Add asset kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868
Browse files
.gitattributes
CHANGED
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@@ -7565,3 +7565,4 @@ dataset/kitchen_supplies/ware/5a846f9952bc5c66a92a126600f67ddb/affordance/mesh_p
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| 7565 |
dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7566 |
dataset/kitchen_supplies/ware/5c446c0ebe1b5b3bb6b2bb2000bdf962/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7567 |
dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7565 |
dataset/kitchen_supplies/ware/5bcb6bfef30a58e39fc2b1ca0fc413e8/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7566 |
dataset/kitchen_supplies/ware/5c446c0ebe1b5b3bb6b2bb2000bdf962/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7567 |
dataset/kitchen_supplies/ware/5ce46fe01bd655359d018bf28776016f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 7568 |
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dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/affordance_annot.json
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "bottle body with integrated side handles",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main outer body to pick up and carry the bottle",
|
| 10 |
+
"confidence": 0.95
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the body to stabilize the bottle during feeding or placement",
|
| 14 |
+
"confidence": 0.92
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "grasp around the side-handle area to reorient the bottle",
|
| 18 |
+
"confidence": 0.86
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"contain liquid",
|
| 23 |
+
"main grasp surface",
|
| 24 |
+
"support attached parts",
|
| 25 |
+
"provide integrated side handles"
|
| 26 |
+
],
|
| 27 |
+
"semantic_description": "Large rounded pale pink plastic outer shell with a smooth semi-gloss finish, forming most of the bottle exterior and including the two curved side handles.",
|
| 28 |
+
"id": 8,
|
| 29 |
+
"grasp_group": {}
|
| 30 |
+
},
|
| 31 |
+
{
|
| 32 |
+
"part_name": "nipple collar",
|
| 33 |
+
"mask_color": "Purple",
|
| 34 |
+
"graspable": true,
|
| 35 |
+
"grasp_scenarios": [
|
| 36 |
+
{
|
| 37 |
+
"scenario": "grasp the collar ring to twist or remove the top assembly",
|
| 38 |
+
"confidence": 0.85
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"scenario": "hold the collar to stabilize the bottle near the neck during manipulation",
|
| 42 |
+
"confidence": 0.75
|
| 43 |
+
}
|
| 44 |
+
],
|
| 45 |
+
"functional_labels": [
|
| 46 |
+
"secure nipple",
|
| 47 |
+
"connect top assembly to bottle",
|
| 48 |
+
"provide twisting interface",
|
| 49 |
+
"seal the neck area"
|
| 50 |
+
],
|
| 51 |
+
"semantic_description": "Medium-sized pale pink plastic ring around the bottle neck with a smooth finish, forming the threaded collar beneath the nipple.",
|
| 52 |
+
"id": 5,
|
| 53 |
+
"grasp_group": {
|
| 54 |
+
"grasp_20": {
|
| 55 |
+
"confidence": 0.9078063368797302,
|
| 56 |
+
"position": [
|
| 57 |
+
0.04843789985170588,
|
| 58 |
+
-0.079209812451154,
|
| 59 |
+
0.08815995720215142
|
| 60 |
+
],
|
| 61 |
+
"orientation": {
|
| 62 |
+
"w": 0.49033296350064515,
|
| 63 |
+
"xyz": [
|
| 64 |
+
-0.8289849965705876,
|
| 65 |
+
-0.21971214181354903,
|
| 66 |
+
0.1551903189804084
|
| 67 |
+
]
|
| 68 |
+
}
|
| 69 |
+
},
|
| 70 |
+
"grasp_21": {
|
| 71 |
+
"confidence": 0.898609459400177,
|
| 72 |
+
"position": [
|
| 73 |
+
-0.02590059587964788,
|
| 74 |
+
-0.09270629333332181,
|
| 75 |
+
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|
| 76 |
+
],
|
| 77 |
+
"orientation": {
|
| 78 |
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"w": 0.07704180738542557,
|
| 79 |
+
"xyz": [
|
| 80 |
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|
| 81 |
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|
| 82 |
+
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|
| 83 |
+
]
|
| 84 |
+
}
|
| 85 |
+
},
|
| 86 |
+
"grasp_22": {
|
| 87 |
+
"confidence": 0.890326201915741,
|
| 88 |
+
"position": [
|
| 89 |
+
-0.05558984453091398,
|
| 90 |
+
0.0802731136791408,
|
| 91 |
+
0.08406729367561638
|
| 92 |
+
],
|
| 93 |
+
"orientation": {
|
| 94 |
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"w": 0.1567351777100364,
|
| 95 |
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"xyz": [
|
| 96 |
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|
| 97 |
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0.7995915829239073,
|
| 98 |
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-0.5205497354542733
|
| 99 |
+
]
|
| 100 |
+
}
|
| 101 |
+
},
|
| 102 |
+
"grasp_23": {
|
| 103 |
+
"confidence": 0.8686032295227051,
|
| 104 |
+
"position": [
|
| 105 |
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-0.03359768266091123,
|
| 106 |
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-0.08924551354721189,
|
| 107 |
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|
| 108 |
+
],
|
| 109 |
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"orientation": {
|
| 110 |
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"w": 0.5350924436930073,
|
| 111 |
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"xyz": [
|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
+
]
|
| 116 |
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}
|
| 117 |
+
},
|
| 118 |
+
"grasp_24": {
|
| 119 |
+
"confidence": 0.8607364296913147,
|
| 120 |
+
"position": [
|
| 121 |
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-0.015411654545459896,
|
| 122 |
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-0.10504090832546353,
|
| 123 |
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0.0615249362308532
|
| 124 |
+
],
|
| 125 |
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"orientation": {
|
| 126 |
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"w": 0.6289650495466832,
|
| 127 |
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"xyz": [
|
| 128 |
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-0.773107002379525,
|
| 129 |
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0.07605808597543773,
