Add asset kitchen_supplies/ware/e7485b0e9eb95779b77d4466a677d9d9
Browse files
.gitattributes
CHANGED
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@@ -8505,3 +8505,4 @@ dataset/kitchen_supplies/ware/e52e4cd0167a5b3f9d9eb73007de35ec/affordance/mesh_p
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| 8505 |
dataset/kitchen_supplies/ware/e5c173eabae85464821fecd849953021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8506 |
dataset/kitchen_supplies/ware/e5c7f8c6511c530e8d45fbb0601d993a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8507 |
dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8505 |
dataset/kitchen_supplies/ware/e5c173eabae85464821fecd849953021/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8506 |
dataset/kitchen_supplies/ware/e5c7f8c6511c530e8d45fbb0601d993a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8507 |
dataset/kitchen_supplies/ware/e60c357f11f95d18aaa1c911131c1c7a/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 8508 |
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dataset/kitchen_supplies/ware/e7485b0e9eb95779b77d4466a677d9d9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/e7485b0e9eb95779b77d4466a677d9d9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,964 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "carry loop",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the loop to lift and carry the thermos",
|
| 10 |
+
"confidence": 0.93
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hook or pinch the loop to pull the thermos from a bag or holder",
|
| 14 |
+
"confidence": 0.89
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the loop to stabilize the bottle while unscrewing the lid",
|
| 18 |
+
"confidence": 0.61
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"carry the thermos",
|
| 23 |
+
"provide a hanging point",
|
| 24 |
+
"pull from storage",
|
| 25 |
+
"aid lid manipulation"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A pink flexible strap-like loop on top of the lid, likely plastic or silicone, with a smooth matte surface and slender curved shape sized for carrying.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_1": {
|
| 31 |
+
"confidence": 0.40048307180404663,
|
| 32 |
+
"position": [
|
| 33 |
+
-0.00016935032908804715,
|
| 34 |
+
-0.08122880471637473,
|
| 35 |
+
0.1134169502183795
|
| 36 |
+
],
|
| 37 |
+
"orientation": {
|
| 38 |
+
"w": 0.04911718021786815,
|
| 39 |
+
"xyz": [
|
| 40 |
+
-0.009243993880622966,
|
| 41 |
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0.906046281232968,
|
| 42 |
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|
| 43 |
+
]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
+
"grasp_2": {
|
| 47 |
+
"confidence": 0.7311496138572693,
|
| 48 |
+
"position": [
|
| 49 |
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|
| 50 |
+
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|
| 51 |
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0.11675165127962828
|
| 52 |
+
],
|
| 53 |
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"orientation": {
|
| 54 |
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"w": 0.07484198026198441,
|
| 55 |
+
"xyz": [
|
| 56 |
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| 57 |
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0.9337255596758788,
|
| 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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"grasp_4": {
|
| 63 |
+
"confidence": 0.914063572883606,
|
| 64 |
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"position": [
|
| 65 |
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| 66 |
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|
| 67 |
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0.09943208377808332
|
| 68 |
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],
|
| 69 |
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"orientation": {
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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0.004311793630454697,
|
| 74 |
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| 75 |
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]
|
| 76 |
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}
|
| 77 |
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},
|
| 78 |
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|
| 79 |
+
"confidence": 0.812714695930481,
|
| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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],
|
| 85 |
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"orientation": {
|
| 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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]
|
| 92 |
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}
|
| 93 |
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},
|
| 94 |
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"grasp_6": {
|
| 95 |
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"confidence": 0.8072441816329956,
|
| 96 |
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|
| 97 |
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0.011717354820575565,
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| 98 |
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| 99 |
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0.12032353412359953
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| 100 |
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],
|
| 101 |
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| 103 |
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| 106 |
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| 108 |
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|
| 109 |
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},
|
| 110 |
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|
| 111 |
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"confidence": 0.8060274124145508,
|
| 112 |
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| 115 |
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0.12893863301724195
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| 116 |
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],
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| 117 |
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|
| 118 |
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| 119 |
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| 122 |
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| 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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"confidence": 0.7546017169952393,
|
| 128 |
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| 129 |
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|
| 130 |
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|
| 131 |
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0.12786758225411177
|
| 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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0.08464429935503134,
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| 138 |
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| 139 |
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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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|
| 143 |
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"confidence": 0.8204653859138489,
|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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0.12002079468220472
|
| 148 |
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],
|
| 149 |
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"orientation": {
|
| 150 |
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|
| 151 |
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|
| 152 |
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0.07293023674161385,
