Add asset kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4
Browse files
.gitattributes
CHANGED
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@@ -7617,3 +7617,4 @@ dataset/kitchen_supplies/ware/a8a0e16f3f61521d8d196fa6dbf69a55/affordance/mesh_p
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| 7617 |
dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/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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| 7617 |
dataset/kitchen_supplies/ware/a8a4a3eb374f54c398b4084e131ae9d5/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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dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,439 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mug base",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": false,
|
| 7 |
+
"grasp_scenarios": [],
|
| 8 |
+
"functional_labels": [
|
| 9 |
+
"support standing upright",
|
| 10 |
+
"stabilize the mug on a surface",
|
| 11 |
+
"protect the bottom edge"
|
| 12 |
+
],
|
| 13 |
+
"semantic_description": "A dark black circular bottom section at the base of the tapered mug, appearing like a rubber or plastic base ring with a matte finish.",
|
| 14 |
+
"id": 0,
|
| 15 |
+
"grasp_group": {}
|
| 16 |
+
},
|
| 17 |
+
{
|
| 18 |
+
"part_name": "mug body",
|
| 19 |
+
"mask_color": "Green",
|
| 20 |
+
"graspable": true,
|
| 21 |
+
"grasp_scenarios": [
|
| 22 |
+
{
|
| 23 |
+
"scenario": "grasp the sidewalls to pick up the mug",
|
| 24 |
+
"confidence": 0.89
|
| 25 |
+
},
|
| 26 |
+
{
|
| 27 |
+
"scenario": "hold the body to stabilize the mug during transport",
|
| 28 |
+
"confidence": 0.84
|
| 29 |
+
}
|
| 30 |
+
],
|
| 31 |
+
"functional_labels": [
|
| 32 |
+
"contain beverages",
|
| 33 |
+
"main grasp surface",
|
| 34 |
+
"support the lid",
|
| 35 |
+
"provide structural enclosure"
|
| 36 |
+
],
|
| 37 |
+
"semantic_description": "The main tapered cup body is white with a smooth hard finish and forms the central vessel for holding liquid.",
|
| 38 |
+
"id": 1,
|
| 39 |
+
"grasp_group": {
|
| 40 |
+
"grasp_0": {
|
| 41 |
+
"confidence": 0.8672600984573364,
|
| 42 |
+
"position": [
|
| 43 |
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|
| 44 |
+
-0.10389847029000521,
|
| 45 |
+
-0.060505760833621025
|
| 46 |
+
],
|
| 47 |
+
"orientation": {
|
| 48 |
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"w": 0.173630717348695,
|
| 49 |
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"xyz": [
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| 50 |
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| 51 |
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|
| 52 |
+
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|
| 53 |
+
]
|
| 54 |
+
}
|
| 55 |
+
},
|
| 56 |
+
"grasp_1": {
|
| 57 |
+
"confidence": 0.8649197220802307,
|
| 58 |
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"position": [
|
| 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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"orientation": {
|
| 64 |
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"w": 0.07767565926373363,
|
| 65 |
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"xyz": [
|
| 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 |
+
},
|
| 72 |
+
"grasp_2": {
|
| 73 |
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"confidence": 0.8637723326683044,
|
| 74 |
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"position": [
|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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],
|
| 79 |
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"orientation": {
|
| 80 |
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"w": 0.18587898406982842,
|
| 81 |
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"xyz": [
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| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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]
|
| 86 |
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}
|
| 87 |
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},
|
| 88 |
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"grasp_3": {
|
| 89 |
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"confidence": 0.8637564182281494,
|
| 90 |
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"position": [
|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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],
|
| 95 |
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"orientation": {
|
| 96 |
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"w": 0.7898872861556759,
|
| 97 |
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"xyz": [
|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
+
]
|
| 102 |
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}
|
| 103 |
+
},
|
| 104 |
+
"grasp_4": {
|
| 105 |
+
"confidence": 0.8628113865852356,
|
| 106 |
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"position": [
|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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],
|
| 111 |
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"orientation": {
|
| 112 |
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"w": 0.1466745833984323,
|
| 113 |
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"xyz": [
|
| 114 |
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|
| 115 |
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|
| 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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"grasp_5": {
|
| 121 |
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"confidence": 0.86259925365448,
|
| 122 |
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"position": [
|
| 123 |
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|
| 124 |
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|
| 125 |
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| 126 |
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],
|
| 127 |
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"orientation": {
|
| 128 |
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"w": 0.07439583852519806,
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| 129 |
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"xyz": [
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| 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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"grasp_6": {
|
| 137 |
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"confidence": 0.8622084856033325,
|
| 138 |
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"position": [
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| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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],
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| 143 |
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"orientation": {
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"w": 0.10868847049656659,
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"xyz": [
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| 148 |
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| 149 |
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]
|
| 150 |
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}
|
| 151 |
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},
|
| 152 |
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"grasp_7": {
|
| 153 |
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"confidence": 0.8576328158378601,
|
| 154 |
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"position": [
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| 155 |