|
| 130 |
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|
| 131 |
+
]
|
| 132 |
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}
|
| 133 |
+
},
|
| 134 |
+
"grasp_25": {
|
| 135 |
+
"confidence": 0.8475041389465332,
|
| 136 |
+
"position": [
|
| 137 |
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0.038567989075090736,
|
| 138 |
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-0.08630230324342847,
|
| 139 |
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0.07181510445661843
|
| 140 |
+
],
|
| 141 |
+
"orientation": {
|
| 142 |
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"w": 0.5743118883132191,
|
| 143 |
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"xyz": [
|
| 144 |
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|
| 145 |
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-0.16393531885532575,
|
| 146 |
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|
| 147 |
+
]
|
| 148 |
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}
|
| 149 |
+
},
|
| 150 |
+
"grasp_27": {
|
| 151 |
+
"confidence": 0.7568010091781616,
|
| 152 |
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"position": [
|
| 153 |
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-0.04801133746514097,
|
| 154 |
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-0.10219930158928037,
|
| 155 |
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|
| 156 |
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],
|
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"orientation": {
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| 158 |
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"w": 0.1522024835013707,
|
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|
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|
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|
| 163 |
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]
|
| 164 |
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}
|
| 165 |
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},
|
| 166 |
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"grasp_29": {
|
| 167 |
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"confidence": 0.7469817399978638,
|
| 168 |
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"position": [
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| 169 |
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|
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|
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|
| 172 |
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],
|
| 173 |
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"orientation": {
|
| 174 |
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"w": 0.5245269317368783,
|
| 175 |
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"xyz": [
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| 176 |
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|
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|
| 178 |
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|
| 179 |
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]
|
| 180 |
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}
|
| 181 |
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},
|
| 182 |
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"grasp_30": {
|
| 183 |
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"confidence": 0.7425459027290344,
|
| 184 |
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"position": [
|
| 185 |
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|
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|
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|
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],
|
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"orientation": {
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|
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"xyz": [
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|
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|
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|
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]
|
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}
|
| 197 |
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},
|
| 198 |
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"grasp_31": {
|
| 199 |
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"confidence": 0.7149701118469238,
|
| 200 |
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"position": [
|
| 201 |
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|
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|
| 203 |
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|
| 262 |
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|
| 263 |
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},
|
| 264 |
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{
|
| 265 |
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"part_name": "sealing ring",
|
| 266 |
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"mask_color": "Green",
|
| 267 |
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|
| 268 |
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|
| 269 |
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"functional_labels": [
|
| 270 |
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"seal joint",
|
| 271 |
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"separate top components",
|
| 272 |
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"support collar interface"
|
| 273 |
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],
|
| 274 |
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"semantic_description": "Thin narrow ring band around the upper neck between the collar and the main body, visible as a slim band below the purple collar.",
|
| 275 |
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"id": 1,
|
| 276 |
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|
| 277 |
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},
|
| 278 |
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{
