Add asset kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c
Browse files
.gitattributes
CHANGED
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@@ -7503,4 +7503,5 @@ dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/affordance/me
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| 7503 |
dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7504 |
dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7505 |
dataset/kitchen_supplies/ware/0727424ca1fc5908ab68dcd325a19ced/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7506 |
-
dataset/kitchen_supplies/ware/
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| 7503 |
dataset/kitchen_supplies/ware/04a84459bb7253a18c5a4088fa668433/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7504 |
dataset/kitchen_supplies/ware/0573bd7555e353eba30f452f6feb6ef7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7505 |
dataset/kitchen_supplies/ware/0727424ca1fc5908ab68dcd325a19ced/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7506 |
+
dataset/kitchen_supplies/ware/072e1b5449cb54919c3d30c07d7c2a89/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7507 |
+
dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1230 @@
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|
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|
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "spout nipple",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately pinch the nipple to orient the bottle top during inspection or cap-free handling",
|
| 10 |
+
"confidence": 0.24
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "lightly grasp the nipple to pull or steady the bottle during placement",
|
| 14 |
+
"confidence": 0.18
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense liquid to the baby",
|
| 19 |
+
"provide a soft drinking spout",
|
| 20 |
+
"seal the drinking opening",
|
| 21 |
+
"indicate the top drinking end"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small beige translucent silicone nipple with a glossy smooth soft surface, rounded conical shape, located at the very top above the collar.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_7": {
|
| 27 |
+
"confidence": 0.8964698314666748,
|
| 28 |
+
"position": [
|
| 29 |
+
0.033074338502046885,
|
| 30 |
+
-0.01625488950230647,
|
| 31 |
+
0.161944720428437
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.08955178951568822,
|
| 35 |
+
"xyz": [
|
| 36 |
+
-0.9820298321875283,
|
| 37 |
+
-0.06723189162436424,
|
| 38 |
+
0.1519136545438986
|
| 39 |
+
]
|
| 40 |
+
}
|
| 41 |
+
},
|
| 42 |
+
"grasp_14": {
|
| 43 |
+
"confidence": 0.8807196617126465,
|
| 44 |
+
"position": [
|
| 45 |
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0.026487235492822947,
|
| 46 |
+
0.011691932842950337,
|
| 47 |
+
0.16302822856232524
|
| 48 |
+
],
|
| 49 |
+
"orientation": {
|
| 50 |
+
"w": 0.08558740593898091,
|
| 51 |
+
"xyz": [
|
| 52 |
+
0.9884442604498234,
|
| 53 |
+
-0.013093674413757833,
|
| 54 |
+
-0.12442385470151737
|
| 55 |
+
]
|
| 56 |
+
}
|
| 57 |
+
},
|
| 58 |
+
"grasp_15": {
|
| 59 |
+
"confidence": 0.8796514868736267,
|
| 60 |
+
"position": [
|
| 61 |
+
0.04396239719426376,
|
| 62 |
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0.0007788092916598544,
|
| 63 |
+
0.15295505849644542
|
| 64 |
+
],
|
| 65 |
+
"orientation": {
|
| 66 |
+
"w": 0.045840958164268766,
|
| 67 |
+
"xyz": [
|
| 68 |
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|
| 69 |
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|
| 70 |
+
0.21214575033491975
|
| 71 |
+
]
|
| 72 |
+
}
|
| 73 |
+
}
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"part_name": "screw collar",
|
| 78 |
+
"mask_color": "Orange",
|
| 79 |
+
"graspable": true,
|
| 80 |
+
"grasp_scenarios": [
|
| 81 |
+
{
|
| 82 |
+
"scenario": "grasp the collar to twist and unscrew or tighten the bottle top",
|
| 83 |
+
"confidence": 0.88
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"scenario": "hold the collar to stabilize the top assembly while attaching parts",
|
| 87 |
+
"confidence": 0.79
|
| 88 |
+
},
|
| 89 |
+
{
|
| 90 |
+
"scenario": "grasp the collar to lift the bottle when the body is obstructed",
|
| 91 |
+
"confidence": 0.46
|
| 92 |
+
}
|
| 93 |
+
],
|
| 94 |
+
"functional_labels": [
|
| 95 |
+
"secure the nipple assembly",
|
| 96 |
+
"enable opening and closing by twisting",
|
| 97 |
+
"connect top parts to the bottle body",
|
| 98 |
+
"provide a rigid top gripping ring"
|
| 99 |
+
],
|
| 100 |
+
"semantic_description": "Wide orange plastic collar with a glossy hard smooth finish and shallow ridges, encircling the top of the bottle above the body.",
|
| 101 |
+
"id": 4,
|
| 102 |
+
"grasp_group": {
|
| 103 |
+
"grasp_80": {
|
| 104 |
+
"confidence": 0.94818514585495,
|
| 105 |
+
"position": [
|
| 106 |
+
0.004850221379456343,
|
| 107 |
+
-0.09827070376195479,
|
| 108 |
+
0.08150326041504741
|
| 109 |
+
],
|
| 110 |
+
"orientation": {
|
| 111 |
+
"w": 0.5306277857173637,
|
| 112 |
+
"xyz": [
|
| 113 |
+
-0.8463544645642417,
|
| 114 |
+
0.015043119577212272,
|
| 115 |
+
0.0434968721892641
|
| 116 |
+
]
|
| 117 |
+
}
|
| 118 |
+
},
|
| 119 |
+
"grasp_81": {
|
| 120 |
+
"confidence": 0.9474524855613708,
|
| 121 |
+
"position": [
|
| 122 |
+
-0.011686017223837553,
|
| 123 |
+
-0.09086178681172896,
|
| 124 |
+
0.09017339674755931
|
| 125 |
+
],
|
| 126 |
+
"orientation": {
|
| 127 |
+
"w": 0.49391997150983413,
|
| 128 |
+
"xyz": [
|
| 129 |
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-0.8682384610378121,
|
| 130 |
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0.03510011200990604,
|
| 131 |
+
-0.031193246950397976
|
| 132 |
+
]
|
| 133 |
+
}
|
| 134 |
+
},
|
| 135 |
+
"grasp_82": {
|
| 136 |
+
"confidence": 0.9375664591789246,
|
| 137 |
+
"position": [
|
| 138 |
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0.019511988899466814,
|
| 139 |
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-0.09489231249608565,
|
| 140 |
+
0.074861581902951
|
| 141 |
+
],
|
| 142 |
+
"orientation": {
|
| 143 |
+
"w": 0.041124862576863125,
|
