Add asset livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d
Browse files
.gitattributes
CHANGED
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@@ -7745,3 +7745,4 @@ dataset/livingroom_supplies/ornaments/aa70004706f6572b98b705705eddbec3/affordanc
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| 7745 |
dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7746 |
dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7747 |
dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7745 |
dataset/livingroom_supplies/ornaments/aadf0f73052c5f418d5fa78be58379cc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7746 |
dataset/livingroom_supplies/ornaments/b0a4bda520fe510c89407a9c4a21fadb/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7747 |
dataset/livingroom_supplies/ornaments/b4fdb459cbc65fd1993fa2b5dfda876b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7748 |
+
dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1112 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "pump spout",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "pinch the spout lightly to orient the nozzle direction",
|
| 10 |
+
"confidence": 0.42
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the spout gently to stabilize the pump head during adjustment",
|
| 14 |
+
"confidence": 0.24
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"dispense liquid",
|
| 19 |
+
"direct the output stream",
|
| 20 |
+
"indicate nozzle direction",
|
| 21 |
+
"help orient the pump head"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A small curved dark gray plastic nozzle with a smooth matte surface projects sideways from the top pump head and indicates the dispensing direction.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_1": {
|
| 27 |
+
"confidence": 0.9512829184532166,
|
| 28 |
+
"position": [
|
| 29 |
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0.017274203659326304,
|
| 30 |
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-0.10232621914474294,
|
| 31 |
+
0.10045809391885996
|
| 32 |
+
],
|
| 33 |
+
"orientation": {
|
| 34 |
+
"w": 0.6481992357404726,
|
| 35 |
+
"xyz": [
|
| 36 |
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|
| 37 |
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|
| 38 |
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0.09701732123471353
|
| 39 |
+
]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_3": {
|
| 43 |
+
"confidence": 0.9401240944862366,
|
| 44 |
+
"position": [
|
| 45 |
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0.051480603353411425,
|
| 46 |
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|
| 47 |
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|
| 48 |
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],
|
| 49 |
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"orientation": {
|
| 50 |
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|
| 51 |
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| 52 |
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|
| 53 |
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|
| 54 |
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0.15831881499225442
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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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"confidence": 0.8597007989883423,
|
| 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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],
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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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0.27481201950521505,
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| 70 |
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_9": {
|
| 75 |
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"confidence": 0.9304497241973877,
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| 76 |
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| 77 |
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| 78 |
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| 79 |
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0.13698448333889246
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| 80 |
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],
|
| 81 |
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"orientation": {
|
| 82 |
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|
| 83 |
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|
| 84 |
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0.13154806196044516,
|
| 85 |
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|
| 86 |
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| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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|
| 91 |
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"confidence": 0.8962187170982361,
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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0.17288874927908182
|
| 96 |
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],
|
| 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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0.12245970969376047,
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| 102 |
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| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_18": {
|
| 107 |
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"confidence": 0.8713528513908386,
|
| 108 |
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"position": [
|
| 109 |
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|
| 110 |
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|
| 111 |
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0.16393049899488688
|
| 112 |
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],
|
| 113 |
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"orientation": {
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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0.12464135014197802,
|
| 118 |
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0.03716193890581239
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| 119 |
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]
|
| 120 |
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}
|
| 121 |
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}
|
| 122 |
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}
|
| 123 |
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},
|
| 124 |
+
{
|
| 125 |
+
"part_name": "pump plunger",
|
| 126 |
+
"mask_color": "Blue",
|
| 127 |
+
"graspable": true,
|
| 128 |
+
"grasp_scenarios": [
|
| 129 |
+
{
|
| 130 |
+
"scenario": "pinch the plunger top to manipulate or rotate the pump head",
|
| 131 |
+
"confidence": 0.39
|
| 132 |
+
},
|
| 133 |
+
{
|
| 134 |
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"scenario": "hold the plunger lightly while aligning the nozzle",
|
| 135 |
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"confidence": 0.28
|
| 136 |
+
}
|
| 137 |
+
],
|
| 138 |
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"functional_labels": [
|
| 139 |
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"press to pump liquid",
|
| 140 |
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"actuate the dispenser",
|
| 141 |
+
"provide finger contact surface",
|
| 142 |
+
"connect to the spout head"
|
| 143 |
+
],
|
| 144 |
+
"semantic_description": "A short cylindrical dark gray plastic press head with a smooth matte finish sits at the top of the dispenser.",
|
| 145 |
+
"id": 2,
|
| 146 |
+
"grasp_group": {
|
| 147 |
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"grasp_40": {
|
| 148 |
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"confidence": 0.9536880850791931,
|
| 149 |
+
"position": [
|
| 150 |
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-0.084131705625623,
|
| 151 |
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-0.002665463660378009,
|
| 152 |
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0.1323185795918107
|
| 153 |
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],
|
| 154 |
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"orientation": {
|
| 155 |
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"w": 0.3641285262160689,
|
| 156 |
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| 157 |
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-0.5725148327059869,
|
| 158 |
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0.6541422366841377,
|
| 159 |
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-0.3342680315453789
