Add asset kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd
Browse files
.gitattributes
CHANGED
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@@ -7536,3 +7536,4 @@ dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/affordance/mesh_p
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| 7536 |
dataset/kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7537 |
dataset/kitchen_supplies/ware/3425f984850d54e2966a7ff035633f70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7538 |
dataset/kitchen_supplies/ware/34c4f3a5b7a35e1ab98a5c5b660c2257/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7536 |
dataset/kitchen_supplies/ware/32fe4efa41575b178eb6b0ecd59f88ae/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7537 |
dataset/kitchen_supplies/ware/3425f984850d54e2966a7ff035633f70/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7538 |
dataset/kitchen_supplies/ware/34c4f3a5b7a35e1ab98a5c5b660c2257/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7539 |
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dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cup body to pick up and move the cup",
|
| 10 |
+
"confidence": 0.74
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the cup body to stabilize it during placement",
|
| 14 |
+
"confidence": 0.71
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"form the main vessel",
|
| 20 |
+
"support drinking from the rim",
|
| 21 |
+
"provide the main enclosure"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large tapered light-blue ceramic cup body with a glossy hard smooth surface, gold rim detailing, and pink-purple floral decoration covering most of the vessel above the foot.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
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"confidence": 0.9606456160545349,
|
| 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": 0.218518689687017,
|
| 35 |
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"xyz": [
|
| 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 |
+
},
|
| 42 |
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"grasp_1": {
|
| 43 |
+
"confidence": 0.9605342745780945,
|
| 44 |
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"position": [
|
| 45 |
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|
| 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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"w": 0.20908362310195427,
|
| 51 |
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"xyz": [
|
| 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 |
+
"grasp_2": {
|
| 59 |
+
"confidence": 0.9590437412261963,
|
| 60 |
+
"position": [
|
| 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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"orientation": {
|
| 66 |
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"w": 0.19854920510852866,
|
| 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 |
+
},
|
| 74 |
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"grasp_4": {
|
| 75 |
+
"confidence": 0.9581161737442017,
|
| 76 |
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"position": [
|
| 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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"orientation": {
|
| 82 |
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"w": 0.24193471836101252,
|
| 83 |
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"xyz": [
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
+
]
|
| 88 |
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}
|
| 89 |
+
},
|
| 90 |
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"grasp_5": {
|
| 91 |
+
"confidence": 0.9579017162322998,
|
| 92 |
+
"position": [
|
| 93 |
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|
| 94 |
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0.011945815975195728,
|
| 95 |
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|
| 96 |
+
],
|
| 97 |
+
"orientation": {
|
| 98 |
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"w": 0.21652097966994388,
|
| 99 |
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"xyz": [
|
| 100 |
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0.7673906202521754,
|
| 101 |
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|
| 102 |
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|
| 103 |
+
]
|
| 104 |
+
}
|
| 105 |
+
},
|
| 106 |
+
"grasp_6": {
|
| 107 |
+
"confidence": 0.956109881401062,
|
| 108 |
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"position": [
|
| 109 |
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|
| 110 |
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-0.0003991966223111376,
|
| 111 |
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|
| 112 |
+
],
|
| 113 |
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"orientation": {
|
| 114 |
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"w": 0.2143167643560103,
|
| 115 |
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"xyz": [
|
| 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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},
|
| 122 |
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"grasp_7": {
|
| 123 |
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"confidence": 0.9559610486030579,
|
| 124 |
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"position": [
|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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],
|
| 129 |
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"orientation": {
|
| 130 |
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"w": 0.16208112688531498,
|
| 131 |
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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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}
|
| 137 |
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},
|
| 138 |
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"grasp_8": {
|
| 139 |
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"confidence": 0.9559382796287537,
|
| 140 |
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"position": [
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| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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],
|
| 145 |
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"orientation": {
|
| 146 |
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"w": 0.2275997763139149,
|
| 147 |
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"xyz": [
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|
| 149 |
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|
| 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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"grasp_9": {
|
| 155 |
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"confidence": 0.9558886289596558,
|
| 156 |
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"position": [
|
| 157 |
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| 158 |
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|
| 159 |
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|
| 160 |
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],
|
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"orientation": {
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"w": 0.23764342458151003,
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| 163 |
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"xyz": [
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|
| 167 |
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]
|
| 168 |
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}
|
| 169 |
