Add asset bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560
Browse files
.gitattributes
CHANGED
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@@ -5848,3 +5848,4 @@ dataset/bathroom_supplies/personal_care/d129f3e1955c5956b079b65be38455bf/afforda
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| 5848 |
dataset/bathroom_supplies/personal_care/d222f2cf291e513e9e3bdbdeba17dca8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5849 |
dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5850 |
dataset/bathroom_supplies/personal_care/d307015ca5a55972887ef068ae3a0fca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5848 |
dataset/bathroom_supplies/personal_care/d222f2cf291e513e9e3bdbdeba17dca8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5849 |
dataset/bathroom_supplies/personal_care/d2b52fe6f01f51329c591c0304b34a1a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5850 |
dataset/bathroom_supplies/personal_care/d307015ca5a55972887ef068ae3a0fca/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 5851 |
+
dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,309 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the sidewall to pick up the cup",
|
| 10 |
+
"confidence": 0.94
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sidewall to move or reposition the cup",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the cup body while filling or emptying",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain mouthwash",
|
| 23 |
+
"provide main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"form the sidewall structure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large tapered white plastic cup body with a glossy smooth hard surface, thin-walled cylindrical-conical shape, and small printed text near the lower side.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_2": {
|
| 31 |
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"confidence": 0.5768215656280518,
|
| 32 |
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"position": [
|
| 33 |
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0.09437590010929853,
|
| 34 |
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0.06603541818913072,
|
| 35 |
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-0.041707868222147226
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.33790900874167257,
|
| 39 |
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"xyz": [
|
| 40 |
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|
| 41 |
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-0.6430519713900709,
|
| 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_4": {
|
| 47 |
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"confidence": 0.5744685530662537,
|
| 48 |
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"position": [
|
| 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": {
|
| 54 |
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"w": 0.48640167066917434,
|
| 55 |
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"xyz": [
|
| 56 |
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|
| 57 |
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|
| 58 |
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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_6": {
|
| 63 |
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"confidence": 0.5594773888587952,
|
| 64 |
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"position": [
|
| 65 |
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| 66 |
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| 67 |
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| 68 |
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],
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| 69 |
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"orientation": {
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"w": 0.2764755595763674,
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| 71 |
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"xyz": [
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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_14": {
|
| 79 |
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"confidence": 0.5327728986740112,
|
| 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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],
|
| 85 |
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"orientation": {
|
| 86 |
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"w": 0.33254511527375763,
|
| 87 |
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"xyz": [
|
| 88 |
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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 |
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},
|
| 94 |
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"grasp_15": {
|
| 95 |
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"confidence": 0.5306514501571655,
|
| 96 |
+
"position": [
|
| 97 |
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|
| 98 |
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0.0033018264221027493,
|
| 99 |
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-0.1377973952330649
|
| 100 |
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],
|
| 101 |
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"orientation": {
|
| 102 |
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"w": 0.2630238717333442,
|
| 103 |
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"xyz": [
|
| 104 |
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0.016761182670018,
|
| 105 |
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0.011512242420779972,
|
| 106 |
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0.964575022446854
|
| 107 |
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]
|
| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_17": {
|
| 111 |
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"confidence": 0.529275119304657,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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-0.012248037033714354,
|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.9934787196347707,
|
| 119 |
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"xyz": [
|
| 120 |
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|
| 121 |
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0.031473719409873646,
|
| 122 |
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-0.10659445916017525
|
| 123 |
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]
|
| 124 |
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}
|
| 125 |
+
}
|
| 126 |
+
}
|
| 127 |
+
},
|
| 128 |
+
{
|
| 129 |
+
"part_name": "inner cavity",
|
| 130 |
+
"mask_color": "Red",
|
| 131 |
+
"graspable": false,
|
| 132 |
+
"grasp_scenarios": [],
|
| 133 |
+
"functional_labels": [
|
| 134 |
+
"hold liquid",
|
| 135 |
+
"provide drinking volume",
|
| 136 |
+
"guide pouring from the opening",
|
| 137 |
+
"define interior container space"
|
| 138 |
+
],
|
| 139 |
+
"semantic_description": "Open white interior cavity of the cup with a smooth glossy hard plastic surface, broad circular opening, and deep hollow volume occupying the top center.",
|
| 140 |
+
"id": 0,
|
| 141 |
+
"grasp_group": {}
|
| 142 |
+
},
|
| 143 |
+
{
|
| 144 |
+
"part_name": "rim",
|
| 145 |
+
"mask_color": "Blue",
|
| 146 |
+
"graspable": true,
|
| 147 |
+
"grasp_scenarios": [
|
| 148 |
+
{
|
| 149 |
+
"scenario": "lightly pinch the rim to reorient the empty cup",
|
| 150 |
+
"confidence": 0.46
|
| 151 |
+
},
|
| 152 |
+
{
|
| 153 |
+
"scenario": "hold the rim to separate or place the cup in a stack",
|
| 154 |
+
"confidence": 0.39
