Add asset food/beverages/569e621cfdc9511bacbe3dcf34acbe01
Browse files
.gitattributes
CHANGED
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@@ -6718,4 +6718,4 @@ dataset/food/beverages/474f06d3aec0531f92cdd170b3339b0b/affordance/mesh_part_seg
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| 6718 |
dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6719 |
dataset/food/beverages/5293281b4df350b2beb054fe1e552807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6720 |
dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6721 |
-
dataset/food/beverages/
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| 6718 |
dataset/food/beverages/4b0f934a345f565f807e9b90c7bdab86/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6719 |
dataset/food/beverages/5293281b4df350b2beb054fe1e552807/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6720 |
dataset/food/beverages/4f769731c3b15c72bf3371433f5cb3e0/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6721 |
+
dataset/food/beverages/569e621cfdc9511bacbe3dcf34acbe01/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/569e621cfdc9511bacbe3dcf34acbe01/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,434 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "can body",
|
| 5 |
+
"mask_color": "Green",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the cylindrical sidewall to pick up the can",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the sidewall to stabilize the can during placement",
|
| 14 |
+
"confidence": 0.94
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to reorient the can upright",
|
| 18 |
+
"confidence": 0.91
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"provide structural shell",
|
| 25 |
+
"support printed branding and information"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall red aluminum cylindrical body with a glossy smooth hard surface, occupying most of the can and covered with white Coca-Cola branding, nutrition text, and barcode graphics.",
|
| 28 |
+
"id": 1,
|
| 29 |
+
"grasp_group": {
|
| 30 |
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"grasp_1": {
|
| 31 |
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"confidence": 0.982833206653595,
|
| 32 |
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"position": [
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| 33 |
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|
| 34 |
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-0.09477399673778564,
|
| 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": 0.07647593199072066,
|
| 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_2": {
|
| 47 |
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"confidence": 0.9824225902557373,
|
| 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": {
|
| 54 |
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"w": 0.06554724501603797,
|
| 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_3": {
|
| 63 |
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"confidence": 0.9811413288116455,
|
| 64 |
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"position": [
|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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],
|
| 69 |
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"orientation": {
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| 70 |
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"w": 0.06650930310146604,
|
| 71 |
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"xyz": [
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| 72 |
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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_4": {
|
| 79 |
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"confidence": 0.9797309041023254,
|
| 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": 0.12432434104616333,
|
| 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_5": {
|
| 95 |
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"confidence": 0.9793713092803955,
|
| 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": 0.5238431713486925,
|
| 103 |
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"xyz": [
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| 104 |
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| 105 |
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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_6": {
|
| 111 |
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"confidence": 0.9783486723899841,
|
| 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": 0.6992551014962566,
|
| 119 |
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"xyz": [
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| 120 |
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| 121 |
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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_7": {
|
| 127 |
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"confidence": 0.9781070351600647,
|
| 128 |
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"position": [
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| 129 |
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| 130 |
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|
| 131 |
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|
| 132 |
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],
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| 133 |
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"orientation": {
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| 134 |
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"xyz": [
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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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"grasp_8": {
