Add asset kitchen_supplies/ware/c40c6c7416255fbd9c0bc30bb209c583
Browse files
.gitattributes
CHANGED
|
@@ -7638,3 +7638,4 @@ dataset/kitchen_supplies/ware/bdc94b1083f35664986413047958d238/affordance/mesh_p
|
|
| 7638 |
dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7639 |
dataset/kitchen_supplies/ware/beaeea07936d59faa7e878cd19ae0468/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7640 |
dataset/kitchen_supplies/ware/c3bafd1efb145b49bd38eb21907fd4a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
|
|
|
|
|
| 7638 |
dataset/kitchen_supplies/ware/bfda0d0bc9595811a3e5090c0f6daa23/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7639 |
dataset/kitchen_supplies/ware/beaeea07936d59faa7e878cd19ae0468/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7640 |
dataset/kitchen_supplies/ware/c3bafd1efb145b49bd38eb21907fd4a9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
| 7641 |
+
dataset/kitchen_supplies/ware/c40c6c7416255fbd9c0bc30bb209c583/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
|
dataset/kitchen_supplies/ware/c40c6c7416255fbd9c0bc30bb209c583/affordance/affordance_annot.json
ADDED
|
@@ -0,0 +1,426 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "nipple",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "delicately grasp the nipple to orient the bottle top during inspection or assembly",
|
| 10 |
+
"confidence": 0.29
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the nipple to pull or test the flexible tip",
|
| 14 |
+
"confidence": 0.22
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense milk through the tip",
|
| 19 |
+
"provide infant sucking interface",
|
| 20 |
+
"control liquid flow opening"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "Small beige silicone or rubber nipple with a soft smooth slightly matte surface, rounded tapered shape, and flexible tip centered at the top of the bottle.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_9": {
|
| 26 |
+
"confidence": 0.4170094430446625,
|
| 27 |
+
"position": [
|
| 28 |
+
0.017765608412446454,
|
| 29 |
+
-0.003812517345068045,
|
| 30 |
+
0.15502332104369998
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.07569036348385359,
|
| 34 |
+
"xyz": [
|
| 35 |
+
-0.7829082087373163,
|
| 36 |
+
-0.6167819716720915,
|
| 37 |
+
0.030094932923945803
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_13": {
|
| 42 |
+
"confidence": 0.3828738331794739,
|
| 43 |
+
"position": [
|
| 44 |
+
0.024262659979285672,
|
| 45 |
+
0.004051132753374986,
|
| 46 |
+
0.1512318546883762
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.09077144617691697,
|
| 50 |
+
"xyz": [
|
| 51 |
+
0.927046661371538,
|
| 52 |
+
-0.35305836939436847,
|
| 53 |
+
-0.08772012311565547
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_14": {
|
| 58 |
+
"confidence": 0.3224002718925476,
|
| 59 |