|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
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},
|
| 163 |
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"grasp_52": {
|
| 164 |
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"confidence": 0.8611260652542114,
|
| 165 |
+
"position": [
|
| 166 |
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0.04964025406661676,
|
| 167 |
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-0.006265298172365874,
|
| 168 |
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0.1701727295294404
|
| 169 |
+
],
|
| 170 |
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"orientation": {
|
| 171 |
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"w": 0.15021275338512405,
|
| 172 |
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"xyz": [
|
| 173 |
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0.7777366219160212,
|
| 174 |
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|
| 175 |
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-0.22028352594611347
|
| 176 |
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]
|
| 177 |
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}
|
| 178 |
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},
|
| 179 |
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"grasp_53": {
|
| 180 |
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"confidence": 0.8520746231079102,
|
| 181 |
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"position": [
|
| 182 |
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-0.00026857709599426016,
|
| 183 |
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0.03706615307601169,
|
| 184 |
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0.17605698946863413
|
| 185 |
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],
|
| 186 |
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"orientation": {
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| 187 |
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|
| 188 |
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| 189 |
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0.04450575343890153,
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| 190 |
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0.9781826425866842,
|
| 191 |
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|
| 192 |
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]
|
| 193 |
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}
|
| 194 |
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}
|
| 195 |
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}
|
| 196 |
+
},
|
| 197 |
+
{
|
| 198 |
+
"part_name": "upper neck collar",
|
| 199 |
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"mask_color": "Yellow",
|
| 200 |
+
"graspable": true,
|
| 201 |
+
"grasp_scenarios": [
|
| 202 |
+
{
|
| 203 |
+
"scenario": "grasp the collar to steady the bottle while manipulating the pump",
|
| 204 |
+
"confidence": 0.55
|
| 205 |
+
},
|
| 206 |
+
{
|
| 207 |
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"scenario": "hold near the collar to reposition the bottle carefully",
|
| 208 |
+
"confidence": 0.44
|
| 209 |
+
}
|
| 210 |
+
],
|
| 211 |
+
"functional_labels": [
|
| 212 |
+
"support the pump head",
|
| 213 |
+
"transition from neck to pump",
|
| 214 |
+
"provide a stabilizing grip zone",
|
| 215 |
+
"cover the upper bottle neck area"
|
| 216 |
+
],
|
| 217 |
+
"semantic_description": "A narrow circular light gray plastic collar with a smooth slightly glossy surface wraps the top of the neck just below the plunger.",
|
| 218 |
+
"id": 3,
|
| 219 |
+
"grasp_group": {
|
| 220 |
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"grasp_60": {
|
| 221 |
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"confidence": 0.979151725769043,
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| 222 |
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"position": [
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| 223 |
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0.03725857748213457,
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| 224 |
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0.09118610137375072,
|
| 225 |
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0.08104522619396448
|
| 226 |
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],
|
| 227 |
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"orientation": {
|
| 228 |
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| 229 |
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0.7213197559494324,
|
| 231 |
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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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"grasp_63": {
|
| 237 |
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"confidence": 0.9774124622344971,
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| 238 |
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"position": [
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| 239 |
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0.08919077827158617,
|
| 240 |
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0.043286829080898315,
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0.07253377232700586
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| 242 |
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],
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| 243 |
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0.6359884412136799,
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]
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}
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| 251 |
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},
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|
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| 254 |
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0.09487267299118685,
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0.06870046351104975
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],
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| 259 |
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]
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| 266 |
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}
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| 267 |
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},
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| 268 |
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|
| 269 |
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| 270 |
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0.07022829814377474,
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0.06927708798320964,
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0.0721204737201333
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| 274 |
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],
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| 275 |
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"orientation": {
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]
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| 282 |
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}
|
| 283 |
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},
|
| 284 |
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|
| 285 |
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"confidence": 0.9746019840240479,
|
| 286 |
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| 1087 |
+
]
|
| 1088 |
+
}
|
| 1089 |
+
}
|
| 1090 |
+
}
|
| 1091 |
+
},
|
| 1092 |
+
{
|
| 1093 |
+
"part_name": "bottle base",
|
| 1094 |
+
"mask_color": "Purple",
|
| 1095 |
+
"graspable": false,
|
| 1096 |
+
"grasp_scenarios": [],
|
| 1097 |
+
"functional_labels": [
|
| 1098 |
+
"support standing",
|
| 1099 |
+
"provide stability",
|
| 1100 |
+
"form the contact surface",
|
| 1101 |
+
"spread weight at the bottom"
|
| 1102 |
+
],
|
| 1103 |
+
"semantic_description": "A broad circular bottom region of the bottle appears as the flat underside, with a smooth finish and slightly darker shading from the viewing angle.",
|
| 1104 |
+
"id": 5,
|
| 1105 |
+
"grasp_group": {}
|
| 1106 |
+
}
|
| 1107 |
+
],
|
| 1108 |
+
"quality_check": {
|
| 1109 |
+
"success": true,
|
| 1110 |
+
"message": "YES"
|
| 1111 |
+
}
|
| 1112 |
+
}
|
dataset/livingroom_supplies/ornaments/b45bef39ec445589b1247e4529f8ea9d/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:00649e4e2a2fab9db5f22d24ff2e030d33ae508cff0a19a0fb28d9f89f3031db
|
| 3 |
+
size 37326972
|