Add asset livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3
Browse files
.gitattributes
CHANGED
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@@ -7661,4 +7661,5 @@ dataset/kitchen_supplies/ware/d6612f12ca9750faa9ebfb714ab121ec/affordance/mesh_p
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| 7661 |
dataset/kitchen_supplies/ware/d73ce17048865fabb1aad66b312b9e3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7662 |
dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7663 |
dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7664 |
-
dataset/livingroom_supplies/ornaments/
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| 7661 |
dataset/kitchen_supplies/ware/d73ce17048865fabb1aad66b312b9e3e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7662 |
dataset/kitchen_supplies/ware/d881c62c8800571bb4885c578746eae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7663 |
dataset/kitchen_supplies/ware/daac725ed8715c88a49891b7620ff131/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7664 |
+
dataset/livingroom_supplies/ornaments/2a51130f89bf5a13b17bb7ff2987a4df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7665 |
+
dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1432 @@
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|
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|
|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Orange",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the bottle body to pick up and carry the spray bottle",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the container while aiming the nozzle",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body for repositioning or setting it down on a surface",
|
| 18 |
+
"confidence": 0.79
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main structural body",
|
| 24 |
+
"main grasp surface",
|
| 25 |
+
"support handling",
|
| 26 |
+
"provide reservoir volume"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large rounded orange plastic reservoir with a semi-gloss finish, dimpled texture over much of the side surface, visible white volume markings on one side, and a rounded base.",
|
| 29 |
+
"id": 4,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_40": {
|
| 32 |
+
"confidence": 0.3907269239425659,
|
| 33 |
+
"position": [
|
| 34 |
+
0.004318942956160754,
|
| 35 |
+
0.10221713152714074,
|
| 36 |
+
0.010253341868519783
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.05675716909124975,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.008808851772097769,
|
| 42 |
+
-0.546680495514326,
|
| 43 |
+
0.8353690583876181
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_41": {
|
| 48 |
+
"confidence": 0.36901089549064636,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.05228348384844139,
|
| 51 |
+
0.09831976261921227,
|
| 52 |
+
0.032171383034437895
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.16853731439184966,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.153697777434086,
|
| 58 |
+
0.633053179958619,
|
| 59 |
+
-0.7397403856851986
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_53": {
|
| 64 |
+
"confidence": 0.18866178393363953,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.0916632630978711,
|
| 67 |
+
0.047786348732188344,
|
| 68 |
+
0.021138809621334076
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7492784088376747,
|
| 72 |
+
"xyz": [
|
| 73 |
+
0.43609986507666043,
|
| 74 |
+
0.35014348223100045,
|
| 75 |
+
0.3546805824695652
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
}
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"part_name": "sprayer head",
|
| 83 |
+
"mask_color": "Green",
|
| 84 |
+
"graspable": true,
|
| 85 |
+
"grasp_scenarios": [
|
| 86 |
+
{
|
| 87 |
+
"scenario": "grasp the sprayer head to orient the bottle for placement or adjustment",
|
| 88 |
+
"confidence": 0.46
|
| 89 |
+
},
|
| 90 |
+
{
|
| 91 |
+
"scenario": "hold the head to stabilize the object while another gripper manipulates the trigger or body",
|
| 92 |
+
"confidence": 0.41
|
| 93 |
+
}
|
| 94 |
+
],
|
| 95 |
+
"functional_labels": [
|
| 96 |
+
"direct liquid flow",
|
| 97 |
+
"support the nozzle assembly",
|
| 98 |
+
"house spray mechanism",
|
| 99 |
+
"provide aiming orientation"
|
| 100 |
+
],
|
| 101 |
+
"semantic_description": "Curved orange plastic sprayer head with a semi-gloss smooth finish, mounted at the top of the bottle and forming the angled neck and nozzle housing.",
|
| 102 |
+
"id": 1,
|
| 103 |
+
"grasp_group": {
|
| 104 |
+
"grasp_20": {
|
| 105 |
+
"confidence": 0.9645989537239075,
|
| 106 |
+
"position": [
|
| 107 |
+
0.013031043752562255,
|
| 108 |
+
0.03942860779352486,
|
| 109 |
+
0.20154529251158237
|
| 110 |
+
],
|
| 111 |
+
"orientation": {
|
| 112 |
+
"w": 0.2805952990184106,
|
| 113 |
+
"xyz": [
|
| 114 |
+
0.9583010724271341,
|
| 115 |
+
0.012432358229685747,
|
| 116 |
+
-0.052638096685024796
|
| 117 |
+
]
|
| 118 |
+
}
|
| 119 |
+
},
|
| 120 |
+
"grasp_21": {
|
| 121 |
+
"confidence": 0.9639455676078796,
|
| 122 |
+
"position": [
|
| 123 |
+
0.008877058222424239,
|
| 124 |
+
0.02345142443664372,
|
| 125 |
+
0.2057820800691843
|
| 126 |
+
],
|
| 127 |
+
"orientation": {
|
| 128 |
+
"w": 0.21860184754285816,
|
| 129 |
+
"xyz": [
|
| 130 |
+
0.9746696548152508,
|
| 131 |
+
0.03767827846948557,
|
| 132 |
+
-0.028506903808458318
|
| 133 |
+
]
|
| 134 |
+
}
|
| 135 |
+
},
|
| 136 |
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0.0022837670403532684,
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-0.034012120915576816,
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0.22349044121801853
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],
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|
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|
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|
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|
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|
| 1394 |
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|
| 1395 |
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|
| 1396 |
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|
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|
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|
| 1399 |
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|
| 1400 |
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0.22202385403215885
|
| 1401 |
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],
|
| 1402 |
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"orientation": {
|
| 1403 |
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|
| 1404 |
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0.9960652307053809,
|
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|
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|
| 1408 |
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]
|
| 1409 |
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}
|
| 1410 |
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}
|
| 1411 |
+
}
|
| 1412 |
+
},
|
| 1413 |
+
{
|
| 1414 |
+
"part_name": "intake tube segment",
|
| 1415 |
+
"mask_color": "Blue",
|
| 1416 |
+
"graspable": false,
|
| 1417 |
+
"grasp_scenarios": [],
|
| 1418 |
+
"functional_labels": [
|
| 1419 |
+
"route liquid toward pump",
|
| 1420 |
+
"connect bottle interior to sprayer mechanism",
|
| 1421 |
+
"support fluid intake"
|
| 1422 |
+
],
|
| 1423 |
+
"semantic_description": "Small visible blue tube segment under the sprayer head near the trigger area, appearing as part of the internal fluid path rather than an external handleable control.",
|
| 1424 |
+
"id": 2,
|
| 1425 |
+
"grasp_group": {}
|
| 1426 |
+
}
|
| 1427 |
+
],
|
| 1428 |
+
"quality_check": {
|
| 1429 |
+
"success": false,
|
| 1430 |
+
"message": "Several semantic descriptions use wrong visible colors; tube part identity/function is uncertain and mislabeled as visible blue intake tube."
|
| 1431 |
+
}
|
| 1432 |
+
}
|
dataset/livingroom_supplies/ornaments/2bf6ddd340215d62b658c66e04b7c2b3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:042bcf7fd529a8f192238955915b9ef142d387fe24ddec74504593a09a37da63
|
| 3 |
+
size 3745800
|