+
"position": [
|
| 60 |
+
-0.01841422842699103,
|
| 61 |
+
0.003334171764436178,
|
| 62 |
+
0.1603951002471149
|
| 63 |
+
],
|
| 64 |
+
"orientation": {
|
| 65 |
+
"w": 0.05372101885634851,
|
| 66 |
+
"xyz": [
|
| 67 |
+
-0.7534861363601525,
|
| 68 |
+
0.6513226172582799,
|
| 69 |
+
-0.07177424812500148
|
| 70 |
+
]
|
| 71 |
+
}
|
| 72 |
+
}
|
| 73 |
+
}
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"part_name": "screw collar",
|
| 77 |
+
"mask_color": "Green",
|
| 78 |
+
"graspable": true,
|
| 79 |
+
"grasp_scenarios": [
|
| 80 |
+
{
|
| 81 |
+
"scenario": "grasp the screw collar to unscrew or secure the bottle top",
|
| 82 |
+
"confidence": 0.82
|
| 83 |
+
},
|
| 84 |
+
{
|
| 85 |
+
"scenario": "hold the screw collar to stabilize the bottle during nipple manipulation",
|
| 86 |
+
"confidence": 0.67
|
| 87 |
+
}
|
| 88 |
+
],
|
| 89 |
+
"functional_labels": [
|
| 90 |
+
"secure the nipple to the bottle",
|
| 91 |
+
"connect top components",
|
| 92 |
+
"enable twisting for opening and closing",
|
| 93 |
+
"retain the feeding assembly"
|
| 94 |
+
],
|
| 95 |
+
"semantic_description": "Medium-sized plastic screw collar with a hard smooth slightly glossy finish and circular ridged band shape around the neck below the nipple; the visible collar is two-toned, with orange on one side and purple on the other across the shown views.",
|
| 96 |
+
"id": 1,
|
| 97 |
+
"grasp_group": {
|
| 98 |
+
"grasp_20": {
|
| 99 |
+
"confidence": 0.9504345059394836,
|
| 100 |
+
"position": [
|
| 101 |
+
-0.09154890404897742,
|
| 102 |
+
-0.03904531135049183,
|
| 103 |
+
0.07775054825469851
|
| 104 |
+
],
|
| 105 |
+
"orientation": {
|
| 106 |
+
"w": 0.4606253683418842,
|
| 107 |
+
"xyz": [
|
| 108 |
+
-0.6879312341308704,
|
| 109 |
+
0.4843905031319825,
|
| 110 |
+
-0.2827379133095276
|
| 111 |
+
]
|
| 112 |
+
}
|
| 113 |
+
},
|
| 114 |
+
"grasp_21": {
|
| 115 |
+
"confidence": 0.9501287937164307,
|
| 116 |
+
"position": [
|
| 117 |
+
-0.10128255860763602,
|
| 118 |
+
-0.00977975300338585,
|
| 119 |
+
0.03064139885827899
|
| 120 |
+
],
|
| 121 |
+
"orientation": {
|
| 122 |
+
"w": 0.5291394217256928,
|
| 123 |
+
"xyz": [
|
| 124 |
+
-0.5138608358702339,
|
| 125 |
+
0.47615918613823593,
|
| 126 |
+
-0.4787806838111965
|
| 127 |
+
]
|
| 128 |
+
}
|
| 129 |
+
},
|
| 130 |
+
"grasp_22": {
|
| 131 |
+
"confidence": 0.943897545337677,
|
| 132 |
+
"position": [
|
| 133 |
+
-0.09697394745307975,
|
| 134 |
+
0.019284235473605804,
|
| 135 |
+
0.037815924268215895
|
| 136 |
+
],
|
| 137 |
+
"orientation": {
|
| 138 |
+
"w": 0.4267110184321114,
|
| 139 |
+
"xyz": [
|
| 140 |
+
-0.4788931774661967,
|
| 141 |
+
0.5420289800587217,
|
| 142 |
+
-0.5429397904938097
|
| 143 |
+
]
|
| 144 |
+
}
|
| 145 |
+
},
|
| 146 |
+
"grasp_23": {
|
| 147 |
+
"confidence": 0.942433774471283,
|
| 148 |
+
"position": [
|
| 149 |
