Add asset food/beverages/2ce27d0384335ce0ac6cb1f00d1db660
Browse files
.gitattributes
CHANGED
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@@ -6712,3 +6712,4 @@ dataset/food/beverages/25a6c1716d475b0dbdf032eedce4df1f/affordance/mesh_part_seg
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| 6712 |
dataset/food/beverages/24e6da9980925a02bee96e209ec5aae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6713 |
dataset/food/beverages/289623b44a705b80bfd7758b298f4b68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6714 |
dataset/food/beverages/27971a3c8b1f537292a04fa90716c7b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6712 |
dataset/food/beverages/24e6da9980925a02bee96e209ec5aae8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6713 |
dataset/food/beverages/289623b44a705b80bfd7758b298f4b68/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6714 |
dataset/food/beverages/27971a3c8b1f537292a04fa90716c7b7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6715 |
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dataset/food/beverages/2ce27d0384335ce0ac6cb1f00d1db660/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/2ce27d0384335ce0ac6cb1f00d1db660/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
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{
|
| 9 |
+
"scenario": "grasp the cylindrical sidewall to pick up the can",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
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},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the sidewall to stabilize the can during transport",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reorient the can upright",
|
| 18 |
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"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support printed branding and text",
|
| 25 |
+
"provide structural shell"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall red aluminum cylindrical body with a glossy smooth hard surface, medium-sized as the main sidewall of the can, covered in white printed Coca-Cola branding, nutrition text, and barcode markings.",
|
| 28 |
+
"id": 1,
|
| 29 |
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"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9828395247459412,
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| 32 |
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"position": [
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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],
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| 37 |
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"orientation": {
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| 38 |
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"w": 0.07029746609761395,
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| 39 |
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"xyz": [
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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]
|
| 44 |
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}
|
| 45 |
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},
|
| 46 |
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"grasp_1": {
|
| 47 |
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"confidence": 0.982415497303009,
|
| 48 |
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"position": [
|
| 49 |
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| 50 |
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| 51 |
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| 52 |
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],
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| 53 |
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"orientation": {
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| 54 |
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"w": 0.0602622211172344,
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| 55 |
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"xyz": [
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| 56 |
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| 57 |
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| 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_2": {
|
| 63 |
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"confidence": 0.9818693995475769,
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| 64 |
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"position": [
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| 66 |
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| 67 |
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| 68 |
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],
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| 69 |
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"orientation": {
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| 70 |
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"w": 0.10587665765630731,
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| 71 |
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"xyz": [
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| 74 |
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| 75 |
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]
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| 76 |
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}
|
| 77 |
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},
|
| 78 |
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"grasp_3": {
|
| 79 |
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"confidence": 0.9818630814552307,
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| 80 |
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"position": [
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| 81 |
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| 82 |
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| 83 |
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|
| 84 |
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],
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| 85 |
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"orientation": {
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| 86 |
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"w": 0.09005175546187354,
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| 87 |
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"xyz": [
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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_4": {
|
| 95 |
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"confidence": 0.9813593626022339,
|
| 96 |
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"position": [
|
| 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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"orientation": {
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| 102 |
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"w": 0.04950532959076412,
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| 103 |
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"xyz": [
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| 106 |
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| 107 |
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]
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| 108 |
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}
|
| 109 |
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},
|
| 110 |
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"grasp_5": {
|
| 111 |
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"confidence": 0.9807384610176086,
|
| 112 |
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"position": [
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| 113 |
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| 114 |
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|
| 115 |
