Add asset kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51
Browse files
.gitattributes
CHANGED
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@@ -7620,3 +7620,4 @@ dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/affordance/mesh_p
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| 7620 |
dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7621 |
dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7622 |
dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7620 |
dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7621 |
dataset/kitchen_supplies/ware/ad7629e535ea501ab6124d314043593e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7622 |
dataset/kitchen_supplies/ware/af832cd79a295f4a8da4a6cad6ecedf3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7623 |
+
dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,646 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "nipple",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately pinch the nipple to orient the bottle top during placement or inspection",
|
| 10 |
+
"confidence": 0.22
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly hold the nipple to steady the bottle while another tool engages the collar",
|
| 14 |
+
"confidence": 0.16
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense liquid for feeding",
|
| 19 |
+
"provide suck interface",
|
| 20 |
+
"direct flow from bottle opening",
|
| 21 |
+
"indicate drinking end"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small translucent light-gray silicone nipple with a soft smooth slightly matte finish, rounded tapered shape, and top-center position on the bottle.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_7": {
|
| 27 |
+
"confidence": 0.6702730655670166,
|
| 28 |
+
"position": [
|
| 29 |
+
-0.04418436987907626,
|
| 30 |
+
-0.0051982757286168635,
|
| 31 |
+
0.12060254625976086
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.186589214165716,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.6710526765693449,
|
| 37 |
+
0.7029340700032471,
|
| 38 |
+
-0.14407103683533667
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_9": {
|
| 43 |
+
"confidence": 0.5567656755447388,
|
| 44 |
+
"position": [
|
| 45 |
+
-0.035953132348367944,
|
| 46 |
+
-0.01982211141148582,
|
| 47 |
+
0.12059258483350277
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.21804657887971635,
|
| 51 |
+
"xyz": [
|
| 52 |
+
-0.731118641335698,
|
| 53 |
+
0.6408389743426577,
|
| 54 |
+
-0.08512714428280418
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_14": {
|
| 59 |
+
"confidence": 0.8056461811065674,
|
| 60 |
+
"position": [
|
| 61 |
+
0.0008032851328607649,
|
| 62 |
+
0.0002527969772927463,
|
| 63 |
+
0.12975852750241756
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.012455184493868015,
|
| 67 |
+
"xyz": [
|
| 68 |
+
0.9684488517815744,
|
| 69 |
+
-0.24887683209128086,
|
| 70 |
+
0.0034658780103032152
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
},
|
| 74 |
+
"grasp_16": {
|
| 75 |
+
"confidence": 0.7975173592567444,
|
| 76 |
+
"position": [
|
| 77 |
+
-0.005445538932690397,
|
| 78 |
+
-0.03008476091781631,
|
| 79 |
+
0.12361577711999416
|
| 80 |
+
],
|
| 81 |
+
"orientation": {
|
| 82 |
+
"w": 0.1744563357404369,
|
| 83 |
+
"xyz": [
|
| 84 |
+
-0.9740262057029437,
|
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}
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},
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| 562 |
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{
|
| 563 |
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"part_name": "bottom rim",
|
| 564 |
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"mask_color": "Orange",
|
| 565 |
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"graspable": true,
|
| 566 |
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"grasp_scenarios": [
|
| 567 |
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{
|
| 568 |
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"scenario": "grasp the bottom rim from below or the side to lift or reposition the bottle",
|
| 569 |
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"confidence": 0.42
|
| 570 |
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},
|
| 571 |
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{
|
| 572 |
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"scenario": "use the rim as a secondary support contact while stabilizing the bottle body",
|
| 573 |
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"confidence": 0.38
|
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}
|
| 575 |
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],
|
| 576 |
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"functional_labels": [
|
| 577 |
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"protect the base edge",
|
| 578 |
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"stabilize contact with surfaces",
|
| 579 |
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"reinforce the bottom perimeter"
|
| 580 |
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],
|
| 581 |
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"semantic_description": "Thin amber-brown translucent plastic rim with a smooth glossy finish encircling the underside edge of the bottle base.",
|
| 582 |
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"id": 4,
|
| 583 |
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"grasp_group": {}
|
| 584 |
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},
|
| 585 |
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{
|
| 586 |
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"part_name": "base insert",
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| 587 |
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"mask_color": "Yellow",
|
| 588 |
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"graspable": true,
|
| 589 |
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"grasp_scenarios": [
|
| 590 |
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{
|
| 591 |
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"scenario": "press or contact the flat base insert with a gripper pad or suction tool to steady the bottle from underneath",
|
| 592 |
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"confidence": 0.44
|
| 593 |
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},
|
| 594 |
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{
|
| 595 |
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"scenario": "use the base center as a support point while reorienting the bottle",
|
| 596 |
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"confidence": 0.36
|
| 597 |
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}
|
| 598 |
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],
|
| 599 |
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"functional_labels": [
|
| 600 |
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"support standing on flat surfaces",
|
| 601 |
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"form the bottom closure",
|
| 602 |
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"provide base contact area"
|
| 603 |
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],
|
| 604 |
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"semantic_description": "Flat circular amber-brown translucent plastic base center with a glossy smooth surface, located on the underside and sized smaller than the full bottle width.",
|
| 605 |
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"id": 3,
|
| 606 |
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"grasp_group": {
|
| 607 |
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"grasp_64": {
|
| 608 |
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|
| 609 |
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| 613 |
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],
|
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"orientation": {
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| 615 |
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| 616 |
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| 619 |
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]
|
| 621 |
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}
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| 622 |
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},
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| 623 |
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"grasp_73": {
|
| 624 |
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|
| 625 |
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"position": [
|
| 626 |
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|
| 627 |
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|
| 628 |
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| 629 |
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],
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| 630 |
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"orientation": {
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| 631 |
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| 632 |
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| 633 |
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| 634 |
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]
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| 637 |
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}
|
| 638 |
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}
|
| 639 |
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}
|
| 640 |
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}
|
| 641 |
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],
|
| 642 |
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"quality_check": {
|
| 643 |
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"success": false,
|
| 644 |
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"message": "Bottom parts are misdescribed and not truly separate physical components in RGB image."
|
| 645 |
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}
|
| 646 |
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}
|
dataset/kitchen_supplies/ware/b0b299de7a2954038634f2040e2f4e51/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:dd0c2d3236af03754315ff0fa54daf8f7a71c4476d553359a3c34c028d0eb33a
|
| 3 |
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size 36749116
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