Add asset kitchen_supplies/utensils/c6a23384fdc95f26b710faa933d26d90
Browse files
.gitattributes
CHANGED
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@@ -7478,4 +7478,5 @@ dataset/kitchen_supplies/utensils/b76cd44e74395713893a8818b0d86557/affordance/me
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| 7478 |
dataset/kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7479 |
dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7480 |
dataset/kitchen_supplies/utensils/c22b15d98e495d85b4f05e1e24552405/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7481 |
-
dataset/kitchen_supplies/utensils/
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| 7478 |
dataset/kitchen_supplies/utensils/bb4414448fed543fb261d472499b7abd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7479 |
dataset/kitchen_supplies/utensils/bf1d8f268ab650d5bd10031847e198b8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7480 |
dataset/kitchen_supplies/utensils/c22b15d98e495d85b4f05e1e24552405/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7481 |
+
dataset/kitchen_supplies/utensils/c58b059579835beba6def1bac0bc5872/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7482 |
+
dataset/kitchen_supplies/utensils/c6a23384fdc95f26b710faa933d26d90/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/utensils/c6a23384fdc95f26b710faa933d26d90/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,998 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid knob",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the knob to lift and remove the lid",
|
| 10 |
+
"confidence": 0.88
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "pinch the knob to rotate or reposition the jar during handling",
|
| 14 |
+
"confidence": 0.42
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"provide a lifting grip for the lid",
|
| 19 |
+
"enable lid removal",
|
| 20 |
+
"assist lid positioning",
|
| 21 |
+
"indicate the top center"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Small dark gray to black rounded knob at the lid center, likely hard plastic or stone with a matte slightly textured finish and a compact bulb-like shape.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
+
"grasp_0": {
|
| 27 |
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"confidence": 0.878848135471344,
|
| 28 |
+
"position": [
|
| 29 |
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|
| 30 |
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|
| 31 |
+
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|
| 32 |
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],
|
| 33 |
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"orientation": {
|
| 34 |
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| 35 |
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|
| 36 |
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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_3": {
|
| 43 |
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"confidence": 0.9410690665245056,
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| 44 |
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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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| 51 |
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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_4": {
|
| 59 |
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"confidence": 0.8563042283058167,
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| 60 |
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| 61 |
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| 63 |
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],
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| 67 |
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| 69 |
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| 70 |
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| 71 |
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| 72 |
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}
|
| 73 |
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},
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| 74 |
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|
| 75 |
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"confidence": 0.5881137847900391,
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| 76 |
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| 77 |
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| 79 |
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| 80 |
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],
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| 81 |
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"orientation": {
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| 82 |
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| 83 |
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| 85 |
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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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|
| 91 |
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"confidence": 0.5164052248001099,
|
| 92 |
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| 93 |
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| 94 |
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0.060165518034409615,
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| 95 |
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0.09735035244375467
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| 96 |
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],
|
| 97 |
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|
| 98 |
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| 99 |
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0.7882227762381094,
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| 101 |
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| 102 |
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| 103 |
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]
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| 104 |
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}
|
| 105 |
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},
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| 106 |
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|
| 107 |
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| 108 |
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| 112 |
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],
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| 113 |
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| 119 |
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| 120 |
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| 121 |
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},
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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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0.07549110527725134,
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| 127 |
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0.10376326087862253
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| 128 |
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],
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| 129 |
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|
| 130 |
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| 131 |
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| 134 |
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| 135 |
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]
|
| 136 |
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}
|
| 137 |
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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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0.011969876546572777,
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| 143 |
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0.12936025205999613
|
| 144 |
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],
|
| 145 |
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|
| 146 |
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|
| 147 |
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| 148 |
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0.7077994348979277,
|
| 149 |
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0.657378196651952,
|
| 150 |
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0.1523523048866188
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| 151 |
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]
|
| 152 |
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}
|
| 153 |
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},
|
| 154 |
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"grasp_11": {
|
| 155 |
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"confidence": 0.876690685749054,
|
| 156 |
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|
| 157 |
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| 158 |
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| 159 |
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0.13756290916353464
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| 160 |
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],
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| 161 |
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|
| 162 |
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| 163 |
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| 164 |
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0.48422713198501577,
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| 165 |
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0.8639571710030172,
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| 166 |
