Add asset kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78
Browse files
.gitattributes
CHANGED
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@@ -7455,4 +7455,4 @@ dataset/kitchen_supplies/utensils/760b0c506cca504d96ae3e7978367441/affordance/me
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| 7455 |
dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7456 |
dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7457 |
dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7458 |
-
dataset/kitchen_supplies/utensils/
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| 7455 |
dataset/kitchen_supplies/utensils/7d73571e3d5c5841b2773b1956cd62d2/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7456 |
dataset/kitchen_supplies/utensils/7f68352d1f515466998b0135f320fbf8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7457 |
dataset/kitchen_supplies/utensils/8040f44319725faa8e79ad9ff3a9b4ab/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7458 |
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dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,349 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "main body including side handles, wing arms, frame, and bottle collar",
|
| 5 |
+
"mask_color": "Magenta",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the red side handles to pick up and reposition the winged corkscrew opener",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold and squeeze the red side handles while positioning or stabilizing the opener on a bottle",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the circular bottle collar/body area to stabilize the opener during placement on a bottle neck",
|
| 18 |
+
"confidence": 0.76
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"provide main handholds",
|
| 23 |
+
"transmit operating force through the wing mechanism",
|
| 24 |
+
"support the overall opener structure",
|
| 25 |
+
"locate around the bottle neck during use"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large multi-part assembly forming most of the opener, including two elongated red-coated curved side handles, silver metal wing arms and frame near the top, and a red circular bottle collar/base at the bottom; surfaces appear smooth and hard, with metal and coated finishes.",
|
| 28 |
+
"id": 7,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
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"confidence": 0.9743020534515381,
|
| 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": 0.49300581041188,
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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_2": {
|
| 47 |
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"confidence": 0.9723692536354065,
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| 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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| 53 |
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"orientation": {
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| 54 |
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| 55 |
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| 57 |
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| 58 |
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| 59 |
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]
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| 60 |
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}
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| 61 |
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},
|
| 62 |
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"grasp_3": {
|
| 63 |
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"confidence": 0.9695685505867004,
|
| 64 |
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"position": [
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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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"orientation": {
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| 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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"grasp_4": {
|
| 79 |
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"confidence": 0.9675086736679077,
|
| 80 |
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"position": [
|
| 81 |
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| 82 |
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|
| 83 |
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|
| 84 |
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],
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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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| 89 |
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| 90 |
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|
| 91 |
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]
|
| 92 |
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}
|
| 93 |
+
},
|
| 94 |
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"grasp_5": {
|
| 95 |
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"confidence": 0.9666573405265808,
|
| 96 |
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"position": [
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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],
|
| 101 |
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"orientation": {
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| 102 |
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| 103 |
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| 106 |
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| 107 |
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| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_6": {
|
| 111 |
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"confidence": 0.9634301066398621,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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| 115 |
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|
| 116 |
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],
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| 117 |
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"orientation": {
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| 118 |
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| 119 |
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| 121 |
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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_7": {
|
| 127 |
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"confidence": 0.9620183706283569,
|
| 128 |
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"position": [
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| 129 |
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| 130 |
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| 132 |
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],
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| 139 |
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]
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| 140 |
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}
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| 141 |
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},
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"grasp_9": {
|
| 143 |
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"confidence": 0.9603782296180725,
|
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|
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|
| 148 |
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|
| 157 |
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},
|
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|
| 159 |
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"confidence": 0.9575904011726379,
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},
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"grasp_12": {
|
| 175 |
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"confidence": 0.9563730359077454,
|
| 176 |
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"position": [
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"grasp_13": {