|
| 143 |
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"confidence": 0.9780910015106201,
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| 144 |
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"position": [
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],
|
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"orientation": {
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| 150 |
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"w": 0.6935693160263211,
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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_9": {
|
| 159 |
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"confidence": 0.9779980182647705,
|
| 160 |
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"position": [
|
| 161 |
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| 162 |
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| 163 |
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],
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"orientation": {
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| 166 |
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"w": 0.4672564989466158,
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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_10": {
|
| 175 |
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"confidence": 0.9777153730392456,
|
| 176 |
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"position": [
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| 177 |
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],
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},
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],
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| 343 |
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]
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}
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}
|
| 350 |
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}
|
| 351 |
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},
|
| 352 |
+
{
|
| 353 |
+
"part_name": "top lid",
|
| 354 |
+
"mask_color": "Yellow",
|
| 355 |
+
"graspable": true,
|
| 356 |
+
"grasp_scenarios": [
|
| 357 |
+
{
|
| 358 |
+
"scenario": "pinch the top rim area to nudge or reorient the can on a surface",
|
| 359 |
+
"confidence": 0.41
|
| 360 |
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},
|
| 361 |
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{
|
| 362 |
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"scenario": "hold the top surface lightly to stabilize the can while another tool opens it",
|
| 363 |
+
"confidence": 0.34
|
| 364 |
+
}
|
| 365 |
+
],
|
| 366 |
+
"functional_labels": [
|
| 367 |
+
"seal the beverage",
|
| 368 |
+
"support the opening mechanism",
|
| 369 |
+
"provide top surface",
|
| 370 |
+
"retain carbonation until opened"
|
| 371 |
+
],
|
| 372 |
+
"semantic_description": "Circular silver metal lid with a reflective smooth hard finish, slightly recessed at the top of the can and shaped with stamped rings around the opening area.",
|
| 373 |
+
"id": 3,
|
| 374 |
+
"grasp_group": {}
|
| 375 |
+
},
|
| 376 |
+
{
|
| 377 |
+
"part_name": "pull tab",
|
| 378 |
+
"mask_color": "Red",
|
| 379 |
+
"graspable": true,
|
| 380 |
+
"grasp_scenarios": [
|
| 381 |
+
{
|
| 382 |
+
"scenario": "hook or pinch the tab to lift and open the can",
|
| 383 |
+
"confidence": 0.88
|
| 384 |
+
},
|
| 385 |
+
{
|
| 386 |
+
"scenario": "grasp the tab delicately to begin breaking the seal",
|
| 387 |
+
"confidence": 0.76
|
| 388 |
+
}
|
| 389 |
+
],
|
| 390 |
+
"functional_labels": [
|
| 391 |
+
"open the can",
|
| 392 |
+
"actuate the scored opening",
|
| 393 |
+
"provide a lifting point",
|
| 394 |
+
"enable access to the drink"
|
| 395 |
+
],
|
| 396 |
+
"semantic_description": "Small silver metal ring-pull tab with a smooth reflective hard surface, mounted on the lid near the drinking opening and shaped as a flat oval lever.",
|
| 397 |
+
"id": 0,
|
| 398 |
+
"grasp_group": {}
|
| 399 |
+
},
|
| 400 |
+
{
|
| 401 |
+
"part_name": "bottom base",
|
| 402 |
+
"mask_color": "Blue",
|
| 403 |
+
"graspable": false,
|
| 404 |
+
"grasp_scenarios": [],
|
| 405 |
+
"functional_labels": [
|
| 406 |
+
"support standing",
|
| 407 |
+
"stabilize the can on flat surfaces",
|
| 408 |
+
"close the container bottom"
|
| 409 |
+
],
|
| 410 |
+
"semantic_description": "Circular silver aluminum base with a smooth hard slightly concave surface, located at the bottom of the can and smaller in visible area than the body.",
|
| 411 |
+
"id": 2,
|
| 412 |
+
"grasp_group": {}
|
| 413 |
+
},
|
| 414 |
+
{
|
| 415 |
+
"part_name": "top rim",
|
| 416 |
+
"mask_color": "Orange",
|
| 417 |
+
"graspable": false,
|
| 418 |
+
"grasp_scenarios": [],
|
| 419 |
+
"functional_labels": [
|
| 420 |
+
"reinforce the lid edge",
|
| 421 |
+
"join lid to body",
|
| 422 |
+
"define top boundary",
|
| 423 |
+
"help maintain container rigidity"
|
| 424 |
+
],
|
| 425 |
+
"semantic_description": "Very thin silver metal crimped rim encircling the lid at the can's top edge, visible only as a narrow ring where the lid is seamed to the body.",
|
| 426 |
+
"id": 4,
|
| 427 |
+
"grasp_group": {}
|
| 428 |
+
}
|
| 429 |
+
],
|
| 430 |
+
"quality_check": {
|
| 431 |
+
"success": false,
|
| 432 |
+
"message": "Top rim is graspable and lid description overstates recess; fix part grasp labels/descriptions."
|
| 433 |
+
}
|
| 434 |
+
}
|
dataset/food/beverages/569e621cfdc9511bacbe3dcf34acbe01/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:665988ca62f74163b2364afe0dc203a54f50bcf8d46fa1d4859b78fc18b9a103
|
| 3 |
+
size 3781672
|