Add asset kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660
Browse files
.gitattributes
CHANGED
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@@ -7619,3 +7619,4 @@ dataset/kitchen_supplies/ware/aa5707dd26625d4386239b48e6111d19/affordance/mesh_p
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| 7619 |
dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7620 |
dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7621 |
dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7619 |
dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7620 |
dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7621 |
dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7622 |
+
dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,537 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid",
|
| 5 |
+
"mask_color": "Yellow",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the ribbed lid edge to twist and unscrew the top",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the lid to stabilize the mug during opening or closing",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the opening",
|
| 19 |
+
"seal the drink container",
|
| 20 |
+
"provide a threaded closure",
|
| 21 |
+
"support opening and closing"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Black plastic lid with a matte finish, circular shape, and ribbed outer sidewall for grip, mounted at the top of the red drink container.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_6": {
|
| 27 |
+
"confidence": 0.9874059557914734,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.06187435262836516,
|
| 30 |
+
-0.018222017562948167,
|
| 31 |
+
0.11200089193880558
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.16417995136308278,
|
| 35 |
+
"xyz": [
|
| 36 |
+
0.5729653870434597,
|
| 37 |
+
0.769755085563426,
|
| 38 |
+
0.22854478132260433
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_7": {
|
| 43 |
+
"confidence": 0.9864620566368103,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.0922164844814688,
|
| 46 |
+
-0.025194716057740152,
|
| 47 |
+
0.07927706278860569
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.40478827992557326,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.6934901407069356,
|
| 53 |
+
0.5146468030097036,
|
| 54 |
+
-0.3005936481848235
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_8": {
|
| 59 |
+
"confidence": 0.9839582443237305,
|
| 60 |
+
"position": [
|
| 61 |
+
-0.09258037828840315,
|
| 62 |
+
-0.019373303628526628,
|
| 63 |
+
0.07862767018377781
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.3942252682672167,
|
| 67 |
+
"xyz": [
|
| 68 |
+
-0.6750158281326377,
|
| 69 |
+
0.5406558200460245,
|
| 70 |
+
-0.31085584099452035
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_9": {
|
| 75 |
+
"confidence": 0.9826982617378235,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.09337481134571135,
|
| 78 |
+
-0.03480570239480585,
|
| 79 |
+
0.07568006403744221
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.41361166617664286,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.7204177252231788,
|
| 85 |
+
0.4692364778509035,
|
| 86 |
+
-0.299567719624329
|
| 87 |
+
]
|
| 88 |
+
}
|
| 89 |
+
},
|
| 90 |
+
"grasp_10": {
|
| 91 |
+
"confidence": 0.9823654294013977,
|
| 92 |
+
"position": [
|
| 93 |
+
0.04738175100646913,
|
| 94 |
+
0.023057598271407187,
|
| 95 |
+
0.11876259185373783
|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
+
"w": 0.14877843221983608,
|
| 99 |
+
"xyz": [
|
| 100 |
+
-0.5124970462857202,
|
| 101 |
+
-0.8163952333929336,
|
| 102 |
+
0.22070473159385998
|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_11": {
|
| 107 |
+
"confidence": 0.9809315800666809,
|
| 108 |
+
"position": [
|
| 109 |
+
-0.05690587707795203,
|
| 110 |
+
-0.0028418245492503047,
|
| 111 |
+
0.11470090039074421
|
| 112 |
+
],
|
| 113 |
+
"orientation": {
|
| 114 |
+
"w": 0.17251848462291147,
|
| 115 |
+
"xyz": [
|
| 116 |
+
0.6964990425764376,
|
| 117 |
+
0.6629969940532167,
|
| 118 |
+
0.21345126382834967
|
| 119 |
+
]
|
| 120 |
+
}
|
| 121 |
+
},
|
| 122 |
+
"grasp_12": {
|
| 123 |
+
"confidence": 0.9808456897735596,
|
| 124 |
+
"position": [
|
| 125 |
+
0.044897999381646514,
|
| 126 |
+
0.01797803456429392,
|
| 127 |
+
0.11819999106228352
|
| 128 |
+
],
|
| 129 |
+
"orientation": {
|
| 130 |
+
"w": 0.15910522109381073,
|
| 131 |
+
"xyz": [
|
| 132 |
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-0.5755190135409665,
|
| 133 |
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-0.7749543383039565,
|
| 134 |
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0.2071452804613215
|
| 135 |
+
]
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},
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| 423 |
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"graspable": false,
|
| 425 |
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|
| 426 |
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| 427 |
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"provide thumb traction",
|
| 428 |
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"act as part of the opening control",
|
| 429 |
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"indicate the contact area for actuation"
|
| 430 |
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],
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"semantic_description": "Small greenish rubber or plastic insert centered on the drinking flap, narrow rectangular and slightly textured.",
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| 432 |
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|
| 434 |
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},
|
| 435 |
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{
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"part_name": "body",
|
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|
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|
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|
| 440 |
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{
|
| 441 |
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|
| 442 |
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|
| 443 |
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|
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|
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},
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|
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}
|
| 452 |
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],
|
| 453 |
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|