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},
|
| 170 |
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"grasp_10": {
|
| 171 |
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"confidence": 0.9547377228736877,
|
| 172 |
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"position": [
|
| 173 |
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| 174 |
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}
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}
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},
|
| 332 |
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{
|
| 333 |
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"part_name": "mug handle",
|
| 334 |
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"mask_color": "Blue",
|
| 335 |
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"graspable": true,
|
| 336 |
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"grasp_scenarios": [
|
| 337 |
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{
|
| 338 |
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"scenario": "grasp the handle to lift the cup",
|
| 339 |
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"confidence": 0.94
|
| 340 |
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},
|
| 341 |
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{
|
| 342 |
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"scenario": "hold the handle to stabilize and reorient the cup",
|
| 343 |
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|
| 344 |
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}
|
| 345 |
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],
|
| 346 |
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"functional_labels": [
|
| 347 |
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"provide a side grip",
|
| 348 |
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"lift the cup without touching the body",
|
| 349 |
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"aid pouring orientation",
|
| 350 |
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"keep fingers away from hot contents"
|
| 351 |
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],
|
| 352 |
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"semantic_description": "Curved light-blue ceramic handle with glossy smooth finish and gold-edged trim, attached high on the side and sized as a narrow loop for side gripping.",
|
| 353 |
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"id": 2,
|
| 354 |
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"grasp_group": {}
|
| 355 |
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},
|
| 356 |
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{
|
| 357 |
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"part_name": "footed base",
|
| 358 |
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"mask_color": "Green",
|
| 359 |
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"graspable": true,
|
| 360 |
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|
| 361 |
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{
|
| 362 |
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"scenario": "grasp the base to lift the empty cup from below",
|
| 363 |
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"confidence": 0.46
|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
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"scenario": "hold the base to stabilize the cup during inspection or placement",
|
| 367 |
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"confidence": 0.58
|
| 368 |
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}
|
| 369 |
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],
|
| 370 |
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"functional_labels": [
|
| 371 |
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"support upright standing",
|
| 372 |
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"elevate the cup body",
|
| 373 |
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"provide bottom stability",
|
| 374 |
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"distribute contact with the table"
|
| 375 |
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],
|
| 376 |
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"semantic_description": "Short round pedestal base in matching pale blue ceramic with a glossy smooth hard surface and thin gold accent lines, located beneath the cup body and wider than the stem.",
|
| 377 |
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"id": 1,
|
| 378 |
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"grasp_group": {
|
| 379 |
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"grasp_23": {
|
| 380 |
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|
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],
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|
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]
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}
|
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},
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|
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|
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|
| 400 |
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|
| 401 |
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],
|
| 402 |
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"orientation": {
|
| 403 |
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|
| 404 |
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|
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|
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|
| 409 |
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|
| 410 |
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}
|
| 411 |
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}
|
| 412 |
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},
|
| 413 |
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{
|
| 414 |
+
"part_name": "base rim",
|
| 415 |
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"mask_color": "Orange",
|
| 416 |
+
"graspable": false,
|
| 417 |
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"grasp_scenarios": [],
|
| 418 |
+
"functional_labels": [
|
| 419 |
+
"protect the base edge",
|
| 420 |
+
"finish the pedestal outline",
|
| 421 |
+
"provide a contact boundary"
|
| 422 |
+
],
|
| 423 |
+
"semantic_description": "Thin circular gold-toned trim around the outer edge of the pedestal base, appearing glossy, smooth, and narrow relative to the rest of the cup.",
|
| 424 |
+
"id": 4,
|
| 425 |
+
"grasp_group": {}
|
| 426 |
+
},
|
| 427 |
+
{
|
| 428 |
+
"part_name": "stem of cup",
|
| 429 |
+
"mask_color": "Yellow",
|
| 430 |
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"graspable": false,
|
| 431 |
+
"grasp_scenarios": [],
|
| 432 |
+
"functional_labels": [
|
| 433 |
+
"connect base to cup body",
|
| 434 |
+
"support elevated vessel",
|
| 435 |
+
"transfer load to the pedestal"
|
| 436 |
+
],
|
| 437 |
+
"semantic_description": "Small narrow connector between the cup body and pedestal, likely ceramic with a glossy smooth finish, mostly hidden and much smaller than the body and base.",
|
| 438 |
+
"id": 3,
|
| 439 |
+
"grasp_group": {}
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"quality_check": {
|
| 443 |
+
"success": true,
|
| 444 |
+
"message": "YES"
|
| 445 |
+
}
|
| 446 |
+
}
|
dataset/kitchen_supplies/ware/3617e6718d525e4aaa78b467b3a5a1cd/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c63f990b67f42e95c5714621ddc8db864658aef5719dd54e38a8a1c47b720f5f
|
| 3 |
+
size 3781572
|