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0.1096194323921696
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| 167 |
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]
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| 168 |
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}
|
| 169 |
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},
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| 170 |
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|
| 171 |
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| 172 |
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| 174 |
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| 176 |
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],
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| 177 |
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| 182 |
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]
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| 184 |
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}
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| 185 |
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},
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| 186 |
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|
| 187 |
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| 188 |
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0.012717390503894421,
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| 191 |
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0.13953922037035227
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| 192 |
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],
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| 193 |
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| 199 |
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]
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| 200 |
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}
|
| 201 |
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},
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|
| 203 |
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| 204 |
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0.022090603668402764,
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| 207 |
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0.12948907259851694
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| 208 |
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],
|
| 209 |
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| 210 |
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| 211 |
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| 212 |
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0.7772734622087296,
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0.5776659174232895,
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| 214 |
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0.11766618335693958
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]
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| 216 |
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}
|
| 217 |
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},
|
| 218 |
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"grasp_15": {
|
| 219 |
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| 220 |
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| 221 |
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0.12938202265650034
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],
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| 225 |
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| 226 |
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| 231 |
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]
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| 232 |
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}
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| 233 |
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},
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| 234 |
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"grasp_16": {
|
| 235 |
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| 236 |
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0.04499795760602865,
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],
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| 246 |
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0.24022366244159582
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| 247 |
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]
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| 248 |
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| 249 |
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},
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| 250 |
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"grasp_17": {
|
| 251 |
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| 252 |
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],
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| 257 |
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0.7292239065663868,
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0.6836597639037298,
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0.02303688817526087
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| 263 |
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]
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| 264 |
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}
|
| 265 |
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},
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| 266 |
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"grasp_18": {
|
| 267 |
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| 268 |
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"position": [
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| 269 |
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0.004589692907757126,
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| 270 |
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|
| 271 |
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0.14072512928396463
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| 272 |
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],
|
| 273 |
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"orientation": {
|
| 274 |
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| 275 |
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]
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}
|
| 281 |
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},
|
| 282 |
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"grasp_19": {
|
| 283 |
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"confidence": 0.9243963956832886,
|
| 284 |
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"position": [
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0.004635566598153673,
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| 286 |
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0.0004760114952659933,
|
| 287 |
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0.13947605434805155
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| 288 |
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],
|
| 289 |
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"orientation": {
|
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| 291 |
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0.7865841815775996,
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0.6174791453554893,
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0.000744791929633741
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| 295 |
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]
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| 296 |
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}
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| 297 |
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}
|
| 298 |
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}
|
| 299 |
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},
|
| 300 |
+
{
|
| 301 |
+
"part_name": "lid",
|
| 302 |
+
"mask_color": "Yellow",
|
| 303 |
+
"graspable": true,
|
| 304 |
+
"grasp_scenarios": [
|
| 305 |
+
{
|
| 306 |
+
"scenario": "grasp the lid edge to twist or lift it off the jar",
|
| 307 |
+
"confidence": 0.71
|
| 308 |
+
},
|
| 309 |
+
{
|
| 310 |
+
"scenario": "hold the lid to stabilize the jar while opening or closing",
|
| 311 |
+
"confidence": 0.54
|
| 312 |
+
}
|
| 313 |
+
],
|
| 314 |
+
"functional_labels": [
|
| 315 |
+
"cover the jar opening",
|
| 316 |
+
"retain contents",
|
| 317 |
+
"support opening and closing",
|
| 318 |
+
"provide top surface"
|
| 319 |
+
],
|
| 320 |
+
"semantic_description": "Flat circular top piece with a gray marble-like pattern, hard smooth polished surface, and broad disk shape forming the jar's upper cover.",
|
| 321 |
+
"id": 3,
|
| 322 |
+
"grasp_group": {
|
| 323 |
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"grasp_40": {
|
| 324 |
+
"confidence": 0.9551067352294922,
|
| 325 |
+
"position": [
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| 326 |
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|
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-0.01431876041351643,
|
| 328 |
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0.03767059464007616
|
| 329 |
+
],
|
| 330 |
+
"orientation": {
|
| 331 |
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"w": 0.47217341836997817,
|
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|
dataset/kitchen_supplies/utensils/c6a23384fdc95f26b710faa933d26d90/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:5601ffcd63e0c938f637835b42140feb3bb4ac0a885d5d671a6f8f21e556d610
|
| 3 |
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size 3781772
|