+
0.08743819667142816,
|
| 150 |
+
0.012751579444739036,
|
| 151 |
+
0.08574435068294406
|
| 152 |
+
],
|
| 153 |
+
"orientation": {
|
| 154 |
+
"w": 0.382568473878721,
|
| 155 |
+
"xyz": [
|
| 156 |
+
0.6444515485978711,
|
| 157 |
+
-0.5775664565730245,
|
| 158 |
+
-0.32363645120040546
|
| 159 |
+
]
|
| 160 |
+
}
|
| 161 |
+
},
|
| 162 |
+
"grasp_24": {
|
| 163 |
+
"confidence": 0.9404764771461487,
|
| 164 |
+
"position": [
|
| 165 |
+
0.041019030642928556,
|
| 166 |
+
-0.08830989508714993,
|
| 167 |
+
0.08126767678186297
|
| 168 |
+
],
|
| 169 |
+
"orientation": {
|
| 170 |
+
"w": 0.10640272717894034,
|
| 171 |
+
"xyz": [
|
| 172 |
+
0.19410747835643352,
|
| 173 |
+
-0.8325810321232779,
|
| 174 |
+
-0.5077495164384972
|
| 175 |
+
]
|
| 176 |
+
}
|
| 177 |
+
},
|
| 178 |
+
"grasp_25": {
|
| 179 |
+
"confidence": 0.9366815686225891,
|
| 180 |
+
"position": [
|
| 181 |
+
0.04868752209586091,
|
| 182 |
+
-0.08849929629650433,
|
| 183 |
+
0.029113880824297667
|
| 184 |
+
],
|
| 185 |
+
"orientation": {
|
| 186 |
+
"w": 0.6936007592167717,
|
| 187 |
+
"xyz": [
|
| 188 |
+
-0.6752275541123739,
|
| 189 |
+
-0.1699361174467655,
|
| 190 |
+
0.1846820320671663
|
| 191 |
+
]
|
| 192 |
+
}
|
| 193 |
+
},
|
| 194 |
+
"grasp_26": {
|
| 195 |
+
"confidence": 0.9303403496742249,
|
| 196 |
+
"position": [
|
| 197 |
+
0.057207372767152265,
|
| 198 |
+
0.08000424892816227,
|
| 199 |
+
0.037913023959845304
|
| 200 |
+
],
|
| 201 |
+
"orientation": {
|
| 202 |
+
"w": 0.21336557095282221,
|
| 203 |
+
"xyz": [
|
| 204 |
+
-0.23846954109403762,
|
| 205 |
+
-0.6842762905339915,
|
| 206 |
+
0.6552658768129284
|
| 207 |
+
]
|
| 208 |
+
}
|
| 209 |
+
},
|
| 210 |
+
"grasp_27": {
|
| 211 |
+
"confidence": 0.9295288920402527,
|
| 212 |
+
"position": [
|
| 213 |
+
0.09554809404653497,
|
| 214 |
+
0.03207304717216175,
|
| 215 |
+
0.035811159294098616
|
| 216 |
+
],
|
| 217 |
+
"orientation": {
|
| 218 |
+
"w": 0.4090108367145153,
|
| 219 |
+
"xyz": [
|
| 220 |
+
-0.42026568057313307,
|
| 221 |
+
-0.5784442568841391,
|
| 222 |
+
0.5670001189243693
|
| 223 |
+
]
|
| 224 |
+
}
|
| 225 |
+
},
|
| 226 |
+
"grasp_30": {
|
| 227 |
+
"confidence": 0.9248425960540771,
|
| 228 |
+
"position": [
|
| 229 |
+
0.010245605168165639,
|
| 230 |
+
-0.10261682032432873,
|
| 231 |
+
0.0333814094774425
|
| 232 |
+
],
|
| 233 |
+
"orientation": {
|
| 234 |
+
"w": 0.7109863932547723,
|
| 235 |
+
"xyz": [
|
| 236 |
+
-0.7021723088401727,
|
| 237 |
+
-0.01844778499207722,
|
| 238 |
+
0.033347811525159955
|
| 239 |
+
]
|
| 240 |
+
}
|
| 241 |
+
},
|
| 242 |
+
"grasp_31": {
|
| 243 |
+
"confidence": 0.9232154488563538,
|
| 244 |
+
"position": [
|
| 245 |
+
0.08683569802087732,
|
| 246 |
+
-0.05515481143083889,
|
| 247 |
+
0.03535225195810199
|
| 248 |
+
],
|
| 249 |
+
"orientation": {
|
| 250 |
+
"w": 0.6036553025221731,
|
| 251 |
+