|
| 279 |
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"part_name": "nipple",
|
| 280 |
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"mask_color": "Orange",
|
| 281 |
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"graspable": true,
|
| 282 |
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|
| 283 |
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{
|
| 284 |
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"scenario": "delicately pinch the nipple tip to orient the bottle top during cleaning or inspection",
|
| 285 |
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|
| 286 |
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},
|
| 287 |
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{
|
| 288 |
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|
| 289 |
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|
| 290 |
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}
|
| 291 |
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],
|
| 292 |
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| 293 |
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"dispense liquid for feeding",
|
| 294 |
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"provide sucking interface",
|
| 295 |
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"control flow at the tip"
|
| 296 |
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],
|
| 297 |
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"semantic_description": "Small translucent milky silicone nipple with a glossy smooth soft-looking surface, rounded tapered shape, and topmost position on the bottle.",
|
| 298 |
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"id": 4,
|
| 299 |
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"grasp_group": {
|
| 300 |
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"grasp_0": {
|
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},
|
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|
| 317 |
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|
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|
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|
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|
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},
|
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|
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|
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|
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|
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],
|
| 339 |
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"orientation": {
|
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|
| 341 |
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|
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}
|
| 348 |
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}
|
| 349 |
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},
|
| 350 |
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{
|
| 351 |
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"part_name": "transparent window panel",
|
| 352 |
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"mask_color": "Blue",
|
| 353 |
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"graspable": false,
|
| 354 |
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"grasp_scenarios": [],
|
| 355 |
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"functional_labels": [
|
| 356 |
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"show liquid level",
|
| 357 |
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"allow visual inspection of contents",
|
| 358 |
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"provide a view into the bottle"
|
| 359 |
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],
|
| 360 |
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"semantic_description": "Large curved translucent cream-to-clear window inset into one side of the bottle body, glossy and smooth, revealing the contents area.",
|
| 361 |
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"id": 2,
|
| 362 |
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"grasp_group": {}
|
| 363 |
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},
|
| 364 |
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{
|
| 365 |
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"part_name": "measurement marking",
|
| 366 |
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"mask_color": "Cyan",
|
| 367 |
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"graspable": false,
|
| 368 |
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"grasp_scenarios": [],
|
| 369 |
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"functional_labels": [
|
| 370 |
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"indicate fill level",
|
| 371 |
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"provide measurement reference",
|
| 372 |
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"aid portion control"
|
| 373 |
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],
|
| 374 |
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"semantic_description": "Small light printed scale marks on the transparent window panel, appearing as a narrow marked region used for reading liquid amount.",
|
| 375 |
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"id": 6,
|
| 376 |
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"grasp_group": {}
|
| 377 |
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}
|
| 378 |
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],
|
| 379 |
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"quality_check": {
|
| 380 |
+
"success": false,
|
| 381 |
+
"message": "Body part name/description wrongly includes handles and blue panel description is inaccurate."
|
| 382 |
+
}
|
| 383 |
+
}
|
dataset/kitchen_supplies/ware/5ea2dbedea2853eaa923a0c42c77b868/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aaea8e9d9bd1038d740916bb6caf860ddea25ef34f5a39552772bbfea980e703
|
| 3 |
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size 3785264
|