257827/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/d9111479bbcd5d0b86062d40972404fe/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/livingroom_supplies/ornaments/da0de9744e3d5627a06330f5fa36e2d3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/affordance/affordance_annot.json

@@ -0,0 +1,357 @@
+{
+    "affordances": [
+        {
+            "part_name": "watering can body",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the body to pick up or reposition the watering can when empty or lightly filled",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "hold the body to stabilize the can while another gripper manipulates the handle or lid",
+                    "confidence": 0.61
+                }
+            ],
+            "functional_labels": [
+                "contain water",
+                "main structural shell",
+                "support attached parts",
+                "provide bulk grasp surface"
+            ],
+            "semantic_description": "Large rounded brass-colored metal body with a worn semi-gloss finish, hard smooth surface, scattered blue paint loss, and the main central volume of the watering can.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "base ring",
+            "mask_color": "Cyan",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the bottom rim to lift or rotate the can from below during bin picking",
+                    "confidence": 0.46
+                },
+                {
+                    "scenario": "pinch the base edge to stabilize the can while inspecting orientation",
+                    "confidence": 0.42
+                }
+            ],
+            "functional_labels": [
+                "support on flat surfaces",
+                "protect lower body edge",
+                "stabilize standing posture",
+                "provide contact rim"
+            ],
+            "semantic_description": "Thin circular brass-toned metal base rim with a worn smooth finish around the underside perimeter, forming the contact edge at the bottom of the can.",
+            "id": 6,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lid by its edge or top to remove or reposition it for filling",
+                    "confidence": 0.71
+                }
+            ],
+            "functional_labels": [
+                "cover the fill opening",
+                "reduce spills",
+                "retain contents",
+                "protect interior"
+            ],
+            "semantic_description": "Round domed brass-colored metal lid with a smooth slightly reflective finish, medium size on the top opening, matching the aged body with subtle wear.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lid knob",
+            "mask_color": "Orange",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the lid knob to lift the lid off for filling or cleaning",
+                    "confidence": 0.93
+                },
+                {
+                    "scenario": "hold the knob to steady the lid while placing it back onto the opening",
+                    "confidence": 0.84
+                }
+            ],
+            "functional_labels": [
+                "lift the lid",
+                "manipulate the cover",
+                "provide pinch point",
+                "indicate lid center"
+            ],
+            "semantic_description": "Small brass-toned metal knob on the lid center with a smooth hard surface and short upright shape suited to pinching.",
+            "id": 4,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "top rim of opening",
+            "mask_color": "Yellow",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "seat the lid",
+                "define fill opening",
+                "stiffen the opening edge"
+            ],
+            "semantic_description": "Narrow circular brass-colored rim around the top opening, with a smooth hard metallic edge framing where the lid sits.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "spout",
+            "mask_color": "Purple",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the spout neck to orient the watering direction during pouring",
+                    "confidence": 0.58
+                },
+                {
+                    "scenario": "hold the spout to stabilize the can during transport or inspection",
+                    "confidence": 0.41
+                }
+            ],
+            "functional_labels": [
+                "channel water outward",
+                "direct pouring",
+                "provide reach away from body",
+                "indicate front orientation"
+            ],
+            "semantic_description": "Long curved brass-colored metal spout with a smooth semi-gloss worn surface, tapering upward from the front side and ending in a sprinkler head.",
+            "id": 5,
+            "grasp_group": {
+                "grasp_37": {
+                    "confidence": 0.9359501600265503,
+                    "position": [
+                        -0.02139721522689797,
+                        -0.15437405230477452,
+                        -0.028922564815729856
+                    ],
+                    "orientation": {
+                        "w": 0.8452005807416605,
+                        "xyz": [
+                            -0.5191943261605255,
+                            0.06272372762125722,
+                            -0.11017696669436707
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "sprinkler head",
+            "mask_color": "Gray",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "pinch the sprinkler head to aim the spout tip or manipulate the can's front end",
+                    "confidence": 0.55
+                }
+            ],
+            "functional_labels": [
+                "disperse water",
+                "soften flow",
+                "define spout outlet"
+            ],
+            "semantic_description": "Small round perforated brass-colored metal rose at the spout tip, with a smooth hard finish and visible hole pattern for water dispersion.",
+            "id": 15,
+            "grasp_group": {
+                "grasp_147": {
+                    "confidence": 0.8914036750793457,
+                    "position": [
+                        0.09472547014593147,
+                        -0.08118073316290975,
+                        0.10588084952905774
+                    ],