|
| 155 |
+
}
|
| 156 |
+
],
|
| 157 |
+
"functional_labels": [
|
| 158 |
+
"provide drinking edge",
|
| 159 |
+
"define opening boundary",
|
| 160 |
+
"assist pouring",
|
| 161 |
+
"stiffen the cup lip"
|
| 162 |
+
],
|
| 163 |
+
"semantic_description": "Thin rounded white lip around the cup opening, made of glossy smooth hard plastic and forming a narrow circular edge at the top.",
|
| 164 |
+
"id": 2,
|
| 165 |
+
"grasp_group": {
|
| 166 |
+
"grasp_27": {
|
| 167 |
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"confidence": 0.8044686317443848,
|
| 168 |
+
"position": [
|
| 169 |
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0.10823124565649778,
|
| 170 |
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0.0402183256810531,
|
| 171 |
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0.11231582378968596
|
| 172 |
+
],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.43406762111561914,
|
| 175 |
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"xyz": [
|
| 176 |
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0.8044746642397886,
|
| 177 |
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-0.20347510445239214,
|
| 178 |
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|
| 179 |
+
]
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"grasp_29": {
|
| 183 |
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"confidence": 0.7047387957572937,
|
| 184 |
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"position": [
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| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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],
|
| 189 |
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"orientation": {
|
| 190 |
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"w": 0.1425158092173128,
|
| 191 |
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"xyz": [
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|
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|
| 194 |
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|
| 195 |
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]
|
| 196 |
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}
|
| 197 |
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},
|
| 198 |
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"grasp_30": {
|
| 199 |
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"confidence": 0.6301425099372864,
|
| 200 |
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"position": [
|
| 201 |
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| 202 |
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|
| 203 |
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|
| 204 |
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],
|
| 205 |
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"orientation": {
|
| 206 |
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"w": 0.08734770973634683,
|
| 207 |
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"xyz": [
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|
| 210 |
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|
| 211 |
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]
|
| 212 |
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}
|
| 213 |
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},
|
| 214 |
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"grasp_32": {
|
| 215 |
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"confidence": 0.5222551822662354,
|
| 216 |
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"position": [
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|
| 218 |
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|
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| 220 |
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],
|
| 221 |
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"orientation": {
|
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| 223 |
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"xyz": [
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| 227 |
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]
|
| 228 |
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}
|
| 229 |
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},
|
| 230 |
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"grasp_36": {
|
| 231 |
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"confidence": 0.35683387517929077,
|
| 232 |
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"position": [
|
| 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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"orientation": {
|
| 238 |
+
"w": 0.2731673737945354,
|
| 239 |
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"xyz": [
|
| 240 |
+
-0.39313901394341627,
|
| 241 |
+
0.7386361784206636,
|
| 242 |
+
-0.474592348798327
|
| 243 |
+
]
|
| 244 |
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}
|
| 245 |
+
},
|
| 246 |
+
"grasp_37": {
|
| 247 |
+
"confidence": 0.22027020156383514,
|
| 248 |
+
"position": [
|
| 249 |
+
0.03421996079850942,
|
| 250 |
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0.0929401203757152,
|
| 251 |
+
0.10945185786113143
|
| 252 |
+
],
|
| 253 |
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"orientation": {
|
| 254 |
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"w": 0.10991145421295907,
|
| 255 |
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"xyz": [
|
| 256 |
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-0.09356800357756472,
|
| 257 |
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-0.8176727742198598,
|
| 258 |
+
0.5572932219567179
|
| 259 |
+
]
|
| 260 |
+
}
|
| 261 |
+
},
|
| 262 |
+
"grasp_39": {
|
| 263 |
+
"confidence": 0.8218977451324463,
|
| 264 |
+
"position": [
|
| 265 |
+
0.09501629986334592,
|
| 266 |
+
0.052506825304590166,
|
| 267 |
+
0.1261000013910234
|
| 268 |
+
],
|
| 269 |
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"orientation": {
|
| 270 |
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"w": 0.4284246389128139,
|
| 271 |
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"xyz": [
|
| 272 |
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|
| 273 |
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|
| 274 |
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|
| 275 |
+
]
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
}
|
| 279 |
+
},
|
| 280 |
+
{
|
| 281 |
+
"part_name": "base",
|
| 282 |
+
"mask_color": "Yellow",
|
| 283 |
+
"graspable": true,
|
| 284 |
+
"grasp_scenarios": [
|
| 285 |
+
{
|
| 286 |
+
"scenario": "grasp the bottom area to lift an inverted or sideways cup",
|
| 287 |
+
"confidence": 0.51
|
| 288 |
+
},
|
| 289 |
+
{
|
| 290 |
+
"scenario": "push or hold the base to stabilize the cup on a surface",
|
| 291 |
+
"confidence": 0.62
|
| 292 |
+
}
|
| 293 |
+
],
|
| 294 |
+
"functional_labels": [
|
| 295 |
+
"support standing",
|
| 296 |
+
"provide bottom closure",
|
| 297 |
+
"stabilize on flat surfaces",
|
| 298 |
+
"bear resting load"
|
| 299 |
+
],
|
| 300 |
+
"semantic_description": "Flat circular white bottom panel with a glossy smooth hard plastic finish, slightly smaller than the top opening and located at the lower end of the cup.",
|
| 301 |
+
"id": 3,
|
| 302 |
+
"grasp_group": {}
|
| 303 |
+
}
|
| 304 |
+
],
|
| 305 |
+
"quality_check": {
|
| 306 |
+
"success": true,
|
| 307 |
+
"message": "YES"
|
| 308 |
+
}
|
| 309 |
+
}
|
dataset/bathroom_supplies/personal_care/d3175e2790c05cd4ad1931b114e02560/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:706b70eaaeadb9ecf847e5dba1fb43ce6361bbbebb8a83e9fd4ca271fb24fa39
|
| 3 |
+
size 3795628
|