Add asset food/beverages/e9608cd7e7ac52e6b7a1655458e0c53e
Browse files
.gitattributes
CHANGED
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@@ -6744,3 +6744,4 @@ dataset/food/beverages/d086e0a48769538c93522e95808b355c/affordance/mesh_part_seg
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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/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6746 |
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/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/deb1095a3fe15233a36132f650ccbc79/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6746 |
dataset/food/beverages/eaa17cfd5f105b2884a03e6302ca52df/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6747 |
+
dataset/food/beverages/e9608cd7e7ac52e6b7a1655458e0c53e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/food/beverages/e9608cd7e7ac52e6b7a1655458e0c53e/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,439 @@
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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 sidewall to pick up the can",
|
| 10 |
+
"confidence": 0.97
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the can during opening",
|
| 14 |
+
"confidence": 0.9
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp the body to place or reorient the can upright",
|
| 18 |
+
"confidence": 0.94
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain the beverage",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support printed product label",
|
| 25 |
+
"provide structural enclosure"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Tall cylindrical aluminum can body with a glossy smooth hard surface, predominantly red and white printed graphics with Coca-Cola branding and cherry images covering most of the object.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_0": {
|
| 31 |
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"confidence": 0.9848777055740356,
|
| 32 |
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"position": [
|
| 33 |
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-0.04342455111327581,
|
| 34 |
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-0.090987668489106,
|
| 35 |
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-0.008589379955083132
|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.163537837692996,
|
| 39 |
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"xyz": [
|
| 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": 0.9836373925209045,
|
| 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": 0.11186295378905692,
|
| 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": 0.9818519353866577,
|
| 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": {
|
| 70 |
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"w": 0.12623736490581747,
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| 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_3": {
|
| 79 |
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"confidence": 0.9813171625137329,
|
| 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": 0.13109104223905832,
|
| 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": 0.9812577962875366,
|
| 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": 0.06804218652468877,
|
| 103 |
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"xyz": [
|
| 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_5": {
|
| 111 |
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"confidence": 0.9810557961463928,
|
| 112 |
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"position": [
|
| 113 |
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|
| 114 |
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-0.09630526707042009,
|
| 115 |
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|
| 116 |
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],
|
| 117 |
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"orientation": {
|
| 118 |
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"w": 0.08084007808832225,
|
| 119 |
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"xyz": [
|
| 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_6": {
|
| 127 |
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"confidence": 0.9793068170547485,
|
| 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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],
|
| 133 |
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"orientation": {
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| 134 |
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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_7": {
|
| 143 |
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"confidence": 0.9789937734603882,
|
| 144 |
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"position": [
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| 145 |
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|
| 147 |
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|
| 148 |
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],
|
| 149 |
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"orientation": {
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| 150 |
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"w": 0.07329092708168543,
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| 151 |
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"xyz": [
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|
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|
| 154 |
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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": 0.9788356423377991,
|
| 160 |
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"position": [
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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],
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"orientation": {
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| 166 |
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"w": 0.05591082059408315,
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| 167 |
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"xyz": [
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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_9": {
|
| 175 |
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"confidence": 0.9783406853675842,
|
| 176 |
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"position": [
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| 177 |
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| 180 |
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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": "Purple",
|
| 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 can opening",
|
| 359 |
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|
| 360 |
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"provide top surface",
|
| 361 |
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"maintain internal containment"
|
| 362 |
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],
|
| 363 |
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"semantic_description": "Circular silver metal lid at the top with a slightly recessed smooth reflective surface and stamped opening features around the tab area.",
|
| 364 |
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"id": 5,
|
| 365 |
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|
| 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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|
| 372 |
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{
|
| 373 |
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"scenario": "pinch the pull tab to lift and open the can",
|
| 374 |
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"confidence": 0.83
|
| 375 |
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},
|
| 376 |
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{
|
| 377 |
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"scenario": "grasp the tab to start peeling the scored opening",
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| 378 |
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|
| 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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"provide a lifting point",
|
| 384 |
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"actuate the scored lid opening"
|
| 385 |
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],
|
| 386 |
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"semantic_description": "Small silver metal ring tab on the top lid with a smooth reflective finish, thin flat shape, and hinged placement near the drinking opening.",
|
| 387 |
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"id": 1,
|
| 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 |
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"mask_color": "Yellow",
|
| 393 |
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"graspable": false,
|
| 394 |
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|
| 395 |
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"functional_labels": [
|
| 396 |
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"stiffen the lid edge",
|
| 397 |
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"join lid to body",
|
| 398 |
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"define the drinking edge",
|
| 399 |
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"reinforce the top perimeter"
|
| 400 |
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],
|
| 401 |
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"semantic_description": "Thin circular silver rolled rim around the lid edge, made of hard smooth reflective metal and forming a narrow raised perimeter at the can top.",
|
| 402 |
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"id": 3,
|
| 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 rim",
|
| 407 |
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"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 |
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"support standing stability",
|
| 412 |
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"reinforce the base edge",
|
| 413 |
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"protect the bottom panel",
|
| 414 |
+
"define contact ring with surfaces"
|
| 415 |
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],
|
| 416 |
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"semantic_description": "Narrow circular metal rim at the can bottom, silver with a smooth reflective finish, forming the outer support ring for upright placement.",
|
| 417 |
+
"id": 4,
|
| 418 |
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"grasp_group": {}
|
| 419 |
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},
|
| 420 |
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{
|
| 421 |
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"part_name": "bottom panel",
|
| 422 |
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"mask_color": "Blue",
|
| 423 |
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"graspable": false,
|
| 424 |
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"grasp_scenarios": [],
|
| 425 |
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"functional_labels": [
|
| 426 |
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"close the base",
|
| 427 |
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"support internal pressure structure",
|
| 428 |
+
"provide resting surface area"
|
| 429 |
+
],
|
| 430 |
+
"semantic_description": "Circular recessed silver aluminum base panel with a smooth hard reflective surface, centered on the underside and surrounded by the raised bottom rim.",
|
| 431 |
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"id": 2,
|
| 432 |
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"grasp_group": {}
|
| 433 |
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}
|
| 434 |
+
],
|
| 435 |
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"quality_check": {
|
| 436 |
+
"success": true,
|
| 437 |
+
"message": "YES"
|
| 438 |
+
}
|
| 439 |
+
}
|
dataset/food/beverages/e9608cd7e7ac52e6b7a1655458e0c53e/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d55d478bb0381f56e58057c5972f013e6abc3c09868dfd057fffa1a42034087d
|
| 3 |
+
size 3783964
|