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|
| 116 |
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],
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"orientation": {
|
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"w": 0.08741872474243507,
|
| 119 |
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"xyz": [
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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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"grasp_6": {
|
| 127 |
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"confidence": 0.9787943363189697,
|
| 128 |
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"position": [
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| 129 |
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| 131 |
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| 132 |
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],
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"orientation": {
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| 139 |
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]
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}
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| 141 |
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},
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"grasp_7": {
|
| 143 |
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"confidence": 0.9785707592964172,
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"position": [
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],
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"orientation": {
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"xyz": [
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| 155 |
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]
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}
|
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},
|
| 158 |
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"grasp_8": {
|
| 159 |
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"confidence": 0.9784494042396545,
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| 160 |
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"position": [
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"orientation": {
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"xyz": [
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}
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| 173 |
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},
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| 174 |
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"grasp_9": {
|
| 175 |
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"confidence": 0.978063702583313,
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| 176 |
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"position": [
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"orientation": {
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},
|
| 352 |
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{
|
| 353 |
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"part_name": "bottom base",
|
| 354 |
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"mask_color": "Blue",
|
| 355 |
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"graspable": true,
|
| 356 |
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"grasp_scenarios": [
|
| 357 |
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{
|
| 358 |
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"scenario": "grasp the bottom rim area to lift or reorient the can from below",
|
| 359 |
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"confidence": 0.43
|
| 360 |
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},
|
| 361 |
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{
|
| 362 |
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"scenario": "pinch the base edge to stabilize the can lying on its side",
|
| 363 |
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"confidence": 0.38
|
| 364 |
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}
|
| 365 |
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],
|
| 366 |
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"functional_labels": [
|
| 367 |
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"support standing",
|
| 368 |
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"provide bottom stability",
|
| 369 |
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"close the container base"
|
| 370 |
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],
|
| 371 |
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"semantic_description": "Circular silver aluminum bottom with a slightly concave hard smooth metallic surface and dull-to-satin finish, located at the can underside as a smaller end cap.",
|
| 372 |
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"id": 2,
|
| 373 |
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"grasp_group": {}
|
| 374 |
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},
|
| 375 |
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{
|
| 376 |
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"part_name": "top lid",
|
| 377 |
+
"mask_color": "Yellow",
|
| 378 |
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"graspable": false,
|
| 379 |
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"grasp_scenarios": [],
|
| 380 |
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"functional_labels": [
|
| 381 |
+
"seal the beverage",
|
| 382 |
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"provide drinking opening area",
|
| 383 |
+
"support the pull tab",
|
| 384 |
+
"close the top of the container"
|
| 385 |
+
],
|
| 386 |
+
"semantic_description": "Round silver aluminum top lid with a hard smooth slightly reflective surface, shallow recessed rings, and a flat end-cap shape at the can top.",
|
| 387 |
+
"id": 3,
|
| 388 |
+
"grasp_group": {}
|
| 389 |
+
},
|
| 390 |
+
{
|
| 391 |
+
"part_name": "pull tab",
|
| 392 |
+
"mask_color": "Red",
|
| 393 |
+
"graspable": true,
|
| 394 |
+
"grasp_scenarios": [
|
| 395 |
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{
|
| 396 |
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"scenario": "pinch and lift the tab to open the can",
|
| 397 |
+
"confidence": 0.86
|
| 398 |
+
},
|
| 399 |
+
{
|
| 400 |
+
"scenario": "hook or pinch the tab to begin breaking the seal",
|
| 401 |
+
"confidence": 0.79
|
| 402 |
+
}
|
| 403 |
+
],
|
| 404 |
+
"functional_labels": [
|
| 405 |
+
"open the can",
|
| 406 |
+
"break the drink seal",
|
| 407 |
+
"provide a lifting point for opening"
|
| 408 |
+
],
|
| 409 |
+
"semantic_description": "Small silver metal ring-pull tab with a smooth hard reflective finish, mounted on the top lid near the drinking opening, with an elongated oval lever shape.",
|
| 410 |
+
"id": 0,
|
| 411 |
+
"grasp_group": {}
|
| 412 |
+
},
|
| 413 |
+
{
|
| 414 |
+
"part_name": "lid rim",
|
| 415 |
+
"mask_color": "Orange",
|
| 416 |
+
"graspable": false,
|
| 417 |
+
"grasp_scenarios": [],
|
| 418 |
+
"functional_labels": [
|
| 419 |
+
"reinforce the top edge",
|
| 420 |
+
"join lid to body",
|
| 421 |
+
"provide sealing boundary"
|
| 422 |
+
],
|
| 423 |
+
"semantic_description": "Thin circular metal rim around the top edge, silver and slightly reflective with a hard smooth finish, forming a narrow raised boundary where the lid meets the red body.",
|
| 424 |
+
"id": 4,
|
| 425 |
+
"grasp_group": {}
|
| 426 |
+
}
|
| 427 |
+
],
|
| 428 |
+
"quality_check": {
|
| 429 |
+
"success": true,
|
| 430 |
+
"message": "YES"
|
| 431 |
+
}
|
| 432 |
+
}
|
dataset/food/beverages/2ce27d0384335ce0ac6cb1f00d1db660/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:665988ca62f74163b2364afe0dc203a54f50bcf8d46fa1d4859b78fc18b9a103
|
| 3 |
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size 3781672
|