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"confidence": 0.9556280374526978,
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"grasp_14": {
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"xyz": [
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| 216 |
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-0.5614511776675465,
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| 218 |
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| 219 |
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| 220 |
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| 221 |
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},
|
| 222 |
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"grasp_16": {
|
| 223 |
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"confidence": 0.9509698748588562,
|
| 224 |
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"position": [
|
| 225 |
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0.11188947758637369,
|
| 226 |
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0.0024505978071829304,
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| 227 |
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|
| 228 |
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],
|
| 229 |
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"orientation": {
|
| 230 |
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"w": 0.4955006250613198,
|
| 231 |
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"xyz": [
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| 232 |
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| 233 |
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| 234 |
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| 235 |
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| 236 |
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| 237 |
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},
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| 238 |
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"grasp_17": {
|
| 239 |
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"confidence": 0.9493498206138611,
|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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],
|
| 245 |
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"orientation": {
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| 246 |
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|
| 247 |
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"xyz": [
|
| 248 |
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0.600053774260239,
|
| 249 |
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-0.6353144965831932,
|
| 250 |
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-0.3314237012974705
|
| 251 |
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]
|
| 252 |
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}
|
| 253 |
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},
|
| 254 |
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"grasp_18": {
|
| 255 |
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"confidence": 0.9492900967597961,
|
| 256 |
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"position": [
|
| 257 |
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0.10157908103428781,
|
| 258 |
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0.0014619197318097576,
|
| 259 |
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0.11569580947980285
|
| 260 |
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],
|
| 261 |
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"orientation": {
|
| 262 |
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"w": 0.35473394755900556,
|
| 263 |
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"xyz": [
|
| 264 |
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0.6050346786595163,
|
| 265 |
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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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"grasp_19": {
|
| 271 |
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"confidence": 0.947487473487854,
|
| 272 |
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|
| 273 |
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0.10958811989985406,
|
| 274 |
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|
| 275 |
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0.07892790948972106
|
| 276 |
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],
|
| 277 |
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"orientation": {
|
| 278 |
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"w": 0.42248166306458435,
|
| 279 |
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"xyz": [
|
| 280 |
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-0.5643352732894623,
|
| 281 |
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|
| 282 |
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0.4469825008472643
|
| 283 |
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]
|
| 284 |
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}
|
| 285 |
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}
|
| 286 |
+
}
|
| 287 |
+
},
|
| 288 |
+
{
|
| 289 |
+
"part_name": "pivot collar ring",
|
| 290 |
+
"mask_color": "Teal",
|
| 291 |
+
"graspable": false,
|
| 292 |
+
"grasp_scenarios": [],
|
| 293 |
+
"functional_labels": [
|
| 294 |
+
"form a pivot/joint collar below the wing tops",
|
| 295 |
+
"join upper moving parts",
|
| 296 |
+
"help maintain mechanism alignment"
|
| 297 |
+
],
|
| 298 |
+
"semantic_description": "Small thin ring-shaped collar around the upper central neck area just below the wing arms, appearing metallic with a smooth finish.",
|
| 299 |
+
"id": 10,
|
| 300 |
+
"grasp_group": {}
|
| 301 |
+
},
|
| 302 |
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{
|
| 303 |
+
"part_name": "top hub cap",
|
| 304 |
+
"mask_color": "Lime Green",
|
| 305 |
+
"graspable": false,
|
| 306 |
+
"grasp_scenarios": [],
|
| 307 |
+
"functional_labels": [
|
| 308 |
+
"cap the top of the central screw assembly",
|
| 309 |
+
"retain or cover the mechanism end",
|
| 310 |
+
"mark the top of the worm shaft area"
|
| 311 |
+
],
|
| 312 |
+
"semantic_description": "Small yellow cylindrical cap at the upper center of the internal screw assembly, with a smooth hard surface and compact rounded shape.",
|
| 313 |
+
"id": 9,
|
| 314 |
+
"grasp_group": {}
|
| 315 |
+
},
|
| 316 |
+
{
|
| 317 |
+
"part_name": "corkscrew worm",
|
| 318 |
+
"mask_color": "Brown",
|
| 319 |
+
"graspable": false,
|
| 320 |
+
"grasp_scenarios": [],
|
| 321 |
+
"functional_labels": [
|
| 322 |
+
"penetrate the cork",
|
| 323 |
+
"thread into the cork",
|
| 324 |
+
"enable cork extraction through the opener mechanism"
|
| 325 |
+
],
|
| 326 |
+
"semantic_description": "Thin dark metallic helical corkscrew located centrally beneath the mechanism, with a reflective hard finish and spiral shape.",
|
| 327 |
+
"id": 11,
|
| 328 |
+
"grasp_group": {}
|
| 329 |
+
},
|
| 330 |
+
{
|
| 331 |
+
"part_name": "worm connector or lower shaft insert",
|
| 332 |
+
"mask_color": "Maroon",
|
| 333 |
+
"graspable": false,
|
| 334 |
+
"grasp_scenarios": [],
|
| 335 |
+
"functional_labels": [
|
| 336 |
+
"connect the corkscrew worm to the upper mechanism",
|
| 337 |
+
"support the central screw assembly",
|
| 338 |
+
"help maintain alignment of the rotating shaft"
|
| 339 |
+
],
|
| 340 |
+
"semantic_description": "Small dark reddish-brown connector-like piece around the lower central portion of the screw assembly, appearing hard and smooth and positioned just above or around the base of the corkscrew worm.",
|
| 341 |
+
"id": 12,
|
| 342 |
+
"grasp_group": {}
|
| 343 |
+
}
|
| 344 |
+
],
|
| 345 |
+
"quality_check": {
|
| 346 |
+
"success": false,
|
| 347 |
+
"message": "Main part groups unrelated components; several semantic colors/materials mismatch visible object."
|
| 348 |
+
}
|
| 349 |
+
}
|
dataset/kitchen_supplies/utensils/893383cff0eb5ea5ba16cecfb9c52c78/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b7f92bf0997071cec5d57861eca91b77f2ee3fc2ac20e7e38ff277a94a4b2f1
|
| 3 |
+
size 111481460
|