|
| 153 |
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0.9438164303237767,
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| 154 |
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0.31965503932357936
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| 155 |
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]
|
| 156 |
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}
|
| 157 |
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},
|
| 158 |
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"grasp_10": {
|
| 159 |
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"confidence": 0.7975645661354065,
|
| 160 |
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| 161 |
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|
| 162 |
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|
| 163 |
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0.14151600282639265
|
| 164 |
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],
|
| 165 |
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"orientation": {
|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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| 171 |
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]
|
| 172 |
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}
|
| 173 |
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},
|
| 174 |
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"grasp_11": {
|
| 175 |
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"confidence": 0.7217176556587219,
|
| 176 |
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| 178 |
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| 179 |
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0.13234067242592573
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| 180 |
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],
|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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0.08841117712633008,
|
| 185 |
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0.9652536563221318,
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| 186 |
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0.23985019414482225
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| 187 |
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]
|
| 188 |
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}
|
| 189 |
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},
|
| 190 |
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"grasp_13": {
|
| 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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0.13157433550804853
|
| 196 |
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],
|
| 197 |
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"orientation": {
|
| 198 |
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|
| 199 |
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|
| 200 |
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0.009178885188253954,
|
| 201 |
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0.9677607726038642,
|
| 202 |
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0.24943219806038994
|
| 203 |
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]
|
| 204 |
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}
|
| 205 |
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},
|
| 206 |
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"grasp_19": {
|
| 207 |
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"confidence": 0.7796735167503357,
|
| 208 |
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"position": [
|
| 209 |
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0.007930140884127468,
|
| 210 |
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|
| 211 |
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0.1280350862070918
|
| 212 |
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],
|
| 213 |
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"orientation": {
|
| 214 |
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"w": 0.22521436356107935,
|
| 215 |
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"xyz": [
|
| 216 |
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|
| 217 |
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|
| 218 |
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0.024230741311168067
|
| 219 |
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]
|
| 220 |
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}
|
| 221 |
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}
|
| 222 |
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}
|
| 223 |
+
},
|
| 224 |
+
{
|
| 225 |
+
"part_name": "lid",
|
| 226 |
+
"mask_color": "Orange",
|
| 227 |
+
"graspable": true,
|
| 228 |
+
"grasp_scenarios": [
|
| 229 |
+
{
|
| 230 |
+
"scenario": "grasp the lid to twist it open or closed",
|
| 231 |
+
"confidence": 0.87
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"scenario": "hold the top cap to reorient the thermos during handling",
|
| 235 |
+
"confidence": 0.55
|
| 236 |
+
}
|
| 237 |
+
],
|
| 238 |
+
"functional_labels": [
|
| 239 |
+
"cover the drinking opening",
|
| 240 |
+
"seal the container",
|
| 241 |
+
"enable opening and closing",
|
| 242 |
+
"support the carry loop"
|
| 243 |
+
],
|
| 244 |
+
"semantic_description": "A round rose-gold metallic cap at the top with a reflective satin finish, hard smooth texture, and shallow domed shape forming the thermos closure.",
|
| 245 |
+
"id": 4,
|
| 246 |
+
"grasp_group": {
|
| 247 |
+
"grasp_40": {
|
| 248 |
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"confidence": 0.9653623700141907,
|
| 249 |
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"position": [
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| 250 |
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|
| 251 |
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0.02749051625141874,
|
| 252 |
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0.03516033943742514
|
| 253 |
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],
|
| 254 |
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"orientation": {
|
| 255 |
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|
| 256 |
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| 257 |
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0.5580214766000849,
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| 258 |
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0.4350247330462347,
|
| 259 |
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0.4169540057551854
|
| 260 |
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]
|
| 261 |
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}
|
| 262 |
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},
|
| 263 |
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"grasp_41": {
|
| 264 |
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"confidence": 0.9634110927581787,
|
| 265 |
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| 266 |
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| 267 |
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0.038337442150805146,
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| 268 |
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0.03718652110546827
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| 269 |
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],
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| 270 |
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| 276 |
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]
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}
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| 278 |
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},
|
| 279 |
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|
| 280 |
