Add asset kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f
Browse files
.gitattributes
CHANGED
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@@ -7609,3 +7609,4 @@ dataset/kitchen_supplies/ware/98ea70ba9f78536fb4800dec8d3115d6/affordance/mesh_p
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| 7609 |
dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7610 |
dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7611 |
dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7609 |
dataset/kitchen_supplies/ware/a2a46e2b40c0595f9a75d61501250540/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7610 |
dataset/kitchen_supplies/ware/a326de7054ab548b913c265e82649d47/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7611 |
dataset/kitchen_supplies/ware/a3f1c8ff85a85913a0310be99c938dc1/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7612 |
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dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,854 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "thermos body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main body to pick up and carry the thermos",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the thermos while opening or closing the lid",
|
| 14 |
+
"confidence": 0.91
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reposition the thermos on a surface",
|
| 18 |
+
"confidence": 0.9
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain liquid",
|
| 24 |
+
"support the overall structure",
|
| 25 |
+
"stabilize during lid twisting"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large white cylindrical body with a slightly tapered profile, hard smooth matte-finished exterior, and plain unmarked sides forming most of the thermos.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_9": {
|
| 31 |
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"confidence": 0.9716824889183044,
|
| 32 |
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| 33 |
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| 34 |
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-0.0002383030077908188,
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| 35 |
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| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.4919708816952418,
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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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0.8705216487025456
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| 43 |
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]
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| 44 |
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|
| 45 |
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},
|
| 46 |
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"grasp_13": {
|
| 47 |
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"confidence": 0.9702425003051758,
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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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],
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| 53 |
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| 54 |
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| 55 |
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| 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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| 63 |
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| 64 |
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| 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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| 70 |
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| 71 |
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| 72 |
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0.0032111095252821084,
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| 75 |
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| 76 |
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| 77 |
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},
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| 78 |
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"grasp_18": {
|
| 79 |
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| 80 |
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"position": [
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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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| 88 |
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0.001112802821114493,
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| 90 |
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| 91 |
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]
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| 92 |
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| 93 |
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}
|
| 94 |
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}
|
| 95 |
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},
|
| 96 |
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{
|
| 97 |
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"part_name": "bottom base",
|
| 98 |
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"mask_color": "Green",
|
| 99 |
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"graspable": true,
|
| 100 |
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"grasp_scenarios": [
|
| 101 |
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{
|
| 102 |
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"scenario": "grasp the bottom edge to reorient the thermos from a side or inverted pose",
|
| 103 |
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"confidence": 0.42
|
| 104 |
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},
|
| 105 |
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{
|
| 106 |
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"scenario": "pinch the base to stabilize the thermos during placement",
|
| 107 |
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"confidence": 0.38
|
| 108 |
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}
|
| 109 |
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],
|
| 110 |
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"functional_labels": [
|
| 111 |
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"support upright standing",
|
| 112 |
+
"provide bottom contact surface",
|
| 113 |
+
"protect the underside",
|
| 114 |
+
"aid placement stability"
|
| 115 |
+
],
|
| 116 |
+
