Add asset kitchen_supplies/ware/0727424ca1fc5908ab68dcd325a19ced
Browse files
.gitattributes
CHANGED
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@@ -7502,4 +7502,4 @@ dataset/kitchen_supplies/ware/03e4b1b344c051fd914aeb70e8858ca8/affordance/mesh_p
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| 7502 |
dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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/
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| 7502 |
dataset/kitchen_supplies/utensils/ffb1e93409ac5ca6a47f22d9d49db821/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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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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dataset/kitchen_supplies/ware/0727424ca1fc5908ab68dcd325a19ced/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,433 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "thermos body",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
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"scenario": "grasp the sidewall to pick up and carry the thermos",
|
| 10 |
+
"confidence": 0.96
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
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"scenario": "hold the body to stabilize the thermos while opening or closing the lid",
|
| 14 |
+
"confidence": 0.93
|
| 15 |
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},
|
| 16 |
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{
|
| 17 |
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"scenario": "grasp the body for repositioning on a surface",
|
| 18 |
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"confidence": 0.91
|
| 19 |
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}
|
| 20 |
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],
|
| 21 |
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"functional_labels": [
|
| 22 |
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"main grasp surface",
|
| 23 |
+
"contain insulated liquid",
|
| 24 |
+
"support upright standing",
|
| 25 |
+
"provide structural enclosure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered blue-gray body with a matte hard finish and smooth texture, forming most of the thermos height with a gently curved cylindrical shape and a small printed logo near the lower side.",
|
| 28 |
+
"id": 8,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_29": {
|
| 31 |
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"confidence": 0.9741180539131165,
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| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.5155843197522807,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_30": {
|
| 47 |
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"confidence": 0.880830705165863,
|
| 48 |
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"position": [
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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| 55 |
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| 59 |
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]
|
| 60 |
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}
|
| 61 |
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},
|
| 62 |
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"grasp_31": {
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| 63 |
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"confidence": 0.8585467338562012,
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| 64 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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],
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"orientation": {
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"xyz": [
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| 77 |
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},
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"grasp_32": {
|
| 79 |
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"confidence": 0.8111742734909058,
|
| 80 |
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"position": [
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|
| 84 |
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],
|
| 85 |
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"orientation": {
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| 86 |
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|
| 87 |
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"xyz": [
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| 90 |
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| 91 |
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|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_33": {
|
| 95 |
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"confidence": 0.8076773285865784,
|
| 96 |
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"position": [
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| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
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"orientation": {
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"xyz": [
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|
| 109 |
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|
| 110 |
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"grasp_34": {
|
| 111 |
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"confidence": 0.7420079112052917,
|
| 112 |
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"position": [
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| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
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"orientation": {
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| 118 |
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"w": 0.4638271612422757,
|
| 119 |
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"xyz": [
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|
| 122 |
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|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
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},
|
| 126 |
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"grasp_35": {
|
| 127 |
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"confidence": 0.7342322468757629,
|
| 128 |
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| 129 |
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| 132 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_36": {
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| 143 |
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"confidence": 0.9653700590133667,
|
| 144 |
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"position": [
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|
| 157 |
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"grasp_37": {
|
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"confidence": 0.9383174777030945,
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"position": [
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"orientation": {
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"grasp_39": {
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| 175 |
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"confidence": 0.8953598737716675,
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"orientation": {
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| 182 |
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"w": 0.5095678291089397,
