Add asset kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a
Browse files
.gitattributes
CHANGED
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@@ -8516,3 +8516,4 @@ dataset/kitchen_supplies/ware/ec959736d07450e096acf319357f7fe3/affordance/mesh_p
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| 8516 |
dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8517 |
dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8518 |
dataset/kitchen_supplies/ware/ee5ed0047ded5d80b9d75960267d6c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8516 |
dataset/kitchen_supplies/ware/ecc7ef296428590a96b9145650b774bf/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8517 |
dataset/kitchen_supplies/ware/ee482d7e539255d4a1036f134b5b34a5/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8518 |
dataset/kitchen_supplies/ware/ee5ed0047ded5d80b9d75960267d6c4f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8519 |
+
dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,259 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "saucer",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the saucer rim to lift or relocate the cup-and-saucer set",
|
| 10 |
+
"confidence": 0.72
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the saucer edge to stabilize the set on a table",
|
| 14 |
+
"confidence": 0.66
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"support the cup",
|
| 19 |
+
"catch drips or spills",
|
| 20 |
+
"provide a serving base",
|
| 21 |
+
"stabilize the cup on a surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "A wide round white ceramic saucer with a glossy smooth hard surface, shallow plate-like shape, fluted rim detailing, and thin gold trim beneath and around the edge.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
+
"confidence": 0.8270193934440613,
|
| 28 |
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"position": [
|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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"w": 0.509033875785173,
|
| 35 |
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"xyz": [
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| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_13": {
|
| 43 |
+
"confidence": 0.7956637144088745,
|
| 44 |
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"position": [
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| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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],
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| 49 |
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"orientation": {
|
| 50 |
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"w": 0.43650291726439755,
|
| 51 |
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"xyz": [
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| 52 |
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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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"grasp_15": {
|
| 59 |
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"confidence": 0.7944565415382385,
|
| 60 |
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"position": [
|
| 61 |
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-0.09786185791017488,
|
| 62 |
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0.09888701447925996,
|
| 63 |
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|
| 64 |
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],
|
| 65 |
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"orientation": {
|
| 66 |
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"w": 0.6738488408047152,
|
| 67 |
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"xyz": [
|
| 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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}
|
| 74 |
+
}
|
| 75 |
+
},
|
| 76 |
+
{
|
| 77 |
+
"part_name": "cup body",
|
| 78 |
+
"mask_color": "Green",
|
| 79 |
+
"graspable": true,
|
| 80 |
+
"grasp_scenarios": [
|
| 81 |
+
{
|
| 82 |
+
"scenario": "grasp the cup body from the sides to pick up the cup when empty or lightly filled",
|
| 83 |
+
"confidence": 0.63
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"scenario": "grasp the cup body to stabilize it while placing it onto the saucer",
|
| 87 |
+
"confidence": 0.69
|
| 88 |
+
}
|
| 89 |
+
],
|
| 90 |
+
"functional_labels": [
|
| 91 |
+
"contain the beverage",
|
| 92 |
+
"provide the main vessel structure",
|
| 93 |
+
"support drinking from the rim",
|
| 94 |
+
"hold liquid upright"
|
| 95 |
+
],
|
| 96 |
+
"semantic_description": "A medium-sized white ceramic cup body with a glossy smooth hard surface, gently flared cylindrical shape, vertical fluted sides, and thin gold trim around the rim and foot.",
|
| 97 |
+
"id": 1,
|
| 98 |
+
"grasp_group": {
|
| 99 |
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"grasp_20": {
|
| 100 |
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"confidence": 0.6366826891899109,
|
| 101 |
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"position": [
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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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"orientation": {
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"w": 0.35351196393446194,
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| 108 |
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"xyz": [
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| 110 |
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|
| 111 |
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|
| 112 |
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]
|
| 113 |
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}
|
| 114 |
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},
|
| 115 |
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"grasp_21": {
|
| 116 |
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"confidence": 0.6327323913574219,
|
| 117 |
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"position": [
|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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],
|
| 122 |
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"orientation": {
|
| 123 |
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"w": 0.3996698345084142,
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| 124 |
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| 125 |
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| 127 |
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| 128 |
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]
|
| 129 |
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}
|
| 130 |
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},
|
| 131 |
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"grasp_23": {