"semantic_description": "Flat circular dark gray to black base panel at the bottom, likely hard plastic or rubber, with a smooth slightly matte surface and broad round footprint.",
|
| 117 |
+
"id": 1,
|
| 118 |
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"grasp_group": {
|
| 119 |
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"grasp_21": {
|
| 120 |
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"confidence": 0.8860913515090942,
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| 121 |
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"position": [
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| 122 |
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| 123 |
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| 124 |
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-0.13420561491511762
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| 125 |
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],
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| 126 |
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"orientation": {
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| 127 |
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"w": 0.8274156552545798,
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| 128 |
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| 129 |
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| 131 |
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| 132 |
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]
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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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{
|
| 138 |
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"part_name": "neck band",
|
| 139 |
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"mask_color": "Blue",
|
| 140 |
+
"graspable": true,
|
| 141 |
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"grasp_scenarios": [
|
| 142 |
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{
|
| 143 |
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"scenario": "grasp the upper neck band to steady the thermos while manipulating the lid",
|
| 144 |
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"confidence": 0.62
|
| 145 |
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},
|
| 146 |
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{
|
| 147 |
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"scenario": "use a narrow gripper hold at the neck to lift the thermos cautiously",
|
| 148 |
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"confidence": 0.48
|
| 149 |
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}
|
| 150 |
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],
|
| 151 |
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"functional_labels": [
|
| 152 |
+
"transition between body and lid",
|
| 153 |
+
"provide upper grip zone",
|
| 154 |
+
"support lid interface",
|
| 155 |
+
"help stabilize near the top"
|
| 156 |
+
],
|
| 157 |
+
"semantic_description": "Narrow gray ring-shaped band below the lid, made of hard smooth material with a slightly matte appearance and recessed cylindrical geometry around the upper body.",
|
| 158 |
+
"id": 2,
|
| 159 |
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"grasp_group": {
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| 160 |
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| 161 |
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"confidence": 0.934330940246582,
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| 162 |
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| 163 |
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| 164 |
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0.08565988694317639,
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| 165 |
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0.03062476427294314
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| 166 |
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],
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| 167 |
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0.030617708573117852
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},
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},
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0.0343181595671922,
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],
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},
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],
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},
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-0.34474472149760926,
|
| 805 |
+
0.3204095220734285
|
| 806 |
+
]
|
| 807 |
+
}
|
| 808 |
+
}
|
| 809 |
+
}
|
| 810 |
+
},
|
| 811 |
+
{
|
| 812 |
+
"part_name": "inner lid panel",
|
| 813 |
+
"mask_color": "Purple",
|
| 814 |
+
"graspable": false,
|
| 815 |
+
"grasp_scenarios": [],
|
| 816 |
+
"functional_labels": [
|
| 817 |
+
"form the recessed top surface of the lid",
|
| 818 |
+
"surround the central top insert",
|
| 819 |
+
"contribute to the lid structure"
|
| 820 |
+
],
|
| 821 |
+
"semantic_description": "Recessed circular white top panel inside the outer lid rim, smooth hard plastic with a matte finish and a shallow dish-like shape.",
|
| 822 |
+
"id": 5,
|
| 823 |
+
"grasp_group": {}
|
| 824 |
+
},
|
| 825 |
+
{
|
| 826 |
+
"part_name": "central top button",
|
| 827 |
+
"mask_color": "Orange",
|
| 828 |
+
"graspable": true,
|
| 829 |
+
"grasp_scenarios": [
|
| 830 |
+
{
|
| 831 |
+
"scenario": "press the central top button to actuate the lid mechanism or release the drinking opening",
|
| 832 |
+
"confidence": 0.79
|
| 833 |
+
},
|
| 834 |
+
{
|
| 835 |
+
"scenario": "use a fingertip or small gripper to engage the button during opening control",
|
| 836 |
+
"confidence": 0.62
|
| 837 |
+
}
|
| 838 |
+
],
|
| 839 |
+
"functional_labels": [
|
| 840 |
+
"push button",
|
| 841 |
+
"actuate lid mechanism",
|
| 842 |
+
"control opening or locking function",
|
| 843 |
+
"central user interaction surface"
|
| 844 |
+
],
|
| 845 |
+
"semantic_description": "Small central light gray to off-white rounded button on the lid top, smooth hard plastic with a slightly matte finish and compact oval to rounded shape.",
|
| 846 |
+
"id": 4,
|
| 847 |
+
"grasp_group": {}
|
| 848 |
+
}
|
| 849 |
+
],
|
| 850 |
+
"quality_check": {
|
| 851 |
+
"success": false,
|
| 852 |
+
"message": "Bottom base graspability and top-center button function are incorrect for visible cup lid."
|
| 853 |
+
}
|
| 854 |
+
}
|
dataset/kitchen_supplies/ware/a47b17bc83a55dc7ac1b2aa40a65bc1f/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6a8f94fd2909d25581ca5ef54800828b325d29acbd88e8b6840542bbb1bb9909
|
| 3 |
+
size 3784140
|