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|
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|
| 157 |
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|
| 158 |
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],
|
| 159 |
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"orientation": {
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| 160 |
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"w": 0.16884680052989817,
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| 161 |
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"xyz": [
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| 165 |
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]
|
| 166 |
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}
|
| 167 |
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},
|
| 168 |
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"grasp_8": {
|
| 169 |
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"confidence": 0.8574506044387817,
|
| 170 |
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"position": [
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| 171 |
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| 174 |
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],
|
| 175 |
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"orientation": {
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"w": 0.06114976351020288,
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"xyz": [
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| 178 |
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},
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{
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| 347 |
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"part_name": "lid",
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| 348 |
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|
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|
| 350 |
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|
| 351 |
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{
|
| 352 |
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"scenario": "pinch the lid edge to remove the lid from the mug",
|
| 353 |
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"confidence": 0.58
|
| 354 |
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{
|
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],
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| 364 |
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"support the sipping features"
|
| 365 |
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],
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| 366 |
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"semantic_description": "A dark charcoal to black circular plastic lid with a smooth matte appearance, slightly domed and fitted across the top opening of the mug.",
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| 367 |
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| 368 |
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}
|
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}
|
| 386 |
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},
|
| 387 |
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{
|
| 388 |
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"part_name": "sliding drink cover",
|
| 389 |
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"mask_color": "Orange",
|
| 390 |
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"graspable": true,
|
| 391 |
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|
| 392 |
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{
|
| 393 |
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"scenario": "pinch and slide the cover to open or close the sip opening",
|
| 394 |
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"confidence": 0.82
|
| 395 |
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},
|
| 396 |
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{
|
| 397 |
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|
| 398 |
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|
| 399 |
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}
|
| 400 |
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],
|
| 401 |
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|
| 402 |
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"open the sip hole",
|
| 403 |
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|
| 404 |
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"control drinking access",
|
| 405 |
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"reduce splashing"
|
| 406 |
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],
|
| 407 |
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"semantic_description": "A small dark plastic sliding piece on the top of the lid, with a short curved rectangular shape and matte finish, positioned over the drinking opening.",
|
| 408 |
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|
| 409 |
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"grasp_group": {}
|
| 410 |
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},
|
| 411 |
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{
|
| 412 |
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"part_name": "thumb tab",
|
| 413 |
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"mask_color": "Yellow",
|
| 414 |
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"graspable": true,
|
| 415 |
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"grasp_scenarios": [
|
| 416 |
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{
|
| 417 |
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"scenario": "use as a finger purchase point to help remove the lid",
|
| 418 |
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"confidence": 0.55
|
| 419 |
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},
|
| 420 |
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{
|
| 421 |
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"scenario": "stabilize the lid with a fingertip during slider operation",
|
| 422 |
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"confidence": 0.36
|
| 423 |
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}
|
| 424 |
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],
|
| 425 |
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"functional_labels": [
|
| 426 |
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"provide finger purchase",
|
| 427 |
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"assist lid removal",
|
| 428 |
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"mark the drinking side"
|
| 429 |
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],
|
| 430 |
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"semantic_description": "A small dark plastic protruding tab at the lid rim with a smooth matte surface and compact curved shape, positioned near the sipping area.",
|
| 431 |
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|
| 432 |
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|
| 433 |
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}
|
| 434 |
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],
|
| 435 |
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"quality_check": {
|
| 436 |
+
"success": true,
|
| 437 |
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"message": "YES"
|
| 438 |
+
}
|
| 439 |
+
}
|
dataset/kitchen_supplies/ware/abe907cf973652c2af683fa2ef404df4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:0a72a3b7a4f7e09ec535477b448ed68fd00537ef2da2243fde59d415232b137c
|
| 3 |
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size 3783448
|