Add asset food/beverages/6d33a4f5d8ab5417b8500b9044787fd7
Browse files
.gitattributes
CHANGED
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@@ -6724,3 +6724,4 @@ dataset/food/beverages/68ba87cdcd7c5733b5d521b040ed33ce/affordance/mesh_part_seg
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| 6724 |
dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6725 |
dataset/food/beverages/692025f909a651f788746dcaf32e6cc3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6726 |
dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6724 |
dataset/food/beverages/67cfac8a0aaa559799f69895db47a756/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6725 |
dataset/food/beverages/692025f909a651f788746dcaf32e6cc3/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6726 |
dataset/food/beverages/69ec6c676d4b57ffafe05f31407a14a6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6727 |
+
dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,438 @@
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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 body from the side to pick up the can",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
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{
|
| 13 |
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"scenario": "hold the body to transport or place the can",
|
| 14 |
+
"confidence": 0.95
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the can body while another tool opens the tab",
|
| 18 |
+
"confidence": 0.83
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support lifting and carrying",
|
| 25 |
+
"provide structural shell"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large red aluminum cylindrical sidewall with a glossy reflective finish, smooth hard surface, and white Coca-Cola logo graphics on the side.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_0": {
|
| 31 |
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"confidence": 0.9201801419258118,
|
| 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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],
|
| 37 |
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"orientation": {
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| 38 |
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"w": 0.46936739883224393,
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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": 0.9198920726776123,
|
| 48 |
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"position": [
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| 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": 0.521570063556348,
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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": 0.9172495007514954,
|
| 64 |
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"position": [
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| 65 |
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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": 0.46704345975128353,
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| 71 |
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"xyz": [
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| 73 |
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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": 0.9156150817871094,
|
| 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": 0.512702955198644,
|
| 87 |
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"xyz": [
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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": 0.9147354364395142,
|
| 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": 0.5076099826137005,
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| 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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},
|
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"grasp_5": {
|
| 111 |
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"confidence": 0.9137453436851501,
|
| 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": 0.4814757816896403,
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| 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": 0.9124737977981567,
|
| 128 |
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"position": [
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| 130 |
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| 132 |
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],
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"orientation": {
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]
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}
|
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},
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"grasp_7": {
|
| 143 |
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"confidence": 0.91056889295578,
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| 144 |
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"position": [
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],
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"orientation": {
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]
|
| 156 |
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}
|
| 157 |
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},
|
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"grasp_8": {
|
| 159 |
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"confidence": 0.9099808931350708,
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| 160 |
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"position": [
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| 162 |
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"orientation": {
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"xyz": [
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}
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},
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"grasp_9": {
|
| 175 |
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"confidence": 0.9072811603546143,
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"position": [
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"orientation": {
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},
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| 352 |
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{
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| 353 |
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"part_name": "top lid",
|
| 354 |
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"mask_color": "Yellow",
|
| 355 |
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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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"support the pull tab",
|
| 360 |
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"provide top closure",
|
| 361 |
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"maintain container integrity"
|
| 362 |
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],
|
| 363 |
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"semantic_description": "Flat circular silver metal top with a slightly recessed center, smooth reflective finish, and the scored drinking opening area near the middle.",
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| 364 |
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"id": 3,
|
| 365 |
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"grasp_group": {}
|
| 366 |
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},
|
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{
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| 368 |
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"part_name": "pull tab",
|
| 369 |
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"mask_color": "Red",
|
| 370 |
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"graspable": true,
|
| 371 |
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|
| 372 |
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{
|
| 373 |
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"scenario": "pinch the tab to pull and open the can",
|
| 374 |
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"confidence": 0.84
|
| 375 |
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},
|
| 376 |
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{
|
| 377 |
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"scenario": "hook and lift the tab to start breaking the seal",
|
| 378 |
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"confidence": 0.8
|
| 379 |
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}
|
| 380 |
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],
|
| 381 |
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"functional_labels": [
|
| 382 |
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"open the can",
|
| 383 |
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"break the drink seal",
|
| 384 |
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"provide a finger-lift feature"
|
| 385 |
+
],
|
| 386 |
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"semantic_description": "Small silver metal ring tab on the top center, hard and smooth with a slightly raised oval shape sized for fingertip or small gripper engagement.",
|
| 387 |
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"id": 0,
|
| 388 |
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"grasp_group": {}
|
| 389 |
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},
|
| 390 |
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{
|
| 391 |
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"part_name": "top rim",
|
| 392 |
+
"mask_color": "Purple",
|
| 393 |
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"graspable": false,
|
| 394 |
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"grasp_scenarios": [],
|
| 395 |
+
"functional_labels": [
|
| 396 |
+
"reinforce the lid edge",
|
| 397 |
+
"join lid to body",
|
| 398 |
+
"provide top-edge stiffness",
|
| 399 |
+
"define the upper perimeter"
|
| 400 |
+
],
|
| 401 |
+
"semantic_description": "Narrow circular silver metal shoulder around the upper edge, slightly curved and reflective where the top transitions into the red body.",
|
| 402 |
+
"id": 5,
|
| 403 |
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"grasp_group": {}
|
| 404 |
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},
|
| 405 |
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{
|
| 406 |
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"part_name": "bottom base",
|
| 407 |
+
"mask_color": "Orange",
|
| 408 |
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"graspable": false,
|
| 409 |
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"grasp_scenarios": [],
|
| 410 |
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"functional_labels": [
|
| 411 |
+
"support upright standing",
|
| 412 |
+
"stabilize the can on surfaces",
|
| 413 |
+
"protect the lower structure"
|
| 414 |
+
],
|
| 415 |
+
"semantic_description": "Circular silver aluminum bottom with a concave center, smooth reflective finish, and rigid metal surface forming the can's base.",
|
| 416 |
+
"id": 4,
|
| 417 |
+
"grasp_group": {}
|
| 418 |
+
},
|
| 419 |
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{
|
| 420 |
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"part_name": "outer top edge",
|
| 421 |
+
"mask_color": "Blue",
|
| 422 |
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"graspable": false,
|
| 423 |
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"grasp_scenarios": [],
|
| 424 |
+
"functional_labels": [
|
| 425 |
+
"form the rolled seam at the top perimeter",
|
| 426 |
+
"secure the lid to the body",
|
| 427 |
+
"provide edge reinforcement"
|
| 428 |
+
],
|
| 429 |
+
"semantic_description": "Very thin silver metal ring at the outermost top perimeter, appearing as a narrow reflective rolled edge around the lid.",
|
| 430 |
+
"id": 2,
|
| 431 |
+
"grasp_group": {}
|
| 432 |
+
}
|
| 433 |
+
],
|
| 434 |
+
"quality_check": {
|
| 435 |
+
"success": true,
|
| 436 |
+
"message": "YES"
|
| 437 |
+
}
|
| 438 |
+
}
|
dataset/food/beverages/6d33a4f5d8ab5417b8500b9044787fd7/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:726039b3f8fe57c3473e28d67bb15bfe161c7caf8e9aaac1bb866c55c7852ed1
|
| 3 |
+
size 3787268
|