Add asset kitchen_supplies/ware/43c5a94e7c995f85b2fe3bdff9c0b4b4
Browse files
.gitattributes
CHANGED
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@@ -7551,3 +7551,4 @@ dataset/kitchen_supplies/ware/428b0a043aa55272b7a9f8b47bfa1c53/affordance/mesh_p
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| 7551 |
dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7552 |
dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7553 |
dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7551 |
dataset/kitchen_supplies/ware/4041fadc794655f5ae7c4b3bdb25acfd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7552 |
dataset/kitchen_supplies/ware/42c11b2d3f545fd8a5d21995bbd25810/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7553 |
dataset/kitchen_supplies/ware/4375c8100de3573ba421a335446a9089/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7554 |
+
dataset/kitchen_supplies/ware/43c5a94e7c995f85b2fe3bdff9c0b4b4/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/43c5a94e7c995f85b2fe3bdff9c0b4b4/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,1192 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "lid cap",
|
| 5 |
+
"mask_color": "Red",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the top cap to lift or reposition the bottle",
|
| 10 |
+
"confidence": 0.8
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "grasp the cap to twist and open or close the bottle",
|
| 14 |
+
"confidence": 0.78
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"cover the drinking opening",
|
| 19 |
+
"provide top grip for opening",
|
| 20 |
+
"seal the bottle",
|
| 21 |
+
"protect the spout area"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Rounded dark gray lid cap with a matte smooth hard surface, medium-sized at the top of the bottle and slightly domed for secure closure.",
|
| 24 |
+
"id": 0,
|
| 25 |
+
"grasp_group": {
|
| 26 |
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"grasp_0": {
|
| 27 |
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"confidence": 0.9810966849327087,
|
| 28 |
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"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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"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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]
|
| 40 |
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}
|
| 41 |
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},
|
| 42 |
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"grasp_1": {
|
| 43 |
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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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|
| 50 |
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| 51 |
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| 53 |
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| 54 |
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| 55 |
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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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| 63 |
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| 64 |
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| 65 |
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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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| 75 |
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| 76 |
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| 87 |
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| 88 |
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| 89 |
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},
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| 90 |
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|
| 91 |
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"confidence": 0.9794679284095764,
|
| 92 |
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| 93 |
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| 94 |
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| 96 |
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],
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| 97 |
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| 99 |
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| 103 |
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| 104 |
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| 105 |
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},
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| 107 |
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| 108 |
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| 110 |
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| 111 |
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| 112 |
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| 119 |
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| 120 |
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| 121 |
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| 123 |
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"confidence": 0.9788685441017151,
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| 124 |
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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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| 131 |
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| 135 |
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| 136 |
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| 137 |
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},
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| 138 |
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| 139 |
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"confidence": 0.9787545800209045,
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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0.05265046120621264
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| 144 |
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],
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| 145 |
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| 146 |
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| 147 |
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| 150 |
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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_8": {
|
| 155 |