| 454 |
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"contain the beverage",
|
| 455 |
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"provide the main structure",
|
| 456 |
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"provide the main grasp surface",
|
| 457 |
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"support thermal insulation"
|
| 458 |
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],
|
| 459 |
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"semantic_description": "Red cylindrical body with a smooth matte finish, slightly tapered profile, and white brand text printed near the lower side.",
|
| 460 |
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|
| 461 |
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|
| 462 |
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},
|
| 463 |
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{
|
| 464 |
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"part_name": "base",
|
| 465 |
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"mask_color": "Orange",
|
| 466 |
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|
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|
| 468 |
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"functional_labels": [
|
| 469 |
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"support standing upright",
|
| 470 |
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"protect the bottom",
|
| 471 |
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"stabilize placement"
|
| 472 |
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],
|
| 473 |
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"semantic_description": "Black circular bottom section with a matte finish, broad and flat at the underside of the container.",
|
| 474 |
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"id": 4,
|
| 475 |
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"grasp_group": {}
|
| 476 |
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},
|
| 477 |
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{
|
| 478 |
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"part_name": "carry strap",
|
| 479 |
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"mask_color": "Purple",
|
| 480 |
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"graspable": true,
|
| 481 |
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"grasp_scenarios": [
|
| 482 |
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{
|
| 483 |
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"scenario": "grasp the fabric loop to lift or carry the mug",
|
| 484 |
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"confidence": 0.88
|
| 485 |
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},
|
| 486 |
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{
|
| 487 |
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"scenario": "pull the strap to reposition the mug from the side",
|
| 488 |
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"confidence": 0.73
|
| 489 |
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},
|
| 490 |
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{
|
| 491 |
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"scenario": "hold the loop to hang or retrieve the mug",
|
| 492 |
+
"confidence": 0.77
|
| 493 |
+
}
|
| 494 |
+
],
|
| 495 |
+
"functional_labels": [
|
| 496 |
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"provide a carrying loop",
|
| 497 |
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"enable hanging",
|
| 498 |
+
"allow quick retrieval",
|
| 499 |
+
"assist side pulling"
|
| 500 |
+
],
|
| 501 |
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"semantic_description": "Red fabric strap loop with a woven texture, flexible and narrow, attached near the upper side of the body.",
|
| 502 |
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"id": 5,
|
| 503 |
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"grasp_group": {}
|
| 504 |
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},
|
| 505 |
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{
|
| 506 |
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"part_name": "strap fasteners",
|
| 507 |
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"mask_color": "Cyan",
|
| 508 |
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"graspable": false,
|
| 509 |
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"grasp_scenarios": [],
|
| 510 |
+
"functional_labels": [
|
| 511 |
+
"connect the strap to the body",
|
| 512 |
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"anchor the carry loop",
|
| 513 |
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"support load transfer"
|
| 514 |
+
],
|
| 515 |
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"semantic_description": "Small light-colored fastener pieces near the strap attachment points, compact and rigid, located on the upper side of the mug where the strap connects.",
|
| 516 |
+
"id": 6,
|
| 517 |
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"grasp_group": {}
|
| 518 |
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},
|
| 519 |
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{
|
| 520 |
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"part_name": "logo text",
|
| 521 |
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"mask_color": "Lime Green",
|
| 522 |
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"graspable": false,
|
| 523 |
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"grasp_scenarios": [],
|
| 524 |
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"functional_labels": [
|
| 525 |
+
"brand marking",
|
| 526 |
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"identify product orientation"
|
| 527 |
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],
|
| 528 |
+
"semantic_description": "Small white printed logo text on the red body near the lower side, appearing as flat surface branding.",
|
| 529 |
+
"id": 9,
|
| 530 |
+
"grasp_group": {}
|
| 531 |
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}
|
| 532 |
+
],
|
| 533 |
+
"quality_check": {
|
| 534 |
+
"success": false,
|
| 535 |
+
"message": "Several parts misidentified or visually mismatched: blue part is slider, no separate flap visible, strap/fastener colors and logo mask are incorrect."
|
| 536 |
+
}
|
| 537 |
+
}
|
dataset/kitchen_supplies/ware/b1a69f160ec85685b4d0af3553808660/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6417ce3e775e4df7380d99efe097b19c573eeba08df71f08aacce80b19a75285
|
| 3 |
+
size 3787872
|