Add asset food/beverages/d8a2d5e0dee15121969ce610275be368
Browse files
.gitattributes
CHANGED
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@@ -6742,4 +6742,4 @@ dataset/food/beverages/c56e7915cf8056a0970bfc322dc0adda/affordance/mesh_part_seg
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| 6742 |
dataset/food/beverages/cdead305a2a656628126f45c94b59d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6743 |
dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6744 |
dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6745 |
-
dataset/food/beverages/
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| 6742 |
dataset/food/beverages/cdead305a2a656628126f45c94b59d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6743 |
dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6744 |
dataset/food/beverages/d45abc908aee598bbc1506fa9bf7df1d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6745 |
+
dataset/food/beverages/d8a2d5e0dee15121969ce610275be368/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/d8a2d5e0dee15121969ce610275be368/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical body from the side to pick up the can",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the can while opening the tab",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to place or reposition the can on a surface",
|
| 18 |
+
"confidence": 0.96
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"main grasp surface",
|
| 23 |
+
"contain the beverage",
|
| 24 |
+
"support printed branding and information",
|
| 25 |
+
"provide structural shell"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large red aluminum cylindrical shell with a glossy smooth hard surface, covering most of the can and printed with white Coca-Cola graphics and fine text on the sides.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
+
"confidence": 0.9677011966705322,
|
| 32 |
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"position": [
|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.5320557287457456,
|
| 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 |
+
"confidence": 0.9659832119941711,
|
| 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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],
|
| 53 |
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"orientation": {
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| 54 |
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"w": 0.5008834772821064,
|
| 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": 0.9656531810760498,
|
| 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": {
|
| 70 |
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"w": 0.5191128651493362,
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| 71 |
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"xyz": [
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| 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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"grasp_3": {
|
| 79 |
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"confidence": 0.9650864005088806,
|
| 80 |
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"position": [
|
| 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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"w": 0.5196878625484365,
|
| 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": 0.9649398326873779,
|
| 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": {
|
| 102 |
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"w": 0.5177007843355844,
|
| 103 |
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"xyz": [
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|
| 106 |
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|
| 107 |
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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": 0.9624589085578918,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.4910127589503214,
|
| 119 |
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"xyz": [
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| 120 |
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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": 0.961062490940094,
|
| 128 |
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"position": [
|
| 129 |
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|
| 130 |
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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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]
|
| 140 |
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}
|
| 141 |
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},
|
| 142 |
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"grasp_7": {
|
| 143 |
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"confidence": 0.9602333307266235,
|
| 144 |
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"position": [
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| 145 |
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|
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],
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"orientation": {
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"w": 0.4787088421296025,
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"xyz": [
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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_8": {
|
| 159 |
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"confidence": 0.959764301776886,
|
| 160 |
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"position": [
|
| 161 |
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| 162 |
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|
| 163 |
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| 164 |
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],
|
| 165 |
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"orientation": {
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| 166 |
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"w": 0.5029578589861969,
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| 167 |
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"xyz": [
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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_9": {
|
| 175 |
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"confidence": 0.9597501754760742,
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| 176 |
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"position": [
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| 177 |
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],
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"orientation": {
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| 183 |
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"xyz": [
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},
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{
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| 353 |
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"part_name": "top lid",
|
| 354 |
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"mask_color": "Blue",
|
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"graspable": false,
|
| 356 |
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"grasp_scenarios": [],
|
| 357 |
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"functional_labels": [
|
| 358 |
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"seal the beverage opening",
|
| 359 |
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|
| 360 |
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"provide top surface for opening",
|
| 361 |
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"close the container"
|
| 362 |
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],
|
| 363 |
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"semantic_description": "Round silver metal top with a slightly recessed glossy reflective surface, hard smooth texture, and circular stamped features at the can's upper end.",
|
| 364 |
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"id": 2,
|
| 365 |
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"grasp_group": {}
|
| 366 |
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},
|
| 367 |
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{
|
| 368 |
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"part_name": "pull tab",
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| 369 |
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"mask_color": "Green",
|
| 370 |
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"graspable": true,
|
| 371 |
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"grasp_scenarios": [
|
| 372 |
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{
|
| 373 |
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"scenario": "pinch the tab to lift and open the can",
|
| 374 |
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"confidence": 0.91
|
| 375 |
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},
|
| 376 |
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{
|
| 377 |
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"scenario": "grasp the tab delicately to rotate it into opening position",
|
| 378 |
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"confidence": 0.84
|
| 379 |
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},
|
| 380 |
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{
|
| 381 |
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"scenario": "use the tab as a small hook point for manipulation",
|
| 382 |
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"confidence": 0.22
|
| 383 |
+
}
|
| 384 |
+
],
|
| 385 |
+
"functional_labels": [
|
| 386 |
+
"open the drink can",
|
| 387 |
+
"actuate the scored opening",
|
| 388 |
+
"provide a finger-lift point",
|
| 389 |
+
"indicate opening mechanism"
|
| 390 |
+
],
|
| 391 |
+
"semantic_description": "Small silver aluminum ring-pull tab with a smooth reflective finish, lying flat on the lid near the opening score and sized much smaller than the can body.",
|
| 392 |
+
"id": 1,
|
| 393 |
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"grasp_group": {}
|
| 394 |
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},
|
| 395 |
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{
|
| 396 |
+
"part_name": "top rim",
|
| 397 |
+
"mask_color": "Orange",
|
| 398 |
+
"graspable": false,
|
| 399 |
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"grasp_scenarios": [],
|
| 400 |
+
"functional_labels": [
|
| 401 |
+
"reinforce the lid edge",
|
| 402 |
+
"form the sealed seam",
|
| 403 |
+
"stiffen the can top",
|
| 404 |
+
"define drinking edge"
|
| 405 |
+
],
|
| 406 |
+
"semantic_description": "Thin circular silver metal rim around the lid perimeter with a glossy hard smooth finish, forming the crimped seam between the red body and top.",
|
| 407 |
+
"id": 4,
|
| 408 |
+
"grasp_group": {}
|
| 409 |
+
},
|
| 410 |
+
{
|
| 411 |
+
"part_name": "bottom base",
|
| 412 |
+
"mask_color": "Yellow",
|
| 413 |
+
"graspable": false,
|
| 414 |
+
"grasp_scenarios": [],
|
| 415 |
+
"functional_labels": [
|
| 416 |
+
"support upright standing",
|
| 417 |
+
"stabilize the can on flat surfaces",
|
| 418 |
+
"close the container bottom",
|
| 419 |
+
"provide structural rigidity"
|
| 420 |
+
],
|
| 421 |
+
"semantic_description": "Circular silver aluminum bottom end with a smooth slightly recessed hard surface and glossy finish, located at the base and sized to match the can diameter.",
|
| 422 |
+
"id": 3,
|
| 423 |
+
"grasp_group": {}
|
| 424 |
+
}
|
| 425 |
+
],
|
| 426 |
+
"quality_check": {
|
| 427 |
+
"success": true,
|
| 428 |
+
"message": "YES"
|
| 429 |
+
}
|
| 430 |
+
}
|
dataset/food/beverages/d8a2d5e0dee15121969ce610275be368/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:93fa7e5f48744319b1f09053cd02a3c017b3726264f114469ff85797b26892bb
|
| 3 |
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size 3782300
|