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| 183 |
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"xyz": [
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| 186 |
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| 187 |
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]
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| 188 |
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}
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| 189 |
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},
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| 190 |
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"grasp_40": {
|
| 191 |
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"confidence": 0.8791360259056091,
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| 192 |
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"position": [
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| 193 |
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0.024396876920945942,
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| 194 |
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0.09653471780620748,
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| 195 |
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| 196 |
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],
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| 197 |
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"orientation": {
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"w": 0.09663553273775932,
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| 199 |
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"xyz": [
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| 203 |
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]
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| 204 |
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}
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| 205 |
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}
|
| 206 |
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}
|
| 207 |
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},
|
| 208 |
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{
|
| 209 |
+
"part_name": "bottom base",
|
| 210 |
+
"mask_color": "Green",
|
| 211 |
+
"graspable": true,
|
| 212 |
+
"grasp_scenarios": [
|
| 213 |
+
{
|
| 214 |
+
"scenario": "grasp the bottom edge to reorient the thermos from a sideways pose",
|
| 215 |
+
"confidence": 0.48
|
| 216 |
+
},
|
| 217 |
+
{
|
| 218 |
+
"scenario": "pinch the base briefly to stabilize the thermos during placement",
|
| 219 |
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"confidence": 0.41
|
| 220 |
+
}
|
| 221 |
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],
|
| 222 |
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"functional_labels": [
|
| 223 |
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"support standing",
|
| 224 |
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"protect the bottom",
|
| 225 |
+
"provide contact with table",
|
| 226 |
+
"add stability"
|
| 227 |
+
],
|
| 228 |
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"semantic_description": "Dark navy circular base made of hard plastic or rubber-like material with a matte finish, smooth texture, and slightly raised rim at the bottom of the thermos.",
|
| 229 |
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"id": 1,
|
| 230 |
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"grasp_group": {
|
| 231 |
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"grasp_0": {
|
| 232 |
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"confidence": 0.9693060517311096,
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"position": [
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],
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"orientation": {
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]
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}
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| 246 |
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},
|
| 247 |
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"grasp_3": {
|
| 248 |
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"confidence": 0.9675943851470947,
|
| 249 |
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"position": [
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| 250 |
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|
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],
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| 254 |
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"orientation": {
|
| 255 |
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|
| 256 |
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"xyz": [
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| 259 |
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]
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| 261 |
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}
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| 262 |
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},
|
| 263 |
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"grasp_4": {
|
| 264 |
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"confidence": 0.9674797654151917,
|
| 265 |
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"position": [
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| 266 |
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| 267 |
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|
| 268 |
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|
| 269 |
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],
|
| 270 |
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"orientation": {
|
| 271 |
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|
| 272 |
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"xyz": [
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| 273 |
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0.33213918453916247,
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| 274 |
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0.36770453722996244,
|
| 275 |
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|
| 276 |
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]
|
| 277 |
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}
|
| 278 |
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},
|
| 279 |
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"grasp_5": {
|
| 280 |
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"confidence": 0.9674678444862366,
|
| 281 |
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"position": [
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| 282 |
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|
| 283 |
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|
| 284 |
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|
| 285 |
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],
|
| 286 |
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"orientation": {
|
| 287 |
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"w": 0.4480971809236251,
|
| 288 |
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"xyz": [
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| 289 |
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0.5450709139946683,
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| 291 |
