Add asset kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7
Browse files
.gitattributes
CHANGED
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@@ -8498,3 +8498,4 @@ dataset/kitchen_supplies/utensils/14c74611ffd35a32af847a0f29e4a9ce/affordance/me
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| 8498 |
dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8499 |
dataset/kitchen_supplies/ware/e13ddfabc3eb5c218a67a5a2d99f3859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8500 |
dataset/kitchen_supplies/ware/e272bcb77e0c56a7a9f2a7d6804c5a36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8498 |
dataset/kitchen_supplies/utensils/1de86c64ba015643bbb086e7cacd6015/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8499 |
dataset/kitchen_supplies/ware/e13ddfabc3eb5c218a67a5a2d99f3859/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8500 |
dataset/kitchen_supplies/ware/e272bcb77e0c56a7a9f2a7d6804c5a36/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8501 |
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dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/affordance/affordance_annot.json
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "thermos body",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body to pick up and carry the thermos",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the thermos while twisting the lid",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition the thermos upright on a surface",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"provide structural enclosure",
|
| 26 |
+
"stabilize during opening"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large tapered cylindrical silver metal body with a glossy reflective finish and smooth hard surface, forming most of the thermos and showing a small printed logo near the lower side.",
|
| 29 |
+
"id": 8,
|
| 30 |
+
"grasp_group": {}
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"part_name": "lid",
|
| 34 |
+
"mask_color": "Green",
|
| 35 |
+
"graspable": true,
|
| 36 |
+
"grasp_scenarios": [
|
| 37 |
+
{
|
| 38 |
+
"scenario": "grasp the lid to twist and remove it for opening",
|
| 39 |
+
"confidence": 0.95
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"scenario": "grasp the lid to place and tighten it onto the thermos",
|
| 43 |
+
"confidence": 0.93
|
| 44 |
+
},
|
| 45 |
+
{
|
| 46 |
+
"scenario": "hold the lid to steady the top during manipulation",
|
| 47 |
+
"confidence": 0.72
|
| 48 |
+
}
|
| 49 |
+
],
|
| 50 |
+
"functional_labels": [
|
| 51 |
+
"cover the opening",
|
| 52 |
+
"seal the container",
|
| 53 |
+
"enable opening and closing",
|
| 54 |
+
"provide top grip for twisting"
|
| 55 |
+
],
|
| 56 |
+
"semantic_description": "Round dusty pink plastic lid with a matte to satin finish and smooth hard surface, sized to cap the top opening and slightly overhanging the thermos rim.",
|
| 57 |
+
"id": 1,
|
| 58 |
+
"grasp_group": {
|
| 59 |
+
"grasp_0": {
|
| 60 |
+
"confidence": 0.9706466794013977,
|
| 61 |
+
"position": [
|
| 62 |
+
-0.10087035062315408,
|
| 63 |
+
-0.017882520041894168,
|
| 64 |
+
0.06167734751215903
|
| 65 |
+
],
|
| 66 |
+
"orientation": {
|
| 67 |
+
"w": 0.48979766259790697,
|
| 68 |
+
"xyz": [
|
| 69 |
+
-0.5951528761132024,
|
| 70 |
+
0.5008570072028461,
|
| 71 |
+
-0.39374301530772343
|
| 72 |
+
]
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
"grasp_1": {
|
| 76 |
+
"confidence": 0.9705027937889099,
|
| 77 |
+
"position": [
|
| 78 |
+
-0.0966860226035351,
|
| 79 |
+
-0.040793480060528964,
|
| 80 |
+
0.03885932976118056
|
| 81 |
+
],
|
| 82 |
+
"orientation": {
|
| 83 |
+
"w": 0.5862593593608767,
|
| 84 |
+
"xyz": [
|
| 85 |
+
-0.5898000733143645,
|
| 86 |
+
0.4011669583965872,
|
| 87 |
+
-0.38405847025026774
|
| 88 |
+
]
|
| 89 |
+
}
|
| 90 |
+
},
|
| 91 |
+
"grasp_2": {
|
| 92 |
+
"confidence": 0.965052604675293,
|
| 93 |
+
"position": [
|
| 94 |
+
-0.08200586798193399,
|
| 95 |
+
-0.03666663327021524,
|
| 96 |
+
0.09036204183212249
|
| 97 |
+
],
|
| 98 |
+
"orientation": {
|
| 99 |
+
"w": 0.42026251779508156,
|
| 100 |
+
"xyz": [
|
| 101 |
+
-0.7255186153012617,
|
| 102 |
+
0.4734722354357904,
|
| 103 |
+
-0.26986329364942185
|
| 104 |
+
]
|
| 105 |
+
}
|
| 106 |
+
},
|
| 107 |
+
"grasp_3": {
|
| 108 |
+
"confidence": 0.9634989500045776,
|
| 109 |
+
"position": [
|
| 110 |
+
-0.08685276123287622,
|
| 111 |
+
-0.007817798934411258,
|
| 112 |
+
0.09159243816247908
|
| 113 |
+
],
|
| 114 |
+
"orientation": {
|
| 115 |
+
"w": 0.3636454326625528,
|
| 116 |
+
"xyz": [
|
| 117 |
+
-0.6528370812880352,
|
| 118 |
+
0.5773792883717912,
|
| 119 |
+
-0.3289360149911648
|
| 120 |
+
]
|
| 121 |
+
}
|
| 122 |
+
},
|
| 123 |
+
"grasp_4": {
|
| 124 |
+
"confidence": 0.9621710181236267,
|
| 125 |
+
"position": [
|
| 126 |
+
-0.0875718987226719,
|
| 127 |
+
-0.010884149640332907,
|
| 128 |
+
0.09178221935144393
|
| 129 |
+
],
|
| 130 |
+
"orientation": {
|
| 131 |
+
"w": 0.3783139874502869,
|
| 132 |
+
"xyz": [
|
| 133 |
+
-0.6410550607925876,
|
| 134 |
+
0.5830580082718707,
|
| 135 |
+
-0.3255307895141642
|
| 136 |
+
]
|
| 137 |
+
}
|
| 138 |
+
},
|
| 139 |
+
"grasp_5": {
|
| 140 |
+
"confidence": 0.9591252207756042,
|
| 141 |
+
"position": [
|
| 142 |