|
| 132 |
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"confidence": 0.6139745712280273,
|
| 133 |
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"position": [
|
| 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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"orientation": {
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| 139 |
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| 140 |
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| 141 |
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| 143 |
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|
| 144 |
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]
|
| 145 |
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}
|
| 146 |
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},
|
| 147 |
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"grasp_27": {
|
| 148 |
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"confidence": 0.602321207523346,
|
| 149 |
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"position": [
|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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],
|
| 154 |
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"orientation": {
|
| 155 |
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"w": 0.11671282247979244,
|
| 156 |
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"xyz": [
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|
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|
| 159 |
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|
| 160 |
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]
|
| 161 |
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}
|
| 162 |
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},
|
| 163 |
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"grasp_29": {
|
| 164 |
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"confidence": 0.6021820306777954,
|
| 165 |
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"position": [
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| 166 |
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|
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|
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|
| 169 |
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],
|
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"orientation": {
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| 171 |
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| 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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"grasp_33": {
|
| 180 |
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"confidence": 0.5854902267456055,
|
| 181 |
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"position": [
|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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],
|
| 186 |
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"orientation": {
|
| 187 |
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"w": 0.5123923616188746,
|
| 188 |
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"xyz": [
|
| 189 |
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|
| 190 |
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|
| 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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"grasp_35": {
|
| 196 |
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"confidence": 0.5763958692550659,
|
| 197 |
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"position": [
|
| 198 |
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0.07874011824605986,
|
| 199 |
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|
| 200 |
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|
| 201 |
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],
|
| 202 |
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"orientation": {
|
| 203 |
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"w": 0.20670416106561793,
|
| 204 |
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"xyz": [
|
| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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]
|
| 209 |
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}
|
| 210 |
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}
|
| 211 |
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}
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"part_name": "mug handle",
|
| 215 |
+
"mask_color": "Blue",
|
| 216 |
+
"graspable": true,
|
| 217 |
+
"grasp_scenarios": [
|
| 218 |
+
{
|
| 219 |
+
"scenario": "grasp the handle to lift the cup safely",
|
| 220 |
+
"confidence": 0.93
|
| 221 |
+
},
|
| 222 |
+
{
|
| 223 |
+
"scenario": "hold the handle to tilt or reposition the cup while pouring or serving",
|
| 224 |
+
"confidence": 0.86
|
| 225 |
+
}
|
| 226 |
+
],
|
| 227 |
+
"functional_labels": [
|
| 228 |
+
"provide a side grip",
|
| 229 |
+
"lift the cup without squeezing the body",
|
| 230 |
+
"help orient the cup",
|
| 231 |
+
"stabilize the cup during serving"
|
| 232 |
+
],
|
| 233 |
+
"semantic_description": "A small curved white ceramic handle with a glossy smooth hard surface, looped shape, and thin gold edging, attached to the cup side near the upper half.",
|
| 234 |
+
"id": 2,
|
| 235 |
+
"grasp_group": {
|
| 236 |
+
"grasp_40": {
|
| 237 |
+
"confidence": 0.6379114389419556,
|
| 238 |
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"position": [
|
| 239 |
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|
| 240 |
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0.10869124093733262,
|
| 241 |
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0.0948502424871549
|
| 242 |
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],
|
| 243 |
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"orientation": {
|
| 244 |
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"w": 0.4117107191172213,
|
| 245 |
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"xyz": [
|
| 246 |
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0.6686863042756076,
|
| 247 |
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|
| 248 |
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|
| 249 |
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]
|
| 250 |
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}
|
| 251 |
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}
|
| 252 |
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}
|
| 253 |
+
}
|
| 254 |
+
],
|
| 255 |
+
"quality_check": {
|
| 256 |
+
"success": true,
|
| 257 |
+
"message": "YES"
|
| 258 |
+
}
|
| 259 |
+
}
|
dataset/kitchen_supplies/ware/eea66fc4cc4458db8e670c02f8904a8a/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2f53b630623e2acc04e798f4714a9a9978ae88d58d9c28a4d491053fbbe09656
|
| 3 |
+
size 3778772
|