Add asset kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44
Browse files
.gitattributes
CHANGED
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@@ -7618,3 +7618,4 @@ dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/affordance/mesh_p
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| 7618 |
dataset/kitchen_supplies/ware/aa5707dd26625d4386239b48e6111d19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7619 |
dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7620 |
dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7618 |
dataset/kitchen_supplies/ware/aa5707dd26625d4386239b48e6111d19/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7619 |
dataset/kitchen_supplies/ware/aa6b288e75955807983a1f57b25d2dcd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7620 |
dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7621 |
+
dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1222 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "side release button",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "press the side button to release or operate the lid mechanism",
|
| 10 |
+
"confidence": 0.9
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "use a fingertip or gripper tip to actuate the button while stabilizing the bottle",
|
| 14 |
+
"confidence": 0.82
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"actuate lid mechanism",
|
| 19 |
+
"release latch",
|
| 20 |
+
"provide a push control"
|
| 21 |
+
],
|
| 22 |
+
"semantic_description": "A small dark gray circular to oval button-like feature mounted on the upper side of the cap area, with a smooth hard finish and slight protrusion from the side.",
|
| 23 |
+
"id": 0,
|
| 24 |
+
"grasp_group": {
|
| 25 |
+
"grasp_0": {
|
| 26 |
+
"confidence": 0.8818709850311279,
|
| 27 |
+
"position": [
|
| 28 |
+
-0.05118177304393612,
|
| 29 |
+
-0.015052413946250454,
|
| 30 |
+
0.18186698388308287
|
| 31 |
+
],
|
| 32 |
+
"orientation": {
|
| 33 |
+
"w": 0.154820504828455,
|
| 34 |
+
"xyz": [
|
| 35 |
+
0.5926095372975237,
|
| 36 |
+
0.758145013080812,
|
| 37 |
+
0.22374245625131575
|
| 38 |
+
]
|
| 39 |
+
}
|
| 40 |
+
},
|
| 41 |
+
"grasp_1": {
|
| 42 |
+
"confidence": 0.8615512251853943,
|
| 43 |
+
"position": [
|
| 44 |
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-0.048444064654177055,
|
| 45 |
+
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|
| 46 |
+
0.18114304076880217
|
| 47 |
+
],
|
| 48 |
+
"orientation": {
|
| 49 |
+
"w": 0.14920808517576853,
|
| 50 |
+
"xyz": [
|
| 51 |
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|
| 52 |
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0.7608274279112651,
|
| 53 |
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0.2323058346924224
|
| 54 |
+
]
|
| 55 |
+
}
|
| 56 |
+
},
|
| 57 |
+
"grasp_2": {
|
| 58 |
+
"confidence": 0.8545772433280945,
|
| 59 |
+
"position": [
|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
+
],
|
| 64 |
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"orientation": {
|
| 65 |
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"w": 0.4090400228530407,
|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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}
|
| 72 |
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},
|
| 73 |
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"grasp_3": {
|
| 74 |
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"confidence": 0.8511490821838379,
|
| 75 |
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"position": [
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 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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0.3870219172937473
|
| 86 |
+
]
|
| 87 |
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}
|
| 88 |
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},
|
| 89 |
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"grasp_4": {
|
| 90 |
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"confidence": 0.8477450013160706,
|
| 91 |
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"position": [
|
| 92 |
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0.08053438892238773,
|
| 93 |
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|
| 94 |
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0.15327834617346525
|
| 95 |
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],
|
| 96 |
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|
| 97 |
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"w": 0.40234129803987495,
|
| 98 |
+
"xyz": [
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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]
|
| 103 |
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}
|
| 104 |
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},
|
| 105 |
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"grasp_5": {
|
| 106 |
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"confidence": 0.843819260597229,
|
| 107 |
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"position": [
|
| 108 |
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|
| 109 |
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|
| 110 |
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0.18161069881170988
|
| 111 |
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],
|
| 112 |
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"orientation": {
|
| 113 |
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"w": 0.17686211661600348,
|
| 114 |
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|
| 115 |
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0.6678102622152229,
|
| 116 |
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|
| 117 |
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|
| 118 |
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]
|
| 119 |
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}
|
| 120 |
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},
|
| 121 |
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"grasp_6": {
|
| 122 |
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"confidence": 0.8421740531921387,
|
| 123 |
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"position": [
|
| 124 |
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|
| 125 |
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|
| 126 |
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0.17903640400618315
|
| 127 |
+
],
|
| 128 |
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"orientation": {
|
| 129 |
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"w": 0.17325631899868513,
|
| 130 |
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|
| 131 |
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0.6630567168807503,
|
| 132 |
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|
| 133 |
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|
| 134 |
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]
|
| 135 |
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}
|
| 136 |
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},
|
| 137 |
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"grasp_7": {
|
| 138 |
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"confidence": 0.8387987017631531,
|
| 139 |
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"position": [
|
| 140 |
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|
| 141 |
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|
| 142 |
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0.18277190160006285
|
| 143 |
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],
|
| 144 |
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"orientation": {
|
| 145 |
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"w": 0.22501400888040002,
|
| 146 |
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"xyz": [
|
| 147 |
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|
| 148 |
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|
| 149 |
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0.11923344516941693
|
| 150 |
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]
|
| 151 |
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}
|
| 152 |
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},
|
| 153 |
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"grasp_8": {
|
| 154 |
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"confidence": 0.8360635042190552,
|
| 155 |
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"position": [
|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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],
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| 160 |
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"orientation": {