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"confidence": 0.9786388874053955,
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| 156 |
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| 161 |
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},
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| 170 |
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|
| 171 |
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| 172 |
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},
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],
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]
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| 201 |
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},
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|
| 203 |
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"confidence": 0.9778543710708618,
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],
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},
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|
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"cover a recessed body section"
|
| 1052 |
+
],
|
| 1053 |
+
"semantic_description": "Long vertical translucent light-colored panel inset into the side of the body, glossy and elongated with rounded ends, visible as a clear or semi-clear window rather than an opaque insert.",
|
| 1054 |
+
"id": 3,
|
| 1055 |
+
"grasp_group": {}
|
| 1056 |
+
},
|
| 1057 |
+
{
|
| 1058 |
+
"part_name": "bottom base",
|
| 1059 |
+
"mask_color": "Cyan",
|
| 1060 |
+
"graspable": true,
|
| 1061 |
+
"grasp_scenarios": [
|
| 1062 |
+
{
|
| 1063 |
+
"scenario": "grasp the bottom edge to reorient a side-lying bottle",
|
| 1064 |
+
"confidence": 0.31
|
| 1065 |
+
},
|
| 1066 |
+
{
|
| 1067 |
+
"scenario": "pinch the base while stabilizing during placement",
|
| 1068 |
+
"confidence": 0.27
|
| 1069 |
+
}
|
| 1070 |
+
],
|
| 1071 |
+
"functional_labels": [
|
| 1072 |
+
"support upright standing",
|
| 1073 |
+
"protect the bottom",
|
| 1074 |
+
"provide stable contact with surfaces"
|
| 1075 |
+
],
|
| 1076 |
+
"semantic_description": "Flat circular base at the bottom, light gray and smooth, forming a broad footprint for standing support.",
|
| 1077 |
+
"id": 6,
|
| 1078 |
+
"grasp_group": {
|
| 1079 |
+
"grasp_65": {
|
| 1080 |
+
"confidence": 0.8675773739814758,
|
| 1081 |
+
"position": [
|
| 1082 |
+
-0.05948500787781086,
|
| 1083 |
+
-0.06713985535316169,
|
| 1084 |
+
-0.12546154647134244
|
| 1085 |
+
],
|
| 1086 |
+
"orientation": {
|
| 1087 |
+
"w": 0.8356144115386137,
|
| 1088 |
+
"xyz": [
|
| 1089 |
+
-0.4162546685778958,
|
| 1090 |
+
0.15500782240644306,
|
| 1091 |
+
-0.32319217365043923
|
| 1092 |
+
]
|
| 1093 |
+
}
|
| 1094 |
+
},
|
| 1095 |
+
"grasp_70": {
|
| 1096 |
+
"confidence": 0.9430201053619385,
|
| 1097 |
+
"position": [
|
| 1098 |
+
-0.002381222424446605,
|
| 1099 |
+
-0.036194658605381846,
|
| 1100 |
+
-0.15843705623410642
|
| 1101 |
+
],
|
| 1102 |
+
"orientation": {
|
| 1103 |
+
"w": 0.22074871819059458,
|
| 1104 |
+
"xyz": [
|
| 1105 |
+
-0.060372679903122936,
|
| 1106 |
+
-0.14918646602422592,
|
| 1107 |
+
-0.9619607794986896
|
| 1108 |
+
]
|
| 1109 |
+
}
|
| 1110 |
+
},
|
| 1111 |
+
"grasp_78": {
|
| 1112 |
+
"confidence": 0.8950383067131042,
|
| 1113 |
+
"position": [
|
| 1114 |
+
0.10889192218019161,
|
| 1115 |
+
0.013558260397985578,
|
| 1116 |
+
-0.06956526427529752
|
| 1117 |
+
],
|
| 1118 |
+
"orientation": {
|
| 1119 |
+
"w": 0.5561343509322689,
|
| 1120 |
+
"xyz": [
|
| 1121 |
+
0.5141875073133817,
|
| 1122 |
+
-0.46197592215475314,
|
| 1123 |
+
-0.4614152559086665
|
| 1124 |
+
]
|
| 1125 |
+
}
|
| 1126 |
+
},
|
| 1127 |
+
"grasp_79": {
|
| 1128 |
+
"confidence": 0.8597055673599243,
|
| 1129 |
+
"position": [
|
| 1130 |
+
0.10701275909377728,
|
| 1131 |
+
-0.01072471565566957,
|
| 1132 |
+
-0.07146290480159223
|
| 1133 |
+
],
|
| 1134 |
+
"orientation": {
|
| 1135 |
+
"w": 0.506916490171146,
|
| 1136 |
+
"xyz": [
|
| 1137 |
+
0.44389519399494504,
|
| 1138 |
+
-0.5230656761856245,
|
| 1139 |
+
-0.5219147699933696
|
| 1140 |
+
]
|
| 1141 |
+
}
|
| 1142 |
+
}
|
| 1143 |
+
}
|
| 1144 |
+
},
|
| 1145 |
+
{
|
| 1146 |
+
"part_name": "button housing",
|
| 1147 |
+
"mask_color": "Purple",
|
| 1148 |
+
"graspable": false,
|
| 1149 |
+
"grasp_scenarios": [],
|
| 1150 |
+
"functional_labels": [
|
| 1151 |
+
"hold the release button",
|
| 1152 |
+
"protect the latch mechanism",
|
| 1153 |
+
"position the opening control"
|
| 1154 |
+
],
|
| 1155 |
+
"semantic_description": "Small curved dark gray housing near the top front, matte and smooth, protruding slightly from the lid to frame the release button area.",
|
| 1156 |
+
"id": 5,
|
| 1157 |
+
"grasp_group": {}
|
| 1158 |
+
},
|
| 1159 |
+
{
|
| 1160 |
+
"part_name": "release button",
|
| 1161 |
+
"mask_color": "Orange",
|
| 1162 |
+
"graspable": false,
|
| 1163 |
+
"grasp_scenarios": [],
|
| 1164 |
+
"functional_labels": [
|
| 1165 |
+
"press to release the lid",
|
| 1166 |
+
"operate the opening mechanism",
|
| 1167 |
+
"control access to the drinking spout"
|
| 1168 |
+
],
|
| 1169 |
+
"semantic_description": "Small light-colored oval button set into the front lid area, with a smooth hard surface and compact pushable form used as the opening control.",
|
| 1170 |
+
"id": 4,
|
| 1171 |
+
"grasp_group": {}
|
| 1172 |
+
},
|
| 1173 |
+
{
|
| 1174 |
+
"part_name": "side hinge tab",
|
| 1175 |
+
"mask_color": "Pink",
|
| 1176 |
+
"graspable": false,
|
| 1177 |
+
"grasp_scenarios": [],
|
| 1178 |
+
"functional_labels": [
|
| 1179 |
+
"connect moving lid parts",
|
| 1180 |
+
"guide lid opening motion",
|
| 1181 |
+
"support the latch or hinge mechanism"
|
| 1182 |
+
],
|
| 1183 |
+
"semantic_description": "Tiny side tab near the upper lid edge, dark gray and slightly protruding with a smooth hard finish, visible as a small mechanical connector on one side.",
|
| 1184 |
+
"id": 8,
|
| 1185 |
+
"grasp_group": {}
|
| 1186 |
+
}
|
| 1187 |
+
],
|
| 1188 |
+
"quality_check": {
|
| 1189 |
+
"success": false,
|
| 1190 |
+
"message": "Several part descriptions mismatch appearance/materials; yellow part is transparent window, not just light-colored panel; blue ring color wrong; some tiny parts/functions uncertain."
|
| 1191 |
+
}
|
| 1192 |
+
}
|
dataset/kitchen_supplies/ware/43c5a94e7c995f85b2fe3bdff9c0b4b4/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5c2d31d52bbf3de08cd1adb258a6f4bb1f3c7312a8135f42025b9e25b1c6b96b
|
| 3 |
+
size 3786212
|