"xyz": [
|
| 252 |
+
-0.6386542709657488,
|
| 253 |
+
-0.30993824469657294,
|
| 254 |
+
0.3628488423413792
|
| 255 |
+
]
|
| 256 |
+
}
|
| 257 |
+
},
|
| 258 |
+
"grasp_32": {
|
| 259 |
+
"confidence": 0.9215951561927795,
|
| 260 |
+
"position": [
|
| 261 |
+
-0.07393024789053015,
|
| 262 |
+
0.06657880933198612,
|
| 263 |
+
0.03181903017684817
|
| 264 |
+
],
|
| 265 |
+
"orientation": {
|
| 266 |
+
"w": 0.6475890838194006,
|
| 267 |
+
"xyz": [
|
| 268 |
+
0.6404463521832676,
|
| 269 |
+
0.2960998713067807,
|
| 270 |
+
0.2877181167483252
|
| 271 |
+
]
|
| 272 |
+
}
|
| 273 |
+
},
|
| 274 |
+
"grasp_33": {
|
| 275 |
+
"confidence": 0.9211196303367615,
|
| 276 |
+
"position": [
|
| 277 |
+
-0.036668981629190966,
|
| 278 |
+
0.0920731464138953,
|
| 279 |
+
0.030987441074103117
|
| 280 |
+
],
|
| 281 |
+
"orientation": {
|
| 282 |
+
"w": 0.7024255311955933,
|
| 283 |
+
"xyz": [
|
| 284 |
+
0.683357554034038,
|
| 285 |
+
0.13979728304780414,
|
| 286 |
+
0.1416952579363827
|
| 287 |
+
]
|
| 288 |
+
}
|
| 289 |
+
},
|
| 290 |
+
"grasp_34": {
|
| 291 |
+
"confidence": 0.9202378988265991,
|
| 292 |
+
"position": [
|
| 293 |
+
0.08687193764490075,
|
| 294 |
+
0.04881526173267048,
|
| 295 |
+
0.03959823725745082
|
| 296 |
+
],
|
| 297 |
+
"orientation": {
|
| 298 |
+
"w": 0.33866005908675023,
|
| 299 |
+
"xyz": [
|
| 300 |
+
-0.384045119276976,
|
| 301 |
+
-0.6104548736807517,
|
| 302 |
+
0.6042876450319913
|
| 303 |
+
]
|
| 304 |
+
}
|
| 305 |
+
},
|
| 306 |
+
"grasp_36": {
|
| 307 |
+
"confidence": 0.9175981283187866,
|
| 308 |
+
"position": [
|
| 309 |
+
-0.08031330184894614,
|
| 310 |
+
0.027959074985119514,
|
| 311 |
+
0.08434835774824023
|
| 312 |
+
],
|
| 313 |
+
"orientation": {
|
| 314 |
+
"w": 0.2889810397581433,
|
| 315 |
+
"xyz": [
|
| 316 |
+
-0.49408762779146853,
|
| 317 |
+
0.7119091406088106,
|
| 318 |
+
-0.4068817398720742
|
| 319 |
+
]
|
| 320 |
+
}
|
| 321 |
+
},
|
| 322 |
+
"grasp_38": {
|
| 323 |
+
"confidence": 0.9152275919914246,
|
| 324 |
+
"position": [
|
| 325 |
+
0.007995856722118333,
|
| 326 |
+
0.10204802096995991,
|
| 327 |
+
0.030658654402941465
|
| 328 |
+
],
|
| 329 |
+
"orientation": {
|
| 330 |
+
"w": 0.7130193117136335,
|
| 331 |
+
"xyz": [
|
| 332 |
+
0.7000294910729772,
|
| 333 |
+
-0.011488870047025368,
|
| 334 |
+
-0.037817702423176204
|
| 335 |
+
]
|
| 336 |
+
}
|
| 337 |
+
},
|
| 338 |
+
"grasp_39": {
|
| 339 |
+
"confidence": 0.9144277572631836,
|
| 340 |
+
"position": [
|
| 341 |
+
-0.014910973812220618,
|
| 342 |
+
-0.10073840229597408,
|
| 343 |
+
0.03439374594017863
|
| 344 |
+
],
|
| 345 |
+
"orientation": {
|
| 346 |
+
"w": 0.07090498750517206,
|
| 347 |
+
"xyz": [
|
| 348 |
+
0.05954831342630155,
|
| 349 |
+
0.7074982745067325,
|
| 350 |
+
0.7006230603434134
|
| 351 |
+
]
|
| 352 |
+
}
|
| 353 |
+
}
|
| 354 |
+
}
|
| 355 |
+
},
|
| 356 |
+
{
|
