Add asset kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4
Browse files
.gitattributes
CHANGED
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@@ -7532,3 +7532,4 @@ dataset/kitchen_supplies/ware/2d132a17bbd25216bec1d8a82ce64cb6/affordance/mesh_p
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| 7532 |
dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7533 |
dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7534 |
dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7532 |
dataset/kitchen_supplies/ware/2d8bdecd39435577ac0d28f49f5ab296/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7533 |
dataset/kitchen_supplies/ware/2e33adcd7d415b21a100b38aed1d60c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7534 |
dataset/kitchen_supplies/ware/2ff144abce89559ba07d5ff411f07f26/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7535 |
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dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,366 @@
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| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "cup body with stem",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp around the rounded cup body to pick up and move the goblet",
|
| 10 |
+
"confidence": 0.84
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body and stem area to stabilize or reposition the goblet on a surface",
|
| 14 |
+
"confidence": 0.76
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"form the main vessel body",
|
| 19 |
+
"contain liquid in the upper cup",
|
| 20 |
+
"connect the cup to the base through the stem",
|
| 21 |
+
"provide the primary structure of the goblet"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large rounded metallic silver cup body with a smooth glossy reflective finish, visibly containing dark red liquid; this segmented region also includes the narrow stem/connector above the foot.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.8496876955032349,
|
| 28 |
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"position": [
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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],
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| 33 |
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"orientation": {
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| 34 |
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"w": 0.1416990109632511,
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| 35 |
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"xyz": [
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| 37 |
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| 38 |
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| 39 |
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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
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"confidence": 0.8142837882041931,
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| 44 |
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"position": [
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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"orientation": {
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| 50 |
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"w": 0.6612303474269651,
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| 51 |
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"xyz": [
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| 52 |
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| 53 |
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| 54 |
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| 55 |
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]
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| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_2": {
|
| 59 |
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"confidence": 0.8060330152511597,
|
| 60 |
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"position": [
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| 61 |
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| 62 |
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| 63 |
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| 64 |
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],
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| 65 |
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"orientation": {
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| 66 |
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| 67 |
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| 70 |
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| 71 |
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]
|
| 72 |
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}
|
| 73 |
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},
|
| 74 |
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"grasp_3": {
|
| 75 |
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"confidence": 0.8057935833930969,
|
| 76 |
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"position": [
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| 77 |
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| 78 |
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| 79 |
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| 80 |
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],
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"orientation": {
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| 83 |
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"xyz": [
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| 86 |
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|
| 87 |
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]
|
| 88 |
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}
|
| 89 |
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},
|
| 90 |
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"grasp_5": {
|
| 91 |
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"confidence": 0.8013190627098083,
|
| 92 |
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"position": [
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| 93 |
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| 94 |
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|
| 95 |
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|
| 96 |
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],
|
| 97 |
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"orientation": {
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"w": 0.6946588044439842,
|
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"xyz": [
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|
| 102 |
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| 103 |
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]
|
| 104 |
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}
|
| 105 |
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},
|
| 106 |
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"grasp_9": {
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| 107 |
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"confidence": 0.7673813700675964,
|
| 108 |
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"position": [
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| 109 |
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| 110 |
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|
| 112 |
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],
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"orientation": {
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"w": 0.7143984828742144,
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"xyz": [
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| 118 |
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| 119 |
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| 120 |
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|
| 121 |
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},
|
| 122 |
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"grasp_11": {
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| 123 |
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"confidence": 0.7565271854400635,
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| 124 |
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"position": [
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| 128 |
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}
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},
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| 138 |
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| 139 |
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"confidence": 0.7564572095870972,
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| 141 |