+
-0.07918827446701471,
|
| 143 |
+
-0.03646684595150873,
|
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],
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},
|
| 453 |
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| 454 |
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|
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|
| 456 |
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|
| 457 |
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|
| 458 |
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|
| 459 |
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|
| 460 |
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"anchor the loop",
|
| 461 |
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"transfer carrying load"
|
| 462 |
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],
|
| 463 |
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"semantic_description": "Tiny dusty pink connector piece near the lid rim with a smooth hard surface linking the strap to the top of the thermos.",
|
| 464 |
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|
| 465 |
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|
| 466 |
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},
|
| 467 |
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{
|
| 468 |
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"part_name": "sealing ring",
|
| 469 |
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|
| 470 |
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|
| 471 |
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|
| 472 |
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|
| 473 |
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"form the lid-body joint",
|
| 474 |
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"provide closure interface",
|
| 475 |
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"help seal the container"
|
| 476 |
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],
|
| 477 |
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"semantic_description": "Thin narrow yellow-gold ring around the upper body just below the lid, appearing as a small circumferential band at the closure joint.",
|
| 478 |
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|
| 479 |
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|
| 480 |
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},
|
| 481 |
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{
|
| 482 |
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"part_name": "bottom base",
|
| 483 |
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|
| 484 |
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|
| 485 |
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|
| 486 |
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|
| 487 |
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"support standing",
|
| 488 |
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|
| 489 |
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|
| 490 |
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"stabilize placement"
|
| 491 |
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],
|
| 492 |
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"semantic_description": "Circular dusty pink bottom cap with a matte smooth finish and hard surface, covering the underside as a broad flat base for the thermos.",
|
| 493 |
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|
| 494 |
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|
| 495 |
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},
|
| 496 |
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{
|
| 497 |
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"part_name": "top surface of lid",
|
| 498 |
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|
| 499 |
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|
| 500 |
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|
| 501 |
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|
| 502 |
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"form the upper face of the lid",
|
| 503 |
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"provide a flat top surface"
|
| 504 |
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],
|
| 505 |
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"semantic_description": "Flat circular top face of the lid, light gray to mauve in appearance with a smooth matte surface, centered within the raised dusty pink lid rim.",
|
| 506 |
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"id": 6,
|
| 507 |
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"grasp_group": {}
|
| 508 |
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}
|
| 509 |
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],
|
| 510 |
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"quality_check": {
|
| 511 |
+
"success": true,
|
| 512 |
+
"message": "YES"
|
| 513 |
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}
|
| 514 |
+
}
|
dataset/kitchen_supplies/ware/e29fe84ea4485ca1bd622c679fa03ff7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d47b7c34a6c62b5d10f0de4b81bb86bbba827e529c5404d3e5d7a594adef4101
|
| 3 |
+
size 3787088
|