Add asset kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544
Browse files
.gitattributes
CHANGED
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@@ -7526,4 +7526,4 @@ dataset/kitchen_supplies/ware/27c3fe580f725b798c9e57c8293dddf6/affordance/mesh_p
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| 7526 |
dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7527 |
dataset/kitchen_supplies/ware/29de8181d06c5e79a9ba5733b814f300/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7528 |
dataset/kitchen_supplies/ware/29f5c30ddb105b468cc97db4665ee58b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7529 |
-
dataset/kitchen_supplies/ware/
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| 7526 |
dataset/kitchen_supplies/ware/297e9c3a31595923bef71b19291668fd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7527 |
dataset/kitchen_supplies/ware/29de8181d06c5e79a9ba5733b814f300/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7528 |
dataset/kitchen_supplies/ware/29f5c30ddb105b468cc97db4665ee58b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7529 |
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dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/affordance/affordance_annot.json
ADDED
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| 1 |
+
{
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| 2 |
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"affordances": [
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| 3 |
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{
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| 4 |
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"part_name": "cup rim",
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| 5 |
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"mask_color": "Blue",
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| 6 |
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"graspable": true,
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| 7 |
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"grasp_scenarios": [
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| 8 |
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{
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| 9 |
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"scenario": "pinch the rim to lift or reposition the empty cup",
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| 10 |
+
"confidence": 0.43
|
| 11 |
+
},
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| 12 |
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{
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| 13 |
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"scenario": "grasp the rim to stabilize the cup during placement",
|
| 14 |
+
"confidence": 0.4
|
| 15 |
+
}
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| 16 |
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],
|
| 17 |
+
"functional_labels": [
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| 18 |
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"form the drinking edge",
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| 19 |
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"define the opening",
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| 20 |
+
"support pouring from the lip",
|
| 21 |
+
"provide a top boundary"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Thin circular light gray rim at the cup opening, likely plastic-coated paper with a smooth slightly glossy hard surface around the top edge.",
|
| 24 |
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"id": 2,
|
| 25 |
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"grasp_group": {
|
| 26 |
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"grasp_25": {
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| 27 |
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"confidence": 0.6390775442123413,
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| 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": 0.4522442461618458,
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| 35 |
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"xyz": [
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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]
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| 40 |
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}
|
| 41 |
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},
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| 42 |
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"grasp_27": {
|
| 43 |
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"confidence": 0.9344081282615662,
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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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],
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| 49 |
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"orientation": {
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| 50 |
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"w": 0.35656627255901796,
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| 51 |
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"xyz": [
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| 52 |
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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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},
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| 58 |
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"grasp_29": {
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| 59 |
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"confidence": 0.8627474904060364,
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"position": [
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],
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"orientation": {
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"w": 0.37933584153887084,
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"xyz": [
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| 70 |
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| 71 |
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| 72 |
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}
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| 73 |
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},
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| 74 |
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"grasp_32": {
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| 75 |
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"confidence": 0.7896300554275513,
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| 76 |
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"position": [
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| 77 |
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],
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"orientation": {
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"w": 0.3481584672937058,
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"xyz": [
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| 87 |
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]
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| 88 |
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}
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| 89 |
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},
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"grasp_33": {
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| 91 |
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"confidence": 0.782364547252655,
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"position": [
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| 94 |
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],
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"orientation": {
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"w": 0.5420233157882659,