| 144 |
+
"xyz": [
|
| 145 |
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0.1168303457719626,
|
| 146 |
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-0.819649781808559,
|
| 147 |
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-0.559315341436314
|
| 148 |
+
]
|
| 149 |
+
}
|
| 150 |
+
},
|
| 151 |
+
"grasp_83": {
|
| 152 |
+
"confidence": 0.9246931076049805,
|
| 153 |
+
"position": [
|
| 154 |
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0.0005927976344537456,
|
| 155 |
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0.08250705459795427,
|
| 156 |
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0.09250532416626811
|
| 157 |
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],
|
| 158 |
+
"orientation": {
|
| 159 |
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"w": 0.49072404679157616,
|
| 160 |
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"xyz": [
|
| 161 |
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0.8707043102673442,
|
| 162 |
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0.027652308950292193,
|
| 163 |
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-0.01729924252921878
|
| 164 |
+
]
|
| 165 |
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}
|
| 166 |
+
},
|
| 167 |
+
"grasp_84": {
|
| 168 |
+
"confidence": 0.9233548641204834,
|
| 169 |
+
"position": [
|
| 170 |
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-0.05758992903793114,
|
| 171 |
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0.06918408283672761,
|
| 172 |
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0.08770305989310145
|
| 173 |
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],
|
| 174 |
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"orientation": {
|
| 175 |
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"w": 0.18169231596374455,
|
| 176 |
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"xyz": [
|
| 177 |
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-0.2685786568898745,
|
| 178 |
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0.8103294330328997,
|
| 179 |
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-0.48807747063713364
|
| 180 |
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]
|
| 181 |
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}
|
| 182 |
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},
|
| 183 |
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"grasp_85": {
|
| 184 |
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"confidence": 0.9219197034835815,
|
| 185 |
+
"position": [
|
| 186 |
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-0.00876140822583693,
|
| 187 |
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0.09086136826954316,
|
| 188 |
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0.08692007837817073
|
| 189 |
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],
|
| 190 |
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"orientation": {
|
| 191 |
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"w": 0.4997053845282251,
|
| 192 |
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"xyz": [
|
| 193 |
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0.8644561061252044,
|
| 194 |
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0.050499711415772364,
|
| 195 |
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0.02144640770085584
|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_86": {
|
| 200 |
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"confidence": 0.9143360257148743,
|
| 201 |
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"position": [
|
| 202 |
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-0.032909057521465,
|
| 203 |
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-0.09368686816014815,
|
| 204 |
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0.08747685281559825
|
| 205 |
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],
|
| 206 |
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"orientation": {
|
| 207 |
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"w": 0.13364697199615563,
|
| 208 |
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"xyz": [
|
| 209 |
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0.08985150658000127,
|
| 210 |
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0.8520305992410535,
|
| 211 |
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0.4981054623254937
|
| 212 |
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]
|
| 213 |
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}
|
| 214 |
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},
|
| 215 |
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"grasp_87": {
|
| 216 |
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"confidence": 0.9072936773300171,
|
| 217 |
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"position": [
|
| 218 |
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|
| 219 |
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0.08594081857881974,
|
| 220 |
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0.07882557390257716
|
| 221 |
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],
|
| 222 |
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"orientation": {
|
| 223 |
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|
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"xyz": [
|
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|
| 226 |
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0.8185934843143856,
|
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| 1230 |
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|
dataset/kitchen_supplies/ware/0b0a108aa97a57389135a42de10a421c/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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|
|
|
|
|
|
|
|
|
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|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:6f6f91a8fa9ab3edd3256fdbbf55d9675eab2720466b675ab8866115690a9180
|
| 3 |
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size 3782324
|