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0.039566527120769024
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],
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| 286 |
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}
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| 294 |
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},
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],
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| 302 |
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]
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| 309 |
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}
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| 310 |
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},
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| 311 |
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|
| 312 |
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| 313 |
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| 315 |
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0.03210459562251344,
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0.043772186152637005
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| 317 |
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],
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| 318 |
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| 319 |
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| 320 |
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]
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| 325 |
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}
|
| 326 |
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},
|
| 327 |
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"grasp_45": {
|
| 328 |
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| 329 |
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| 330 |
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0.09130908915540203,
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| 331 |
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0.04514401318738237,
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0.03790849354118109
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],
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]
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}
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| 342 |
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},
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| 344 |
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| 345 |
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0.039678058587014675
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],
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"orientation": {
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}
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| 901 |
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},
|
| 902 |
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{
|
| 903 |
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"part_name": "base ring",
|
| 904 |
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"mask_color": "Purple",
|
| 905 |
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"graspable": false,
|
| 906 |
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"grasp_scenarios": [],
|
| 907 |
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"functional_labels": [
|
| 908 |
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"support standing",
|
| 909 |
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"protect the lower edge",
|
| 910 |
+
"improve bottom durability",
|
| 911 |
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"provide contact rim"
|
| 912 |
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],
|
| 913 |
+
"semantic_description": "A narrow ring around the bottom edge matching the rose-pink body, with a smooth hard finish and slightly raised band shape at the thermos base.",
|
| 914 |
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"id": 5,
|
| 915 |
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"grasp_group": {}
|
| 916 |
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},
|
| 917 |
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{
|
| 918 |
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"part_name": "bottom surface",
|
| 919 |
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"mask_color": "Cyan",
|
| 920 |
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"graspable": false,
|
| 921 |
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"grasp_scenarios": [],
|
| 922 |
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"functional_labels": [
|
| 923 |
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"rest on surfaces",
|
| 924 |
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"provide stable contact area",
|
| 925 |
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"support upright storage"
|
| 926 |
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],
|
| 927 |
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"semantic_description": "A flat circular underside at the bottom, appearing light blue in the render mask only while the real part is not directly visible, forming the thermos contact surface.",
|
| 928 |
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"id": 6,
|
| 929 |
+
"grasp_group": {}
|
| 930 |
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},
|
| 931 |
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{
|
| 932 |
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"part_name": "loop hinge connector",
|
| 933 |
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"mask_color": "Yellow",
|
| 934 |
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"graspable": false,
|
| 935 |
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"grasp_scenarios": [],
|
| 936 |
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"functional_labels": [
|
| 937 |
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"attach the carry loop",
|
| 938 |
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"act as pivot connection",
|
| 939 |
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"transfer carrying load to lid"
|
| 940 |
+
],
|
| 941 |
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"semantic_description": "A very small connector point where the loop meets the lid edge, appearing as a tiny hard smooth fitting integrated near the lid rim.",
|
| 942 |
+
"id": 3,
|
| 943 |
+
"grasp_group": {}
|
| 944 |
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},
|
| 945 |
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{
|
| 946 |
+
"part_name": "loop hinge connector",
|
| 947 |
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"mask_color": "Green",
|
| 948 |
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"graspable": false,
|
| 949 |
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"grasp_scenarios": [],
|
| 950 |
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"functional_labels": [
|
| 951 |
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"attach the carry loop",
|
| 952 |
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"act as pivot connection",
|
| 953 |
+
"transfer carrying load to lid"
|
| 954 |
+
],
|
| 955 |
+
"semantic_description": "A very small connector point on the opposite side of the loop attachment, appearing as a tiny hard smooth fitting integrated into the lid rim.",
|
| 956 |
+
"id": 1,
|
| 957 |
+
"grasp_group": {}
|
| 958 |
+
}
|
| 959 |
+
],
|
| 960 |
+
"quality_check": {
|
| 961 |
+
"success": true,
|
| 962 |
+
"message": "YES"
|
| 963 |
+
}
|
| 964 |
+
}
|
dataset/kitchen_supplies/ware/e7485b0e9eb95779b77d4466a677d9d9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fa206c30b526285203391677aded8756d6d37f7539cc251d8d9f30ce604b6577
|
| 3 |
+
size 3783804
|