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0.5391887415250711
|
| 292 |
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]
|
| 293 |
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}
|
| 294 |
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},
|
| 295 |
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"grasp_13": {
|
| 296 |
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"confidence": 0.9643465876579285,
|
| 297 |
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"position": [
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| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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],
|
| 302 |
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"orientation": {
|
| 303 |
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"w": 0.8559264304590377,
|
| 304 |
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"xyz": [
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| 305 |
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|
| 306 |
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| 307 |
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| 308 |
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]
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| 309 |
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}
|
| 310 |
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},
|
| 311 |
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"grasp_17": {
|
| 312 |
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"confidence": 0.961828887462616,
|
| 313 |
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"position": [
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| 314 |
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|
| 315 |
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0.004026415270345751,
|
| 316 |
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|
| 317 |
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],
|
| 318 |
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"orientation": {
|
| 319 |
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"w": 0.4832970002471885,
|
| 320 |
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"xyz": [
|
| 321 |
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-0.4879791266398644,
|
| 322 |
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|
| 323 |
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0.5140978067040146
|
| 324 |
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]
|
| 325 |
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}
|
| 326 |
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}
|
| 327 |
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}
|
| 328 |
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},
|
| 329 |
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{
|
| 330 |
+
"part_name": "neck ring",
|
| 331 |
+
"mask_color": "Yellow",
|
| 332 |
+
"graspable": false,
|
| 333 |
+
"grasp_scenarios": [],
|
| 334 |
+
"functional_labels": [
|
| 335 |
+
"connect lid assembly to body",
|
| 336 |
+
"provide threaded closure interface",
|
| 337 |
+
"form the top rim transition",
|
| 338 |
+
"support lid attachment"
|
| 339 |
+
],
|
| 340 |
+
"semantic_description": "Narrow off-white ring around the top neck, likely hard plastic, with a smooth slightly matte surface forming the transition between the body and lid.",
|
| 341 |
+
"id": 3,
|
| 342 |
+
"grasp_group": {}
|
| 343 |
+
},
|
| 344 |
+
{
|
| 345 |
+
"part_name": "lid top",
|
| 346 |
+
"mask_color": "Cyan",
|
| 347 |
+
"graspable": false,
|
| 348 |
+
"grasp_scenarios": [],
|
| 349 |
+
"functional_labels": [
|
| 350 |
+
"cover the opening",
|
| 351 |
+
"help seal contents",
|
| 352 |
+
"provide top surface for manipulation",
|
| 353 |
+
"support closure mechanism"
|
| 354 |
+
],
|
| 355 |
+
"semantic_description": "Round dark blue lid top with a slightly recessed center, hard smooth plastic appearance, and a mostly matte finish sitting flush on the thermos mouth.",
|
| 356 |
+
"id": 6,
|
| 357 |
+
"grasp_group": {}
|
| 358 |
+
},
|
| 359 |
+
{
|
| 360 |
+
"part_name": "drinking port cover",
|
| 361 |
+
"mask_color": "Blue",
|
| 362 |
+
"graspable": true,
|
| 363 |
+
"grasp_scenarios": [
|
| 364 |
+
{
|
| 365 |
+
"scenario": "pinch the flip cover tab to open the drinking port",
|
| 366 |
+
"confidence": 0.89
|
| 367 |
+
},
|
| 368 |
+
{
|
| 369 |
+
"scenario": "grasp the cover to press it shut after drinking",
|
| 370 |
+
"confidence": 0.78
|
| 371 |
+
}
|
| 372 |
+
],
|
| 373 |
+
"functional_labels": [
|
| 374 |
+
"cover drinking opening",
|
| 375 |
+
"enable opening and closing",
|
| 376 |
+
"protect spout from dirt",
|
| 377 |
+
"assist one-handed drinking access"
|
| 378 |
+
],
|
| 379 |
+
"semantic_description": "Small dark blue rectangular flip cover on the lid, made of hard plastic with a smooth matte surface and slightly raised shape for fingertip access.",
|
| 380 |
+
"id": 2,
|
| 381 |
+
"grasp_group": {
|
| 382 |
+
"grasp_28": {
|
| 383 |
+
"confidence": 0.7010140419006348,
|
| 384 |
+
"position": [
|
| 385 |
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-0.0041409124387428164,
|
| 386 |
+
0.04099853707157308,
|
| 387 |
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0.15307173877954483
|
| 388 |
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],
|
| 389 |
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"orientation": {
|
| 390 |
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"w": 0.23454193878032475,
|
| 391 |
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"xyz": [
|
| 392 |
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0.9391416910293591,
|
| 393 |
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0.2509589747511807,
|
| 394 |
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0.004749327901783462
|
| 395 |
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]
|
| 396 |
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}
|
| 397 |
+
}
|
| 398 |
+
}
|
| 399 |
+
},
|
| 400 |
+
{
|
| 401 |
+
"part_name": "drinking opening",
|
| 402 |
+
"mask_color": "Orange",
|
| 403 |
+
"graspable": false,
|
| 404 |
+
"grasp_scenarios": [],
|
| 405 |
+
"functional_labels": [
|
| 406 |
+
"dispense liquid",
|
| 407 |
+
"allow sipping",
|
| 408 |
+
"provide drinking access"
|
| 409 |
+
],
|
| 410 |
+
"semantic_description": "Small opening or insert within the recessed top area, visible near the flip cover as the sip outlet where liquid exits during drinking.",
|
| 411 |
+
"id": 4,
|
| 412 |
+
"grasp_group": {}
|
| 413 |
+
},
|
| 414 |
+
{
|
| 415 |
+
"part_name": "inner lid recess",
|
| 416 |
+
"mask_color": "Purple",
|
| 417 |
+
"graspable": false,
|
| 418 |
+
"grasp_scenarios": [],
|
| 419 |
+
"functional_labels": [
|
| 420 |
+
"channel liquid near the spout",
|
| 421 |
+
"surround drinking opening",
|
| 422 |
+
"form recessed lid geometry"
|
| 423 |
+
],
|
| 424 |
+
"semantic_description": "Circular recessed region inside the dark blue lid top, with a slightly darker gray-blue appearance and smooth hard surface surrounding the drinking opening.",
|
| 425 |
+
"id": 5,
|
| 426 |
+
"grasp_group": {}
|
| 427 |
+
}
|
| 428 |
+
],
|
| 429 |
+
"quality_check": {
|
| 430 |
+
"success": true,
|
| 431 |
+
"message": "YES"
|
| 432 |
+
}
|
| 433 |
+
}
|
dataset/kitchen_supplies/ware/0727424ca1fc5908ab68dcd325a19ced/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:791ad9c84828c072c008b4b1f94ca9378b3110570ca2fceb7fac082c272a1d04
|
| 3 |
+
size 3786628
|