Add asset kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff
Browse files
.gitattributes
CHANGED
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@@ -7610,4 +7610,4 @@ dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/affordance/mesh_p
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dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7611 |
dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7612 |
dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7613 |
-
dataset/kitchen_supplies/ware/
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| 7610 |
dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7611 |
dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7612 |
dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7613 |
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dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,667 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the narrowed middle of the bottle body to pick up the baby bottle",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the bottle body to stabilize it while feeding or repositioning",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the lower body to move the bottle on a surface",
|
| 18 |
+
"confidence": 0.87
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support feeding",
|
| 25 |
+
"support bottle handling",
|
| 26 |
+
"provide structural enclosure"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Large white bottle body made of glossy rigid material with a smooth surface, hourglass-shaped and centered below the collar, with small printed markings near the lower side.",
|
| 29 |
+
"id": 0,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_0": {
|
| 32 |
+
"confidence": 0.9402921795845032,
|
| 33 |
+
"position": [
|
| 34 |
+
0.005886597282369621,
|
| 35 |
+
0.10875695990398526,
|
| 36 |
+
-0.03093657921999693
|
| 37 |
+
],
|
| 38 |
+
"orientation": {
|
| 39 |
+
"w": 0.7079350929136359,
|
| 40 |
+
"xyz": [
|
| 41 |
+
0.7056319369193893,
|
| 42 |
+
-0.023590864888268226,
|
| 43 |
+
-0.01883998180935182
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
+
"grasp_2": {
|
| 48 |
+
"confidence": 0.935042142868042,
|
| 49 |
+
"position": [
|
| 50 |
+
0.005689802303095348,
|
| 51 |
+
-0.10902748955413699,
|
| 52 |
+
0.02630299422889948
|
| 53 |
+
],
|
| 54 |
+
"orientation": {
|
| 55 |
+
"w": 0.716438390204814,
|
| 56 |
+
"xyz": [
|
| 57 |
+
-0.6968284321984387,
|
| 58 |
+
-0.020695037108614756,
|
| 59 |
+
0.026793367829993107
|
| 60 |
+
]
|
| 61 |
+
}
|
| 62 |
+
},
|
| 63 |
+
"grasp_3": {
|
| 64 |
+
"confidence": 0.934934139251709,
|
| 65 |
+
"position": [
|
| 66 |
+
0.01650430513836909,
|
| 67 |
+
-0.1072182129137218,
|
| 68 |
+
0.020752347074449062
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.7037100192142889,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.7056202415373805,
|
| 74 |
+
-0.03933618495910329,
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],
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}
|
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}
|
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},
|
| 618 |
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{
|
| 619 |
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"part_name": "nipple",
|
| 620 |
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"mask_color": "Blue",
|
| 621 |
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"graspable": false,
|
| 622 |
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"grasp_scenarios": [],
|
| 623 |
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"functional_labels": [
|
| 624 |
+
"dispense milk",
|
| 625 |
+
"support infant sucking",
|
| 626 |
+
"control liquid flow",
|
| 627 |
+
"provide soft mouth interface"
|
| 628 |
+
],
|
| 629 |
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"semantic_description": "Small translucent gray silicone nipple with a soft smooth slightly matte surface, tapered and rounded at the tip, positioned at the very top of the bottle.",
|
| 630 |
+
"id": 2,
|
| 631 |
+
"grasp_group": {}
|
| 632 |
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},
|
| 633 |
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{
|
| 634 |
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"part_name": "sealing ring",
|
| 635 |
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"mask_color": "Yellow",
|
| 636 |
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"graspable": false,
|
| 637 |
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"grasp_scenarios": [],
|
| 638 |
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"functional_labels": [
|
| 639 |
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"seal the nipple area",
|
| 640 |
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"prevent leakage",
|
| 641 |
+
"cushion the junction",
|
| 642 |
+
"separate collar from nipple"
|
| 643 |
+
],
|
| 644 |
+
"semantic_description": "Thin narrow ring beneath the nipple, appearing pale yellow to gold, with a smooth finish and small circular band shape around the top opening.",
|
| 645 |
+
"id": 3,
|
| 646 |
+
"grasp_group": {}
|
| 647 |
+
},
|
| 648 |
+
{
|
| 649 |
+
"part_name": "bottom base",
|
| 650 |
+
"mask_color": "Purple",
|
| 651 |
+
"graspable": false,
|
| 652 |
+
"grasp_scenarios": [],
|
| 653 |
+
"functional_labels": [
|
| 654 |
+
"support upright standing",
|
| 655 |
+
"provide a resting surface",
|
| 656 |
+
"stabilize the bottle base"
|
| 657 |
+
],
|
| 658 |
+
"semantic_description": "Flat circular off-white bottom base with a smooth glossy surface, located at the underside of the bottle and slightly recessed within the rounded lower edge.",
|
| 659 |
+
"id": 5,
|
| 660 |
+
"grasp_group": {}
|
| 661 |
+
}
|
| 662 |
+
],
|
| 663 |
+
"quality_check": {
|
| 664 |
+
"success": false,
|
| 665 |
+
"message": "Several visual descriptions are inaccurate, especially body/base material and colors; body is translucent glass-like, not rigid white plastic."
|
| 666 |
+
}
|
| 667 |
+
}
|
dataset/kitchen_supplies/ware/a6513e413a515d28b66d28db566af3ff/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:0c04187a6fd38df40419c66daf3c154b0d18ab3835a9e0aaf91c6ddc7c9b0f56
|
| 3 |
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size 3769520
|