+                    "orientation": {
+                        "w": 0.5464420468162597,
+                        "xyz": [
+                            -0.2581242692978445,
+                            -0.7363909937359943,
+                            0.3041401903978248
+                        ]
+                    }
+                },
+                "grasp_151": {
+                    "confidence": 0.8774158358573914,
+                    "position": [
+                        -0.09704378704191186,
+                        -0.08951759757474065,
+                        0.08310139970853925
+                    ],
+                    "orientation": {
+                        "w": 0.6293423503057939,
+                        "xyz": [
+                            -0.26132580171005815,
+                            0.6710199151639173,
+                            -0.29218026101293043
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "sprinkler head rim",
+            "mask_color": "Navy",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "reinforce sprinkler edge",
+                "protect outlet perimeter",
+                "retain head shape"
+            ],
+            "semantic_description": "Thin brass-toned metal ring around the sprinkler head perimeter, appearing as a narrow hard border on the outlet face.",
+            "id": 13,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "main handle grip",
+            "mask_color": "Pink",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side handle grip to lift and carry the watering can",
+                    "confidence": 0.96
+                },
+                {
+                    "scenario": "hold the handle grip to tilt the can for controlled pouring",
+                    "confidence": 0.95
+                }
+            ],
+            "functional_labels": [
+                "provide primary handhold",
+                "lift the can",
+                "control pouring angle",
+                "stabilize side of can"
+            ],
+            "semantic_description": "Cylindrical reddish-brown handle grip, likely wood, with a satin finish, hard smooth feel, shallow lengthwise fluting, and medium size on the side arch handle.",
+            "id": 8,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "upper handle cap",
+            "mask_color": "Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the handle end",
+                "retain grip component",
+                "provide end stop"
+            ],
+            "semantic_description": "Small rounded light tan wooden end cap with a smooth hard surface at the top of the side handle, contrasting with the darker grip.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower handle cap",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "finish the handle end",
+                "retain grip component",
+                "provide lower end stop"
+            ],
+            "semantic_description": "Small rounded light tan wooden end cap with a smooth hard surface at the bottom of the side handle, matching the upper cap.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "lower handle support",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the lower metal handle support to steady the can while repositioning it",
+                    "confidence": 0.44
+                }
+            ],
+            "functional_labels": [
+                "connect handle to body",
+                "support handle loads",
+                "brace side grip"
+            ],
+            "semantic_description": "Curved dark metal support bar with a smooth hard finish, slender and attached low on the body beneath the wooden side grip.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_4": {
+                    "confidence": 0.6426642537117004,
+                    "position": [
+                        -0.022608122701058164,
+                        0.1032816874794662,
+                        -0.09937618626281619
+                    ],
+                    "orientation": {
+                        "w": 0.14479491626160035,
+                        "xyz": [
+                            0.12819852568716267,
+                            -0.11328952970965966,
+                            0.9745589016034888
+                        ]
+                    }
+                },
+                "grasp_5": {
+                    "confidence": 0.6382498145103455,
+                    "position": [
+                        0.012753804301610216,
+                        0.10777701018378139,
+                        -0.10141111118718982
+                    ],
+                    "orientation": {
+                        "w": 0.14996927111607533,
+                        "xyz": [
+                            -0.03612175589115191,
+                            -0.16269760700319935,
+                            0.974542931403068
+                        ]
+                    }
+                },
+                "grasp_6": {
+                    "confidence": 0.5434936881065369,
+                    "position": [
+                        0.015790423465659842,
+                        0.07279225764796138,
+                        -0.10888416273519397
+                    ],
+                    "orientation": {
+                        "w": 0.10076102628281441,
+                        "xyz": [
+                            -0.06701843604481489,
+                            0.011914347222043653,
+                            0.9925793636494836
+                        ]
+                    }
+                },
+                "grasp_7": {
+                    "confidence": 0.5393946170806885,
+                    "position": [
+                        -0.032158789137611166,
+                        0.10390767036005855,
+                        -0.09999639494344592
+                    ],
+                    "orientation": {
+                        "w": 0.14089308586149848,
+                        "xyz": [
+                            -0.14599133279002033,
+                            0.1531684329990387,
+                            -0.9671479205577794
+                        ]
+                    }
+                }
+            }
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/livingroom_supplies/ornaments/e0131700aec153de8f826defec695d9c/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 37453232