Add asset kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9
Browse files
.gitattributes
CHANGED
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@@ -7538,4 +7538,4 @@ dataset/kitchen_supplies/ware/3425f984850d54e2966a7ff035633f70/affordance/mesh_p
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dataset/kitchen_supplies/ware/34c4f3a5b7a35e1ab98a5c5b660c2257/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7539 |
dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7540 |
dataset/kitchen_supplies/ware/3857a3c5a8dd5d41bf203e4f95e4648f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7541 |
-
dataset/kitchen_supplies/ware/
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| 7538 |
dataset/kitchen_supplies/ware/34c4f3a5b7a35e1ab98a5c5b660c2257/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7539 |
dataset/kitchen_supplies/ware/381cbca07e2a59bfaf277df35cd05fbc/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7540 |
dataset/kitchen_supplies/ware/3857a3c5a8dd5d41bf203e4f95e4648f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7541 |
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dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "saucer",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the saucer rim to lift and carry the cup-and-saucer set",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the saucer edge to reposition the set on a table",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "hold the saucer to stabilize the cup during serving",
|
| 18 |
+
"confidence": 0.71
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"support the cup",
|
| 23 |
+
"catch drips or spills",
|
| 24 |
+
"provide a serving base",
|
| 25 |
+
"stabilize placement on a surface"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "A large round white ceramic saucer with a glossy smooth hard surface, shallow dish shape, and thin gold trim, positioned beneath the cup as the base.",
|
| 28 |
+
"id": 0,
|
| 29 |
+
"grasp_group": {
|
| 30 |
+
"grasp_8": {
|
| 31 |
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"confidence": 0.8864081501960754,
|
| 32 |
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"position": [
|
| 33 |
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0.04684709990397096,
|
| 34 |
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0.13531365962262498,
|
| 35 |
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|
| 36 |
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],
|
| 37 |
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"orientation": {
|
| 38 |
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"w": 0.4124835256399947,
|
| 39 |
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"xyz": [
|
| 40 |
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0.5784811524336237,
|
| 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_19": {
|
| 47 |
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"confidence": 0.8792039752006531,
|
| 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": {
|
| 54 |
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"w": 0.6669953588593621,
|
| 55 |
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"xyz": [
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| 56 |
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|
| 57 |
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-0.6359630881063923,
|
| 58 |
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|
| 59 |
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]
|
| 60 |
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}
|
| 61 |
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}
|
| 62 |
+
}
|
| 63 |
+
},
|
| 64 |
+
{
|
| 65 |
+
"part_name": "cup body",
|
| 66 |
+
"mask_color": "Green",
|
| 67 |
+
"graspable": true,
|
| 68 |
+
"grasp_scenarios": [
|
| 69 |
+
{
|
| 70 |
+
"scenario": "grasp the cup body from the sides to lift the cup when empty or lightly filled",
|
| 71 |
+
"confidence": 0.66
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"scenario": "hold the cup body to stabilize it while placing on the saucer",
|
| 75 |
+
"confidence": 0.61
|
| 76 |
+
}
|
| 77 |
+
],
|
| 78 |
+
"functional_labels": [
|
| 79 |
+
"contain the beverage",
|
| 80 |
+
"provide the main vessel",
|
| 81 |
+
"support drinking from the rim",
|
| 82 |
+
"retain liquid volume"
|
| 83 |
+
],
|
| 84 |
+
"semantic_description": "A medium-sized white ceramic cup body with a glossy smooth hard surface, tapered round form, dark coffee visible inside, and a delicate gold line around the rim.",
|
| 85 |
+
"id": 1,
|
| 86 |
+
"grasp_group": {
|
| 87 |
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"grasp_22": {
|
| 88 |
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"confidence": 0.4745221436023712,
|
| 89 |
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"position": [
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| 90 |
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0.030707018915563822,
|
| 91 |
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|
| 92 |
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|
| 93 |
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],
|
| 94 |
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"orientation": {
|
| 95 |
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"w": 0.29638633317523727,
|
| 96 |
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"xyz": [
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| 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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}
|
| 102 |
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},
|
| 103 |
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"grasp_27": {
|
| 104 |
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"confidence": 0.45538821816444397,
|
| 105 |
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"position": [
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| 106 |
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| 107 |
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],
|
| 110 |
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"orientation": {
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| 111 |
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"w": 0.21905541927828534,
|
| 112 |
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"xyz": [
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| 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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}
|
| 118 |
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},
|
| 119 |
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"grasp_29": {
|
| 120 |
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"confidence": 0.446826696395874,
|
| 121 |
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"position": [
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| 122 |
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| 123 |
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| 124 |
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],
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| 131 |
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| 132 |
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]
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| 134 |
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},
