Add asset kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd
Browse files
.gitattributes
CHANGED
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@@ -7571,4 +7571,5 @@ dataset/kitchen_supplies/ware/5f00883830bd52d49ec6accbcbd5e217/affordance/mesh_p
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| 7571 |
dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7572 |
dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7573 |
dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7574 |
-
dataset/kitchen_supplies/ware/
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| 7571 |
dataset/kitchen_supplies/ware/6032cdcee4405cb898cfeee0abb05000/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7572 |
dataset/kitchen_supplies/ware/611519fdfedd5d309da7e5235d0b2e62/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7573 |
dataset/kitchen_supplies/ware/63a01f8c0e2c5431add57b070a9539c8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7574 |
+
dataset/kitchen_supplies/ware/652b7e327ef955ccb7a136c7ed1fe728/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7575 |
+
dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,406 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "mug body",
|
| 5 |
+
"mask_color": "Blue",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the mug body from the sides to pick up the mug",
|
| 10 |
+
"confidence": 0.78
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the mug during placement",
|
| 14 |
+
"confidence": 0.74
|
| 15 |
+
}
|
| 16 |
+
],
|
| 17 |
+
"functional_labels": [
|
| 18 |
+
"contain liquid",
|
| 19 |
+
"form the main vessel",
|
| 20 |
+
"provide side support",
|
| 21 |
+
"offer a secondary grasp surface"
|
| 22 |
+
],
|
| 23 |
+
"semantic_description": "Large light beige wooden cup body with a matte to satin finish, hard slightly textured grain, cylindrical shape with a thick rim, and the main upper vessel surrounding the cavity.",
|
| 24 |
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"id": 2,
|
| 25 |
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"grasp_group": {
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| 26 |
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"grasp_20": {
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| 27 |
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"confidence": 0.9164173603057861,
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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": 0.035769413476768444,
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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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}
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| 41 |
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},
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| 42 |
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"grasp_21": {
|
| 43 |
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"confidence": 0.9120296835899353,
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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": 0.021729146476272637,
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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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]
|
| 56 |
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}
|
| 57 |
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},
|
| 58 |
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"grasp_22": {
|
| 59 |
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"confidence": 0.9120137691497803,
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| 60 |
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"position": [
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| 61 |
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| 63 |
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| 64 |
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| 65 |
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"orientation": {
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| 66 |
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"w": 0.044923152350706395,
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| 67 |
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"xyz": [
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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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"grasp_23": {
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| 75 |
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"confidence": 0.9119111895561218,
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"position": [
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| 80 |
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],
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| 81 |
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"orientation": {
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"w": 0.725465085574935,
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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_24": {
|
| 91 |
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"confidence": 0.9106464982032776,
|
| 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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| 103 |
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}
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| 105 |
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},
|
| 106 |
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"grasp_25": {
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| 107 |
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"confidence": 0.9100079536437988,
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],
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"orientation": {
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]
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| 120 |
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|
| 121 |
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},
|
| 122 |
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"grasp_26": {
|
| 123 |
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"confidence": 0.9091179966926575,
|
| 124 |
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"position": [
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| 125 |
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| 128 |
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],
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"orientation": {
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| 135 |
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}
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| 137 |
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},
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"grasp_27": {
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| 139 |
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}
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| 153 |
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},
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"grasp_28": {
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"confidence": 0.9081388115882874,
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"orientation": {
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| 169 |
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},
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| 170 |
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"grasp_29": {
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| 171 |
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"confidence": 0.9075674414634705,
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"position": [
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"orientation": {
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"grasp_30": {
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"confidence": 0.9064059853553772,
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| 188 |
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"position": [
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},
|
| 332 |
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{
|
| 333 |
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"part_name": "mug base",
|
| 334 |
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"mask_color": "Green",
|
| 335 |
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|
| 336 |
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|
| 337 |
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|
| 338 |
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"support the mug upright",
|
| 339 |
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"stabilize on flat surfaces",
|
| 340 |
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"elevate the vessel slightly"
|
| 341 |
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],
|
| 342 |
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"semantic_description": "Rounded dark base pad under the mug with a smooth dull surface, circular shape, and full-width bottom position that serves as the contact area with the table.",
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| 343 |
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"id": 1,
|
| 344 |
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"grasp_group": {}
|
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},
|
| 346 |
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{
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"part_name": "mug handle",
|
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"mask_color": "Red",
|
| 349 |
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|
| 350 |
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|
| 351 |
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{
|
| 352 |
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"scenario": "grasp the handle to lift the mug",
|
| 353 |
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|
| 354 |
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},
|
| 355 |
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{
|
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|
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|
| 358 |
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}
|
| 359 |
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],
|
| 360 |
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"functional_labels": [
|
| 361 |
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"provide a side grip",
|
| 362 |
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"lift the mug without enclosing the body",
|
| 363 |
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"help reorient the mug",
|
| 364 |
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"keep hand away from the vessel wall"
|
| 365 |
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],
|
| 366 |
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"semantic_description": "Medium brown wooden handle with visible grain, matte finish, hard smooth texture, and an angular projecting shape attached to the mug side for side gripping.",
|
| 367 |
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"id": 0,
|
| 368 |
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"grasp_group": {
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| 369 |
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| 384 |
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}
|
| 385 |
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}
|
| 386 |
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},
|
| 387 |
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{
|
| 388 |
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"part_name": "handle connector",
|
| 389 |
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"mask_color": "Yellow",
|
| 390 |
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"graspable": false,
|
| 391 |
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"grasp_scenarios": [],
|
| 392 |
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"functional_labels": [
|
| 393 |
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"connect the handle to the mug body",
|
| 394 |
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"transfer lifting force from handle to vessel",
|
| 395 |
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"reinforce handle attachment"
|
| 396 |
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],
|
| 397 |
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"semantic_description": "Small light beige connector block matching the mug body, likely wood with a matte finish and hard smooth texture, positioned between the side wall and the handle.",
|
| 398 |
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"id": 3,
|
| 399 |
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"grasp_group": {}
|
| 400 |
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}
|
| 401 |
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],
|
| 402 |
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"quality_check": {
|
| 403 |
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"success": true,
|
| 404 |
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"message": "YES"
|
| 405 |
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}
|
| 406 |
+
}
|
dataset/kitchen_supplies/ware/6605d23a66cf5a43a60b644b987262bd/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:78c28b6cd06a36936e1c8d982e44e57674f27eca09b1555acf39fffc03156b89
|
| 3 |
+
size 3780672
|