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| 144 |
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],
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"orientation": {
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| 151 |
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]
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| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_13": {
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| 155 |
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"confidence": 0.7404289841651917,
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"position": [
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"grasp_14": {
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"confidence": 0.7402983903884888,
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"grasp_15": {
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| 187 |
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"grasp_17": {
|
| 203 |
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"orientation": {
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"w": 0.9998028224403632,
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| 211 |
+
"xyz": [
|
| 212 |
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-0.014831630503924567,
|
| 213 |
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0.007036209690007955,
|
| 214 |
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-0.01117276734194739
|
| 215 |
+
]
|
| 216 |
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}
|
| 217 |
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},
|
| 218 |
+
"grasp_19": {
|
| 219 |
+
"confidence": 0.7149617671966553,
|
| 220 |
+
"position": [
|
| 221 |
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-0.09653959426213987,
|
| 222 |
+
0.041033689805772156,
|
| 223 |
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-0.059555658139288425
|
| 224 |
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],
|
| 225 |
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"orientation": {
|
| 226 |
+
"w": 0.4011092533351761,
|
| 227 |
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"xyz": [
|
| 228 |
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-0.38719034413726583,
|
| 229 |
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0.5794896520258888,
|
| 230 |
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-0.5944634113977735
|
| 231 |
+
]
|
| 232 |
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}
|
| 233 |
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}
|
| 234 |
+
}
|
| 235 |
+
},
|
| 236 |
+
{
|
| 237 |
+
"part_name": "inner cavity",
|
| 238 |
+
"mask_color": "Green",
|
| 239 |
+
"graspable": false,
|
| 240 |
+
"grasp_scenarios": [],
|
| 241 |
+
"functional_labels": [
|
| 242 |
+
"hold poured liquid",
|
| 243 |
+
"provide drinking volume",
|
| 244 |
+
"define the interior container space"
|
| 245 |
+
],
|
| 246 |
+
"semantic_description": "Concave interior cavity at the top opening of the goblet, appearing smooth and reflective, with the visible dark red drink volume inside.",
|
| 247 |
+
"id": 1,
|
| 248 |
+
"grasp_group": {}
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"part_name": "rim",
|
| 252 |
+
"mask_color": "Blue",
|
| 253 |
+
"graspable": true,
|
| 254 |
+
"grasp_scenarios": [
|
| 255 |
+
{
|
| 256 |
+
"scenario": "lightly pinch the rim to orient the goblet during precise placement",
|
| 257 |
+
"confidence": 0.23
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"scenario": "carefully grip the rim for delicate retrieval from a tight storage space",
|
| 261 |
+
"confidence": 0.17
|
| 262 |
+
}
|
| 263 |
+
],
|
| 264 |
+
"functional_labels": [
|
| 265 |
+
"provide drinking edge",
|
| 266 |
+
"define the opening",
|
| 267 |
+
"guide pouring into the goblet"
|
| 268 |
+
],
|
| 269 |
+
"semantic_description": "Thin circular metallic silver lip at the top of the cup, glossy and reflective with a smooth hard edge surrounding the opening.",
|
| 270 |
+
"id": 2,
|
| 271 |
+
"grasp_group": {}
|
| 272 |
+
},
|
| 273 |
+
{
|
| 274 |
+
"part_name": "base",
|
| 275 |
+
"mask_color": "Yellow",
|
| 276 |
+
"graspable": true,
|
| 277 |
+
"grasp_scenarios": [
|
| 278 |
+
{
|
| 279 |
+
"scenario": "grasp the foot from below or around its edge to lift the goblet",
|
| 280 |
+
"confidence": 0.72
|
| 281 |
+
},
|
| 282 |
+
{
|
| 283 |
+
"scenario": "hold the base to reposition the goblet on a surface",
|
| 284 |
+
"confidence": 0.85
|
| 285 |
+
}
|
| 286 |
+
],
|
| 287 |
+
"functional_labels": [
|
| 288 |
+
"support the goblet upright",
|
| 289 |
+
"stabilize on a flat surface",
|
| 290 |
+
"provide a lower holding point"
|
| 291 |
+
],
|
| 292 |
+
"semantic_description": "Metallic silver circular foot at the bottom of the goblet with a glossy reflective smooth finish, broad and flat with small script markings visible on the surface.",
|
| 293 |
+
"id": 3,
|
| 294 |
+
"grasp_group": {
|
| 295 |
+
"grasp_23": {
|
| 296 |
+
"confidence": 0.008877335116267204,
|
| 297 |
+
"position": [
|
| 298 |
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-0.010606993950204924,
|
| 299 |
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0.09796572936465964,
|
| 300 |
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-0.04591591749340296
|
| 301 |
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],
|
| 302 |
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"orientation": {
|
| 303 |
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"w": 0.5426431122592884,
|
| 304 |
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"xyz": [
|
| 305 |
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0.47606276647818885,
|
| 306 |
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0.5152365504092611,
|
| 307 |
+
-0.46198916893478303
|
| 308 |
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]
|
| 309 |
+
}
|
| 310 |
+
},
|
| 311 |
+
"grasp_32": {
|
| 312 |
+
"confidence": 0.04850383475422859,
|
| 313 |
+
"position": [
|
| 314 |
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-0.009922238095896319,
|
| 315 |
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-0.10032901453087106,
|
| 316 |
+
-0.06924062315374613
|
| 317 |
+
],
|
| 318 |
+
"orientation": {
|
| 319 |
+
"w": 0.5608719179195543,
|
| 320 |
+
"xyz": [
|
| 321 |
+
-0.4214749657340127,
|
| 322 |
+
0.4710060108525186,
|
| 323 |
+
0.5347287935856365
|
| 324 |
+
]
|
| 325 |
+
}
|
| 326 |
+
},
|
| 327 |
+
"grasp_35": {
|
| 328 |
+
"confidence": 0.0304051972925663,
|
| 329 |
+
"position": [
|
| 330 |
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-0.09233175966073759,
|
| 331 |
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-0.05194179626414552,
|
| 332 |
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-0.03824948985129595
|
| 333 |
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],
|
| 334 |
+
"orientation": {
|
| 335 |
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"w": 0.7000834583618725,
|
| 336 |
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"xyz": [
|
| 337 |
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-0.2831916098531809,
|
| 338 |
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0.651090308635893,
|
| 339 |
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0.07594124990583881
|
| 340 |
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]
|
| 341 |
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}
|
| 342 |
+
},
|
| 343 |
+
"grasp_38": {
|
| 344 |
+
"confidence": 0.02167033962905407,
|
| 345 |
+
"position": [
|
| 346 |
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0.10291598734329455,
|
| 347 |
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0.02291864244034514,
|
| 348 |
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-0.06691341940313578
|
| 349 |
+
],
|
| 350 |
+
"orientation": {
|
| 351 |
+
"w": 0.14329592259823368,
|
| 352 |
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"xyz": [
|
| 353 |
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0.6597484612228122,
|
| 354 |
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0.0441738329287249,
|
| 355 |
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-0.7363741704902725
|
| 356 |
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]
|
| 357 |
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}
|
| 358 |
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}
|
| 359 |
+
}
|
| 360 |
+
}
|
| 361 |
+
],
|
| 362 |
+
"quality_check": {
|
| 363 |
+
"success": false,
|
| 364 |
+
"message": "Red part incorrectly includes stem; mask shows body and stem merged but description/function overclaims separate stem connector."
|
| 365 |
+
}
|
| 366 |
+
}
|
dataset/kitchen_supplies/ware/326edbaca63657608eabc43a8aa3f7c4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:69265730e1f9f77f39834444d4c279746b72db9807d983d184451fc0c53e1b2b
|
| 3 |
+
size 3782100
|