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| 135 |
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"grasp_32": {
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| 136 |
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"confidence": 0.4380171298980713,
|
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"position": [
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| 138 |
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| 139 |
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| 140 |
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|
| 141 |
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],
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| 142 |
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"orientation": {
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"w": 0.2156314894963226,
|
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|
| 148 |
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]
|
| 149 |
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}
|
| 150 |
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},
|
| 151 |
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"grasp_34": {
|
| 152 |
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"confidence": 0.4290580451488495,
|
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"position": [
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| 154 |
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0.04455063724890351,
|
| 155 |
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|
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|
| 157 |
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],
|
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"orientation": {
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]
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},
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| 167 |
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|
| 168 |
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"confidence": 0.4284670352935791,
|
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"position": [
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| 170 |
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|
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|
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],
|
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"orientation": {
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"w": 0.3937861580467218,
|
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|
| 180 |
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]
|
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}
|
| 182 |
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},
|
| 183 |
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"grasp_37": {
|
| 184 |
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"confidence": 0.42753976583480835,
|
| 185 |
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"position": [
|
| 186 |
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0.058384126517921686,
|
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|
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|
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],
|
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"orientation": {
|
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"w": 0.22785387647068026,
|
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"xyz": [
|
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|
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|
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|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_38": {
|
| 200 |
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"confidence": 0.42519035935401917,
|
| 201 |
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"position": [
|
| 202 |
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0.04867952922359109,
|
| 203 |
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|
| 204 |
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0.1122215932700783
|
| 205 |
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],
|
| 206 |
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"orientation": {
|
| 207 |
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"w": 0.19344924432694827,
|
| 208 |
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"xyz": [
|
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|
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|
| 211 |
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|
| 212 |
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]
|
| 213 |
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}
|
| 214 |
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},
|
| 215 |
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"grasp_39": {
|
| 216 |
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"confidence": 0.4250909984111786,
|
| 217 |
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"position": [
|
| 218 |
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0.04887376585975289,
|
| 219 |
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-0.030771097452088725,
|
| 220 |
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0.11013328493572772
|
| 221 |
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],
|
| 222 |
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"orientation": {
|
| 223 |
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"w": 0.24100775036887592,
|
| 224 |
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"xyz": [
|
| 225 |
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-0.7831995379759384,
|
| 226 |
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|
| 227 |
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|
| 228 |
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]
|
| 229 |
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}
|
| 230 |
+
}
|
| 231 |
+
}
|
| 232 |
+
},
|
| 233 |
+
{
|
| 234 |
+
"part_name": "mug handle",
|
| 235 |
+
"mask_color": "Yellow",
|
| 236 |
+
"graspable": true,
|
| 237 |
+
"grasp_scenarios": [
|
| 238 |
+
{
|
| 239 |
+
"scenario": "grasp the handle to lift the cup for serving or relocation",
|
| 240 |
+
"confidence": 0.93
|
| 241 |
+
},
|
| 242 |
+
{
|
| 243 |
+
"scenario": "hold the handle to stabilize and orient the cup while setting it down",
|
| 244 |
+
"confidence": 0.88
|
| 245 |
+
},
|
| 246 |
+
{
|
| 247 |
+
"scenario": "hook or pinch the handle to separate the cup from the saucer area",
|
| 248 |
+
"confidence": 0.83
|
| 249 |
+
}
|
| 250 |
+
],
|
| 251 |
+
"functional_labels": [
|
| 252 |
+
"provide a side grip",
|
| 253 |
+
"lift the cup without gripping the hot body",
|
| 254 |
+
"aid orientation while drinking",
|
| 255 |
+
"stabilize cup manipulation"
|
| 256 |
+
],
|
| 257 |
+
"semantic_description": "A small curved white ceramic handle with glossy smooth hard finish and gold-edged detail, attached to the cup side as a loop for gripping.",
|
| 258 |
+
"id": 3,
|
| 259 |
+
"grasp_group": {}
|
| 260 |
+
}
|
| 261 |
+
],
|
| 262 |
+
"quality_check": {
|
| 263 |
+
"success": true,
|
| 264 |
+
"message": "YES"
|
| 265 |
+
}
|
| 266 |
+
}
|
dataset/kitchen_supplies/ware/3a2da3bd99805a84b84cbd71e88aa2f9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:63c04b324722677ede55dad695ebe7aab84b12b41c0555d1901f4c19ca19133a
|
| 3 |
+
size 3780608
|