| 357 |
+
"part_name": "neck ring",
|
| 358 |
+
"mask_color": "Yellow",
|
| 359 |
+
"graspable": false,
|
| 360 |
+
"grasp_scenarios": [
|
| 361 |
+
{
|
| 362 |
+
"scenario": "not typically used as a primary grasp point because the thin ring offers limited purchase",
|
| 363 |
+
"confidence": 0.84
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"provide a transition between the collar and bottle body",
|
| 368 |
+
"support the upper assembly at the neck",
|
| 369 |
+
"help define the bottle neck interface"
|
| 370 |
+
],
|
| 371 |
+
"semantic_description": "Thin narrow ring at the bottle neck between the upper collar and the main bottle body, visible as a slim pale cream or off-white band in the RGB views.",
|
| 372 |
+
"id": 3,
|
| 373 |
+
"grasp_group": {}
|
| 374 |
+
},
|
| 375 |
+
{
|
| 376 |
+
"part_name": "bottle body",
|
| 377 |
+
"mask_color": "Blue",
|
| 378 |
+
"graspable": true,
|
| 379 |
+
"grasp_scenarios": [
|
| 380 |
+
{
|
| 381 |
+
"scenario": "grasp the bottle body to pick up and carry the baby bottle",
|
| 382 |
+
"confidence": 0.96
|
| 383 |
+
},
|
| 384 |
+
{
|
| 385 |
+
"scenario": "hold the bottle body to feed or pour liquid",
|
| 386 |
+
"confidence": 0.92
|
| 387 |
+
},
|
| 388 |
+
{
|
| 389 |
+
"scenario": "stabilize the bottle body while opening or closing the top",
|
| 390 |
+
"confidence": 0.9
|
| 391 |
+
}
|
| 392 |
+
],
|
| 393 |
+
"functional_labels": [
|
| 394 |
+
"contain liquid",
|
| 395 |
+
"provide main grasp surface",
|
| 396 |
+
"support feeding and pouring",
|
| 397 |
+
"display volume markings",
|
| 398 |
+
"support the bottle upright"
|
| 399 |
+
],
|
| 400 |
+
"semantic_description": "Large translucent milky plastic body with a hard smooth glossy surface, hourglass profile, printed orange measurement marks on one side, and the main lower portion of the bottle.",
|
| 401 |
+
"id": 2,
|
| 402 |
+
"grasp_group": {
|
| 403 |
+
"grasp_54": {
|
| 404 |
+
"confidence": 0.9788910746574402,
|
| 405 |
+
"position": [
|
| 406 |
+
-0.07999049799400382,
|
| 407 |
+
-0.04643261789169628,
|
| 408 |
+
-0.10030549811199307
|
| 409 |
+
],
|
| 410 |
+
"orientation": {
|
| 411 |
+
"w": 0.7513069994732723,
|
| 412 |
+
"xyz": [
|
| 413 |
+
-0.4210598043692553,
|
| 414 |
+
0.2708981076463577,
|
| 415 |
+
-0.42995424054265946
|
| 416 |
+
]
|
| 417 |
+
}
|
| 418 |
+
}
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
],
|
| 422 |
+
"quality_check": {
|
| 423 |
+
"success": false,
|
| 424 |
+
"message": "Screw collar color description is inaccurate; collar appears orange and purple across views, not split by side as stated."
|
| 425 |
+
}
|
| 426 |
+
}
|
dataset/kitchen_supplies/ware/c40c6c7416255fbd9c0bc30bb209c583/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:38fd119120245504a4cf4e93ac78513959097b0d445a9a8d27bab2dc5eff8e32
|
| 3 |
+
size 33305800
|