Add asset kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3
Browse files
.gitattributes
CHANGED
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@@ -8512,3 +8512,4 @@ dataset/kitchen_supplies/ware/e94f934712195839925367ccdb860b4d/affordance/mesh_p
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| 8512 |
dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8513 |
dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8514 |
dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8512 |
dataset/kitchen_supplies/ware/e8fccd0d16f858bcb4b5d8c4594a8621/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8513 |
dataset/kitchen_supplies/ware/ec34467ddd0a53d09cd8d2ae14bfb670/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8514 |
dataset/kitchen_supplies/ware/ea3d62333a4a5a4d9c0f9d0ad0e0f4f8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8515 |
+
dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1119 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "silicone nipple",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "lightly pinch the nipple tip to orient the bottle during handling or inspection",
|
| 10 |
+
"confidence": 0.3
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "briefly hold the nipple to steady the top assembly while attaching or removing the collar",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense liquid to infant",
|
| 19 |
+
"provide sucking interface",
|
| 20 |
+
"control flow at the feeding tip"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Small translucent gray silicone nipple with a soft smooth slightly glossy surface, rounded tapered shape, and topmost centered position on the bottle.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 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 |
+
],
|
| 32 |
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"orientation": {
|
| 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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| 38 |
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]
|
| 39 |
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}
|
| 40 |
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},
|
| 41 |
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"grasp_5": {
|
| 42 |
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"confidence": 0.35428479313850403,
|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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| 47 |
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],
|
| 48 |
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"orientation": {
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| 49 |
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|
| 50 |
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| 51 |
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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}
|
| 56 |
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},
|
| 57 |
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|
| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 62 |
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| 63 |
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],
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| 64 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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]
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| 71 |
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}
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| 72 |
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},
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| 73 |
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"grasp_16": {
|
| 74 |
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|
| 75 |
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| 76 |
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| 77 |
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| 78 |
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0.15230774332303554
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| 79 |
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],
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| 80 |
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"orientation": {
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| 81 |
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| 82 |
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| 83 |
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0.34212411528055076,
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| 85 |
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| 86 |
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]
|
| 87 |
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}
|
| 88 |
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}
|
| 89 |
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}
|
| 90 |
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},
|
| 91 |
+
{
|
| 92 |
+
"part_name": "collar ring",
|
| 93 |
+
"mask_color": "Yellow",
|
| 94 |
+
"graspable": true,
|
| 95 |
+
"grasp_scenarios": [
|
| 96 |
+
{
|
| 97 |
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"scenario": "grasp the collar ring to twist and unscrew or tighten the top assembly",
|
| 98 |
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"confidence": 0.86
|
| 99 |
+
},
|
| 100 |
+
{
|
| 101 |
+
"scenario": "hold the collar ring to stabilize the bottle while manipulating the nipple assembly",
|
| 102 |
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"confidence": 0.73
|
| 103 |
+
}
|
| 104 |
+
],
|
| 105 |
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"functional_labels": [
|
| 106 |
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"secure nipple assembly",
|
| 107 |
+
"connect top to bottle body",
|
| 108 |
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"enable twisting for opening and closing",
|
| 109 |
+
"compress seal around the nipple"
|
| 110 |
+
],
|
| 111 |
+
"semantic_description": "Medium-width white plastic ring with a hard smooth semi-gloss finish, circular shape, and position directly below the nipple at the bottle neck.",
|
| 112 |
+
"id": 3,
|
| 113 |
+
"grasp_group": {
|
| 114 |
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"grasp_60": {
|
| 115 |
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"confidence": 0.8554954528808594,
|
| 116 |
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| 117 |
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-0.037879207608057186,
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| 118 |
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0.09084710720253497,
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| 119 |
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0.058013251167722046
|
| 120 |
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],
|
| 121 |
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"orientation": {
|
| 122 |
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"w": 0.6888693879800853,
|
| 123 |
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| 124 |
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0.6958963518063108,
|
| 125 |
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0.16342943796494547,
|
| 126 |
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0.12032477987958887
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| 127 |
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]
|
| 128 |
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}
|
| 129 |
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},
|
| 130 |
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"grasp_61": {
|
| 131 |
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"confidence": 0.9253812432289124,
|
| 132 |
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| 133 |
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0.07565264267032035,
|
| 134 |
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-0.035813664465422335,
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| 135 |
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0.11362040240783244
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| 136 |
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],
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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0.23854785632509123
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| 143 |
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]
|
| 144 |
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}
|
| 145 |
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},
|
| 146 |
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"grasp_62": {
|
| 147 |
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"confidence": 0.7739137411117554,
|
| 148 |
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"position": [
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| 149 |
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0.046543309959815815,
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| 150 |
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0.09124094489288836,
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| 151 |
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0.10301949281711131
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| 152 |
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],
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| 153 |
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| 154 |
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| 155 |
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| 159 |
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]
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| 160 |
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| 161 |
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},
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| 163 |
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| 164 |
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0.10288162727374583
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],
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| 169 |
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| 171 |
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]
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},
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| 178 |
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| 179 |
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| 180 |
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0.10224306036252528
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],
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]
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},
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0.10942301352042705
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],
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0.5973160852948307,
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]
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],
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},
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0.10741348017472774
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],
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},
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],
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},
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],
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},
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],
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"confidence": 0.956735372543335,
|
| 1082 |
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"position": [
|
| 1083 |
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0.03117396545712836,
|
| 1084 |
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-0.10334107783364743,
|
| 1085 |
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0.03432695020455867
|
| 1086 |
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],
|
| 1087 |
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"orientation": {
|
| 1088 |
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"w": 0.7024832643579649,
|
| 1089 |
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"xyz": [
|
| 1090 |
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-0.6965528198141919,
|
| 1091 |
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-0.08075004713992406,
|
| 1092 |
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0.12169988657667492
|
| 1093 |
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]
|
| 1094 |
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}
|
| 1095 |
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},
|
| 1096 |
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"grasp_59": {
|
| 1097 |
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"confidence": 0.9562303423881531,
|
| 1098 |
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"position": [
|
| 1099 |
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-0.02867505091126077,
|
| 1100 |
+
-0.10017102715301007,
|
| 1101 |
+
0.024393685278482735
|
| 1102 |
+
],
|
| 1103 |
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"orientation": {
|
| 1104 |
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"w": 0.7265581140394418,
|
| 1105 |
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"xyz": [
|
| 1106 |
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-0.6693864700687874,
|
| 1107 |
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0.12581266288858917,
|
| 1108 |
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-0.0905882689379827
|
| 1109 |
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]
|
| 1110 |
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}
|
| 1111 |
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}
|
| 1112 |
+
}
|
| 1113 |
+
}
|
| 1114 |
+
],
|
| 1115 |
+
"quality_check": {
|
| 1116 |
+
"success": false,
|
| 1117 |
+
"message": "Body color/material and markings are misdescribed; bottle is opaque white, not clear transparent plastic."
|
| 1118 |
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}
|
| 1119 |
+
}
|
dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8ca8195fced886af64521bcb7ea382747e77731962c1a1f811c22a25b0a998ed
|
| 3 |
+
size 3782528
|