Add asset kitchen_supplies/ware/5bce7ce993595dedb49bd8fe4857d506
Browse files
.gitattributes
CHANGED
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@@ -7563,3 +7563,4 @@ dataset/kitchen_supplies/ware/506f94f34c815686902d6127d833173f/affordance/mesh_p
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| 7563 |
dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7564 |
dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7565 |
dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7563 |
dataset/kitchen_supplies/ware/55c43f1ad23751e483de05fab1876a84/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7564 |
dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7565 |
dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7566 |
+
dataset/kitchen_supplies/ware/5bce7ce993595dedb49bd8fe4857d506/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/5bce7ce993595dedb49bd8fe4857d506/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1171 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
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| 4 |
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"part_name": "lid cap",
|
| 5 |
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|
| 6 |
+
"graspable": true,
|
| 7 |
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|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the lid cap to twist and open or close the bottle",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "grasp the top of the bottle by the lid for short repositioning",
|
| 14 |
+
"confidence": 0.56
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
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"functional_labels": [
|
| 18 |
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"close the bottle",
|
| 19 |
+
"seal the drinking opening",
|
| 20 |
+
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|
| 21 |
+
"protect the mouth area"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Short white cylindrical cap at the very top, made of smooth hard plastic, slightly narrower than the darker lower body.",
|
| 24 |
+
"id": 3,
|
| 25 |
+
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|
| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 49 |
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| 56 |
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| 59 |
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]
|
| 1062 |
+
}
|
| 1063 |
+
},
|
| 1064 |
+
"grasp_39": {
|
| 1065 |
+
"confidence": 0.9592130780220032,
|
| 1066 |
+
"position": [
|
| 1067 |
+
0.10662614685134031,
|
| 1068 |
+
0.0008789881685515866,
|
| 1069 |
+
-0.0358137006405741
|
| 1070 |
+
],
|
| 1071 |
+
"orientation": {
|
| 1072 |
+
"w": 0.49669148662396234,
|
| 1073 |
+
"xyz": [
|
| 1074 |
+
0.5110490714045233,
|
| 1075 |
+
-0.49680940963094755,
|
| 1076 |
+
-0.4952845891343703
|
| 1077 |
+
]
|
| 1078 |
+
}
|
| 1079 |
+
}
|
| 1080 |
+
}
|
| 1081 |
+
},
|
| 1082 |
+
{
|
| 1083 |
+
"part_name": "top opening surface",
|
| 1084 |
+
"mask_color": "Cyan",
|
| 1085 |
+
"graspable": false,
|
| 1086 |
+
"grasp_scenarios": [],
|
| 1087 |
+
"functional_labels": [
|
| 1088 |
+
"define the mouth area",
|
| 1089 |
+
"interface with drinking or pouring",
|
| 1090 |
+
"form the top opening surface"
|
| 1091 |
+
],
|
| 1092 |
+
"semantic_description": "Flat circular white top surface recessed within the top opening area, appearing smooth and hard with a clean finish.",
|
| 1093 |
+
"id": 6,
|
| 1094 |
+
"grasp_group": {}
|
| 1095 |
+
},
|
| 1096 |
+
{
|
| 1097 |
+
"part_name": "base rim",
|
| 1098 |
+
"mask_color": "Pink",
|
| 1099 |
+
"graspable": false,
|
| 1100 |
+
"grasp_scenarios": [],
|
| 1101 |
+
"functional_labels": [
|
| 1102 |
+
"support standing",
|
| 1103 |
+
"protect the bottom edge",
|
| 1104 |
+
"provide contact surface with a table"
|
| 1105 |
+
],
|
| 1106 |
+
"semantic_description": "Thin light-colored circular rim around the bottom edge, forming the lower contact boundary of the bottle.",
|
| 1107 |
+
"id": 8,
|
| 1108 |
+
"grasp_group": {}
|
| 1109 |
+
},
|
| 1110 |
+
{
|
| 1111 |
+
"part_name": "base underside",
|
| 1112 |
+
"mask_color": "Magenta",
|
| 1113 |
+
"graspable": false,
|
| 1114 |
+
"grasp_scenarios": [],
|
| 1115 |
+
"functional_labels": [
|
| 1116 |
+
"close the bottom of the vessel",
|
| 1117 |
+
"protect internal structure",
|
| 1118 |
+
"form the underside surface"
|
| 1119 |
+
],
|
| 1120 |
+
"semantic_description": "Flat circular underside at the bottom, visible as a smooth light-colored hard surface centered beneath the body.",
|
| 1121 |
+
"id": 7,
|
| 1122 |
+
"grasp_group": {}
|
| 1123 |
+
},
|
| 1124 |
+
{
|
| 1125 |
+
"part_name": "top rim ring",
|
| 1126 |
+
"mask_color": "Orange",
|
| 1127 |
+
"graspable": false,
|
| 1128 |
+
"grasp_scenarios": [],
|
| 1129 |
+
"functional_labels": [
|
| 1130 |
+
"provide edge definition around the top opening",
|
| 1131 |
+
"border the opening area",
|
| 1132 |
+
"form the top perimeter"
|
| 1133 |
+
],
|
| 1134 |
+
"semantic_description": "Narrow orange-colored ring around the top perimeter, forming the outer edge around the circular top opening.",
|
| 1135 |
+
"id": 4,
|
| 1136 |
+
"grasp_group": {}
|
| 1137 |
+
},
|
| 1138 |
+
{
|
| 1139 |
+
"part_name": "separator ring",
|
| 1140 |
+
"mask_color": "Lime Green",
|
| 1141 |
+
"graspable": false,
|
| 1142 |
+
"grasp_scenarios": [],
|
| 1143 |
+
"functional_labels": [
|
| 1144 |
+
"separate upper and lower sections",
|
| 1145 |
+
"mark the junction between neck and body",
|
| 1146 |
+
"provide a visual transition"
|
| 1147 |
+
],
|
| 1148 |
+
"semantic_description": "Very thin yellow-green ring at the junction between the white upper section and the dark lower body, appearing as a slim encircling band.",
|
| 1149 |
+
"id": 9,
|
| 1150 |
+
"grasp_group": {}
|
| 1151 |
+
},
|
| 1152 |
+
{
|
| 1153 |
+
"part_name": "lid seam ring",
|
| 1154 |
+
"mask_color": "Purple",
|
| 1155 |
+
"graspable": false,
|
| 1156 |
+
"grasp_scenarios": [],
|
| 1157 |
+
"functional_labels": [
|
| 1158 |
+
"mark the lid joint",
|
| 1159 |
+
"indicate separation between lid parts",
|
| 1160 |
+
"provide an assembly boundary"
|
| 1161 |
+
],
|
| 1162 |
+
"semantic_description": "Extremely thin purple seam ring encircling the bottle just below the lid cap, visible as a narrow joint line between upper components.",
|
| 1163 |
+
"id": 5,
|
| 1164 |
+
"grasp_group": {}
|
| 1165 |
+
}
|
| 1166 |
+
],
|
| 1167 |
+
"quality_check": {
|
| 1168 |
+
"success": false,
|
| 1169 |
+
"message": "Several semantic descriptions use mask colors as real colors; top rim ring and seam descriptions mismatch RGB appearance."
|
| 1170 |
+
}
|
| 1171 |
+
}
|
dataset/kitchen_supplies/ware/5bce7ce993595dedb49bd8fe4857d506/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6a959847c9c4ccfb54e3dfcdf9ae0370f3f68f644c18e27a91bfbe54ef978ac8
|
| 3 |
+
size 3804208
|