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"xyz": [
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]
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},
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"grasp_35": {
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"confidence": 0.6260995268821716,
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"position": [
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],
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"orientation": {
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"w": 0.5674046784254635,
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"xyz": [
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]
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}
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| 121 |
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},
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| 122 |
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"grasp_37": {
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"confidence": 0.9424656629562378,
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"position": [
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| 125 |
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| 126 |
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| 127 |
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|
| 128 |
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],
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| 129 |
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"orientation": {
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| 130 |
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"w": 0.30719139668299916,
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| 131 |
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"xyz": [
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| 133 |
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| 134 |
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| 135 |
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]
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| 136 |
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}
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| 137 |
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},
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| 138 |
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"grasp_38": {
|
| 139 |
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"confidence": 0.9399014115333557,
|
| 140 |
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"position": [
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| 141 |
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| 142 |
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| 143 |
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|
| 144 |
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],
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| 145 |
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"orientation": {
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| 146 |
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"w": 0.47597293035372396,
|
| 147 |
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"xyz": [
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-0.791650465883663,
|
| 149 |
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|
| 150 |
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|
| 151 |
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]
|
| 152 |
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}
|
| 153 |
+
}
|
| 154 |
+
}
|
| 155 |
+
},
|
| 156 |
+
{
|
| 157 |
+
"part_name": "cup body",
|
| 158 |
+
"mask_color": "Green",
|
| 159 |
+
"graspable": true,
|
| 160 |
+
"grasp_scenarios": [
|
| 161 |
+
{
|
| 162 |
+
"scenario": "grasp the sidewall to pick up the cup",
|
| 163 |
+
"confidence": 0.93
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"scenario": "hold the body to carry the cup",
|
| 167 |
+
"confidence": 0.91
|
| 168 |
+
},
|
| 169 |
+
{
|
| 170 |
+
"scenario": "grasp the body to stabilize it while setting it down",
|
| 171 |
+
"confidence": 0.88
|
| 172 |
+
}
|
| 173 |
+
],
|
| 174 |
+
"functional_labels": [
|
| 175 |
+
"contain liquid",
|
| 176 |
+
"provide the main grasp surface",
|
| 177 |
+
"support the cup structure",
|
| 178 |
+
"enable carrying"
|
| 179 |
+
],
|
| 180 |
+
"semantic_description": "Large tapered red cup body made of thin paper or plastic, with a smooth slightly glossy hard surface and plain unmarked sides forming most of the cup.",
|
| 181 |
+
"id": 1,
|
| 182 |
+
"grasp_group": {
|
| 183 |
+
"grasp_17": {
|
| 184 |
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"confidence": 0.5471851229667664,
|
| 185 |
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"position": [
|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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],
|
| 190 |
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"orientation": {
|
| 191 |
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"w": 0.1844731120075758,
|
| 192 |
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"xyz": [
|
| 193 |
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0.030623915395209356,
|
| 194 |
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|
| 195 |
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0.9761242975865406
|
| 196 |
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]
|
| 197 |
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}
|
| 198 |
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},
|
| 199 |
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"grasp_19": {
|
| 200 |
+
"confidence": 0.5325511693954468,
|
| 201 |
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"position": [
|
| 202 |
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0.07688648824114352,
|
| 203 |
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0.0856579406245146,
|
| 204 |
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-0.05744672426953912
|
| 205 |
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],
|
| 206 |
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"orientation": {
|
| 207 |
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"w": 0.2636667399088043,
|
| 208 |
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"xyz": [
|
| 209 |
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-0.24793232386585404,
|
| 210 |
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-0.661289081854209,
|
| 211 |
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0.657043501808485
|
| 212 |
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]
|
| 213 |
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}
|
| 214 |
+
}
|
| 215 |
+
}
|
| 216 |
+
},
|
| 217 |
+
{
|
| 218 |
+
"part_name": "cup interior",
|
| 219 |
+
"mask_color": "Red",
|
| 220 |
+
"graspable": false,
|
| 221 |
+
"grasp_scenarios": [],
|
| 222 |
+
"functional_labels": [
|
| 223 |
+
"hold beverage volume",
|
| 224 |
+
"contain contents",
|
| 225 |
+
"provide inner drinking cavity"
|
| 226 |
+
],
|
| 227 |
+
"semantic_description": "Red inner cavity surface matching the cup exterior, with a smooth slightly glossy finish inside the top opening and no visible markings.",
|
| 228 |
+
"id": 0,
|
| 229 |
+
"grasp_group": {}
|
| 230 |
+
}
|
| 231 |
+
],
|
| 232 |
+
"quality_check": {
|
| 233 |
+
"success": true,
|
| 234 |
+
"message": "YES"
|
| 235 |
+
}
|
| 236 |
+
}
|
dataset/kitchen_supplies/ware/2c3e6386e78d5caf88352784b1f59544/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
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| 1 |
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version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:6c7433620b3b829820e4b0496b9df7fc69726c1a41a7fbba2e715f5108ea5cd9
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| 3 |
+
size 2259488
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