|
| 161 |
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"w": 0.41306534125376315,
|
| 162 |
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"xyz": [
|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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]
|
| 167 |
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}
|
| 168 |
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},
|
| 169 |
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"grasp_9": {
|
| 170 |
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"confidence": 0.8249988555908203,
|
| 171 |
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"position": [
|
| 172 |
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|
| 173 |
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|
| 174 |
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0.178738827817142
|
| 175 |
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],
|
| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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|
| 181 |
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| 182 |
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]
|
| 183 |
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}
|
| 184 |
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},
|
| 185 |
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"grasp_10": {
|
| 186 |
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"confidence": 0.8245877623558044,
|
| 187 |
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"position": [
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| 188 |
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|
| 189 |
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|
| 190 |
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0.17893993388861418
|
| 191 |
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],
|
| 192 |
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"orientation": {
|
| 193 |
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"w": 0.16719761144907658,
|
| 194 |
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0.6088979331386243,
|
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|
| 197 |
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0.21093295305998366
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| 198 |
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]
|
| 199 |
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}
|
| 200 |
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},
|
| 201 |
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"grasp_11": {
|
| 202 |
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"confidence": 0.8211062550544739,
|
| 203 |
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"position": [
|
| 204 |
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|
| 205 |
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|
| 206 |
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0.17937597166746855
|
| 207 |
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],
|
| 208 |
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"orientation": {
|
| 209 |
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|
| 210 |
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| 211 |
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| 213 |
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| 214 |
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]
|
| 215 |
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}
|
| 216 |
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},
|
| 217 |
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"grasp_12": {
|
| 218 |
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"confidence": 0.8199412822723389,
|
| 219 |
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"position": [
|
| 220 |
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|
| 221 |
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0.09562319051474333
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],
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| 224 |
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"orientation": {
|
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},
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|
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}
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},
|
| 1176 |
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{
|
| 1177 |
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"part_name": "drinking opening",
|
| 1178 |
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"mask_color": "Yellow",
|
| 1179 |
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"graspable": false,
|
| 1180 |
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"grasp_scenarios": [],
|
| 1181 |
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"functional_labels": [
|
| 1182 |
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"dispense liquid",
|
| 1183 |
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"allow drinking",
|
| 1184 |
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"provide access to interior"
|
| 1185 |
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],
|
| 1186 |
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"semantic_description": "A circular top-center opening area visible within the cap, appearing as a flat yellow-segmented interior region in the mask and dark in the RGB view, recessed slightly below the surrounding top ring.",
|
| 1187 |
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"id": 3,
|
| 1188 |
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"grasp_group": {}
|
| 1189 |
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},
|
| 1190 |
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{
|
| 1191 |
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"part_name": "rim of opening",
|
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|
| 1193 |
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|
| 1194 |
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|
| 1195 |
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"functional_labels": [
|
| 1196 |
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"form the mouth rim",
|
| 1197 |
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"guide pouring",
|
| 1198 |
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"interface with the cap seal"
|
| 1199 |
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],
|
| 1200 |
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"semantic_description": "A thin circular ring surrounding the central opening on the top of the cap, dark gray in the RGB image with a smooth hard finish and narrow lip-like shape.",
|
| 1201 |
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"id": 6,
|
| 1202 |
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"grasp_group": {}
|
| 1203 |
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},
|
| 1204 |
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{
|
| 1205 |
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"part_name": "logo mark",
|
| 1206 |
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"mask_color": "White",
|
| 1207 |
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"graspable": false,
|
| 1208 |
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"grasp_scenarios": [],
|
| 1209 |
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"functional_labels": [
|
| 1210 |
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"brand identification",
|
| 1211 |
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"indicate front orientation"
|
| 1212 |
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],
|
| 1213 |
+
"semantic_description": "A tiny white printed logo or characters on the lower side of the silver body, flat and smooth with no structural protrusion.",
|
| 1214 |
+
"id": 17,
|
| 1215 |
+
"grasp_group": {}
|
| 1216 |
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}
|
| 1217 |
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],
|
| 1218 |
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"quality_check": {
|
| 1219 |
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"success": true,
|
| 1220 |
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"message": "YES"
|
| 1221 |
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}
|
| 1222 |
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}
|
dataset/kitchen_supplies/ware/b0434c57366a54fabf41ee2252263c44/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:7b39a257d6a597161d323e3e1dac2aefc6b73c5fbcbb379d3b37d9be58d460b6
|
| 3 |
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size 3787056
|